public bool GetDevicesList(PlanControl planControl)
{
this.planControl = planControl;
if (!Global_Object.ServerAlive())
{
return(false);
}
try
{
workerLoadDevice = new BackgroundWorker();
workerLoadDevice.WorkerSupportsCancellation = true;
workerLoadDevice.WorkerReportsProgress = true;
workerLoadDevice.DoWork += WorkerLoadDevice_DoWork;
workerLoadDevice.ProgressChanged += WorkerLoadDevice_ProgressChanged;
workerLoadDevice.RunWorkerCompleted += WorkerLoadDevice_RunWorkerCompleted;
workerLoadDevice.RunWorkerAsync();
return(true);
}
catch (Exception exc)
{
Console.WriteLine(exc.Message);
return(false);
}
}
public void Destroy()
{
// Global_Object.onFlagDoorBusy = false;
robot.robotBahaviorAtGate = RobotBahaviorAtReadyGate.IDLE;
if (ds != null)
{
ds.LampSetStateOff(DoorType.DOOR_FRONT);
ds.setDoorBusy(false);
ds.removeListCtrlDoorBack();
}
Global_Object.setGateStatus(order.gate, false);
ProRunStopW = false;
robot.orderItem = null;
robot.SwitchToDetectLine(false);
robot.robotTag = RobotStatus.IDLE;
robot.ReleaseWorkingZone();
order.status = StatusOrderResponseCode.ROBOT_ERROR;
//robot.prioritLevel.OnAuthorizedPriorityProcedure = false;
ProRun = false;
UpdateInformationInProc(this, ProcessStatus.F);
order.status = StatusOrderResponseCode.ROBOT_ERROR;
selectHandleError = SelectHandleError.CASE_ERROR_EXIT;
this.robot.DestroyRegistrySolvedForm();
procedureStatus = ProcedureStatus.PROC_KILLED;
order.endTimeProcedure = DateTime.Now;
order.totalTimeProcedure = order.endTimeProcedure.Subtract(order.startTimeProcedure).TotalMinutes;
// RestoreOrderItem();
}
public override void Draw()
{
Width = Global_Object.LengthBetweenPoints(props._oriMousePos, props._desMousePos);
Height = Width * rate;
if (Height > 40)
{
Height = 40;
}
props._start.X = 0;
props._start.Y = Height;
props._end.X = Width;
props._end.Y = Height;
//Control point
props.xDiff = props._desMousePos.X - props._oriMousePos.X;
props.yDiff = props._desMousePos.Y - props._oriMousePos.Y;
controlPoint.X = Width / 2;
controlPoint.Y = -Height / 1.5;
//Middle point of curve path
//-----------Middle point-------------
props._middle.X = (1 - t) * (1 - t) * (1 - t) * props._start.X + 3 * (1 - t) * (1 - t) * t * props._start.X + 3 * (1 - t) * t * t * controlPoint.X + t * t * t * props._end.X;
props._middle.Y = (1 - t) * (1 - t) * (1 - t) * props._start.Y + 3 * (1 - t) * (1 - t) * t * props._start.Y + 3 * (1 - t) * t * t * controlPoint.Y + t * t * t * props._end.Y;
//--------------------------------
// Point at _start and _end
props._pointTail.RenderTransform = new TranslateTransform(Width / 2, Height / 2);
props._pointHead.RenderTransform = new TranslateTransform(-Width / 2, Height / 2);
//Arrow show direction
//3 Point of Triangle
props.arrowPoints[0] = (new Point(props._middle.X - props.sizeArrow, props._middle.Y - props.sizeArrow));
props.arrowPoints[1] = (new Point(props._middle.X - props.sizeArrow, props._middle.Y + props.sizeArrow));
props.arrowPoints[2] = (new Point(props._middle.X + props.sizeArrow + 1, props._middle.Y));
props._arrow.Points = props.arrowPoints;
//Position the Path
bezierSegment.Point1 = props._start;
bezierSegment.Point2 = controlPoint;
bezierSegment.Point3 = props._end;
bezierSegment.IsStroked = true;
if (props.pathSegments.Count > 0)
{
props.pathSegments[0] = bezierSegment;
}
else
{
props.pathSegments.Add(bezierSegment);
}
props.pathFigure.StartPoint = props._start;
//Render Path
props.rotate = (Math.Atan2(props.yDiff, props.xDiff) * 180.0 / Math.PI);
props.myRotateTransform.Angle = props.rotate;
props.myTranslate = new TranslateTransform(props._oriMousePos.X, props._oriMousePos.Y - (Height));
props.myTransformGroup.Children[1] = props.myTranslate;
// SPECIAL POINTS
props.cornerPoints[0] = CoorPointAtBorder(new Point((0), (Height / 2))); //mid-left
props.cornerPoints[1] = CoorPointAtBorder(new Point((0), (0))); //top-left
props.cornerPoints[2] = CoorPointAtBorder(new Point((Width / 2), (0))); //top-mid
props.cornerPoints[3] = CoorPointAtBorder(new Point((Width), (0))); //top-right
props.cornerPoints[4] = CoorPointAtBorder(new Point((Width), (Height / 2))); //mid-right
props.cornerPoints[5] = CoorPointAtBorder(new Point((Width), (Height))); //bot-right
props.cornerPoints[6] = CoorPointAtBorder(new Point((Width / 2), (Height))); //bot-mid
props.cornerPoints[7] = CoorPointAtBorder(new Point((0), (Height))); //bot-left
}
public bool CheckGreenCircle_HighWay() // khi robot bặt vòng tròn xanh. chính nó phải ngưng nếu dò ra có robot nào trong vùng vòng tròn này ngược lại với vòng tròn vàng
{
bool onStop = false;
List <RobotUnity> robotTochList = new List <RobotUnity>();
foreach (RobotUnity r in RobotUnitylist)
{
Point cG = CenterOnLineCv(Center_G); // TRONG TAM CUA NO
if (r.robotTag == RobotStatus.WORKING)
{
if (FindHeaderInsideCircleArea(MiddleHeaderCv(), cG, r.Radius_G) ||
FindHeaderInsideCircleArea(Global_Object.CoorCanvas(properties.pose.Position), cG, r.Radius_G) ||
FindHeaderInsideCircleArea(MiddleHeaderCv1(), cG, r.Radius_G))
{
// tim do ưu tien tai cac diem giao nhau
if (checkAllRobotsHasInsideBayIdNear(r))
{
STATE_SPEED = "GREEN_STOP_HIGHWAY " + r.properties.Label;
SetSpeedTraffic(RobotSpeedLevel.ROBOT_SPEED_STOP, true);
delay(2000);
onStop = true;
return(onStop);
}
}
}
}
return(onStop);
}
private void ChangeToolTipContent(object sender, ToolTipEventArgs e)
{
try
{
String OrderStr = "";
if (orderItem != null)
{
OrderStr = "" + orderItem.typeReq + " / " + orderItem.productDetailName;
}
TypeZone typezone = trafficManagementService.GetTypeZone(properties.pose.Position, 0, 200);
double angle = -properties.pose.Angle;
Point position = Global_Object.CoorLaser(properties.pose.Position);
String statusLaserBack;
if (resetLaserBack)
{
statusLaserBack = " Passed error laserBack";
}
else
{
statusLaserBack = " LaserBack run normal";
}
String tooltipStr = "Name: " + properties.Label + Environment.NewLine + "Zone: " + typezone +
Environment.NewLine + " Location: " + position.X.ToString("0.00") + " / " +
position.Y.ToString("0.00") + " / " + angle.ToString("0.00") + Environment.NewLine +
"Place: " + TyprPlaceStr + Environment.NewLine +
"Working Zone: " + robotRegistryToWorkingZone.WorkingZone + "/ " + trafficManagementService.DetermineArea(this.properties.pose.Position, 0, 200) + Environment.NewLine +
"Radius _S" + Radius_S + Environment.NewLine +
"Radius _Y" + Radius_R + Environment.NewLine +
"Radius _B" + Radius_B + Environment.NewLine +
"Speed Set :" + properties.speedInSpecicalArea + Environment.NewLine +
"STATE: " + STATE_SPEED + Environment.NewLine +
"MIDDLE :" + MiddleHeaderCv().X.ToString("0.00") + " /" + MiddleHeaderCv().Y.ToString("0.00") + Environment.NewLine +
"MIDDLE1 :" + MiddleHeaderCv1().X.ToString("0.00") + " /" + MiddleHeaderCv1().Y.ToString("0.00") + Environment.NewLine +
"MIDDLE2 :" + MiddleHeaderCv2().X.ToString("0.00") + " /" + MiddleHeaderCv2().Y.ToString("0.00") + Environment.NewLine +
"ValueR SC:" + valueSC + Environment.NewLine +
"ValueR BigC:" + valueBigC + Environment.NewLine +
"RobotTag:" + robotTag + Environment.NewLine +
"CheckGate: " + robotRegistryToWorkingZone.onRobotwillCheckInsideGate + Environment.NewLine +
"Order: " + OrderStr + Environment.NewLine +
"Battery Level: " + properties.BatteryLevelRb + Environment.NewLine +
"Robots Registry in Ready: " + TrafficRountineConstants.RegIntZone_READY.getNames() + Environment.NewLine +
"Robots Registry in GATE 12: " + TrafficRountineConstants.RegIntZone_GATE12.getNames() + Environment.NewLine +
"Robots Registry in Elevator: " + TrafficRountineConstants.RegIntZone_ELEVATOR.getNames() + Environment.NewLine +
"Robots Registry in Gate3: " + TrafficRountineConstants.RegIntZone_GATE3.getNames() + Environment.NewLine +
"Gate 1: " + Global_Object.getGateStatus((int)DoorId.DOOR_MEZZAMINE_UP) + Environment.NewLine +
"Gate 2: " + Global_Object.getGateStatus((int)DoorId.DOOR_MEZZAMINE_UP_NEW) + Environment.NewLine +
"Robot_BAYID: " + bayId + Environment.NewLine +
"Start_Point_Name: " + StartPointName + Environment.NewLine +
"Start_Point: " + StartPoint.ToString() + Environment.NewLine +
"End_Point_Name: " + EndPointName + Environment.NewLine +
"end_Point: " + EndPoint.ToString() + Environment.NewLine +
"laserBackStatus :" + statusLaserBack + Environment.NewLine
;
border.ToolTip = tooltipStr;
}
catch { }
}
public virtual Point TopTailCv()//BottomTailCv()
{
double AngleW = -properties.pose.AngleW;
double x = Global_Object.CoorCanvas(properties.pose.Position).X + Math.Sqrt(Math.Abs(L2Cv) * Math.Abs(L2Cv) + Math.Abs(WSCv / 2) * Math.Abs(WSCv / 2)) * Math.Cos(AngleW + Math.Atan2(WSCv / 2, -L2Cv));
double y = Global_Object.CoorCanvas(properties.pose.Position).Y + Math.Sqrt(Math.Abs(L2Cv) * Math.Abs(L2Cv) + Math.Abs(WSCv / 2) * Math.Abs(WSCv / 2)) * Math.Sin(AngleW + Math.Atan2(WSCv / 2, -L2Cv));
return(new Point(x, y));
}
public virtual Point TopHeaderCenterCv(double dc)//BottomHeaderCv()
{
double AngleW = -properties.pose.AngleW;
double x = Global_Object.CoorCanvas(properties.pose.Position).X + Math.Sqrt(Math.Abs(dc) * Math.Abs(dc) + Math.Abs(WSCv / 2) * Math.Abs(WSCv / 2)) * Math.Cos(AngleW + Math.Atan2(WSCv / 2, dc));
double y = Global_Object.CoorCanvas(properties.pose.Position).Y + Math.Sqrt(Math.Abs(dc) * Math.Abs(dc) + Math.Abs(WSCv / 2) * Math.Abs(WSCv / 2)) * Math.Sin(AngleW + Math.Atan2(WSCv / 2, dc));
return(new Point(x, y));
}
private void ChangeToolTipContent(object sender, ToolTipEventArgs e)
{
ToolTip = "Tên: " + props.NameID +
"\n Vị trí: " + Global_Object.CoorLaser(props._posision).X.ToString("0.00") + "," + Global_Object.CoorLaser(props._posision).Y.ToString("0.00") +
" \n Dài: " + Height.ToString("0.00") + "m" +
" \n Rộng: " + Width.ToString("0.00") + "m" +
" \n Góc quay: " + props._rotate;
}
public virtual Point BottomHeaderCv()//TopHeaderCv()//
{
double AngleW = -properties.pose.AngleW;
double x = Global_Object.CoorCanvas(properties.pose.Position).X + Math.Sqrt((Math.Abs(L1Cv) * Math.Abs(L1Cv)) + Math.Abs(WSCv / 2) * Math.Abs(WSCv / 2)) * Math.Cos(AngleW + Math.Atan2(-WSCv / 2, L1Cv));
double y = Global_Object.CoorCanvas(properties.pose.Position).Y + Math.Sqrt(Math.Abs(L1Cv) * Math.Abs(L1Cv) + Math.Abs(WSCv / 2) * Math.Abs(WSCv / 2)) * Math.Sin(AngleW + Math.Atan2(-WSCv / 2, L1Cv));
return(new Point(x, y));
}
private void Button_Click_1(object sender, RoutedEventArgs e)
{
if (!Global_Object.ServerAlive())
{
return;
}
try
{
dtPallet pallet = (sender as System.Windows.Controls.Button).DataContext as dtPallet;
//if (pallet.palletStatus == "F")
//{
// return;
//}
pallet.palletStatus = "W";
string jsonData = JsonConvert.SerializeObject(pallet);
HttpWebRequest request = (HttpWebRequest)WebRequest.Create(@"http://" + Properties.Settings.Default.serverIp + ":" + Properties.Settings.Default.serverPort + @"/robot/rest/" + "pallet/updatePalletStatus");
request.Method = "POST";
request.ContentType = "application/json";
System.Text.UTF8Encoding encoding = new System.Text.UTF8Encoding();
Byte[] byteArray = encoding.GetBytes(jsonData);
request.ContentLength = byteArray.Length;
using (Stream dataStream = request.GetRequestStream())
{
dataStream.Write(byteArray, 0, byteArray.Length);
dataStream.Flush();
}
HttpWebResponse response = request.GetResponse() as HttpWebResponse;
using (Stream responseStream = response.GetResponseStream())
{
StreamReader reader = new StreamReader(responseStream, Encoding.UTF8);
int result = 0;
int.TryParse(reader.ReadToEnd(), out result);
if (result == 1)
{
//System.Windows.Forms.MessageBox.Show(String.Format(Global_Object.messageSaveSucced), Global_Object.messageTitileInformation, MessageBoxButtons.OK, MessageBoxIcon.Information);
}
else if (result == -2)
{
// System.Windows.Forms.MessageBox.Show(String.Format(Global_Object.messageDuplicated, "Pallets Name"), Global_Object.messageTitileError, MessageBoxButtons.OK, MessageBoxIcon.Error);
}
else
{
//System.Windows.Forms.MessageBox.Show(String.Format(Global_Object.messageSaveFail), Global_Object.messageTitileError, MessageBoxButtons.OK, MessageBoxIcon.Error);
}
}
Dispatcher.BeginInvoke(new ThreadStart(() =>
{
stationEditorModel.ReloadListPallets(this.stationShape.props.bufferDb.bufferId);
}));
}
catch (Exception ex)
{
logFile.Error(ex.Message);
}
}
private void DeletePlan_Click(object sender, RoutedEventArgs e)
{
if (!Global_Object.ServerAlive())
{
return;
}
try
{
List <Plan> listPlanDelete = new List <Plan>();
Plan plan = (sender as System.Windows.Controls.Button).DataContext as Plan;
listPlanDelete.Add(plan);
string jsonData = JsonConvert.SerializeObject(listPlanDelete);
HttpWebRequest request = (HttpWebRequest)WebRequest.Create(@"http://" + Properties.Settings.Default.serverIp + ":" + Properties.Settings.Default.serverPort + @"/robot/rest/" + "plan/deleteListPlan");
request.Method = "DELETE";
request.ContentType = "application/json";
System.Text.UTF8Encoding encoding = new System.Text.UTF8Encoding();
Byte[] byteArray = encoding.GetBytes(jsonData);
request.ContentLength = byteArray.Length;
using (Stream dataStream = request.GetRequestStream())
{
dataStream.Write(byteArray, 0, byteArray.Length);
dataStream.Flush();
}
HttpWebResponse response = request.GetResponse() as HttpWebResponse;
using (Stream responseStream = response.GetResponseStream())
{
StreamReader reader = new StreamReader(responseStream, Encoding.UTF8);
int result = 0;
int.TryParse(reader.ReadToEnd(), out result);
if (result == 1)
{
if ((pCalendar.SelectedDate != null) && (TabControlShift.SelectedIndex >= 0) && (TabControlShift.IsLoaded))
{
//Dispatcher.BeginInvoke(new ThreadStart(() =>
//{
// operation_model.CreateListPlansFromShift((DateTime)pCalendar.SelectedDate, TabControlShift.SelectedIndex + 1);
//}));
}
}
else if (result == 2)
{
System.Windows.Forms.MessageBox.Show(String.Format(Global_Object.messageDeleteUse, "Devices", "Other Screen"), Global_Object.messageTitileWarning, MessageBoxButtons.OK, MessageBoxIcon.Warning);
}
else
{
System.Windows.Forms.MessageBox.Show(String.Format(Global_Object.messageDeleteFail), Global_Object.messageTitileError, MessageBoxButtons.OK, MessageBoxIcon.Error);
}
}
}
catch (Exception ex)
{
logFile.Error(ex.Message);
}
}
public bool FindHeaderIsCloseRiskAreaCv(Point p)
{
// return ExtensionService.CalDistance(TopHeader(),p)<properties.DistanceIntersection || ExtensionService.CalDistance(BottomHeader(), p) < properties.DistanceIntersection || ExtensionService.CalDistance(MiddleHeader(), p) < properties.DistanceIntersection ? true:false;
//Console.WriteLine("Vi tri robot "+ this.properties.NameID+" = " + properties.pose.Position);
// Console.WriteLine("Vi tien gan " + p.ToString());
// Console.WriteLine("kHOAN CACH " + ExtensionService.CalDistance(properties.pose.Position, p));
Point pp = Global_Object.CoorCanvas(properties.pose.Position);
double ddd = ExtensionService.CalDistance(Global_Object.CoorCanvas(properties.pose.Position), p);
return(ExtensionService.CalDistance(Global_Object.CoorCanvas(properties.pose.Position), p) < 40 ? true : false);
}
private void OnTimedWaitServerEvent(object sender, ElapsedEventArgs e)
{
Application.Current.Dispatcher.Invoke((Action) delegate
{
if (Global_Object.ServerAlive())
{
mainWindow.stationTimer.Enabled = true;
serverTimer.Enabled = false;
Close();
}
});
}
public Point CoorPointAtBorder(Point pointOnBorder)
{
double xDiff = (pointOnBorder.X) - 0;
double yDiff = (pointOnBorder.Y) - 0;
double rad1 = (props._rotate * Math.PI) / 180;
double rad2 = (Math.Atan2(yDiff, xDiff));
double L = Global_Object.LengthBetweenPoints(new Point(0, 0), pointOnBorder);
double x1 = props._posision.X + ((L * Math.Cos(rad1 + rad2)));
double y1 = props._posision.Y + ((L * Math.Sin(rad1 + rad2)));
return(new Point(x1, y1));
}
public Point CoorPointAtBorder(Point pointOnBorder)
{
double xDiff = (pointOnBorder.X) - (props._start.X);
double yDiff = (pointOnBorder.Y) - (props._start.Y);
double rad1 = (props.rotate * Math.PI) / 180;
double rad2 = (Math.Atan2(yDiff, xDiff));
double L = Global_Object.LengthBetweenPoints(props._start, pointOnBorder);
double x1 = props._oriMousePos.X + ((L * Math.Cos(rad1 + rad2)));
double y1 = props._oriMousePos.Y + ((L * Math.Sin(rad1 + rad2)));
return(new Point(x1, y1));
}
private bool make_outpackage_scope(Class cls,IBlockCallBack cb)
{
ASBinCode.CodeBlock codeblock = player.swc.blocks[cls.outscopeblockid];
HeapSlot[] globaldata = player.genHeapFromCodeBlock(codeblock);
Global_Object global = Global_Object.formCodeBlock(codeblock,globaldata,player.swc.classes[0]);
ASBinCode.rtData.rtObject globalObj = new ASBinCode.rtData.rtObject(global,null);
ASBinCode.RunTimeScope rtscope = player.callBlock(
codeblock,globaldata,null,
null, //player.static_instance[cls.staticClass.classid].objScope,
step.token,
cb,
globalObj,
RunTimeScopeType.outpackagemember
);
if (rtscope == null)
{
invokerFrame.endStep(step);
return(false);
}
globalObj.objScope = rtscope;
player.outpackage_runtimescope.Add(cls.classid,rtscope);
{
var slot = new DynamicPropertySlot(globalObj,true,player.swc.FunctionClass.getRtType());
slot.directSet(player.static_instance[cls.staticClass.classid]);
global.createproperty(cls.name,slot);
}
for (int i = 0; i < player.swc.classes.Count; i++)
{
if (player.swc.classes[i].mainClass == cls)
{
if (init_static_class(player.swc.classes[i]))
{
var slot = new DynamicPropertySlot(globalObj,true,player.swc.FunctionClass.getRtType());
slot.directSet(player.static_instance[player.swc.classes[i].staticClass.classid]);
global.createproperty(player.swc.classes[i].name,slot);
}
else
{
//***出错了
invokerFrame.endStep(step);
return(false);
}
}
}
return(true);
}
//giua middle 1 va robot
public virtual Point MiddleHeaderCv3()
{
double PRx = Global_Object.CoorCanvas(properties.pose.Position).X;
double PRy = Global_Object.CoorCanvas(properties.pose.Position).Y;
if (L1Cv != 0 && WSCv != 0)
{
return(new Point((MiddleHeaderCv1().X + PRx) / 2, (MiddleHeaderCv1().Y + PRy) / 2));
}
else
{
return(new Point(-1, -1));
}
}
public bool FindHeaderInsideCircleArea(Point pheader, double r)
{
Point ccPoint = Global_Object.CoorCanvas(properties.pose.Position);
double leftSideEq = (pheader.X - ccPoint.X) * (pheader.X - ccPoint.X) + (pheader.Y - ccPoint.Y) * (pheader.Y - ccPoint.Y);
valueSC = Math.Sqrt(leftSideEq) + "";
if (Math.Sqrt(leftSideEq) <= r)
{
return(true);
}
else
{
return(false);
}
}
public override void Draw()
{
Width = Global_Object.LengthBetweenPoints(props._oriMousePos, props._desMousePos);
props._end.X = Width;
//Rotate param
props.xDiff = props._desMousePos.X - props._oriMousePos.X;
props.yDiff = props._desMousePos.Y - props._oriMousePos.Y;
//Middle point of straight path
props._middle.X = (props._start.X + props._end.X) / 2;
props._middle.Y = (props._start.Y + props._end.Y) / 2;
// Point at _start and _end
props._pointHead.RenderTransform = new TranslateTransform(-(Width / 2), 0);
props._pointTail.RenderTransform = new TranslateTransform((Width / 2), 0);
//Arrow show direction
//3 Point of Triangle
props.arrowPoints[0] = (new Point(props._middle.X - props.sizeArrow, props._middle.Y - props.sizeArrow));
props.arrowPoints[1] = (new Point(props._middle.X - props.sizeArrow, props._middle.Y + props.sizeArrow));
props.arrowPoints[2] = (new Point(props._middle.X + props.sizeArrow + 1, props._middle.Y));
props._arrow.Points = props.arrowPoints;
//Position the Path
lineSegment.Point = props._end;
if (props.pathSegments.Count > 0)
{
props.pathSegments[0] = lineSegment;
}
else
{
props.pathSegments.Add(lineSegment);
}
props.pathFigure.StartPoint = props._start;
//Render Path
double angle = (Math.Atan2(props.yDiff, props.xDiff) * 180.0 / Math.PI);
props.rotate = angle;
props.myRotateTransform.Angle = props.rotate;
props.myTranslate = new TranslateTransform(props._oriMousePos.X, props._oriMousePos.Y - (Height / 2));
props.myTransformGroup.Children[1] = props.myTranslate;
// SPECIAL POINTS
props.cornerPoints[0] = CoorPointAtBorder(new Point((0), (Height / 2))); //mid-left
props.cornerPoints[1] = CoorPointAtBorder(new Point((0), (0))); //top-left
props.cornerPoints[2] = CoorPointAtBorder(new Point((Width / 2), (0))); //top-mid
props.cornerPoints[3] = CoorPointAtBorder(new Point((Width), (0))); //top-right
props.cornerPoints[4] = CoorPointAtBorder(new Point((Width), (Height / 2))); //mid-right
props.cornerPoints[5] = CoorPointAtBorder(new Point((Width), (Height))); //bot-right
props.cornerPoints[6] = CoorPointAtBorder(new Point((Width / 2), (Height))); //bot-mid
props.cornerPoints[7] = CoorPointAtBorder(new Point((0), (Height))); //bot-left
}
public List <Plan> CheckPlans(int timeWorkId, DateTime selectedDate)
{
if (!Global_Object.ServerAlive())
{
return(new List <Plan>());
}
try
{
List <Plan> returnList = new List <Plan>();
string activeDate = selectedDate.Year + "-" + selectedDate.Month.ToString("00.") + "-" + selectedDate.Day.ToString("00.");
HttpWebRequest request = (HttpWebRequest)WebRequest.Create(@"http://" + Properties.Settings.Default.serverIp + ":" + Properties.Settings.Default.serverPort + @"/robot/rest/" + "plan/getPlanByShift");
request.Method = "POST";
request.ContentType = @"application/json";
dynamic postApiBody = new JObject();
postApiBody.activeDate = activeDate;
postApiBody.timeWorkId = timeWorkId;
string jsonData = JsonConvert.SerializeObject(postApiBody);
System.Text.UTF8Encoding encoding = new System.Text.UTF8Encoding();
Byte[] byteArray = encoding.GetBytes(jsonData);
request.ContentLength = byteArray.Length;
using (Stream dataStream = request.GetRequestStream())
{
dataStream.Write(byteArray, 0, byteArray.Length);
dataStream.Flush();
}
HttpWebResponse response = request.GetResponse() as HttpWebResponse;
using (Stream responseStream = response.GetResponseStream())
{
StreamReader reader = new StreamReader(responseStream, Encoding.UTF8);
string result = reader.ReadToEnd();
dynamic listplan = JsonConvert.DeserializeObject(result);
foreach (dynamic item in listplan)
{
Plan tempPlan = new Plan(item);
AddPlan(tempPlan, returnList);
}
return(returnList);
}
}
catch (Exception ex)
{
logFile.Error(ex.Message);
return(null);
}
}
private void Btn_deletePlanPallet_Click(object sender, RoutedEventArgs e)
{
if (System.Windows.Forms.MessageBox.Show
(
String.Format(Global_Object.messageDeleteConfirm, "Plans"),
Global_Object.messageTitileWarning, MessageBoxButtons.YesNo,
MessageBoxIcon.Question) == System.Windows.Forms.DialogResult.Yes
)
{
try
{
List <dtTempPlan> listToDetele = new List <dtTempPlan>();
if (DataGridPlan.SelectedItems.Count > 0)
{
foreach (dtPlan plan in DataGridPlan.SelectedItems)
{
listToDetele.Add(new dtTempPlan(plan));
}
string jsonData = JsonConvert.SerializeObject(listToDetele);
string contentJson = Global_Object.RequestDataAPI(jsonData, "plan/deleteListPlan", Global_Object.RequestMethod.DELETE);
dynamic response = JsonConvert.DeserializeObject(contentJson);
if (response != null)
{
if (response == 1)
{
System.Windows.MessageBox.Show("Plans deleted successfully!");
model.ReloadListPlan((DateTime)dp_planManagement.SelectedDate);
}
else
{
System.Windows.MessageBox.Show("Cannot Delete!");
}
}
}
else
{
System.Windows.MessageBox.Show("Nothing to delete!");
}
}
catch (Exception ex)
{
logFile.Error(ex.Message);
}
}
}
public void DisposeProcedure()
{
if (proRegistryInRobot.pBM != null)
{
proRegistryInRobot.pBM.Destroy();
//proRegistryInRobot.pBM = null;
}
if (proRegistryInRobot.pMR != null)
{
Global_Object.onFlagRobotComingGateBusy = false;
Global_Object.setGateStatus(proRegistryInRobot.pMR.order.gate, false);
//Global_Object.onFlagDoorBusy = false;
proRegistryInRobot.pMR.Destroy();
// proRegistryInRobot.pMR = null;
}
if (proRegistryInRobot.pFB != null)
{
Global_Object.onFlagRobotComingGateBusy = false;
// Global_Object.onFlagDoorBusy = false;
proRegistryInRobot.pFB.Destroy();
// proRegistryInRobot.pFB = null;
}
if (proRegistryInRobot.pFM != null)
{
Global_Object.onFlagRobotComingGateBusy = false;
proRegistryInRobot.pFM.Destroy();
// proRegistryInRobot.pFB = null;
}
if (proRegistryInRobot.pBR != null)
{
Global_Object.onFlagRobotComingGateBusy = false;
proRegistryInRobot.pBR.Destroy();
// proRegistryInRobot.pBR = null;
}
if (proRegistryInRobot.pRC != null)
{
proRegistryInRobot.pRC.Destroy();
// proRegistryInRobot.pRC = null;
}
if (proRegistryInRobot.pRR != null)
{
proRegistryInRobot.pRR.Destroy();
// proRegistryInRobot.pRR = null;
}
}
public bool CheckInBuffer(bool turnon)
{
bool onstop = false;
if (turnon)
{
if (RobotUnitylist.Count > 0)
{
foreach (RobotUnity r in RobotUnitylist)
{
String lableR = r.properties.Label;
if (r.robotTag == RobotStatus.WORKING)
{
Point thCV = TopHeaderCv();
Point mdCV0 = MiddleHeaderCv();
Point mdCV1 = MiddleHeaderCv1();
Point mdCV2 = MiddleHeaderCv2();
Point mdCV3 = MiddleHeaderCv3();
Point bhCV = BottomHeaderCv();
Point Rp = Global_Object.CoorCanvas(this.properties.pose.Position);
// bool onTouch= FindHeaderIntersectsFullRiskArea(this.TopHeader()) | FindHeaderIntersectsFullRiskArea(this.MiddleHeader()) | FindHeaderIntersectsFullRiskArea(this.BottomHeader());
// bool onTouch = r.FindHeaderIntersectsFullRiskAreaCv(thCV) | r.FindHeaderIntersectsFullRiskAreaCv(mdCV) | r.FindHeaderIntersectsFullRiskAreaCv(bhCV);
bool onTouchR = r.FindHeaderInsideCircleArea(Rp, r.Radius_S);
bool onTouch0 = r.FindHeaderInsideCircleArea(mdCV0, r.Radius_S);
bool onTouch1 = r.FindHeaderInsideCircleArea(mdCV1, r.Radius_S);
bool onTouch2 = r.FindHeaderInsideCircleArea(mdCV2, r.Radius_S);
bool onTouch3 = r.FindHeaderInsideCircleArea(mdCV3, r.Radius_S);
if (onTouch1)
{
// robotLogOut.ShowTextTraffic(r.properties.Label+" => CheckIntersection");
if (r.onFlagSafeSmallcircle || r.onFlagSafeYellowcircle || r.onFlagSafeOrgancircle)
{
STATE_SPEED = "CHECKINT_BUFFER_SECTION_STOP " + r.properties.Label;
SetSpeedTraffic(RobotSpeedLevel.ROBOT_SPEED_STOP, true);
delay(2000);
onstop = true;
break;
}
}
}
}
}
}
return(onstop);
}
public int CheckSafeDistance() // KIểm tra khoản cách an toàn/ nếu đang trong vùng close với robot khác thì giảm tốc độ, chuyển sang chế độ dò risk area
{
int iscloseDistance = 0;
foreach (RobotUnity r in RobotUnitylist)
{
if (r.onFlagSupervisorTraffic)
{
Point rP = MiddleHeaderCv();
// bool onFound = r.FindHeaderIsCloseRiskArea(this.properties.pose.Position);
bool onFound = r.FindHeaderIsCloseRiskAreaCv(rP);
if (onFound)
{
// if robot in list is near but add in risk list robot
// robotLogOut.ShowTextTraffic(r.properties.Label + "- Intersection");
if (!RobotUnityRiskList.ContainsKey(r.properties.NameId))
{
RobotUnityRiskList.Add(r.properties.NameId, r);
}
// reduce speed robot control
iscloseDistance = 2;
}
else
{
// if robot in list is far but before registe in list, must remove in list
RemoveRiskList(r.properties.NameId);
double rd = ExtensionService.CalDistance(Global_Object.CoorCanvas(this.properties.pose.Position), Global_Object.CoorCanvas(r.properties.pose.Position));
if (rd < DistanceToSetSlowDown && rd > 60)
{
iscloseDistance = 1;
}
else
{
iscloseDistance = 0;
}
}
}
}
return(iscloseDistance);
}
private void Btn_login_Click(object sender, RoutedEventArgs e)
{
//this.DialogResult = true;
//this.Close();
if (string.IsNullOrEmpty(this.tb_userName.Text) || this.tb_userName.Text.Trim() == "")
{
System.Windows.Forms.MessageBox.Show(String.Format(Global_Object.messageValidate, "User Name", "User Name"), Global_Object.messageTitileWarning, MessageBoxButtons.OK, MessageBoxIcon.Warning);
this.tb_userName.Focus();
return;
}
if (string.IsNullOrEmpty(this.tb_password.Password) || this.tb_password.Password.Trim() == "")
{
System.Windows.Forms.MessageBox.Show(String.Format(Global_Object.messageValidate, "Password", "Password"), Global_Object.messageTitileWarning, MessageBoxButtons.OK, MessageBoxIcon.Warning);
this.tb_password.Focus();
return;
}
try
{
dtUser user = new dtUser();
user.userName = this.tb_userName.Text;
user.userPassword = this.tb_password.Password;
string jsonData = JsonConvert.SerializeObject(user);
string contentJson = Global_Object.RequestDataAPI(jsonData, "user/getUserInfo", Global_Object.RequestMethod.POST);
dynamic response = JsonConvert.DeserializeObject(contentJson);
user = response.ToObject <dtUser>();
if (user.userAuthor == 0 || user.userAuthor == 1)
{
this.DialogResult = true;
this.Close();
}
else
{
lb_warning.Content = "Please try again";
}
}
catch
{
lb_warning.Content = "Wrong User Name or Password";
}
}
private void Btn_CreatePlanPallet_Click(object sender, RoutedEventArgs e)
{
if (!Global_Object.ServerAlive())
{
return;
}
try
{
DateTime selectedDate = (DateTime)pCalendar.SelectedDate;
string activeDate = selectedDate.Year + "-" + selectedDate.Month.ToString("00.") + "-" + selectedDate.Day.ToString("00.");
HttpWebRequest request = (HttpWebRequest)WebRequest.Create(@"http://" + Properties.Settings.Default.serverIp + ":" + Properties.Settings.Default.serverPort + @"/robot/rest/" + "plan/createPlanPallet");
request.Method = "POST";
request.ContentType = @"application/json";
dynamic postApiBody = new JObject();
postApiBody.activeDate = activeDate;
postApiBody.timeWorkId = TabControlShift.SelectedIndex + 1;
postApiBody.updUsrId = Global_Object.userLogin;
string jsonData = JsonConvert.SerializeObject(postApiBody);
System.Text.UTF8Encoding encoding = new System.Text.UTF8Encoding();
Byte[] byteArray = encoding.GetBytes(jsonData);
request.ContentLength = byteArray.Length;
using (Stream dataStream = request.GetRequestStream())
{
dataStream.Write(byteArray, 0, byteArray.Length);
dataStream.Flush();
}
HttpWebResponse response = request.GetResponse() as HttpWebResponse;
using (Stream responseStream = response.GetResponseStream())
{
StreamReader reader = new StreamReader(responseStream, Encoding.UTF8);
string result = reader.ReadToEnd();
}
}
catch (Exception ex)
{
logFile.Error(ex.Message);
}
}
public bool CheckYellowCircle() // khi robot bặt vòng tròn vàng. tất cả robot khác ngưng nếu dò ra có robot nào trong vùng vòng tròn này
{
bool onstop = false;
foreach (RobotUnity r in RobotUnitylist)
{
// kiểm tra có robot chinh nó có nằm trong vòng tròn vàng nào không nếu có ngưng
if (r.onFlagSafeYellowcircle)
{
Point cY = r.CenterOnLineCv(Center_R); // TRONG TAM ROBOT KHAC
Point rP = Global_Object.CoorCanvas(properties.pose.Position);
Point md = MiddleHeaderCv();
Point md1 = MiddleHeaderCv1();
Point md2 = MiddleHeaderCv2();
Point md3 = MiddleHeaderCv3();
if (r.FindHeaderInsideCircleArea(MiddleHeaderCv(), cY, r.Radius_R) ||
r.FindHeaderInsideCircleArea(rP, cY, r.Radius_R) ||
r.FindHeaderInsideCircleArea(md1, cY, r.Radius_R)
)
{
STATE_SPEED = "YELLOWC_STOP";
SetSpeedTraffic(RobotSpeedLevel.ROBOT_SPEED_STOP, true);
delay(2000);
onstop = true;
break;
}
/* else
* {
* STATE_SPEED = "YELLOWC_NO_NORMAL";
* SetSpeed(RobotSpeedLevel.ROBOT_SPEED_NORMAL,false);
* }*/
}
}
return(onstop);
}
private void Map_MouseMove(object sender, MouseEventArgs e)
{
//Get mouse props
Point mousePos = e.GetPosition(map);
var mouseWasDownOn = (e.Source as FrameworkElement);
hoveringItemName = mouseWasDownOn.Name;
//mainWindow.MouseCoor.Content = (mousePos.X- Global_Object.OriginPoint.X).ToString("0.0") + " " + (Global_Object.OriginPoint.Y - mousePos.Y ).ToString("0.0");
mainWindow.MouseCoor.Content = (Global_Object.CoorLaser(mousePos).X).ToString("0.00") + " " + (Global_Object.CoorLaser(mousePos).Y).ToString("0.00");
mainWindow.MouseCoor2.Content = ((mousePos).X).ToString("0.00") + " " + ((mousePos).Y).ToString("0.00");
//mainWindow.MouseCoor.Content = ((mousePos).X.ToString("0.0") + " " + (mousePos).Y.ToString("0.0"));
//Console.WriteLine("============================================");
//Console.WriteLine("MousePos: (" + mousePos.X + "," + mousePos.Y + ")");
//Console.WriteLine("CoorLaser: (" + Global_Object.CoorLaser(mousePos).X.ToString("0.0") + "," + Global_Object.CoorLaser(mousePos).Y.ToString("0.0")+")");
//Console.WriteLine("CoorCanvas: ("+ Global_Object.CoorCanvas(Global_Object.CoorLaser(mousePos)).X.ToString("0.0") + "," + Global_Object.CoorCanvas(Global_Object.CoorLaser(mousePos)).Y.ToString("0.0") + ")");
////
// POINT OF VIEW
//
if ((mainWindow.drag))
{
if (!map.IsMouseCaptured)
{
return;
}
Vector moveVector = startPoint - e.GetPosition(mainWindow.clipBorder);
double xCoor = originalPoint.X - moveVector.X;
double yCoor = originalPoint.Y - moveVector.Y;
double MapWidthScaled = (map.Width * scaleTransform.ScaleX);
double MapHeightScaled = (map.Height * scaleTransform.ScaleY);
double ClipBorderWidth = (mainWindow.clipBorder.ActualWidth);
double ClipBorderHeight = (mainWindow.clipBorder.ActualHeight);
double xlim;
double ylim;
if (ClipBorderWidth < map.Width)
{
xlim = (map.Width * (scaleTransform.ScaleX - 1)) / 2;
}
else
{
xlim = Math.Abs((MapWidthScaled - ClipBorderWidth) / 2);
}
if (ClipBorderHeight < map.Height)
{
ylim = (map.Height * (scaleTransform.ScaleY - 1)) / 2;
}
else
{
ylim = Math.Abs((MapHeightScaled - ClipBorderHeight) / 2);
}
if (ClipBorderWidth > map.Width)
{
if ((xCoor >= (-xlim)) && (xCoor <= (xlim)))
{
translateTransform.X = xCoor;
}
}
else
{
if (ClipBorderWidth < MapWidthScaled)
{
if ((xCoor <= (xlim)) && (xCoor >= -(MapWidthScaled - ClipBorderWidth - xlim)))
{
translateTransform.X = xCoor;
}
}
else
{
if ((xCoor >= (xlim)) && (xCoor <= -(MapWidthScaled - ClipBorderWidth - xlim)))
{
translateTransform.X = xCoor;
}
}
}
if (ClipBorderHeight > map.Height)
{
if ((yCoor >= (-ylim)) && (yCoor <= (ylim)))
{
translateTransform.Y = yCoor;
}
}
else
{
if (ClipBorderHeight < MapHeightScaled)
{
if ((yCoor <= (ylim)) && (yCoor >= -(MapHeightScaled - ClipBorderHeight - ylim)))
{
translateTransform.Y = yCoor;
}
}
else
{
if ((yCoor >= (ylim)) && (yCoor <= -(MapHeightScaled - ClipBorderHeight - ylim)))
{
translateTransform.Y = yCoor;
}
}
}
}
if (!mainWindow.drag)
{
Statectrl_MouseMove(e);
}
}
public StatusOrderResponse ParseData(String dataReq)
{
StatusOrderResponse statusOrderResponse = null;
try
{
JObject results = JObject.Parse(dataReq);
int typeReq = (int)results["typeReq"];
#region TYPEREQUEST_FORLIFT_TO_BUFFER
if (typeReq == (int)TyeRequest.TYPEREQUEST_FORLIFT_TO_BUFFER)
{
int gate = (int)results["gate"];
if (Global_Object.getGateStatus(gate))
{
statusOrderResponse = new StatusOrderResponse()
{
status = (int)StatusOrderResponseCode.ORDER_STATUS_DOOR_BUSY, content = ""
};
return(statusOrderResponse);
}
OrderItem order = new OrderItem();
order.typeReq = (TyeRequest)typeReq;
order.userName = (String)results["userName"];
order.productDetailId = (int)results["productDetailId"];
order.productDetailName = (String)results["productDetailName"];
order.productId = (int)results["productId"];
order.planId = (int)results["planId"];
order.deviceId = (int)results["deviceId"];
order.timeWorkId = (int)results["timeWorkId"];
order.activeDate = (string)results["activeDate"];
order.gate = (int)results["gate"];
// order.palletStatus = (String)results["palletStatus"];
dynamic product = new JObject();
product.timeWorkId = order.timeWorkId;
product.activeDate = order.activeDate;
product.productId = order.productId;
product.productDetailId = order.productDetailId;
// chu y sua
product.palletStatus = PalletStatus.P.ToString();
order.dataRequest = product.ToString();
order.status = StatusOrderResponseCode.PENDING;
order.dateTime = (string)DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss tt");
int palletId_P = Convert.ToInt32(CreatePlanBuffer(order));
if (palletId_P > 0)
{
/*if (GetFrontLineBuffer(order, true) == null)
* {
* statusOrderResponse = new StatusOrderResponse() { status = (int)StatusOrderResponseCode.ORDER_STATUS_RESPONSE_NOACCEPTED, content = "Loai Ma Code trong Buffer" };
* return statusOrderResponse;
* }*/
// Global_Object.onFlagDoorBusy = true;
Global_Object.setGateStatus(gate, true);
order.palletId_P = palletId_P;
PendingOrderList.Add(order);
OrderedItemList.Add(order);
Global_Object.cntForkLiftToBuffer++;
}
else
{
statusOrderResponse = new StatusOrderResponse()
{
status = (int)StatusOrderResponseCode.ORDER_STATUS_RESPONSE_NOACCEPTED, content = "Buffer Đầy ,Vui Lòng Kiểm Tra Lai !"
};
return(statusOrderResponse);
}
try
{
if (gate == (int)DoorId.DOOR_MEZZAMINE_UP)
{
Global_Object.doorManagementServiceCtrl.DoorMezzamineUp.LampSetStateOn(DoorType.DOOR_FRONT);
}
if (gate == (int)DoorId.DOOR_MEZZAMINE_UP_NEW)
{
Global_Object.doorManagementServiceCtrl.DoorMezzamineUpNew.LampSetStateOn(DoorType.DOOR_FRONT);
}
}
catch (Exception e)
{
Console.WriteLine("control lamp failed" + e);
}
}
#endregion
#region TYPEREQUEST_FORLIFT_TO_MACHINE
if (typeReq == (int)TyeRequest.TYPEREQUEST_FORLIFT_TO_MACHINE)
{
int gate = (int)results["gate"];
if (Global_Object.getGateStatus(gate))
{
statusOrderResponse = new StatusOrderResponse()
{
status = (int)StatusOrderResponseCode.ORDER_STATUS_DOOR_BUSY, content = ""
};
return(statusOrderResponse);
}
Global_Object.setGateStatus(gate, true);
//Global_Object.onFlagDoorBusy = true;
OrderItem order = new OrderItem();
order.typeReq = (TyeRequest)typeReq;
order.userName = (String)results["userName"];
order.productDetailId = (int)results["productDetailId"];
order.productDetailName = (String)results["productDetailName"];
order.productId = (int)results["productId"];
order.planId = (int)results["planId"];
order.deviceId = (int)results["deviceId"];
order.timeWorkId = (int)results["timeWorkId"];
order.activeDate = (string)results["activeDate"];
order.gate = (int)results["gate"];
// order.palletStatus = (String)results["palletStatus"];
dynamic product = new JObject();
product.timeWorkId = order.timeWorkId;
product.activeDate = order.activeDate;
product.productId = order.productId;
product.productDetailId = order.productDetailId;
// chu y sua
product.palletStatus = PalletStatus.P.ToString();
order.dataRequest = product.ToString();
order.status = StatusOrderResponseCode.PENDING;
order.dateTime = (string)DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss tt");
DataPallet datapallet = GetLineMachineInfo(order.deviceId);
if (datapallet != null)
{
order.palletAtMachine = datapallet;
PendingOrderList.Add(order);
OrderedItemList.Add(order);
}
else
{
statusOrderResponse = new StatusOrderResponse()
{
status = (int)StatusOrderResponseCode.ORDER_STATUS_RESPONSE_NOACCEPTED, content = ""
};
return(statusOrderResponse);
}
try
{
if (gate == (int)DoorId.DOOR_MEZZAMINE_UP)
{
Global_Object.doorManagementServiceCtrl.DoorMezzamineUp.LampSetStateOn(DoorType.DOOR_FRONT);
}
if (gate == (int)DoorId.DOOR_MEZZAMINE_UP_NEW)
{
Global_Object.doorManagementServiceCtrl.DoorMezzamineUpNew.LampSetStateOn(DoorType.DOOR_FRONT);
}
}
catch (Exception e)
{
Console.WriteLine("control lamp failed");
}
}
#endregion
#region TYPEREQUEST_BUFFER_TO_MACHINE
else if (typeReq == (int)TyeRequest.TYPEREQUEST_BUFFER_TO_MACHINE)
{
Console.WriteLine(dataReq);
Console.WriteLine("-----------------------------");
int len = (int)results["length"];
int palletAmountInBuffer = (int)results["palletAmount"];
int productDetailId = (int)results["productDetailId"];
int cntOrderReg = 0;
int orderAmount = 0;
foreach (OrderItem ord in PendingOrderList)
{
if (productDetailId == ord.productDetailId)
{
if (ord.status == StatusOrderResponseCode.PENDING)
{
cntOrderReg++;
}
}
}
if (cntOrderReg == 0) // chưa có order với productdetailID nào uoc đăng ký. thêm vào đúng số lượng trong orderlist
{
if (len <= palletAmountInBuffer) // nếu số lượn yêu cầu nhỏ hơn bằng số pallet có trong buffer add vào orderlist
{
orderAmount = len;
}
}
else if (cntOrderReg >= palletAmountInBuffer) // số lượng yêu cầu trước đó bằng hoặc hơn số lượng yêu cầu hiện tại. không duoc phép đưa vào thêm
{
statusOrderResponse = new StatusOrderResponse()
{
status = (int)StatusOrderResponseCode.ORDER_STATUS_RESPONSE_NOACCEPTED, content = ""
};
return(statusOrderResponse);
}
else if (cntOrderReg < palletAmountInBuffer) // số lượng yêu cầu hiện tại nhỏ hơn thì phải tính lại số lượng để bổ sung vào thêm
{
int availableOrder = palletAmountInBuffer - cntOrderReg; // tính số lượng pallet có thể
int willOrder = availableOrder - len; // số lượng pallet sẽ duoc add thêm vào orederlist
if (willOrder >= 0)
{
orderAmount = len;
}
else
{
orderAmount = len - availableOrder;
}
}
for (int i = 0; i < orderAmount; i++)
{
OrderItem order = new OrderItem();
order.typeReq = (TyeRequest)typeReq;
order.userName = (String)results["userName"];
order.productDetailId = (int)results["productDetailId"];
order.productDetailName = (String)results["productDetailName"];
order.productId = (int)results["productId"];
// order.planId = (int)results["planId"];
order.deviceId = (int)results["deviceId"];
order.timeWorkId = 1;
// order.activeDate = (string)DateTime.Now.ToString("yyyy-MM-dd");
// order.palletStatus = (String)results["palletStatus"];
String jsonDPst = (string)results["datapallet"][i];
JObject stuffPallet = JObject.Parse(jsonDPst);
double xx = (double)stuffPallet["line"]["x"];
double yy = (double)stuffPallet["line"]["y"];
double angle = (double)stuffPallet["line"]["angle"];
int row = (int)stuffPallet["pallet"]["row"];
int bay = (int)stuffPallet["pallet"]["bay"];
int directMain = (int)stuffPallet["pallet"]["dir_main"];
int directSub = (int)stuffPallet["pallet"]["dir_sub"];
int directOut = (int)stuffPallet["pallet"]["dir_out"];
int line_ord = (int)stuffPallet["pallet"]["line_ord"];
order.palletAtMachine = new DataPallet()
{
linePos = new Pose(xx, yy, angle), row = row, bay = bay, directMain = directMain, directSub = directSub, directOut = directOut, line_ord = line_ord
};
dynamic product = new JObject();
product.timeWorkId = order.timeWorkId;
//product.activeDate = "";
order.dateTime = (string)DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss tt");
product.productId = order.productId;
product.productDetailId = order.productDetailId;
// chu y sua
product.palletStatus = PalletStatus.W.ToString(); // W
order.dataRequest = product.ToString();
order.status = StatusOrderResponseCode.PENDING;
PendingOrderList.Add(order);
OrderedItemList.Add(order);
Global_Object.cntBufferToMachine++;
}
}
#endregion
#region TYPEREQUEST_MACHINE_TO_RETURN
else if (typeReq == (int)TyeRequest.TYPEREQUEST_PALLET_EMPTY_MACHINE_TO_RETURN)
{
int len = (int)results["length"];
for (int i = 0; i < len; i++)
{
OrderItem order = new OrderItem();
order.typeReq = (TyeRequest)typeReq;
order.userName = (String)results["userName"];
order.activeDate = (string)results["activeDate"];
order.deviceId = (int)results["deviceId"];
//order.palletStatus = (String)results["palletStatus"];
String jsonDPst = (string)results["datapallet"][i];
JObject stuffPallet = JObject.Parse(jsonDPst);
double xx = (double)stuffPallet["line"]["x"];
double yy = (double)stuffPallet["line"]["y"];
double angle = (double)stuffPallet["line"]["angle"];
int row = (int)stuffPallet["pallet"]["row"];
int bay = (int)stuffPallet["pallet"]["bay"];
int directMain = (int)stuffPallet["pallet"]["dir_main"];
int directSub = (int)stuffPallet["pallet"]["dir_sub"];
int dir_out = (int)stuffPallet["pallet"]["dir_out"];
int line_ord = (int)stuffPallet["pallet"]["line_ord"];
order.dateTime = (string)DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss tt");
order.palletAtMachine = new DataPallet()
{
linePos = new Pose(xx, yy, angle), row = row, bay = bay, directMain = directMain, directSub = directSub, directOut = dir_out, line_ord = line_ord
};
dynamic product = new JObject();
product.palletStatus = PalletStatus.F.ToString();
order.dataRequest = product.ToString();
order.status = StatusOrderResponseCode.PENDING;
PendingOrderList.Add(order);
OrderedItemList.Add(order);
}
}
#endregion
#region TYPEREQUEST_BUFFER_TO_GATE
else if (typeReq == (int)TyeRequest.TYPEREQUEST_WMS_RETURN_PALLET_BUFFER_TO_GATE)
{
OrderItem order = new OrderItem();
order.gate = (int)DoorId.DOOR_MEZZAMINE_RETURN;
order.typeReq = (TyeRequest)typeReq;
order.userName = (String)results["userName"];
order.deviceId = (int)results["deviceId"];
order.productDetailId = (int)results["productDetailId"];
order.productId = (int)results["productId"];
order.timeWorkId = 1;
order.activeDate = (string)results["activeDate"];
order.planId = (int)results["planId"];
order.palletId = (int)results["palletId"];
//order.activeDate = (string)results["activeDate"];
// order.palletStatus = (String)results["palletStatus"];
dynamic product = new JObject();
product.timeWorkId = order.timeWorkId;
product.activeDate = order.activeDate;
product.productId = order.productId;
product.productDetailId = order.productDetailId;
order.dateTime = (string)DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss tt");
// chu y sua
product.palletStatus = PalletStatus.W.ToString();
order.dataRequest = product.ToString();
order.status = StatusOrderResponseCode.PENDING;
if (UpdatePalletStatusReturnBufferToGate(order))
{
PendingOrderList.Add(order);
OrderedItemList.Add(order);
}
else
{
statusOrderResponse = new StatusOrderResponse()
{
status = (int)StatusOrderResponseCode.ORDER_STATUS_RESPONSE_NOACCEPTED, content = ""
};
return(statusOrderResponse);
}
}
#endregion
#region TYPEREQUEST_WMS_RETURN_PALLET_BUFFERRETURN
else if (typeReq == (int)TyeRequest.TYPEREQUEST_MACHINE_TO_BUFFERRETURN)
{
int len = (int)results["length"];
for (int i = 0; i < len; i++)
{
// tạo plan vùng buffer return
OrderItem order = new OrderItem();
order.typeReq = (TyeRequest)typeReq;
order.userName = (String)results["userName"];
order.productDetailId = (int)results["productDetailId"];
order.productDetailName = (String)results["productDetailName"];
order.activeDate = (string)results["activeDate"];
order.productId = (int)results["productId"];
// order.planId = (int)results["planId"];
int deviceId = getDeviceId("RETURN_MAIN 0");
if (deviceId < 0)
{
statusOrderResponse = new StatusOrderResponse()
{
status = (int)StatusOrderResponseCode.ORDER_STATUS_RESPONSE_NOACCEPTED, content = ""
};
return(statusOrderResponse);
}
order.deviceId = deviceId; // Buffer Return
order.timeWorkId = 1;
String jsonDPst = (string)results["datapallet"][i];
JObject stuffPallet = JObject.Parse(jsonDPst);
double xx = (double)stuffPallet["line"]["x"];
double yy = (double)stuffPallet["line"]["y"];
double angle = (double)stuffPallet["line"]["angle"];
int row = (int)stuffPallet["pallet"]["row"];
int bay = (int)stuffPallet["pallet"]["bay"];
int directMain = (int)stuffPallet["pallet"]["dir_main"];
int directSub = (int)stuffPallet["pallet"]["dir_sub"];
int dir_out = (int)stuffPallet["pallet"]["dir_out"];
int line_ord = (int)stuffPallet["pallet"]["line_ord"];
order.dateTime = (string)DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss tt");
order.palletAtMachine = new DataPallet()
{
linePos = new Pose(xx, yy, angle), row = row, bay = bay, directMain = directMain, directSub = directSub, directOut = dir_out, line_ord = line_ord
};
dynamic product = new JObject();
product.timeWorkId = order.timeWorkId;
product.activeDate = order.activeDate;
order.dateTime = (string)DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss tt");
product.productId = order.productId;
product.productDetailId = order.productDetailId;
// chu y sua
product.palletStatus = PalletStatus.P.ToString();
order.dataRequest = product.ToString();
order.status = StatusOrderResponseCode.PENDING;
int palletId_P = Convert.ToInt32(CreatePlanBuffer(order));
if (palletId_P > 0)
{
order.palletId_P = palletId_P;
PendingOrderList.Add(order);
OrderedItemList.Add(order);
}
else
{
statusOrderResponse = new StatusOrderResponse()
{
status = (int)StatusOrderResponseCode.ORDER_STATUS_RESPONSE_NOACCEPTED, content = ""
};
return(statusOrderResponse);
}
}
}
#endregion
#region TYPEREQUEST_WMS_RETURN_PALLET_BUFFERRETURN_TO_BUFFER401
else if (typeReq == (int)TyeRequest.TYPEREQUEST_WMS_RETURN_PALLET_BUFFERRETURN_TO_BUFFER401)
{
OrderItem order = new OrderItem();
order.typeReq = (TyeRequest)typeReq;
order.userName = (String)results["userName"];
order.productDetailId = (int)results["productDetailId"];
order.productDetailName = (String)results["productDetailName"];
order.productId = (int)results["productId"];
order.planId = (int)results["planId"];
order.deviceId = (int)results["deviceId"];
order.bufferId = (int)results["bufferId"];
order.deviceIdPut = (int)results["deviceIdPut"];
order.bufferIdPut = (int)results["bufferIdPut"];
order.timeWorkId = 1;
order.activeDate = (string)results["activeDate"];
order.palletId = (int)results["palletId"];
// order.activeDate = (string)DateTime.Now.ToString("yyyy-MM-dd");
// order.palletStatus = (String)results["palletStatus"];
order.status = StatusOrderResponseCode.PENDING;
PlanDataRequest planDataRequest_B401 = new PlanDataRequest();
planDataRequest_B401.activeDate = order.activeDate;
planDataRequest_B401.deviceId = order.deviceIdPut;
planDataRequest_B401.productDetailId = order.productDetailId;
planDataRequest_B401.productId = order.productId;
UpdatePalletRequest updatePalletRequest_BufferReturn = new UpdatePalletRequest();
updatePalletRequest_BufferReturn.planId = order.planId;
updatePalletRequest_BufferReturn.palletStatus = "H";
updatePalletRequest_BufferReturn.palletId = order.palletId;
bool onUpdateBR = UpdatePalletStatusToHoldBufferReturn_BRB401(updatePalletRequest_BufferReturn);
int palletId_P = CreatePlanBuffer401(planDataRequest_B401);
dynamic product_B401 = new JObject();
product_B401.timeWorkId = order.timeWorkId;
product_B401.activeDate = order.activeDate;
order.dateTime = (string)DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss tt");
product_B401.productId = order.productId;
product_B401.productDetailId = order.productDetailId;
// chu y sua
product_B401.palletStatus = PalletStatus.P.ToString();
order.dataRequest_Buffer401 = product_B401.ToString();
dynamic product_BR = new JObject();
product_BR.timeWorkId = order.timeWorkId;
product_BR.activeDate = order.activeDate;
order.dateTime = (string)DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss tt");
product_BR.productId = order.productId;
product_BR.productDetailId = order.productDetailId;
// chu y sua
product_BR.palletStatus = PalletStatus.H.ToString();
order.dataRequest_BufferReturn = product_BR.ToString();
if (onUpdateBR && palletId_P > 0)
{
order.palletId_P = palletId_P;
PendingOrderList.Add(order);
OrderedItemList.Add(order);
}
else
{
FreePlanedBuffer(order.dataRequest_Buffer401, order.planId);
updatePalletRequest_BufferReturn.palletStatus = "W";
UpdatePalletState(updatePalletRequest_BufferReturn);
}
}
#endregion
#region TYPEREQUEST_CLEAR
else if (typeReq == (int)TyeRequest.TYPEREQUEST_CLEAR)
{
String userName = (String)results["userName"];
// kiểm tra quy trình và hủy task
foreach (OrderItem ord in PendingOrderList)
{
if (ord.userName.Equals(userName))
{
PendingOrderList.Remove(ord);
}
}
foreach (OrderItem ord in OrderedItemList)
{
if (ord.userName.Equals(userName))
{
if (ord.status == StatusOrderResponseCode.PENDING)
{
ord.status = StatusOrderResponseCode.DESTROYED;
}
}
}
}
#endregion
#region TYPEREQUEST_OPEN_FRONTDOOR_DELIVERY_PALLET_GATE_1
else if (typeReq == (int)TyeRequest.TYPEREQUEST_OPEN_FRONTDOOR_DELIVERY_PALLET_GATE_1)
{
// same deviceID forklift
try
{
Global_Object.doorManagementServiceCtrl.DoorMezzamineUpNew.OpenPress(DoorType.DOOR_FRONT);
/* if (false == Global_Object.doorManagementServiceCtrl.DoorMezzamineUpNew.getDoorBusy()) {
* Global_Object.doorManagementServiceCtrl.DoorMezzamineUpNew.openDoor(DoorType.DOOR_FRONT);
* }*/
}
catch (Exception e)
{
Console.WriteLine("control door failed");
statusOrderResponse = new StatusOrderResponse()
{
status = (int)StatusOrderResponseCode.ORDER_STATUS_RESPONSE_ERROR_DATA, content = e.Message
};
return(statusOrderResponse);
}
}
#endregion
#region TYPEREQUEST_OPEN_FRONTDOOR_DELIVERY_PALLET_GATE_2
else if (typeReq == (int)TyeRequest.TYPEREQUEST_OPEN_FRONTDOOR_DELIVERY_PALLET_GATE_2)
{
// same deviceID forklift
try
{
if (false == Global_Object.doorManagementServiceCtrl.DoorMezzamineUp.getDoorBusy())
{
Global_Object.doorManagementServiceCtrl.DoorMezzamineUp.openDoor(DoorType.DOOR_FRONT);
}
}
catch (Exception e)
{
Console.WriteLine("control door failed");
statusOrderResponse = new StatusOrderResponse()
{
status = (int)StatusOrderResponseCode.ORDER_STATUS_RESPONSE_ERROR_DATA, content = e.Message
};
return(statusOrderResponse);
}
}
#endregion
#region TYPEREQUEST_CLOSE_FRONTDOOR_DELIVERY_PALLET_GATE_1
else if (typeReq == (int)TyeRequest.TYPEREQUEST_CLOSE_FRONTDOOR_DELIVERY_PALLET_GATE_1)
{
// same deviceID forklift
try
{
Global_Object.doorManagementServiceCtrl.DoorMezzamineUpNew.closeDoor(DoorType.DOOR_FRONT);
}
catch (Exception e)
{
Console.WriteLine("control door failed");
statusOrderResponse = new StatusOrderResponse()
{
status = (int)StatusOrderResponseCode.ORDER_STATUS_RESPONSE_ERROR_DATA, content = e.Message
};
return(statusOrderResponse);
}
}
#endregion
#region TYPEREQUEST_CLOSE_FRONTDOOR_DELIVERY_PALLET_GATE_2
else if (typeReq == (int)TyeRequest.TYPEREQUEST_CLOSE_FRONTDOOR_DELIVERY_PALLET_GATE_2)
{
// same deviceID forklift
try
{
Global_Object.doorManagementServiceCtrl.DoorMezzamineUp.closeDoor(DoorType.DOOR_FRONT);
}
catch (Exception e)
{
Console.WriteLine("control door failed");
statusOrderResponse = new StatusOrderResponse()
{
status = (int)StatusOrderResponseCode.ORDER_STATUS_RESPONSE_ERROR_DATA, content = e.Message
};
return(statusOrderResponse);
}
}
#endregion
#region TYPEREQUEST_OPEN_FRONTDOOR_RETURN_PALLET
else if (typeReq == (int)TyeRequest.TYPEREQUEST_OPEN_FRONTDOOR_RETURN_PALLET)
{
// same deviceID forklift
try
{
if (false == Global_Object.doorManagementServiceCtrl.DoorMezzamineReturn.getDoorBusy())
{
Global_Object.doorManagementServiceCtrl.DoorMezzamineReturn.openDoor(DoorType.DOOR_FRONT);
}
}
catch (Exception e)
{
Console.WriteLine("control door failed");
statusOrderResponse = new StatusOrderResponse()
{
status = (int)StatusOrderResponseCode.ORDER_STATUS_RESPONSE_ERROR_DATA, content = e.Message
};
return(statusOrderResponse);
}
}
#endregion
#region TYPEREQUEST_CLOSE_FRONTDOOR_RETURN_PALLET
else if (typeReq == (int)TyeRequest.TYPEREQUEST_CLOSE_FRONTDOOR_RETURN_PALLET)
{
// same deviceID forklift
try
{
Global_Object.doorManagementServiceCtrl.DoorMezzamineReturn.closeDoor(DoorType.DOOR_FRONT);
Global_Object.doorManagementServiceCtrl.DoorMezzamineReturn.LampSetStateOff(DoorType.DOOR_BACK);
}
catch (Exception e)
{
Console.WriteLine("control door failed");
statusOrderResponse = new StatusOrderResponse()
{
status = (int)StatusOrderResponseCode.ORDER_STATUS_RESPONSE_ERROR_DATA, content = e.Message
};
return(statusOrderResponse);
}
}
#endregion
statusOrderResponse = new StatusOrderResponse()
{
status = (int)StatusOrderResponseCode.ORDER_STATUS_RESPONSE_SUCCESS, content = ""
};
}
catch (Exception e)
{
statusOrderResponse = new StatusOrderResponse()
{
status = (int)StatusOrderResponseCode.ORDER_STATUS_RESPONSE_ERROR_DATA, content = e.Message
};
return(statusOrderResponse);
}
try
{
String path = Path.Combine(System.IO.Directory.GetCurrentDirectory(), "RecoderDataOrder.txt");
if (!File.Exists(path))
{
File.Create(path);
}
if (File.ReadAllBytes(path).Length > 3000000) // lon 3M thi xoa bot
{
String[] lines = File.ReadAllLines(path);
Array.Clear(lines, 0, 615); // xoa bot text 615 vong tuong ung 1M
}
File.AppendAllText(path, DateTime.Now.ToString("yyyyMMdd HH:mm:ss tt >> ") + dataReq + Environment.NewLine + "[Response] >> " + (statusOrderResponse.status) + Environment.NewLine);
}
catch { }
return(statusOrderResponse);
}
public override void Draw()
{
try
{
if (properties.IsConnected)
{
if ((agvErr == true) || (flagLostPosition == true))
{
setColorRobotStatus(RobotStatusColorCode.ROBOT_STATUS_ERROR);
}
else
{
setColorRobotStatus(RobotStatusColorCode.ROBOT_STATUS_CONNECT);
}
}
else
{
if (properties.RequestChargeBattery)
{
setColorRobotStatus(RobotStatusColorCode.ROBOT_STATUS_CHARGING);
}
else
{
setColorRobotStatus(RobotStatusColorCode.ROBOT_STATUS_DISCONNECT);
}
}
this.border.Dispatcher.BeginInvoke(new System.Threading.ThreadStart(() =>
{
props.rbRotateTransform.Angle = -properties.pose.Angle;
Point cPoint = Global_Object.CoorCanvas(properties.pose.Position);
props.rbTranslate = new TranslateTransform(cPoint.X - (border.Width / 2), cPoint.Y - (border.Height / 2));
props.rbTransformGroup.Children[1] = props.rbTranslate;
//Render Status
props.contentRotateTransform.Angle = (properties.pose.Angle);
props.contentTranslate = new TranslateTransform(0, 0);
props.contentTransformGroup.Children[1] = props.contentTranslate;
headerPoint.RenderTransform = new TranslateTransform(MiddleHeaderCv().X - 2.5, MiddleHeaderCv().Y - 1);
headerPoint1.RenderTransform = new TranslateTransform(MiddleHeaderCv1().X - 2.5, MiddleHeaderCv1().Y - 1);
headerPoint2.RenderTransform = new TranslateTransform(MiddleHeaderCv2().X - 2.5, MiddleHeaderCv2().Y - 1);
headerPoint3.RenderTransform = new TranslateTransform(MiddleHeaderCv3().X - 2.5, MiddleHeaderCv3().Y - 1);
PathGeometry pgeometry = new PathGeometry();
PathFigure pF = new PathFigure();
pF.StartPoint = TopHeaderCv();
// pF.StartPoint = new Point(TopHeader().X * 10, TopHeader().Y * 10);
LineSegment pp = new LineSegment();
pF.Segments.Add(new LineSegment()
{
Point = BottomHeaderCv()
});
pF.Segments.Add(new LineSegment()
{
Point = BottomTailCv()
});
pF.Segments.Add(new LineSegment()
{
Point = TopTailCv()
});
pF.Segments.Add(new LineSegment()
{
Point = TopHeaderCv()
});
// pF.Segments.Add(new LineSegment() { Point = new Point(BottomHeader().X*10, BottomHeader().Y * 10) });
//pF.Segments.Add(new LineSegment() { Point = new Point(BottomTail().X * 10, BottomTail().Y * 10) });
// pF.Segments.Add(new LineSegment() { Point = new Point(TopTail().X * 10, TopTail().Y * 10) });
//pF.Segments.Add(new LineSegment() { Point = new Point(TopHeader().X * 10, TopHeader().Y * 10) });
pgeometry.Figures.Add(pF);
safetyArea.Data = pgeometry;
// props.rbID.Content = properties.pose.Position.X.ToString("0");
// props.rbTask.Content = properties.pose.Position.Y.ToString("0");
props.rbID.Content = properties.Label;
// props.rbTask.Content = properties.pose.Position.Y.ToString("0");
smallCircle.Set(cPoint, new Point(0, 0), new Point(Radius_S, Radius_S));
Point ccR = CenterOnLineCv(Center_R);
redCircle.Set(ccR, new Point(0, 0), new Point(Radius_R, Radius_R));
Point ccB = CenterOnLineCv(Center_B);
blueCircle.Set(ccB, new Point(0, 0), new Point(Radius_B, Radius_B));
Point ccG = CenterOnLineCv(Center_G);
greenCircle.Set(ccG, new Point(0, 0), new Point(Radius_G, Radius_G));
Point ccO = CenterOnLineCv(Center_O);
orangeCircle.Set(ccO, new Point(0, 0), new Point(Radius_O, Radius_O));
}));
}
catch { }
}
