public bool NearestCmd1(SimpleCraneCommand cmd1, SimpleCraneCommand cmd2, FLocation location)
{
FLocation fpos1 = GetLocation(cmd1.Source);
FLocation fpos2 = GetLocation(cmd2.Source);
return((location - fpos1).Distance() <= (location - fpos2).Distance());
}
public override void Strategy()
{
try
{
if (!Warehouse.StrategyActive)
{
return;
}
if (!Strategy1.Crane.Communicator.Online())
{
return;
}
bool remote = Warehouse.SteeringCommands.RemoteMode;
LinkedConveyor lc = null;
Strategy2.PrefferedInput = Strategy1.PrefferedInput;
Strategy1.Command = Strategy1.Crane.Command;
Strategy1.BufferCommand = Strategy1.Crane.BufferCommand;
Strategy2.Command = Strategy2.Crane.Command;
Strategy2.BufferCommand = Strategy2.Crane.BufferCommand;
if (Strategy1.Crane.FastCommand == null)
{
Strategy1.Crane.FastCommand = Warehouse.DBService.FindFirstFastSimpleCraneCommand(Strategy1.Crane.Name, Warehouse.SteeringCommands.AutomaticMode);
}
if (Strategy2.Crane.FastCommand == null)
{
Strategy2.Crane.FastCommand = Warehouse.DBService.FindFirstFastSimpleCraneCommand(Strategy2.Crane.Name, Warehouse.SteeringCommands.AutomaticMode);
}
Strategy1.WriteCommandToPLC(Strategy1.Crane.FastCommand, true);
Strategy2.WriteCommandToPLC(Strategy2.Crane.FastCommand, true);
if (!Warehouse.SteeringCommands.Run)
{
return;
}
if ((!Strategy1.Crane.Remote() || Strategy1.Crane.LongTermBlock()))
{
return;
}
if (!Strategy1.Crane.Automatic())
{
return;
}
SimpleCraneCommand c1c = Warehouse.DBService.CheckIfPlaceBlocked(Strategy1.Crane.Name) ? null : Strategy1.GetNewCommand(remote, null);
// SimpleCraneCommand c1b = Strategy1.GetNewCommand(remote);
Strategy2.BannedPlaces.AddRange(Strategy1.BannedPlaces);
SimpleCraneCommand c2c = Warehouse.DBService.CheckIfPlaceBlocked(Strategy2.Crane.Name) ? null : Strategy2.GetNewCommand(remote, c1c);
// SimpleCraneCommand c2b = Strategy2.GetNewCommand(remote);
if (c1c != null && c2c != null && c1c.Task == c2c.Task)
// && ((Strategy1.Crane.Command == null && Strategy2.Crane.Command == null) ||
// (Strategy1.Crane.Command != null && Strategy2.Crane.Command != null)))
{
if (c1c.Task == SimpleCommand.EnumTask.Pick)
{
Strategy1.PrefferedInput = !Strategy1.PrefferedInput;
}
// new both Execute command with same task
bool opposite = false;
FLocation lastloc = null;
if (Strategy1.Crane.Command != null && Strategy2.Crane.Command != null)
{
lastloc = Strategy1.Crane.Command.Command_ID > Strategy2.Crane.Command.ID ? GetLocation(Strategy1.Crane.Command.Source) : GetLocation(Strategy2.Crane.Command.Source);
}
else if (Strategy1.Crane.Command != null)
{
lastloc = GetLocation(Strategy1.Crane.Command.Source);
}
else if (Strategy2.Crane.Command != null)
{
lastloc = GetLocation(Strategy2.Crane.Command.Source);
}
else
{
lastloc = Strategy1.Crane.FLocation;
}
if (c1c != null && c2c != null && c1c.Task == c2c.Task &&
c1c.Source.StartsWith("W") && c2c.Source.StartsWith("W") &&
c1c.Source.Substring(0, c1c.Source.Length - 1) == c2c.Source.Substring(0, c2c.Source.Length - 1))
{
opposite = (c1c.Task == SimpleCommand.EnumTask.Pick && c1c.Source.EndsWith("2") && c2c.Source.EndsWith("1")) ||
(c1c.Task == SimpleCommand.EnumTask.Drop && c1c.Source.EndsWith("1") && c2c.Source.EndsWith("2"));
}
else
{
opposite = (c1c.Task == SimpleCommand.EnumTask.Drop && GetLocation(c1c.Source).X > GetLocation(c2c.Source).X) ||
(c1c.Task == SimpleCommand.EnumTask.Pick && GetLocation(c1c.Source).X < GetLocation(c2c.Source).X);
}
if (!opposite)
{
Strategy1.WriteCommandToPLC(c1c);
Strategy2.WriteCommandToPLC(c2c);
}
else
{
Strategy2.WriteCommandToPLC(c2c);
Strategy1.WriteCommandToPLC(c1c);
}
}
else if (c1c != null && c2c != null && c1c.Task != c2c.Task)
{
// only drop if different comands to be done
if (c1c.Task == SimpleCommand.EnumTask.Drop)
{
Strategy1.WriteCommandToPLC(c1c);
}
else
{
Strategy2.WriteCommandToPLC(c2c);
}
}
else if (c1c != null && (Strategy1.Command == null || Strategy1.Command.Status < SimpleCommand.EnumStatus.Written) && (Strategy2.Command == null || (c1c.Task == Strategy2.Command.Task && c1c.Source.StartsWith("T") && Strategy2.Command.Source.StartsWith("T"))))
{
if (c1c.Task == SimpleCommand.EnumTask.Pick)
{
Strategy1.PrefferedInput = !Strategy1.PrefferedInput;
}
Strategy1.WriteCommandToPLC(c1c);
}
else if (c2c != null && (Strategy2.Command == null || Strategy2.Command.Status < SimpleCommand.EnumStatus.Written) && (Strategy1.Command == null || (c2c.Task == Strategy1.Command.Task && c2c.Source.StartsWith("T") && Strategy1.Command.Source.StartsWith("T"))))
{
if (c2c.Task == SimpleCommand.EnumTask.Pick)
{
Strategy1.PrefferedInput = !Strategy1.PrefferedInput;
}
Strategy2.WriteCommandToPLC(c2c);
}
Strategy1.BannedPlaces.Clear();
Strategy2.BannedPlaces.Clear();
// logic for prefferable double pick
if (Strategy1.PickAction != null && Strategy1.ForcedInput == null)
{
Strategy2.ForcedInput = (lc = LinkedInputConveyors.FirstOrDefault(prop => prop.ConveyorCrane1.Name == Strategy1.PickAction.Source)) != null ? lc.ConveyorCrane2 : null;
}
// logic for prefferable double pick
if (Strategy2.PickAction != null && Strategy2.ForcedInput == null)
{
Strategy1.ForcedInput = (lc = LinkedInputConveyors.FirstOrDefault(prop => prop.ConveyorCrane2.Name == Strategy2.PickAction.Source)) != null ? lc.ConveyorCrane1 : null;
}
}
catch (Exception ex)
{
Warehouse.AddEvent(Event.EnumSeverity.Error, Event.EnumType.Exception, ex.Message);
throw new StrategyDoubleForkCraneException(String.Format("{0} StrategyDoubleForkCrane.Refresh failed", Name));
}
}