// make all nceseary changes after drop command
public void Drop(UInt32 material, string target)
{
try
{
LPosition pos = LPosition.FromString(target);
if (pos.IsWarehouse())
{
Warehouse.DBService.MaterialMove((int)material, Name, target);
Warehouse.OnMaterialMove?.Invoke(new Place {
Material = (int)material, Place1 = target
}, EnumMovementTask.Move);
Place = null;
}
else
{
ConveyorBasic cIO = FindOutConveyor(target) as ConveyorBasic;
Move(material, this, cIO); // this will be done automatically
}
}
catch (Exception ex)
{
Warehouse.AddEvent(Event.EnumSeverity.Error, Event.EnumType.Exception, ex.Message);
throw new CraneException(String.Format("{0} Crane.Drop failed ({1},{2})", Name, material, target));
}
}
// make all neceseary changes after pick command
public void Pick(UInt32 material, string source)
{
try
{
LPosition pos = LPosition.FromString(source);
if (pos.IsWarehouse())
{
Warehouse.DBService.MaterialMove((int)material, source, Name);
Warehouse.OnMaterialMove?.Invoke(new Place {
Material = (int)material, Place1 = Name
}, EnumMovementTask.Move);
Place = Warehouse.DBService.FindPlace(Name);
}
else
{
IConveyorIO cIO = FindInConveyor(source);
Move(material, cIO as ConveyorBasic, this);
}
}
catch (Exception ex)
{
Warehouse.AddEvent(Event.EnumSeverity.Error, Event.EnumType.Exception, ex.Message);
throw new CraneException(String.Format("{0} Crane.Pick failed ({1},{2})", Name, material, source));
}
}
public bool Compatible(string target)
{
try
{
LPosition pos = LPosition.FromString(target);
if (pos.IsWarehouse())
{
if (this is Crane)
{
return((this as Crane).Shelve.Contains((short)pos.Shelve));
}
else
{
return(false);
}
}
else
{
return(this.Name == target);
}
}
catch (Exception ex)
{
Warehouse.AddEvent(Event.EnumSeverity.Error, Event.EnumType.Exception, ex.Message);
throw new CraneException(String.Format("{0} ConveyorJunction failed ({1})", Name, target));
}
}
public FLocation GetLocation(string device)
{
LPosition pos = LPosition.FromString(device);
return(pos.IsWarehouse()
?
new FLocation {
X = 6020 + (pos.Travel - 1) * 1055,
Y = 310 + (pos.Height - 1) * 2458,
Z = 0
}
:
Warehouse.FindConveyorBasic(device).FLocation);
}
private SimpleCraneCommand GetCommandFromOccupiedState(int material, bool automatic)
{
try
{
SimpleCraneCommand res = null;
// check if outbound
var target = Warehouse.DBService.FindFirstCommand(material, automatic);
if (target != null)
{
LPosition position = LPosition.FromString(target.Target);
if (!position.IsWarehouse() || (!Crane.Shelve.Contains((short)position.Shelve)))
{
res = Crane.FindBestOutput(target);
// if (res != null)
// Warehouse.DBService.AddSimpleCommand(res);
}
else
{
// Warehouse.DBService.AddSimpleCommand(
res = new SimpleCraneCommand
{
Unit = Crane.Name,
Command_ID = target.ID,
Material = material,
Task = SimpleCommand.EnumTask.Drop,
Source = target.Target,
Status = SimpleCommand.EnumStatus.NotInDB,
Time = DateTime.Now
}
};
}
return(res);
}
catch (Exception ex)
{
Warehouse.AddEvent(Event.EnumSeverity.Error, Event.EnumType.Exception, ex.Message);
throw new StrategyCraneException(String.Format("{0} GetCommandFromOccupiedState failed ({1})", Name, material));
}
}
public override void CreateAndSendTOTelegram(SimpleCommand cmd)
{
try
{
if (!(cmd is SimpleCraneCommand))
{
throw new CraneException(String.Format("{0} is not SimpleCraneCommand.", cmd.ToString()));
}
SimpleCraneCommand Cmd = cmd as SimpleCraneCommand;
MaterialID matID = null;
if (Cmd.Material.HasValue)
{
matID = Warehouse.DBService.FindMaterialID((int)Cmd.Material, true);
}
LPosition pos = LPosition.FromString(Cmd.Source);
if (!pos.IsWarehouse())
{
if (cmd.Task == SimpleCommand.EnumTask.Pick)
{
pos = FindInConveyor(cmd.Source).CraneAddress;
}
else if (cmd.Task == SimpleCommand.EnumTask.Drop)
{
pos = FindOutConveyor(cmd.Source).CraneAddress;
}
else if (cmd.Task == SimpleCommand.EnumTask.Move)
{
pos = FindInOutConveyor(cmd.Source).CraneAddress;
}
else if (cmd.Task == SimpleCommand.EnumTask.Cancel)
{
pos = CraneAddress;
if (!cmd.CancelID.HasValue)
{
throw new CraneException(String.Format("{0} Parameter null", cmd != null ? cmd.ToString() : "null"));
}
}
else if (cmd.Task >= SimpleCommand.EnumTask.Delete)
{
pos = CraneAddress;
}
}
if (matID == null && cmd.Task != SimpleCommand.EnumTask.Move && cmd.Task != SimpleCommand.EnumTask.Cancel)
{
throw new CraneException(String.Format("Command validity fault ({0})", cmd.ToString()));
}
Communicator.AddSendTelegram(
new Telegrams.TelegramCraneTO
{
Sender = Communicator.MFCS_ID,
Receiver = Communicator.PLC_ID,
MFCS_ID = cmd.ID,
Order = (short)cmd.Task,
Buffer_ID = (cmd.Task != SimpleCommand.EnumTask.Cancel) ? (matID != null ? matID.ID : 0) : cmd.CancelID.Value,
Position = new Telegrams.Position {
R = (short)pos.Shelve, X = (short)pos.Travel, Y = (short)pos.Height, Z = (short)pos.Depth
},
Palette = new Telegrams.Palette {
Barcode = Convert.ToUInt32(matID != null ? matID.ID : 0), Type = (Int16)(matID != null ? matID.Size : 0), Weight = (UInt16)(matID != null ? matID.Weight : 0)
},
ID = PLC_ID
});
cmd.Status = SimpleCommand.EnumStatus.Written;
Warehouse.DBService.UpdateSimpleCommand(cmd);
Warehouse.AddEvent(Event.EnumSeverity.Event, Event.EnumType.Command, cmd.ToString());
// check for blocked locations
LPosition p = LPosition.FromString(cmd.Source);
string frontLoc;
if (p.Shelve > 0 && p.Depth == 2)
{
LPosition pOther = new LPosition {
Shelve = p.Shelve, Travel = p.Travel, Height = p.Height, Depth = 1
};
frontLoc = pOther.ToString();
}
else
{
frontLoc = cmd.Source;
}
if (Warehouse.DBService.FindPlaceID(cmd.Source) != null &&
(Warehouse.DBService.FindPlaceID(cmd.Source).Blocked || Warehouse.DBService.FindPlaceID(frontLoc).Blocked))
{
Warehouse.Segment[Segment].AlarmRequest(0);
Warehouse.AddEvent(Event.EnumSeverity.Error, Event.EnumType.Command, string.Format("Location blocked. Command: {0}", cmd.ToString()));
}
if (cmd.Command_ID.HasValue)
{
Command command = Warehouse.DBService.FindCommandByID(cmd.Command_ID.Value);
if (command == null)
{
throw new ConveyorException($"Command {command.ToString()} null.");
}
if (command.Status < Database.Command.EnumCommandStatus.Active)
{
command.Status = Database.Command.EnumCommandStatus.Active;
Warehouse.DBService.UpdateCommand(command);
Warehouse.OnCommandFinish?.Invoke(command);
}
}
}
catch (Exception ex)
{
Warehouse.AddEvent(Event.EnumSeverity.Error, Event.EnumType.Exception, ex.Message);
throw new CraneException(String.Format("{0} Crane.CreateAndSendTOTelegram failed. ({1})", Name, cmd != null ? cmd.ToString() : "null"));
}
}
public void CreateMaterial(UInt32 material, string place, int?mfcs_id, bool ignoreMaterialExsists, bool ignorePlaceExsists)
{
try
{
SimpleCommand c = null;
DBService.FindMaterialID((int)material, true);
Place pm = DBService.FindMaterial((int)material);
Place pp = DBService.FindPlace(place);
PlaceID pid = DBService.FindPlaceID(place);
//if(pm != null && pm.Place1 == "W:out")
//{
// DBService.MaterialDelete(pm.Place1, (int)material);
// pm = null;
//}
if (!ignoreMaterialExsists && pm != null) // material exists
{
if (mfcs_id.HasValue)
{
Command cmd = DBService.FindCommandByID(mfcs_id.Value);
cmd.Reason = Command.EnumCommandReason.MFCS;
cmd.Status = Command.EnumCommandStatus.Canceled;
DBService.UpdateCommand(cmd);
OnCommandFinish?.Invoke(cmd);
}
}
else if (!ignorePlaceExsists && pp != null && pid.Size != 999) // place is full
{
if (mfcs_id.HasValue)
{
Command cmd = DBService.FindCommandByID(mfcs_id.Value);
cmd.Reason = Command.EnumCommandReason.LocationFull;
cmd.Status = Command.EnumCommandStatus.Canceled;
DBService.UpdateCommand(cmd);
OnCommandFinish?.Invoke(cmd);
}
}
else
{
LPosition loc = LPosition.FromString(place);
if (!loc.IsWarehouse())
{
ConveyorBasic cb = FindConveyorBasic(place);
if (cb is Conveyor)
{
DBService.AddSimpleCommand(c = new SimpleConveyorCommand
{
Command_ID = mfcs_id,
Material = (int)material,
Source = place,
Status = SimpleCommand.EnumStatus.NotActive,
Target = place,
Task = SimpleCommand.EnumTask.Create,
Time = DateTime.Now
});
}
else if (cb is Crane)
{
DBService.AddSimpleCommand(c = new SimpleCraneCommand
{
Command_ID = mfcs_id,
Material = (int)material,
Source = place,
Status = SimpleCommand.EnumStatus.NotActive,
Task = SimpleCommand.EnumTask.Create,
Time = DateTime.Now,
Unit = cb.Name
});
}
}
else
{
DBService.MaterialCreate(place, (int)material, true);
OnMaterialMove?.Invoke(new Place {
Place1 = place, Material = (int)material
}, EnumMovementTask.Create);
if (mfcs_id.HasValue)
{
Command cmd = DBService.FindCommandByID(mfcs_id.Value);
cmd.Status = Command.EnumCommandStatus.Finished;
DBService.UpdateCommand(cmd);
OnCommandFinish?.Invoke(cmd);
}
}
}
}
catch (Exception ex)
{
AddEvent(Event.EnumSeverity.Error, Event.EnumType.Exception, String.Format("BasicWarehouse.CreateMaterial material({0}),place({1}) failed. Reason :{2}", material, place, ex.Message));
}
}