public void Register(ProcedureItemSelected ProcedureItem, RobotUnity robot, OrderItem orderItem) { CleanUp(); switch (ProcedureItem) { case ProcedureItemSelected.PROCEDURE_FORLIFT_TO_BUFFER: { ProcedureForkLiftToBuffer procfb = new ProcedureForkLiftToBuffer(robot, doorService, trafficService); procfb.Registry(deviceService); ProcedureDataItems profbDataItems = new ProcedureDataItems(); profbDataItems.StartTaskTime = DateTime.Now; RegisterProcedureItem itemprocfb = new RegisterProcedureItem() { item = procfb, robot = robot, procedureDataItems = profbDataItems }; procfb.ReleaseProcedureHandler += ReleaseProcedureItemHandler; procfb.ErrorProcedureHandler += ErrorApprearInProcedureItem; //RegisterProcedureItemList.Add (itemprocfb); procfb.AssignAnOrder(orderItem); robot.proRegistryInRobot.pFB = procfb; robot.ProcedureRobotAssigned = ProcedureControlAssign.PRO_FORKLIFT_TO_BUFFER; procfb.Registry(robotManagementService); procfb.Start(); break; } case ProcedureItemSelected.PROCEDURE_BUFFER_TO_MACHINE: ProcedureBufferToMachine procbm = new ProcedureBufferToMachine(robot, trafficService); procbm.Registry(deviceService); ProcedureDataItems prcobmDataItems = new ProcedureDataItems(); prcobmDataItems.StartTaskTime = DateTime.Now; RegisterProcedureItem itemprocbm = new RegisterProcedureItem() { item = procbm, robot = robot, procedureDataItems = prcobmDataItems }; procbm.ReleaseProcedureHandler += ReleaseProcedureItemHandler; procbm.ErrorProcedureHandler += ErrorApprearInProcedureItem; //RegisterProcedureItemList.Add (itemprocbm); procbm.AssignAnOrder(orderItem); robot.proRegistryInRobot.pBM = procbm; robot.ProcedureRobotAssigned = ProcedureControlAssign.PRO_BUFFER_TO_MACHINE; procbm.Registry(robotManagementService); procbm.Start(); break; case ProcedureItemSelected.PROCEDURE_BUFFER_TO_RETURN: ProcedureBufferToReturn procbr = new ProcedureBufferToReturn(robot, trafficService); ProcedureDataItems prcobrDataItems = new ProcedureDataItems(); prcobrDataItems.StartTaskTime = DateTime.Now; RegisterProcedureItem itemprocbr = new RegisterProcedureItem() { item = procbr, robot = robot, procedureDataItems = prcobrDataItems }; procbr.ReleaseProcedureHandler += ReleaseProcedureItemHandler; procbr.ErrorProcedureHandler += ErrorApprearInProcedureItem; // RegisterProcedureItemList.Add (itemprocbr); procbr.AssignAnOrder(orderItem); robot.proRegistryInRobot.pBR = procbr; robot.ProcedureRobotAssigned = ProcedureControlAssign.PRO_BUFFER_TO_RETURN; procbr.Registry(robotManagementService); procbr.Start(); break; case ProcedureItemSelected.PROCEDURE_PALLETEMPTY_MACHINE_TO_RETURN: ProcedureMachineToReturn procmr = new ProcedureMachineToReturn(robot, trafficService); ProcedureDataItems prcomrDataItems = new ProcedureDataItems(); prcomrDataItems.StartTaskTime = DateTime.Now; RegisterProcedureItem itemprocmr = new RegisterProcedureItem() { item = procmr, robot = robot, procedureDataItems = prcomrDataItems }; procmr.ReleaseProcedureHandler += ReleaseProcedureItemHandler; procmr.ErrorProcedureHandler += ErrorApprearInProcedureItem; //RegisterProcedureItemList.Add (itemprocmr); procmr.AssignAnOrder(orderItem); robot.proRegistryInRobot.pMR = procmr; robot.ProcedureRobotAssigned = ProcedureControlAssign.PRO_MACHINE_TO_RETURN; procmr.Registry(robotManagementService); procmr.Start(); break; case ProcedureItemSelected.PROCEDURE_RETURN_TO_GATE: ProcedureReturnToGate procrg = new ProcedureReturnToGate(robot, doorService, trafficService); ProcedureDataItems prorgDataItems = new ProcedureDataItems(); prorgDataItems.StartTaskTime = DateTime.Now; RegisterProcedureItem itemprocrg = new RegisterProcedureItem() { item = procrg, robot = robot, procedureDataItems = prorgDataItems }; procrg.ReleaseProcedureHandler += ReleaseProcedureItemHandler; procrg.ErrorProcedureHandler += ErrorApprearInProcedureItem; // RegisterProcedureItemList.Add (itemprocrg); procrg.AssignAnOrder(orderItem); procrg.Registry(robotManagementService); procrg.Start(); break; case ProcedureItemSelected.PROCEDURE_ROBOT_TO_CHARGE: ProcedureRobotToCharger procrc = new ProcedureRobotToCharger(robot, chargerService, robot.properties.ChargeID); ProcedureDataItems procrcDataItems = new ProcedureDataItems(); procrcDataItems.StartTaskTime = DateTime.Now; RegisterProcedureItem itemprocrc = new RegisterProcedureItem() { item = procrc, robot = robot, procedureDataItems = procrcDataItems }; procrc.ReleaseProcedureHandler += ReleaseProcedureItemHandler; procrc.ErrorProcedureHandler += ErrorApprearInProcedureItem; // RegisterProcedureItemList.Add (itemprocrc); robot.proRegistryInRobot.pRC = procrc; robot.ProcedureRobotAssigned = ProcedureControlAssign.PRO_CHARGE; procrc.Start(); break; case ProcedureItemSelected.PROCEDURE_ROBOT_TO_READY: robot.ShowText(robot.properties.Label + "Add PROCEDURE_ROBOT_TO_READY ----------(--___--)---------------"); ProcedureRobotToReady procrr = new ProcedureRobotToReady(robot, robot.properties.ChargeID, trafficService, chargerService, null); ProcedureDataItems procrrDataItems = new ProcedureDataItems(); procrrDataItems.StartTaskTime = DateTime.Now; RegisterProcedureItem itemprocrr = new RegisterProcedureItem() { item = procrr, robot = robot, procedureDataItems = procrrDataItems }; procrr.ReleaseProcedureHandler += ReleaseProcedureItemHandler; procrr.ErrorProcedureHandler += ErrorApprearInProcedureItem; // RegisterProcedureItemList.Add (itemprocrr); robot.proRegistryInRobot.pRR = procrr; robot.ProcedureRobotAssigned = ProcedureControlAssign.PRO_READY; procrr.Registry(deviceService); procrr.Registry(robotManagementService); procrr.Registry(assigmentTask); procrr.Start(); break; case ProcedureItemSelected.PROCEDURE_ROBOT_READY_TO_READY: ProcedureRobotToReady procRrr = new ProcedureRobotToReady(robot, robot.properties.ChargeID, trafficService, chargerService, doorService.DoorMezzamineUp.config.PointCheckInGate); ProcedureDataItems procRrrDataItems = new ProcedureDataItems(); procRrrDataItems.StartTaskTime = DateTime.Now; RegisterProcedureItem itemprocRrr = new RegisterProcedureItem() { item = procRrr, robot = robot, procedureDataItems = procRrrDataItems }; procRrr.ReleaseProcedureHandler += ReleaseProcedureItemHandler; procRrr.ErrorProcedureHandler += ErrorApprearInProcedureItem; // RegisterProcedureItemList.Add(itemprocRrr); robot.proRegistryInRobot.pRR = procRrr; robot.ProcedureRobotAssigned = ProcedureControlAssign.PRO_READY; procRrr.Registry(robotManagementService); procRrr.Start(); break; case ProcedureItemSelected.PROCEDURE_FORLIFT_TO_MACHINE: ProcedureForkLiftToMachine procfm = new ProcedureForkLiftToMachine(robot, doorService, trafficService); ProcedureDataItems profmDataItems = new ProcedureDataItems(); profmDataItems.StartTaskTime = DateTime.Now; RegisterProcedureItem itemprocfm = new RegisterProcedureItem() { item = procfm, robot = robot, procedureDataItems = profmDataItems }; procfm.ReleaseProcedureHandler += ReleaseProcedureItemHandler; procfm.ErrorProcedureHandler += ErrorApprearInProcedureItem; //RegisterProcedureItemList.Add(itemprocfm); procfm.AssignAnOrder(orderItem); robot.proRegistryInRobot.pFM = procfm; robot.ProcedureRobotAssigned = ProcedureControlAssign.PRO_FORKLIFT_TO_MACHINE; procfm.Registry(robotManagementService); procfm.Start(); break; case ProcedureItemSelected.PROCEDURE_BUFFER_TO_BUFFER: ProcedureBufferReturnToBuffer401 procbb = new ProcedureBufferReturnToBuffer401(robot, trafficService); ProcedureDataItems prcobbDataItems = new ProcedureDataItems(); prcobbDataItems.StartTaskTime = DateTime.Now; RegisterProcedureItem itemprocbb = new RegisterProcedureItem() { item = procbb, robot = robot, procedureDataItems = prcobbDataItems }; procbb.ReleaseProcedureHandler += ReleaseProcedureItemHandler; procbb.ErrorProcedureHandler += ErrorApprearInProcedureItem; // RegisterProcedureItemList.Add (itemprocbr); procbb.AssignAnOrder(orderItem); robot.proRegistryInRobot.pBB = procbb; robot.ProcedureRobotAssigned = ProcedureControlAssign.PRO_BUFFER_TO_BUFFER; procbb.Registry(robotManagementService); procbb.Start(); break; case ProcedureItemSelected.PROCEDURE_BUFFER_TO_GATE: ProcedureBufferToGate procbg = new ProcedureBufferToGate(robot, doorService, trafficService); ProcedureDataItems probgDataItems = new ProcedureDataItems(); probgDataItems.StartTaskTime = DateTime.Now; RegisterProcedureItem itemprocbg = new RegisterProcedureItem() { item = procbg, robot = robot, procedureDataItems = probgDataItems }; procbg.ReleaseProcedureHandler += ReleaseProcedureItemHandler; procbg.ErrorProcedureHandler += ErrorApprearInProcedureItem; // RegisterProcedureItemList.Add (itemprocrg); procbg.AssignAnOrder(orderItem); robot.proRegistryInRobot.pBG = procbg; robot.ProcedureRobotAssigned = ProcedureControlAssign.PRO_BUFFER_TO_GATE; procbg.Registry(robotManagementService); procbg.Start(); break; case ProcedureItemSelected.PROCEDURE_MACHINE_TO_GATE: ProcedureMachineToGate procmg = new ProcedureMachineToGate(robot, doorService, trafficService); ProcedureDataItems promgDataItems = new ProcedureDataItems(); promgDataItems.StartTaskTime = DateTime.Now; RegisterProcedureItem itemprocmg = new RegisterProcedureItem() { item = procmg, robot = robot, procedureDataItems = promgDataItems }; procmg.ReleaseProcedureHandler += ReleaseProcedureItemHandler; procmg.ErrorProcedureHandler += ErrorApprearInProcedureItem; // RegisterProcedureItemList.Add (itemprocrg); procmg.AssignAnOrder(orderItem); robot.proRegistryInRobot.pMG = procmg; robot.ProcedureRobotAssigned = ProcedureControlAssign.PRO_MACHINE_TO_GATE; procmg.Start(); break; case ProcedureItemSelected.PROCEDURE_MACHINE_TO_BUFFER_RETURN: ProcedureMachineToBufferReturn procmbr = new ProcedureMachineToBufferReturn(robot, trafficService); ProcedureDataItems prombrDataItems = new ProcedureDataItems(); prombrDataItems.StartTaskTime = DateTime.Now; RegisterProcedureItem itemprocmbr = new RegisterProcedureItem() { item = procmbr, robot = robot, procedureDataItems = prombrDataItems }; procmbr.ReleaseProcedureHandler += ReleaseProcedureItemHandler; procmbr.ErrorProcedureHandler += ErrorApprearInProcedureItem; // RegisterProcedureItemList.Add (itemprocrg); procmbr.AssignAnOrder(orderItem); robot.proRegistryInRobot.pMBR = procmbr; robot.ProcedureRobotAssigned = ProcedureControlAssign.PRO_MACHINE_TO_BUFFER_RETURN; procmbr.Registry(robotManagementService); procmbr.Start(); break; } }
public void Procedure(object ojb) { ProcedureBufferToMachine BfToMa = (ProcedureBufferToMachine)ojb; RobotUnity rb = BfToMa.robot; // DataBufferToMachine p = BfToMa.points; TrafficManagementService Traffic = BfToMa.Traffic; robot.ShowText(" Start -> " + procedureCode); //GetFrontLineBuffer(false); // ProRun = false; rb.mcuCtrl.lampRbOn(); /* frontLinePose = BfToMa.GetFrontLineBuffer(); * if (frontLinePose == null) * { * robot.bayId = -1; * TrafficRountineConstants.ReleaseAll(robot); * robot.bayId = -1; * robot.bayIdReg = false; * robot.orderItem = null; * robot.SwitchToDetectLine(false); * if (Traffic.RobotIsInArea("READY", robot.properties.pose.Position)) * { * TrafficRountineConstants.RegIntZone_READY.Release(robot); * robot.robotTag = RobotStatus.IDLE; * robot.SetSafeYellowcircle(false); * robot.SetSafeBluecircle(false); * robot.SetSafeSmallcircle(false); * robot.TurnOnSupervisorTraffic(false); * // rb.mcuCtrl.lampRbOff(); * procedureCode = ProcedureCode.PROC_CODE_ROBOT_TO_READY; * } * else * procedureCode = ProcedureCode.PROC_CODE_BUFFER_TO_MACHINE; * ReleaseProcedureHandler(this); * ProRun = false; * UpdateInformationInProc(this, ProcessStatus.S); * order.status = StatusOrderResponseCode.ERROR_GET_FRONTLINE; * order.endTimeProcedure = DateTime.Now; * order.totalTimeProcedure = order.endTimeProcedure.Subtract(order.startTimeProcedure).TotalMinutes; * SaveOrderItem(order); * KillEvent(); * } * else * { * order.frontLinePos = frontLinePose.Position; * robot.bayId = bayId; * }*/ while (ProRun) { switch (StateBufferToMachine) { case BufferToMachine.BUFMAC_IDLE: //robot.ShowText("BUFMAC_IDLE"); break; case BufferToMachine.BUFMAC_GET_FRONTLINE: frontLinePose = BfToMa.GetFrontLineBuffer(); if (frontLinePose == null) { if (countFrontLineNull++ < 10) { break; } countFrontLineNull = 0; robot.bayId = -1; TrafficRountineConstants.ReleaseAll(robot); robot.bayId = -1; robot.bayIdReg = false; robot.orderItem = null; robot.SwitchToDetectLine(false); if (Traffic.RobotIsInArea("READY", robot.properties.pose.Position)) { TrafficRountineConstants.RegIntZone_READY.Release(robot); robot.robotTag = RobotStatus.IDLE; robot.SetSafeYellowcircle(false); robot.SetSafeBluecircle(false); robot.SetSafeSmallcircle(false); robot.TurnOnSupervisorTraffic(false); // rb.mcuCtrl.lampRbOff(); procedureCode = ProcedureCode.PROC_CODE_ROBOT_TO_READY; } else { procedureCode = ProcedureCode.PROC_CODE_BUFFER_TO_MACHINE; } ReleaseProcedureHandler(this); ProRun = false; UpdateInformationInProc(this, ProcessStatus.S); order.status = StatusOrderResponseCode.ERROR_GET_FRONTLINE; order.endTimeProcedure = DateTime.Now; order.totalTimeProcedure = order.endTimeProcedure.Subtract(order.startTimeProcedure).TotalMinutes; SaveOrderItem(order); KillEvent(); } else { order.frontLinePos = frontLinePose.Position; robot.bayId = bayId; StateBufferToMachine = BufferToMachine.BUFMAC_SELECT_BEHAVIOR_ONZONE; } //robot.ShowText("BUFMAC_IDLE"); break; case BufferToMachine.BUFMAC_SELECT_BEHAVIOR_ONZONE: if (Traffic.RobotIsInArea("READY", robot.properties.pose.Position, TypeZone.OPZS)) { if (rb.PreProcedureAs == ProcedureControlAssign.PRO_READY) { StateBufferToMachine = BufferToMachine.BUFMAC_ROBOT_GOTO_BACK_FRONTLINE_READY; //robot.ShowText("BUFMAC_SELECT_BEHAVIOR_ONZONE : READY"); //robot.ShowText("CHECK - REG"); } } else if (Traffic.RobotIsInArea("GATE", robot.properties.pose.Position, TypeZone.MAIN_ZONE)) { StateBufferToMachine = BufferToMachine.BUFMAC_ROBOT_WAITTING_CAME_FRONTLINE_BUFFER; } else //if (Traffic.RobotIsInArea("OUTER", robot.properties.pose.Position,TypeZone.MAIN_ZONE)) { Point destPos1 = frontLinePose.Position; String destName1 = Traffic.DetermineArea(destPos1, TypeZone.MAIN_ZONE); if (rb.SendPoseStamped(frontLinePose)) { StateBufferToMachine = BufferToMachine.BUFMAC_ROBOT_WAITTING_CAME_FRONTLINE_BUFFER; registryRobotJourney.startPlaceName = Traffic.DetermineArea(robot.properties.pose.Position, TypeZone.OPZS); registryRobotJourney.startPoint = robot.properties.pose.Position; registryRobotJourney.endPoint = destPos1; //robot.ShowText("BUFMAC_ROBOT_WAITTING_CAME_FRONTLINE_BUFFER"); } } break; case BufferToMachine.BUFMAC_ROBOT_GOTO_BACK_FRONTLINE_READY: if (Traffic.HasOtherRobotUnityinArea("GATE", robot)) { break; } if (rb.SendCmdPosPallet(RequestCommandPosPallet.REQUEST_GOBACK_FRONTLINE_TURN_RIGHT)) { Stopwatch sw = new Stopwatch(); sw.Start(); do { robot.onFlagGoBackReady = true; if (resCmd == ResponseCommand.RESPONSE_FINISH_GOBACK_FRONTLINE) { robot.onFlagGoBackReady = false; Point destPos2 = frontLinePose.Position; String destName2 = Traffic.DetermineArea(destPos2, TypeZone.MAIN_ZONE); //robot.ShowText("GO FRONTLINE IN OUTER"); if (rb.SendPoseStamped(frontLinePose)) { resCmd = ResponseCommand.RESPONSE_NONE; StateBufferToMachine = BufferToMachine.BUFMAC_ROBOT_WAITTING_CAME_FRONTLINE_BUFFER; } break; } else if (resCmd == ResponseCommand.RESPONSE_ERROR) { errorCode = ErrorCode.DETECT_LINE_ERROR; CheckUserHandleError(this); break; } if (sw.ElapsedMilliseconds > TIME_OUT_WAIT_GOTO_FRONTLINE) { errorCode = ErrorCode.DETECT_LINE_ERROR; CheckUserHandleError(this); break; } Thread.Sleep(100); } while (ProRunStopW); sw.Stop(); } break; case BufferToMachine.BUFMAC_ROBOT_WAITTING_CAME_FRONTLINE_BUFFER: // nếu chưa đến goal phải check tới vùng c1 // nếu goal nằm trong C1 thì không đăng ký try { if (resCmd == ResponseCommand.RESPONSE_LASER_CAME_POINT) { robot.SwitchToDetectLine(true); resCmd = ResponseCommand.RESPONSE_NONE; //rb.prioritLevel.OnAuthorizedPriorityProcedure = true; StateBufferToMachine = BufferToMachine.BUFMAC_ROBOT_SEND_CMD_PICKUP_PALLET_BUFFER; } else { if (!Traffic.PositionIsInArea(frontLinePose.Position).Equals("C1")) { if (TrafficRountineConstants.DetetectInsideStationCheckMerz(registryRobotJourney)) { break; } } if (TrafficCheckInBuffer(goalFrontLinePos, bayId)) { break; } } } catch (System.Exception) { errorCode = ErrorCode.CAN_NOT_GET_DATA; CheckUserHandleError(this); } break; case BufferToMachine.BUFMAC_ROBOT_SEND_CMD_PICKUP_PALLET_BUFFER: JPallet jPallet_H = BfToMa.GetInfoPallet_H_InBuffer(PistonPalletCtrl.PISTON_PALLET_UP); jPResult = BfToMa.GetInfoOfPalletBuffer_Compare_W_H(PistonPalletCtrl.PISTON_PALLET_UP, jPallet_H); String data = JsonConvert.SerializeObject(jPResult.jInfoPallet); if (rb.SendCmdAreaPallet(data)) { StateBufferToMachine = BufferToMachine.BUFMAC_ROBOT_WAITTING_PICKUP_PALLET_BUFFER; //robot.ShowText("BUFMAC_ROBOT_WAITTING_PICKUP_PALLET_BUFFER"); } break; case BufferToMachine.BUFMAC_ROBOT_WAITTING_PICKUP_PALLET_BUFFER: if (resCmd == ResponseCommand.RESPONSE_LINEDETECT_PALLETUP) { resCmd = ResponseCommand.RESPONSE_NONE; BfToMa.UpdatePalletState(PalletStatus.F, jPResult.palletId, order.planId); //Reset trạng thai W cho pallet_H nếu truoc đó có cây W if (jPResult.jInfoPallet.row < order.palletRow) { BfToMa.UpdatePalletState(PalletStatus.W, order.palletId_H, order.planId); } onUpdatedPalletState = true; StateBufferToMachine = BufferToMachine.BUFMAC_ROBOT_WAITTING_GOBACK_FRONTLINE_BUFFER; //robot.ShowText("BUFMAC_ROBOT_WAITTING_GOBACK_FRONTLINE_BUFFER"); } else if (resCmd == ResponseCommand.RESPONSE_ERROR) { errorCode = ErrorCode.DETECT_LINE_ERROR; CheckUserHandleError(this); } break; case BufferToMachine.BUFMAC_ROBOT_WAITTING_GOBACK_FRONTLINE_BUFFER: // đợi try { if (resCmd == ResponseCommand.RESPONSE_FINISH_GOBACK_FRONTLINE) { robot.bayId = -1; robot.bayIdReg = false; robot.ReleaseWorkingZone(); robot.SwitchToDetectLine(false); resCmd = ResponseCommand.RESPONSE_NONE; StateBufferToMachine = BufferToMachine.BUFMAC_ROBOT_GOTO_FRONTLINE_DROPDOWN_PALLET_SELECT_ZONE; // cập nhật lại điểm xuất phát registryRobotJourney.startPoint = robot.properties.pose.Position; //robot.ShowText("BUFMAC_ROBOT_GOTO_FRONTLINE_DROPDOWN_PALLET"); } else if (resCmd == ResponseCommand.RESPONSE_ERROR) { errorCode = ErrorCode.DETECT_LINE_ERROR; CheckUserHandleError(this); } } catch (System.Exception) { errorCode = ErrorCode.CAN_NOT_GET_DATA; CheckUserHandleError(this); } break; case BufferToMachine.BUFMAC_ROBOT_GOTO_FRONTLINE_DROPDOWN_PALLET_SELECT_ZONE: String startNamePoint = Traffic.DetermineArea(registryRobotJourney.startPoint, TypeZone.MAIN_ZONE); Pose destPos = BfToMa.GetFrontLineMachine(); String destName = Traffic.DetermineArea(destPos.Position, TypeZone.MAIN_ZONE); if (rb.SendPoseStamped(destPos)) { StateBufferToMachine = BufferToMachine.BUFMAC_ROBOT_GOTO_FRONTLINE_DROPDOWN_PALLET; } break; case BufferToMachine.BUFMAC_ROBOT_GOTO_FRONTLINE_DROPDOWN_PALLET: // tai may try { if (resCmd == ResponseCommand.RESPONSE_LASER_CAME_POINT) { robot.SwitchToDetectLine(true); StateBufferToMachine = BufferToMachine.BUFMAC_ROBOT_SEND_CMD_DROPDOWN_PALLET; } } catch (System.Exception) { errorCode = ErrorCode.CAN_NOT_GET_DATA; CheckUserHandleError(this); } break; case BufferToMachine.BUFMAC_ROBOT_SEND_CMD_DROPDOWN_PALLET: if (rb.SendCmdAreaPallet(BfToMa.GetInfoOfPalletMachine(PistonPalletCtrl.PISTON_PALLET_DOWN))) { //rb.prioritLevel.OnAuthorizedPriorityProcedure = true; StateBufferToMachine = BufferToMachine.BUFMAC_ROBOT_WAITTING_DROPDOWN_PALLET; //robot.ShowText("BUFMAC_ROBOT_WAITTING_DROPDOWN_PALLET"); } break; case BufferToMachine.BUFMAC_ROBOT_WAITTING_DROPDOWN_PALLET: if (resCmd == ResponseCommand.RESPONSE_LINEDETECT_PALLETDOWN) { resCmd = ResponseCommand.RESPONSE_NONE; StateBufferToMachine = BufferToMachine.BUFMAC_ROBOT_WAITTING_GOTO_FRONTLINE; //robot.ShowText("BUFMAC_ROBOT_WAITTING_GOTO_FRONTLINE"); } else if (resCmd == ResponseCommand.RESPONSE_ERROR) { errorCode = ErrorCode.DETECT_LINE_ERROR; CheckUserHandleError(this); } break; case BufferToMachine.BUFMAC_ROBOT_WAITTING_GOTO_FRONTLINE: if (resCmd == ResponseCommand.RESPONSE_FINISH_GOBACK_FRONTLINE) { robot.SwitchToDetectLine(false); resCmd = ResponseCommand.RESPONSE_NONE; //rb.prioritLevel.OnAuthorizedPriorityProcedure = false; StateBufferToMachine = BufferToMachine.BUFMAC_ROBOT_RELEASED; //robot.ShowText("BUFMAC_ROBOT_RELEASED"); } else if (resCmd == ResponseCommand.RESPONSE_ERROR) { errorCode = ErrorCode.DETECT_LINE_ERROR; CheckUserHandleError(this); } break; case BufferToMachine.BUFMAC_ROBOT_RELEASED: // trả robot về robotmanagement để nhận quy trình mới TrafficRountineConstants.ReleaseAll(robot); robot.bayId = -1; robot.bayIdReg = false; robot.orderItem = null; robot.SwitchToDetectLine(false); // Release WorkinZone Robot // robot.robotTag = RobotStatus.IDLE; rb.PreProcedureAs = ProcedureControlAssign.PRO_BUFFER_TO_MACHINE; // if (errorCode == ErrorCode.RUN_OK) { ReleaseProcedureHandler(this); // } else { // ErrorProcedureHandler (this); // } ProRun = false; //robot.ShowText("RELEASED"); UpdateInformationInProc(this, ProcessStatus.S); order.status = StatusOrderResponseCode.FINISHED; order.endTimeProcedure = DateTime.Now; order.totalTimeProcedure = order.endTimeProcedure.Subtract(order.startTimeProcedure).TotalMinutes; SaveOrderItem(order); KillEvent(); break; case BufferToMachine.BUFMAC_ROBOT_DESTROY: order.endTimeProcedure = DateTime.Now; order.totalTimeProcedure = order.endTimeProcedure.Subtract(order.startTimeProcedure).TotalMinutes; SaveOrderItem(order); robot.SwitchToDetectLine(false); robot.ReleaseWorkingZone(); // StateBufferToMachine = BufferToMachine.BUFMAC_ROBOT_RELEASED; //robot.prioritLevel.OnAuthorizedPriorityProcedure = false; ProRun = false; UpdateInformationInProc(this, ProcessStatus.F); order.status = StatusOrderResponseCode.ROBOT_ERROR; //reset status pallet Faile H->Ws selectHandleError = SelectHandleError.CASE_ERROR_EXIT; procedureStatus = ProcedureStatus.PROC_KILLED; //FreeHoldBuffer(order.palletId_H); KillEvent(); //this.robot.DestroyRegistrySolvedForm(); break; default: break; } // robot.ShowText("-> " + procedureCode); Thread.Sleep(700); } StateBufferToMachine = BufferToMachine.BUFMAC_IDLE; }