private void readyAreaPosHandler(Communication.Message message)
{
StandardInt32 standardString = (StandardInt32)message;
Int32 data = standardString.data;
requestRobotLocationInReadyArea(this);
}
public override void LostPositionHandler(Communication.Message message)
{
StandardBoolean data = (StandardBoolean)message;
try
{
if (data.data == true)
{
SetStopSpeedOrtherRobotLostPosition();
try
{
Global_Object.mainWindowCtrl.SetTextInfo("Robot :" + properties.Label + " Lost Position");
}
catch { }
if (!flagLostPosition)
{
MessageBox.Show("Robot :" + properties.Label + " Lost Position");
}
flagLostPosition = true;
}
else
{
flagLostPosition = false;
}
}
catch { }
}
private void robotParamsHandler(Communication.Message message)
{
StandardString standardString = (StandardString)message;
checkRobotVersion(standardString.data);
robotInfo.alive = true;
}
/*public void sendPackageGoToDockingLine(String mgs)
* {
* StandardString messages = new StandardString();
* messages.data = mgs;
* rosSocket.Publish(paramsRosSocket.publication_serverRobotGotToLineDockingArea, messages);
* }
* public void sendPackageGoToPutAwayLine(String mgs)
* {
* StandardString messages = new StandardString();
* messages.data = mgs;
* rosSocket.Publish(paramsRosSocket.publication_serverRobotGotToLinePutAwayArea, messages);
* }*/
public void robotStatusHandler(Communication.Message message)
{
StandardInt32 standardInt32 = (StandardInt32)message;
robotInfo.workingStatus = standardInt32.data;
updateStatusRobotToReadyArea(NameID, robotInfo.workingStatus);
}
private void batteryVolHandler(Communication.Message message)
{
StandardFloat32 standardFloat32 = (StandardFloat32)message;
robotInfo.batteryPercentage = (double)standardFloat32.data;
if (robotInfo.batteryPercentage <= CriticalEnergyAt)
{
statusFlag.flagCharge = true;
}
}
public override void RequestGotoReadyHandler(Communication.Message message)
{
/* StandardInt32 rqVal = (StandardInt32)message;
* if (rqVal.data == 1)
* {
* DisposeF();
* AddWaitTask();
* //Console.WriteLine("request goto ready");
* }*/
}
private void AmclPoseHandler(Communication.Message message)
{
GeometryPoseWithCovarianceStamped standardString = (GeometryPoseWithCovarianceStamped)message;
double posX = (double)standardString.pose.pose.position.x;
double posY = (double)standardString.pose.pose.position.y;
double posThetaZ = (double)standardString.pose.pose.orientation.z;
double posThetaW = (double)standardString.pose.pose.orientation.w;
double posTheta = (double)2 * Math.Atan2(posThetaZ, posThetaW);
properties.pose.Position = new Point(posX, posY);
properties.pose.AngleW = posTheta;
}
public void zoneCheckerHandler(Communication.Message message) // request order to go docking line or putaway line
{
StandardString standardString = (StandardString)message;
String road = standardString.data;
dynamic stuff = JObject.Parse(road);
robotInfo.atRoadName = (String)stuff.zone;
//robotInfo.atRoadName = road;
Console.WriteLine(robotInfo.atRoadName);
switch (robotInfo.atRoadName)
{
case CommandSetsToRobotAgent.ZONE_HANDLER_INSIDEREADY:
statusFlag.atReadyArea = true;
break;
case CommandSetsToRobotAgent.ZONE_HANDLER_CHECKOUT_DOCKING:
try
{
this.orderTask.ReleaseDockingOrder(this.AreaID.ToString(), this.orderInfo.stationNameID, this.orderInfo.lineIndex, this.orderInfo.palletIndex);
}
catch
{
Console.WriteLine("Error call ReleaseDockingOrder");
}
break;
case CommandSetsToRobotAgent.ZONE_HANDLER_CHECKOUT_PUTAWAY:
try
{
this.orderTask.ReleasePutAwayOrder(this.AreaID.ToString(), this.orderInfo.stationNameID, this.orderInfo.lineIndex, this.orderInfo.palletIndex);
}
catch
{
Console.WriteLine("Error call ReleasePutAwayOrder");
}
break;
}
}
static void Main(string[] args)
{
SetInfo();
if (!ProcessingMessage.Connecting())
{
Environment.Exit(1);
}
while (true)
{
var messageRead = ProcessingMessage._queueReceive.Receive();
Communication.Message message = (Communication.Message)messageRead.Body;
foreach (var item in ProcessingMessage._messageHandler)
{
if (item.Key == message.TypeMessage)
{
item.Value.DynamicInvoke(message);
}
}
}
}
private void batteryRegisterHandler(Communication.Message message)
{
}
private void driveRobotStatusHandler(Communication.Message message)
{
}
private void ctrlRobotHardwareStatusHandler(Communication.Message message)
{
StandardString standardString = (StandardString)message;
string row = standardString.data;
}
private void testHandler(Communication.Message message)
{
StandardString standardString = (StandardString)message;
System.Windows.MessageBox.Show(standardString.data);
}
private void robotInfoHandler(Communication.Message message)
{
GeometryPoseWithCovarianceStamped standardString = (GeometryPoseWithCovarianceStamped)message;
updateRobotInfo(standardString.pose);
}
private void requestPutAwayAreaHandler(Communication.Message message)
{
}
private void emergencyRobotHandler(Communication.Message message)
{
}
private void subscriptionHandler(Communication.Message message)
{
StandardString standardString = (StandardString)message;
dynamic data = JObject.Parse(standardString.data);
int NOL = Convert.ToInt32(data.NOL);
int NOPPL = Convert.ToInt32(data.NOPPL);
props.cam.numLs = NOL;
props.cam.numPsPL = NOPPL;
props.cam.ip = data.CAMIP;
props.cam.port = data.CAMPORT;
props.cam.id = Convert.ToInt32(data.CAMID);
List <bool> palletStatusArray = new List <bool>(NOL * NOPPL);
if (props.cam.lineArray == null)
{
props.cam.lineArray = new SortedDictionary <String, LineInfo>();
}
for (int lineIndex = 0; lineIndex < NOL; lineIndex++)
{
String line = "L" + lineIndex;
LineInfo lineInfo = new LineInfo();
lineInfo.palletArray = new SortedDictionary <string, string>();
bool first = true;
for (int palletIndex = 0; palletIndex < NOPPL; palletIndex++)
{
String pallet = "PL" + palletIndex;
String[] palletStatus = ((String)data[line][pallet]).Split('-');
lineInfo.palletArray.Add(palletIndex.ToString(), palletStatus[0]);
palletStatusArray.Add((palletStatus[0] == "yes") ? true : false);
if (!((palletStatus[1] == ("available") || palletStatus[1] == ("detected")) &&
(palletStatus[2] == "stable")))
{
if (first == true)
{
lineInfo.valid = false;
lineInfo.palletWarning = palletIndex.ToString();
first = false;
}
}
}
if (!props.cam.lineArray.ContainsKey(lineIndex.ToString()))
{
//NEW
props.cam.lineArray.Add(lineIndex.ToString(), lineInfo);
props.palletStatusArray = palletStatusArray;
props.cam.valid = false;
}
else
{
//UPDATE
props.cam.lineArray[lineIndex.ToString()].palletArray = lineInfo.palletArray;
props.cam.lineArray[lineIndex.ToString()].valid = lineInfo.valid;
if (lineInfo.palletWarning != "none")
{
props.cam.lineArray[lineIndex.ToString()].palletWarning = lineInfo.palletWarning;
}
props.palletStatusArray = palletStatusArray;
props.cam.valid = false;
}
}
props.cam.valid = true;
if (RegistrationAgent.areaList.Count != 0)
{
RegistrationAgent.areaList[props.cam.area].ProcessStation(props.typeName, props.NameID);
}
}
private void FinishedStatesHandler(Communication.Message message)
{
}
private void trafficInfoResponseHandler(Communication.Message message)
{
StandardString standardString = (StandardString)message;
String data = standardString.data;
}
private void multirulestoserverHandler(Communication.Message message)
{
StandardString standardString = (StandardString)message;
String data = standardString.data;
}
private void finishedStatesHandler(Communication.Message message)
{
StandardInt32 standardInt32 = (StandardInt32)message;
processFinishStates(standardInt32.data);
}
private void subscriptionHandler(Communication.Message message)
{
StandardString standardstring = (StandardString)message;
dynamic data = JObject.Parse(standardstring.data);
int no_lines = Convert.ToInt32(data.NOL);
int no_pallets_per_line = Convert.ToInt32(data.NOPPL);
properties.camera.no_lines = no_lines;
properties.camera.no_pallet_per_lines = no_pallets_per_line;
properties.camera.ip = data.CAMIP;
properties.camera.port = data.CAMPORT;
properties.camera.id = Convert.ToInt32(data.CAMID);
List <bool> palletStatusArray = new List <bool>(no_lines * no_pallets_per_line);
if (properties.camera.lines_detail == null)
{
properties.camera.lines_detail = new SortedDictionary <string, LineDetail>();
}
for (int lineIndex = 0; lineIndex < no_lines; lineIndex++)
{
string line = "L" + lineIndex;
LineDetail lineDetail = new LineDetail();
//lineDetail.pallets_detail = new SortedDictionary<string, string>();
bool first = true;
for (int palletIndex = 0; palletIndex < no_pallets_per_line; palletIndex++)
{
string pallet = "PL" + palletIndex;
string[] palletStatus = ((string)data[line][pallet]).Split('-');
lineDetail.pallets_detail.Add(palletIndex.ToString(), palletStatus[0]);
palletStatusArray.Add((palletStatus[0] == "yes") ? true : false);
if (!((palletStatus[1] == ("available") || palletStatus[1] == ("detected")) &&
(palletStatus[2] == "stable")))
{
if (first == true)
{
lineDetail.valid = false;
lineDetail.palletWarning = palletIndex.ToString();
first = false;
}
}
}
if (!properties.camera.lines_detail.ContainsKey(lineIndex.ToString()))
{
//NEW
properties.camera.lines_detail.Add(lineIndex.ToString(), lineDetail);
properties.pallets_status = palletStatusArray;
properties.camera.valid = false;
}
else
{
//UPDATE
properties.camera.lines_detail[lineIndex.ToString()].pallets_detail = lineDetail.pallets_detail;
properties.camera.lines_detail[lineIndex.ToString()].valid = lineDetail.valid;
if (lineDetail.palletWarning != "none")
{
properties.camera.lines_detail[lineIndex.ToString()].palletWarning = lineDetail.palletWarning;
}
properties.pallets_status = palletStatusArray;
properties.camera.valid = false;
}
}
properties.camera.valid = true;
if (RegistrationAgent.areaList.Count != 0)
{
RegistrationAgent.areaList[properties.camera.area].ProcessStation(properties.typeName, properties.stationNameID);
}
}
