public void StartNewTask()
{
//Check if a new task can be started
if (thePalletCrane.CurrentHalfCycle == null && taskList.Count > 0)
{
PalletCraneTask selectedTask = null;
foreach (var task in taskList)
{
if (thePalletCrane.DropStationAvailable || task.TaskType != PalletCraneTaskType.Retrieval)
{
selectedTask = task;
break;
}
}
if (selectedTask != null)
{
if (selectedTask != taskList[0]) //Move the selected task to the top of the list, then this becomes the current task
{
taskList.Remove(selectedTask);
taskList.Insert(0, selectedTask);
}
thePalletCrane.StartPalletCraneHalfCycle(taskList[0].HalfCycles[0]);
}
}
}
public void StartTransportTelegramReceived(string[] telegramFields)
{
//Create palletCrane tasklist from message
PalletCraneTask newTask = new PalletCraneTask(new List <object> {
telegramFields
}); //Convert telegram to TelegramData
//is it a storage, retreival, relocation or reject task type
string source = telegramFields.GetFieldValue(TelegramFields.source);
string destination = telegramFields.GetFieldValue(TelegramFields.destination);
newTask.TaskType = GetTaskType(source, destination);
if (newTask.TaskType == PalletCraneTaskType.Storage || newTask.TaskType == PalletCraneTaskType.Reject) //Store 1 in the racking from pick station
{
var pallet = thePalletCrane.PickStationPallet(source) as ATCEuroPallet;
//This will only work if the pick station is on the RHS of the PalletCrane, Pickstation MergeSide set as left
if (pallet == null || pallet.TUIdent != telegramFields.GetFieldValue(TelegramFields.tuIdent))
{
Log.Write(string.Format("PalletCrane {0}: Loads at pick station and 'StartTransportTelegram' from ATC do not match, telegram ignored", thePalletCrane.Name));
return;
}
controller.UpDateLoadParameters(telegramFields, pallet);
//Create the palletCrane half cycles
float x, y;
thePalletCrane.GetPickStationLocation(source, out x, out y);
var pickFromPs = new PalletCraneHalfCycle //Pick from pick station
{
Cycle = PalletCraneCycle.PickPS,
TuIdent = pallet.TUIdent,
Length = x - thePalletCrane.LHDWidth / 2,
Height = y,
StationName = source
};
newTask.HalfCycles.Add(pickFromPs);
if (newTask.TaskType == PalletCraneTaskType.Storage)
{
var palletDrop = new PalletCraneHalfCycle //Drop the load in the racking
{
Cycle = PalletCraneCycle.DropRack,
Lhd = 1,
Length = GetXLoc(telegramFields, pallet),
Height = GetYLoc(telegramFields, pallet),
Depth = GetDepth(telegramFields, pallet),
RackSide = GetSide(telegramFields, pallet),
};
newTask.HalfCycles.Add(palletDrop);
}
else if (newTask.TaskType == PalletCraneTaskType.Reject)
{
thePalletCrane.GetDropStationLocation(destination, out x, out y);
var dropToDs = new PalletCraneHalfCycle //Drop to the drop Station
{
Cycle = PalletCraneCycle.DropDS,
TuIdent = pallet.TUIdent,
Length = x - thePalletCrane.LHDWidth / 2,
Height = y,
StationName = destination
};
newTask.HalfCycles.Add(dropToDs);
}
}
else if (newTask.TaskType == PalletCraneTaskType.Retrieval || newTask.TaskType == PalletCraneTaskType.Relocation)
{
//Create the palletCrane half cycles
var palletData = controller.CreateATCPalletData(telegramFields);
string loadSource = telegramFields.GetFieldValue(TelegramFields.source);
string loadTuIdent = telegramFields.GetFieldValue(TelegramFields.tuIdent);
string loadDestination = telegramFields.GetFieldValue(TelegramFields.destination);
int lhd = 1;
PalletCraneHalfCycle loadPick = new PalletCraneHalfCycle
{
Cycle = PalletCraneCycle.PickRack,
Lhd = lhd,
Length = GetXLoc(loadSource),
Height = GetYLoc(loadSource),
Depth = GetDepth(loadSource),
RackSide = GetSide(loadSource),
TuIdent = loadTuIdent,
PalletData = palletData
};
newTask.HalfCycles.Add(loadPick);
if (newTask.TaskType == PalletCraneTaskType.Retrieval)
{
float x, y;
thePalletCrane.GetDropStationLocation(destination, out x, out y);
var dropToDs = new PalletCraneHalfCycle //Drop to the drop Station
{
Cycle = PalletCraneCycle.DropDS,
TuIdent = loadTuIdent,
Length = x - thePalletCrane.LHDWidth / 2,
Height = y,
StationName = destination
};
newTask.HalfCycles.Add(dropToDs);
}
else if (newTask.TaskType == PalletCraneTaskType.Relocation)
{
var loadDrop = new PalletCraneHalfCycle
{
Cycle = PalletCraneCycle.DropRack,
Lhd = lhd,
Length = GetXLoc(loadDestination),
Height = GetYLoc(loadDestination),
Depth = GetDepth(loadDestination),
RackSide = GetSide(loadDestination),
TuIdent = loadTuIdent,
PalletData = palletData
};
newTask.HalfCycles.Add(loadDrop);
}
}
AddNewTasks(newTask);
}
void AddNewTasks(PalletCraneTask newTask)
{
//If the crane isn't doing anything then start the new task
taskList.Add(newTask);
StartNewTask();
}
