public bool setForkCtrl(ForkLift fl, int ctrl)
{
string cmd = "cmd=pause;pauseStat=" + ctrl;
int times = 0;
while (times < 3)
{
try
{
fl.tcpClient.SendMessage(cmd);
break;
}
catch
{
Message message = new Message();
message.setMessageType(AGVMESSAGE_TYPE_T.AGVMESSAGE_SENDPAUSE_ERR);
message.setMessageStr("发送中断错误");
AGVInitialize.getInitialize().getAGVMessage().setMessage(message);
}
times++;
}
Console.WriteLine("setForkCtrl forklift " + fl.id + "cmd = " + cmd);
AGVLog.WriteInfo("setForkCtrl forklift " + fl.id + "cmd = " + cmd, new StackFrame(true));
return(true);
}
/// <summary>
/// 发送任务
/// </summary>
/// <param name="tr"></param>
/// <param name="fl"></param>
public int sendTask(TaskRecord tr, ForkLift fl)
{
string cmd = null;
int result = 0;
Console.WriteLine("ready to send task: " + tr.singleTask.taskName + "forklist stat:" + fl.taskStep + "forklift finished:" + fl.finishStatus);
cmd = "cmd=set task by name;name=" + tr.taskRecordName; //发送命令格式，如果有多个对应值用;隔开，如果后面没有命令了，不需要再加;号
Console.WriteLine("send msg :" + cmd + "to " + fl.forklift_number);
lock (fl.tcpClient.clientLock)
{
try
{
fl.tcpClient.SendMessage(cmd); //确保发送成功
tr.taskRecordStat = TASKSTAT_T.TASK_SEND;
tr.singleTask.taskStat = TASKSTAT_T.TASK_SEND;
AGVInitialize.getInitialize().getMainFrm().updateFrm(); //设置更新界面
tr.forkLift = fl;
fl.taskStep = ForkLift.TASK_STEP.TASK_SENDED;
fl.currentTask = tr.singleTask.taskText;
AGVInitialize.getInitialize().getDBConnect().UpdateTaskRecord(tr);
AGVInitialize.getInitialize().getDBConnect().updateForkLift(fl); //更新车子状态
}catch (Exception ex)
{
Console.WriteLine(ex.ToString());
AGVLog.WriteError("发送" + tr.singleTask.taskText + " 任务到" + fl.forklift_number + "号车 失败", new StackFrame(true));
result = -1;
}
}
AGVLog.WriteError("发送" + tr.singleTask.taskText + " 任务到" + fl.forklift_number + "号车 成功", new StackFrame(true));
return(result);
}
public ProcedureForkLiftToBuffer(RobotUnity robot, DoorManagementService doorservice, TrafficManagementService trafficService) : base(robot, doorservice, trafficService)
{
StateForkLift = ForkLift.FORBUF_IDLE;
resCmd = ResponseCommand.RESPONSE_NONE;
this.robot = robot;
this.doorservice = doorservice;
this.Traffic = trafficService;
procedureCode = ProcedureCode.PROC_CODE_FORKLIFT_TO_BUFFER;
}
public void Destroy()
{
Global_Object.setGateStatus(order.gate, false);
if (ds != null)
{
ds.LampSetStateOff(DoorType.DOOR_FRONT);
ds.setDoorBusy(false);
ds.removeListCtrlDoorBack();
}
ProRunStopW = false;
robot.orderItem = null;
robot.robotTag = RobotStatus.IDLE;
StateForkLift = ForkLift.FORMAC_ROBOT_DESTROY;
TrafficRountineConstants.ReleaseAll(robot);
robot.bayId = -1;
robot.bayIdReg = false;
}
public bool setForkCtrlWithPrompt(ForkLift fl, int ctrl)
{
string cmd = "cmd=pause;pauseStat=" + ctrl;
try
{
fl.tcpClient.SendMessage(cmd);
}
catch
{
Console.WriteLine("setForkCtrlWithPrompt forklift " + fl.id + "cmd = " + cmd + "failed");
AGVLog.WriteInfo("setForkCtrlWithPrompt forklift " + fl.id + "cmd = " + cmd + "failed", new StackFrame(true));
}
Console.WriteLine("setForkCtrlWithPrompt forklift " + fl.id + "cmd = " + cmd + "success");
AGVLog.WriteInfo("setForkCtrlWithPrompt forklift " + fl.id + "cmd = " + cmd + "success", new StackFrame(true));
return(true);
}
public void Start(ForkLift state = ForkLift.FORBUF_GET_FRONTLINE)
{
errorCode = ErrorCode.RUN_OK;
robot.robotTag = RobotStatus.WORKING;
robot.ProcedureAs = ProcedureControlAssign.PRO_FORKLIFT_TO_BUFFER;
robot.bayId = -1;
robot.bayIdReg = false;
robot.robotBahaviorAtGate = RobotBahaviorAtReadyGate.GOING_INSIDE_GATE;
StateForkLift = state;
Task ProForkLift = new Task(() => this.Procedure(this));
procedureStatus = ProcedureStatus.PROC_ALIVE;
ProRun = true;
ProRunStopW = true;
//robot.prioritLevel.OnAuthorizedPriorityProcedure = false;
robot.robotRegistryToWorkingZone.onRobotwillCheckInsideGate = true;
order.startTimeProcedure = DateTime.Now;
registryRobotJourney = new RegistryRobotJourney();
registryRobotJourney.robot = robot;
registryRobotJourney.traffic = Traffic;
ProForkLift.Start();
}
public void Procedure(object ojb)
{
ProcedureForkLiftToBuffer FlToBuf = (ProcedureForkLiftToBuffer)ojb;
RobotUnity rb = FlToBuf.robot;
doorServiceCtrl = new DoorServiceCtrl();
doorServiceCtrl = getDoorService();
ds = doorServiceCtrl.doorService;
ds.setRb(rb);
TrafficManagementService Traffic = FlToBuf.Traffic;
ForkLiftToMachineInfo flToMachineInfo = new ForkLiftToMachineInfo();
rb.mcuCtrl.lampRbOn();
robot.ShowText(" Start -> " + procedureCode);
/* endPointBuffer = FlToBuf.GetFrontLineBuffer(true);
* if (endPointBuffer == null)
* {
* robot.bayId = -1;
* Console.WriteLine("Error Data Request" + order.dataRequest);
* order.status = StatusOrderResponseCode.ERROR_GET_FRONTLINE;
* TrafficRountineConstants.ReleaseAll(robot);
* robot.orderItem = null;
* robot.SwitchToDetectLine(false);
* robot.ReleaseWorkingZone();
* 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_FORKLIFT_TO_BUFFER;
* ReleaseProcedureHandler(this);
* ProRun = false;
* robot.ShowText("RELEASED");
* UpdateInformationInProc(this, ProcessStatus.S);
* order.endTimeProcedure = DateTime.Now;
* order.totalTimeProcedure = order.endTimeProcedure.Subtract(order.startTimeProcedure).TotalMinutes;
* SaveOrderItem(order);
* KillEvent();
* }
* else
* {
* order.frontLinePos = endPointBuffer.Position;
* robot.bayId = bayId;
* }*/
while (ProRun)
{
// JPallet aa= GetInfoPallet_P_InBuffer(TrafficRobotUnity.PistonPalletCtrl.PISTON_PALLET_DOWN);
switch (StateForkLift)
{
case ForkLift.FORBUF_IDLE:
robot.ShowText("FORBUF_IDLE");
break;
case ForkLift.FORBUF_GET_FRONTLINE:
endPointBuffer = FlToBuf.GetFrontLineBuffer(true);
if (endPointBuffer == null)
{
if (countFrontLineNull++ < 10)
{
break;
}
countFrontLineNull = 0;
robot.bayId = -1;
robot.ShowText("Error Data Request FrontLine ForkLift" + order.dataRequest);
order.status = StatusOrderResponseCode.ERROR_GET_FRONTLINE;
TrafficRountineConstants.ReleaseAll(robot);
robot.orderItem = null;
robot.SwitchToDetectLine(false);
robot.ReleaseWorkingZone();
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_FORKLIFT_TO_BUFFER;
}
ProRun = false;
robot.ShowText("RELEASED FL---");
UpdateInformationInProc(this, ProcessStatus.S);
order.endTimeProcedure = DateTime.Now;
order.totalTimeProcedure = order.endTimeProcedure.Subtract(order.startTimeProcedure).TotalMinutes;
SaveOrderItem(order);
KillEvent();
ReleaseProcedureHandler(this);
}
else
{
order.frontLinePos = endPointBuffer.Position;
robot.bayId = bayId;
StateForkLift = ForkLift.FORBUF_SELECT_BEHAVIOR_ONZONE;
}
break;
case ForkLift.FORBUF_SELECT_BEHAVIOR_ONZONE:
order.status = StatusOrderResponseCode.GOING_AND_PICKING_UP;
if (Traffic.RobotIsInArea("READY", robot.properties.pose.Position))
{
if (rb.PreProcedureAs == ProcedureControlAssign.PRO_READY)
{
//if (false == rb.CheckInGateFromReadyZoneBehavior(doorServiceCtrl.PointFrontLine.Position))
{
robot.ShowText("FORBUF_ROBOT_GOTO_BACK_FRONTLINE_READY");
registryRobotJourney.startPlaceName = Traffic.DetermineArea(robot.properties.pose.Position, TypeZone.OPZS);
registryRobotJourney.startPoint = robot.properties.pose.Position;
registryRobotJourney.endPoint = doorServiceCtrl.PointFrontLine.Position;
StateForkLift = ForkLift.FORBUF_ROBOT_GOTO_BACK_FRONTLINE_READY;
}
}
}
else if (Traffic.RobotIsInArea("VIM", robot.properties.pose.Position))
{
robot.robotTag = RobotStatus.WORKING;
if (rb.SendPoseStamped(doorServiceCtrl.PointFrontLine))
{
StateForkLift = ForkLift.FORBUF_ROBOT_WAITTING_GOTO_GATE_FROM_VIM_REG;
// Cap Nhat Thong Tin CHuyen Di
registryRobotJourney.startPlaceName = Traffic.DetermineArea(robot.properties.pose.Position, TypeZone.OPZS);
registryRobotJourney.startPoint = robot.properties.pose.Position;
registryRobotJourney.endPoint = doorServiceCtrl.PointFrontLine.Position;
robot.ShowText("FORBUF_ROBOT_WAITTING_GOTO_GATE");
}
}
else if (Traffic.RobotIsInArea("OUTER", robot.properties.pose.Position))
{
// public void Start (ForkLiftToBuffer state = ForkLiftToBuffer.FORBUF_ROBOT_RELEASED) {
robot.robotTag = RobotStatus.WORKING;
if (rb.SendPoseStamped(doorServiceCtrl.PointFrontLine))
{
StateForkLift = ForkLift.FORBUF_ROBOT_WAITTING_GOTO_GATE_FROM_VIM_REG;
registryRobotJourney.startPlaceName = Traffic.DetermineArea(robot.properties.pose.Position, TypeZone.OPZS);
registryRobotJourney.startPoint = robot.properties.pose.Position;
registryRobotJourney.endPoint = doorServiceCtrl.PointFrontLine.Position;
robot.ShowText("FORBUF_ROBOT_WAITTING_GOTO_CHECKIN_GATE");
}
}
break;
case ForkLift.FORBUF_ROBOT_GOTO_BACK_FRONTLINE_READY:
if (TrafficRountineConstants.DetetectInsideStationCheck(registryRobotJourney))
{
break;
}
robot.ShowText("Detetect Inside Station Check Ready");
if (rb.SendCmdPosPallet(RequestCommandPosPallet.REQUEST_GOBACK_FRONTLINE_TURN_LEFT))
{
Stopwatch sw = new Stopwatch();
sw.Start();
do
{
robot.onFlagGoBackReady = true;
if (resCmd == ResponseCommand.RESPONSE_FINISH_GOBACK_FRONTLINE || Traffic.RobotIsInArea("READY_FRONTLINE", robot.properties.pose.Position))
{
robot.onFlagGoBackReady = false;
robot.robotTag = RobotStatus.WORKING;
if (rb.SendPoseStamped(doorServiceCtrl.PointFrontLine))
{
resCmd = ResponseCommand.RESPONSE_NONE;
StateForkLift = ForkLift.FORBUF_ROBOT_WAITTING_GOTO_GATE_READY;
robot.ShowText("FORBUF_ROBOT_WAITTING_GOTO_GATE");
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 ForkLift.FORBUF_ROBOT_WAITTING_GOTO_GATE_READY:
// dò ra điểm đích đến và xóa đăng ký vùng
// TrafficRountineConstants.DetectRelease(registryRobotJourney);
if (Traffic.RobotIsInArea("C3", rb.properties.pose.Position))
{
ds.setDoorBusy(true);
ds.openDoor(DoorService.DoorType.DOOR_BACK);
StateForkLift = ForkLift.FORBUF_ROBOT_WAITTING_GOTO_GATE_READY_OPEN_DOOR;
}
break;
case ForkLift.FORBUF_ROBOT_WAITTING_GOTO_GATE_READY_OPEN_DOOR:
// dò ra điểm đích đến và xóa đăng ký vùng
TrafficRountineConstants.DetectRelease(registryRobotJourney);
if (resCmd == ResponseCommand.RESPONSE_LASER_CAME_POINT)
{
robot.setTrafficAllCircles(false, false, false, false);
TrafficRountineConstants.RegIntZone_READY.Release(robot);
robot.SwitchToDetectLine(true);
resCmd = ResponseCommand.RESPONSE_NONE;
StateForkLift = ForkLift.FORBUF_ROBOT_CAME_GATE_POSITION;
robot.ShowText("FORBUF_ROBOT_CAME_GATE_POSITION");
}
break;
case ForkLift.FORBUF_ROBOT_WAITTING_GOTO_GATE_FROM_VIM_REG:
// kiem tra vung đăng ký tai khu vuc xac định
if (TrafficRountineConstants.DetetectInsideStationCheck(registryRobotJourney))
{
break;
}
else
{
// dò ra điểm đích đến và xóa đăng ký vùng
StateForkLift = ForkLift.FORBUF_ROBOT_WAITTING_GOTO_GATE_FROM_VIM;
}
break;
case ForkLift.FORBUF_ROBOT_WAITTING_GOTO_GATE_FROM_VIM:
// kiem tra vung đăng ký tai khu vuc xac định
//TrafficRountineConstants.DetectRelease(registryRobotJourney);
if (Traffic.RobotIsInArea("C3", rb.properties.pose.Position))
{
ds.setDoorBusy(true);
ds.openDoor(DoorService.DoorType.DOOR_BACK);
StateForkLift = ForkLift.FORBUF_ROBOT_WAITTING_GOTO_GATE_FROM_VIM_OPEN_DOOR;
}
break;
case ForkLift.FORBUF_ROBOT_WAITTING_GOTO_GATE_FROM_VIM_OPEN_DOOR:
// kiem tra vung đăng ký tai khu vuc xac định
TrafficRountineConstants.DetectRelease(registryRobotJourney);
if (resCmd == ResponseCommand.RESPONSE_LASER_CAME_POINT)
{
// robot.setTrafficAllCircles(false, false, false, false);
TrafficRountineConstants.RegIntZone_READY.Release(robot);
robot.SwitchToDetectLine(true);
resCmd = ResponseCommand.RESPONSE_NONE;
//rb.prioritLevel.OnAuthorizedPriorityProcedure = true;
StateForkLift = ForkLift.FORBUF_ROBOT_CAME_GATE_POSITION;
robot.ShowText("FORBUF_ROBOT_CAME_GATE_POSITION");
}
break;
case ForkLift.FORBUF_ROBOT_CAME_GATE_POSITION: // da den khu vuc cong , gui yeu cau mo cong.
robot.robotRegistryToWorkingZone.onRobotwillCheckInsideGate = false;
//ds.setDoorBusy(true);
//ds.openDoor(DoorService.DoorType.DOOR_BACK);
StateForkLift = ForkLift.FORBUF_ROBOT_WAITTING_OPEN_DOOR;
robot.ShowText("FORBUF_ROBOT_WAITTING_OPEN_DOOR");
break;
case ForkLift.FORBUF_ROBOT_WAITTING_OPEN_DOOR: //doi mo cong
RetState ret = ds.checkOpen(DoorService.DoorType.DOOR_BACK);
if (RetState.DOOR_CTRL_SUCCESS == ret || robot.onForceGoToGate)
{
ds.resetWaitOpenBack();
robot.onForceGoToGate = false;
StateForkLift = ForkLift.FORBUF_ROBOT_OPEN_DOOR_SUCCESS;
robot.ShowText("FORBUF_ROBOT_OPEN_DOOR_SUCCESS");
}
else if (RetState.DOOR_CTRL_ERROR == ret)
{
robot.ShowText("FORBUF_ROBOT_OPEN_DOOR_ERROR");
//StateForkLift = ForkLift.FORBUF_ROBOT_CAME_GATE_POSITION;
Thread.Sleep(1000);
ds.setDoorBusy(true);
ds.openDoor(DoorService.DoorType.DOOR_BACK);
}
break;
case ForkLift.FORBUF_ROBOT_OPEN_DOOR_SUCCESS: // mo cua thang cong ,gui toa do line de robot di vao gap hang
// rb.SendCmdLineDetectionCtrl(RequestCommandLineDetect.REQUEST_LINEDETECT_PALLETUP);
if (rb.SendCmdAreaPallet(doorServiceCtrl.infoPallet))
{
StateForkLift = ForkLift.FORBUF_ROBOT_WAITTING_PICKUP_PALLET_IN;
robot.ShowText("FORBUF_ROBOT_WAITTING_PICKUP_PALLET_IN");
}
break;
case ForkLift.FORBUF_ROBOT_WAITTING_PICKUP_PALLET_IN: // doi robot gap hang
try
{
DoorStatus ret1 = ds.getStatusDoor(DoorType.DOOR_BACK);
if (DoorStatus.DOOR_OPEN == ret1)
{
robot.SetSpeedTraffic(RobotSpeedLevel.ROBOT_SPEED_NORMAL, false);
if (resCmd == ResponseCommand.RESPONSE_LINEDETECT_PALLETUP)
{
resCmd = ResponseCommand.RESPONSE_NONE;
StateForkLift = ForkLift.FORBUF_ROBOT_FINISH_PALLET_UP;
Console.WriteLine("pallet ID" + order.palletId);
robot.robotBahaviorAtGate = RobotBahaviorAtReadyGate.GOING_OUTSIDE_GATE;
robot.ShowText("FORBUF_ROBOT_WAITTING_GOBACK_FRONTLINE_GATE");
}
else if (resCmd == ResponseCommand.RESPONSE_ERROR)
{
errorCode = ErrorCode.DETECT_LINE_ERROR;
CheckUserHandleError(this);
}
}
//else if (DoorStatus.DOOR_UNKNOW == ret1)
//{
//}
else /* if(DoorStatus.DOOR_CLOSE == ret1)*/
{
robot.ShowText("DOOR_ERROR_(-___-)");
robot.SetSpeedTraffic(RobotSpeedLevel.ROBOT_SPEED_STOP, true);
ds.setDoorBusy(true);
ds.openDoor(DoorType.DOOR_BACK);
Thread.Sleep(7000);
}
}
catch
{
}
break;
case ForkLift.FORBUF_ROBOT_FINISH_PALLET_UP:
String destName = Traffic.DetermineArea(endPointBuffer.Position, TypeZone.MAIN_ZONE);
if (destName.Equals("VIM"))
{
if (checkAnyRobotAtElevator(robot))
{
break;
}
else
{
StateForkLift = ForkLift.FORBUF_ROBOT_WAITTING_GOBACK_FRONTLINE_GATE;
}
}
else
{
StateForkLift = ForkLift.FORBUF_ROBOT_WAITTING_GOBACK_FRONTLINE_GATE;
}
break;
case ForkLift.FORBUF_ROBOT_WAITTING_GOBACK_FRONTLINE_GATE:
// kiem tra da toi vung dong cong
if (!Traffic.RobotIsInArea("CLOSE-GATE", robot.properties.pose.Position))
{
DoorStatus ret2 = ds.getStatusDoor(DoorType.DOOR_BACK);
if (DoorStatus.DOOR_OPEN == ret2)
{
robot.SetSpeedTraffic(RobotSpeedLevel.ROBOT_SPEED_NORMAL, false);
if (resCmd == ResponseCommand.RESPONSE_FINISH_GOBACK_FRONTLINE)
{
Global_Object.setGateStatus(order.gate, false);
resCmd = ResponseCommand.RESPONSE_NONE;
ds.LampSetStateOff(DoorType.DOOR_FRONT);
ds.closeDoor(DoorType.DOOR_BACK);
ds.setDoorBusy(false);
StateForkLift = ForkLift.FORBUF_ROBOT_WAITTING_CLOSE_GATE;
robot.ShowText("FORBUF_ROBOT_WAITTING_CLOSE_GATE");
}
else if (resCmd == ResponseCommand.RESPONSE_ERROR)
{
errorCode = ErrorCode.DETECT_LINE_ERROR;
CheckUserHandleError(this);
}
}
//else if (DoorStatus.DOOR_UNKNOW == ret1)
//{
//}
else /* if(DoorStatus.DOOR_CLOSE == ret1)*/
{
robot.ShowText("DOOR_ERROR_(-___-)");
robot.SetSpeedTraffic(RobotSpeedLevel.ROBOT_SPEED_STOP, true);
ds.setDoorBusy(true);
ds.openDoor(DoorType.DOOR_BACK);
Thread.Sleep(6000);
}
}
else
{
robot.SetSpeedTraffic(RobotSpeedLevel.ROBOT_SPEED_NORMAL, false);
if (resCmd == ResponseCommand.RESPONSE_FINISH_GOBACK_FRONTLINE)
{
Global_Object.setGateStatus(order.gate, false);
resCmd = ResponseCommand.RESPONSE_NONE;
ds.LampSetStateOff(DoorType.DOOR_FRONT);
ds.closeDoor(DoorType.DOOR_BACK);
ds.setDoorBusy(false);
StateForkLift = ForkLift.FORBUF_ROBOT_WAITTING_CLOSE_GATE;
robot.ShowText("FORBUF_ROBOT_WAITTING_CLOSE_GATE");
}
else if (resCmd == ResponseCommand.RESPONSE_ERROR)
{
errorCode = ErrorCode.DETECT_LINE_ERROR;
CheckUserHandleError(this);
}
}
break;
case ForkLift.FORBUF_ROBOT_WAITTING_CLOSE_GATE:
try
{
StateForkLift = ForkLift.FORBUF_ROBOT_CHECK_GOTO_BUFFER_OR_MACHINE;
robot.SwitchToDetectLine(false);
registryRobotJourney.startPlaceName = Traffic.DetermineArea(robot.properties.pose.Position, TypeZone.OPZS);
registryRobotJourney.startPoint = robot.properties.pose.Position;
registryRobotJourney.endPoint = endPointBuffer.Position;
}
catch (System.Exception)
{
errorCode = ErrorCode.CAN_NOT_GET_DATA;
CheckUserHandleError(this);
}
break;
case ForkLift.FORBUF_ROBOT_CHECK_GOTO_BUFFER_OR_MACHINE:
order.status = StatusOrderResponseCode.DELIVERING;
flToMachineInfo = GetPriorityTaskForkLiftToMachine(order.productDetailId);
if (flToMachineInfo == null)
{
StateForkLift = ForkLift.FORBUF_ROBOT_WAITTING_ZONE_BUFFER_READY;
registryRobotJourney.startPlaceName = Traffic.DetermineArea(robot.properties.pose.Position, TypeZone.OPZS);
registryRobotJourney.startPoint = robot.properties.pose.Position;
registryRobotJourney.endPoint = endPointBuffer.Position;
}
else
{
FreePlanedBuffer(order.palletId_P);
UpdatePalletState(PalletStatus.W, flToMachineInfo.palletId, flToMachineInfo.planId);
StateForkLift = ForkLift.FORMAC_ROBOT_GOTO_FRONTLINE_MACHINE_FROM_VIM_REG;
}
break;
case ForkLift.FORBUF_ROBOT_WAITTING_ZONE_BUFFER_READY:
if (TrafficRountineConstants.DetetectInsideStationCheck(registryRobotJourney))
{
break;
}
Pose destPos1 = endPointBuffer;
if (rb.SendPoseStamped(destPos1))
{
StateForkLift = ForkLift.FORBUF_ROBOT_WAITTING_CAME_FRONTLINE_BUFFER;
robot.ShowText("FORBUF_ROBOT_WAITTING_CAME_FRONTLINE_BUFFER");
}
break;
case ForkLift.FORBUF_ROBOT_WAITTING_CAME_FRONTLINE_BUFFER_FROM_VIM_REG:
if (TrafficRountineConstants.DetetectInsideStationCheck(registryRobotJourney))
{
break;
}
else
{
StateForkLift = ForkLift.FORBUF_ROBOT_WAITTING_CAME_FRONTLINE_BUFFER_FROM_VIM;
}
break;
case ForkLift.FORBUF_ROBOT_WAITTING_CAME_FRONTLINE_BUFFER_FROM_VIM:
TrafficRountineConstants.DetectRelease(registryRobotJourney);
try
{
if (resCmd == ResponseCommand.RESPONSE_LASER_CAME_POINT)
{
robot.SwitchToDetectLine(true);
resCmd = ResponseCommand.RESPONSE_NONE;
StateForkLift = ForkLift.FORBUF_ROBOT_SEND_CMD_DROPDOWN_PALLET_BUFFER;
}
}
catch (System.Exception)
{
errorCode = ErrorCode.CAN_NOT_GET_DATA;
CheckUserHandleError(this);
}
break;
case ForkLift.FORBUF_ROBOT_WAITTING_CAME_FRONTLINE_BUFFER:
// xóa đăng ký vùng
TrafficRountineConstants.DetectRelease(registryRobotJourney);
if (TrafficCheckInBuffer(goalFrontLinePos, bayId))
{
break;
}
try
{
if (resCmd == ResponseCommand.RESPONSE_LASER_CAME_POINT)
{
robot.SwitchToDetectLine(true);
resCmd = ResponseCommand.RESPONSE_NONE;
StateForkLift = ForkLift.FORBUF_ROBOT_SEND_CMD_DROPDOWN_PALLET_BUFFER;
}
}
catch (System.Exception)
{
errorCode = ErrorCode.CAN_NOT_GET_DATA;
CheckUserHandleError(this);
}
break;
case ForkLift.FORBUF_ROBOT_SEND_CMD_DROPDOWN_PALLET_BUFFER:
JResult = FlToBuf.GetInfoPallet_P_InBuffer(PistonPalletCtrl.PISTON_PALLET_DOWN);
String data = JsonConvert.SerializeObject(JResult.jInfoPallet);
if (rb.SendCmdAreaPallet(data))
{
StateForkLift = ForkLift.FORBUF_ROBOT_WAITTING_DROPDOWN_PALLET_BUFFER;
robot.ShowText("FORBUF_ROBOT_WAITTING_DROPDOWN_PALLET_BUFFER");
}
break;
case ForkLift.FORBUF_ROBOT_WAITTING_DROPDOWN_PALLET_BUFFER:
if (resCmd == ResponseCommand.RESPONSE_LINEDETECT_PALLETDOWN)
{
resCmd = ResponseCommand.RESPONSE_NONE;
FlToBuf.UpdatePalletState(PalletStatus.W, JResult.palletId, order.planId);
// rb.SendCmdPosPallet (RequestCommandPosPallet.REQUEST_GOBACK_FRONTLINE);
StateForkLift = ForkLift.FORBUF_ROBOT_WAITTING_GOBACK_FRONTLINE_BUFFER;
robot.ShowText("FORBUF_ROBOT_WAITTING_GOBACK_FRONTLINE_BUFFER");
}
else if (resCmd == ResponseCommand.RESPONSE_ERROR)
{
Console.WriteLine("Loi Update :ForkLift.FORBUF_ROBOT_WAITTING_DROPDOWN_PALLET_BUFFER");
errorCode = ErrorCode.DETECT_LINE_ERROR;
CheckUserHandleError(this);
}
break;
case ForkLift.FORBUF_ROBOT_WAITTING_GOBACK_FRONTLINE_BUFFER: // đợi
if (resCmd == ResponseCommand.RESPONSE_FINISH_GOBACK_FRONTLINE)
{
robot.bayId = -1;
robot.bayIdReg = false;
robot.ReleaseWorkingZone();
robot.SwitchToDetectLine(false);
resCmd = ResponseCommand.RESPONSE_NONE;
//rb.prioritLevel.OnAuthorizedPriorityProcedure = false;
StateForkLift = ForkLift.FORBUF_ROBOT_RELEASED;
robot.ShowText("FORBUF_ROBOT_RELEASED");
}
else if (resCmd == ResponseCommand.RESPONSE_ERROR)
{
Console.WriteLine("Loi Update :ForkLift.FORBUF_ROBOT_WAITTING_GOBACK_FRONTLINE_BUFFER");
errorCode = ErrorCode.DETECT_LINE_ERROR;
CheckUserHandleError(this);
}
break;
case ForkLift.FORBUF_ROBOT_RELEASED: // trả robot về robotmanagement để nhận quy trình mới
rb.PreProcedureAs = ProcedureControlAssign.PRO_FORKLIFT_TO_BUFFER;
ReleaseProcedureHandler(this);
ProRun = false;
robot.ShowText("RELEASED");
UpdateInformationInProc(this, ProcessStatus.S);
order.status = StatusOrderResponseCode.FINISHED;
break;
case ForkLift.FORMAC_ROBOT_GOTO_FRONTLINE_MACHINE_FROM_VIM_REG:
if (TrafficRountineConstants.DetetectInsideStationCheck(registryRobotJourney))
{
break;
}
else
{
StateForkLift = ForkLift.FORMAC_ROBOT_GOTO_FRONTLINE_MACHINE_FROM_VIM;
}
break;
case ForkLift.FORMAC_ROBOT_GOTO_FRONTLINE_MACHINE_FROM_VIM:
TrafficRountineConstants.DetectRelease(registryRobotJourney);
try
{
if (rb.SendPoseStamped(flToMachineInfo.frontLinePose))
{
StateForkLift = ForkLift.FORMAC_ROBOT_WAITTING_CAME_FRONTLINE_MACHINE;
robot.ShowText("FORMAC_ROBOT_WAITTING_CAME_FRONTLINE_MACHINE");
onFlagResetedGate = false;
}
}
catch (System.Exception)
{
errorCode = ErrorCode.CAN_NOT_GET_DATA;
CheckUserHandleError(this);
}
break;
case ForkLift.FORMAC_ROBOT_GOTO_FRONTLINE_MACHINE:
try
{
if (TrafficRountineConstants.DetetectInsideStationCheck(registryRobotJourney))
{
break;
}
if (rb.SendPoseStamped(flToMachineInfo.frontLinePose))
{
StateForkLift = ForkLift.FORMAC_ROBOT_WAITTING_CAME_FRONTLINE_MACHINE;
robot.ShowText("FORMAC_ROBOT_WAITTING_CAME_FRONTLINE_MACHINE");
onFlagResetedGate = false;
}
}
catch (System.Exception)
{
errorCode = ErrorCode.CAN_NOT_GET_DATA;
CheckUserHandleError(this);
}
break;
case ForkLift.FORMAC_ROBOT_WAITTING_CAME_FRONTLINE_MACHINE:
try
{
TrafficRountineConstants.DetectRelease(registryRobotJourney);
if (resCmd == ResponseCommand.RESPONSE_LASER_CAME_POINT)
{
robot.SwitchToDetectLine(true);
StateForkLift = ForkLift.FORMAC_ROBOT_SEND_CMD_DROPDOWN_PALLET_MACHINE;
}
}
catch (System.Exception)
{
errorCode = ErrorCode.CAN_NOT_GET_DATA;
CheckUserHandleError(this);
}
break;
case ForkLift.FORMAC_ROBOT_SEND_CMD_DROPDOWN_PALLET_MACHINE:
if (rb.SendCmdAreaPallet(flToMachineInfo.infoPallet))
{
StateForkLift = ForkLift.FORMAC_ROBOT_WAITTING_DROPDOWN_PALLET_MACHINE;
robot.ShowText("FORMAC_ROBOT_WAITTING_DROPDOWN_PALLET_MACHINE");
}
break;
case ForkLift.FORMAC_ROBOT_WAITTING_DROPDOWN_PALLET_MACHINE:
if (resCmd == ResponseCommand.RESPONSE_LINEDETECT_PALLETDOWN)
{
resCmd = ResponseCommand.RESPONSE_NONE;
// FlToBuf.UpdatePalletState(PalletStatus.W);
// rb.SendCmdPosPallet (RequestCommandPosPallet.REQUEST_GOBACK_FRONTLINE);
StateForkLift = ForkLift.FORMAC_ROBOT_WAITTING_GOBACK_FRONTLINE_MACHINE;
robot.ShowText("FORMAC_ROBOT_WAITTING_GOBACK_FRONTLINE_MACHINE");
}
else if (resCmd == ResponseCommand.RESPONSE_ERROR)
{
errorCode = ErrorCode.DETECT_LINE_ERROR;
CheckUserHandleError(this);
}
break;
case ForkLift.FORMAC_ROBOT_WAITTING_GOBACK_FRONTLINE_MACHINE: // đợi
if (resCmd == ResponseCommand.RESPONSE_FINISH_GOBACK_FRONTLINE)
{
robot.SwitchToDetectLine(false);
resCmd = ResponseCommand.RESPONSE_NONE;
//rb.prioritLevel.OnAuthorizedPriorityProcedure = false;
StateForkLift = ForkLift.FORMAC_ROBOT_RELEASED;
robot.ShowText("FORMAC_ROBOT_RELEASED");
}
else if (resCmd == ResponseCommand.RESPONSE_ERROR)
{
errorCode = ErrorCode.DETECT_LINE_ERROR;
CheckUserHandleError(this);
}
break;
case ForkLift.FORMAC_ROBOT_RELEASED: // trả robot về robotmanagement để nhận quy trình mới
ds.removeListCtrlDoorBack();
TrafficRountineConstants.ReleaseAll(robot);
robot.orderItem = null;
// Global_Object.onFlagDoorBusy = false;
robot.SwitchToDetectLine(false);
// robot.robotTag = RobotStatus.IDLE;
robot.ReleaseWorkingZone();
rb.PreProcedureAs = ProcedureControlAssign.PRO_FORKLIFT_TO_BUFFER;
// if (errorCode == ErrorCode.RUN_OK) {
// } 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;
KillEvent();
ReleaseProcedureHandler(this);
break;
case ForkLift.FORMAC_ROBOT_DESTROY: // trả robot về robotmanagement để nhận quy trình mới
ds.removeListCtrlDoorBack();
TrafficRountineConstants.ReleaseAll(robot);
robot.SwitchToDetectLine(false);
robot.ReleaseWorkingZone();
robot.robotBahaviorAtGate = RobotBahaviorAtReadyGate.IDLE;
//robot.prioritLevel.OnAuthorizedPriorityProcedure = false;
ProRun = false;
UpdateInformationInProc(this, ProcessStatus.F);
order.status = StatusOrderResponseCode.ROBOT_ERROR;
selectHandleError = SelectHandleError.CASE_ERROR_EXIT;
procedureStatus = ProcedureStatus.PROC_KILLED;
// RestoreOrderItem();
//FreePlanedBuffer(order.palletId_P);
order.endTimeProcedure = DateTime.Now;
order.totalTimeProcedure = order.endTimeProcedure.Subtract(order.startTimeProcedure).TotalMinutes;
KillEvent();
break;
//////////////////////////////////////////////////////
default:
break;
}
Thread.Sleep(700);
}
StateForkLift = ForkLift.FORBUF_IDLE;
}
