// initialize
public override void Initialize(BasicWarehouse w)
{
try
{
base.Initialize(w);
if (CraneInfo != null)
{
CraneInfo.Name = Name;
CraneInfo.Initialize();
}
if (HomePosition != null)
{
LPHomePosition = LPosition.FromString(HomePosition);
}
if (OutRouteDef != null)
{
if (OutRouteDef == null || OutRouteDef.XmlRoute == null)
{
throw new BasicWarehouseException(String.Format("{0} has no XmlRoute defined", Name));
}
OutConveyor = new List <IConveyorIO>();
OutRouteDef.Node = new List <RouteNode>();
OutRouteDef.FinalRouteCost = new List <Route>();
foreach (XmlRouteNode node in OutRouteDef.XmlRoute)
{
OutRouteDef.Node.Add(new RouteNode {
Next = Warehouse.FindConveyorBasic(node.Next), Cost = node.Cost
});
OutConveyor.Add(Warehouse.CheckForConveyorIO(node.Next));
}
}
}
catch (Exception ex)
{
Warehouse.AddEvent(Event.EnumSeverity.Error, Event.EnumType.Exception, ex.Message);
throw new CraneException(String.Format("{0} Crane.Initialize failed", Name));
}
}
private SimpleCraneCommand GetCommandFromOccupiedState(int material, bool automatic)
{
try
{
SimpleCraneCommand res = null;
// check if outbound
var target = Warehouse.DBService.FindFirstCommand(material, automatic);
if (target != null)
{
LPosition position = LPosition.FromString(target.Target);
if (!position.IsWarehouse() || (!Crane.Shelve.Contains((short)position.Shelve)))
{
res = Crane.FindBestOutput(target);
// if (res != null)
// Warehouse.DBService.AddSimpleCommand(res);
}
else
{
// Warehouse.DBService.AddSimpleCommand(
res = new SimpleCraneCommand
{
Unit = Crane.Name,
Command_ID = target.ID,
Material = material,
Task = SimpleCommand.EnumTask.Drop,
Source = target.Target,
Status = SimpleCommand.EnumStatus.NotInDB,
Time = DateTime.Now
}
};
}
return(res);
}
catch (Exception ex)
{
Warehouse.AddEvent(Event.EnumSeverity.Error, Event.EnumType.Exception, ex.Message);
throw new StrategyCraneException(String.Format("{0} GetCommandFromOccupiedState failed ({1})", Name, material));
}
}
public override void CreateAndSendTOTelegram(SimpleCommand cmd)
{
try
{
if (!(cmd is SimpleCraneCommand))
{
throw new CraneException(String.Format("{0} is not SimpleCraneCommand.", cmd.ToString()));
}
SimpleCraneCommand Cmd = cmd as SimpleCraneCommand;
MaterialID matID = null;
if (Cmd.Material.HasValue)
{
matID = Warehouse.DBService.FindMaterialID((int)Cmd.Material, true);
}
LPosition pos = LPosition.FromString(Cmd.Source);
if (!pos.IsWarehouse())
{
if (cmd.Task == SimpleCommand.EnumTask.Pick)
{
pos = FindInConveyor(cmd.Source).CraneAddress;
}
else if (cmd.Task == SimpleCommand.EnumTask.Drop)
{
pos = FindOutConveyor(cmd.Source).CraneAddress;
}
else if (cmd.Task == SimpleCommand.EnumTask.Move)
{
pos = FindInOutConveyor(cmd.Source).CraneAddress;
}
else if (cmd.Task == SimpleCommand.EnumTask.Cancel)
{
pos = CraneAddress;
if (!cmd.CancelID.HasValue)
{
throw new CraneException(String.Format("{0} Parameter null", cmd != null ? cmd.ToString() : "null"));
}
}
else if (cmd.Task >= SimpleCommand.EnumTask.Delete)
{
pos = CraneAddress;
}
}
if (matID == null && cmd.Task != SimpleCommand.EnumTask.Move && cmd.Task != SimpleCommand.EnumTask.Cancel)
{
throw new CraneException(String.Format("Command validity fault ({0})", cmd.ToString()));
}
Communicator.AddSendTelegram(
new Telegrams.TelegramCraneTO
{
Sender = Communicator.MFCS_ID,
Receiver = Communicator.PLC_ID,
MFCS_ID = cmd.ID,
Order = (short)cmd.Task,
Buffer_ID = (cmd.Task != SimpleCommand.EnumTask.Cancel) ? (matID != null ? matID.ID : 0) : cmd.CancelID.Value,
Position = new Telegrams.Position {
R = (short)pos.Shelve, X = (short)pos.Travel, Y = (short)pos.Height, Z = (short)pos.Depth
},
Palette = new Telegrams.Palette {
Barcode = Convert.ToUInt32(matID != null ? matID.ID : 0), Type = (Int16)(matID != null ? matID.Size : 0), Weight = (UInt16)(matID != null ? matID.Weight : 0)
},
ID = PLC_ID
});
cmd.Status = SimpleCommand.EnumStatus.Written;
Warehouse.DBService.UpdateSimpleCommand(cmd);
Warehouse.AddEvent(Event.EnumSeverity.Event, Event.EnumType.Command, cmd.ToString());
// check for blocked locations
LPosition p = LPosition.FromString(cmd.Source);
string frontLoc;
if (p.Shelve > 0 && p.Depth == 2)
{
LPosition pOther = new LPosition {
Shelve = p.Shelve, Travel = p.Travel, Height = p.Height, Depth = 1
};
frontLoc = pOther.ToString();
}
else
{
frontLoc = cmd.Source;
}
if (Warehouse.DBService.FindPlaceID(cmd.Source) != null &&
(Warehouse.DBService.FindPlaceID(cmd.Source).Blocked || Warehouse.DBService.FindPlaceID(frontLoc).Blocked))
{
Warehouse.Segment[Segment].AlarmRequest(0);
Warehouse.AddEvent(Event.EnumSeverity.Error, Event.EnumType.Command, string.Format("Location blocked. Command: {0}", cmd.ToString()));
}
if (cmd.Command_ID.HasValue)
{
Command command = Warehouse.DBService.FindCommandByID(cmd.Command_ID.Value);
if (command == null)
{
throw new ConveyorException($"Command {command.ToString()} null.");
}
if (command.Status < Database.Command.EnumCommandStatus.Active)
{
command.Status = Database.Command.EnumCommandStatus.Active;
Warehouse.DBService.UpdateCommand(command);
Warehouse.OnCommandFinish?.Invoke(command);
}
}
}
catch (Exception ex)
{
Warehouse.AddEvent(Event.EnumSeverity.Error, Event.EnumType.Exception, ex.Message);
throw new CraneException(String.Format("{0} Crane.CreateAndSendTOTelegram failed. ({1})", Name, cmd != null ? cmd.ToString() : "null"));
}
}
public void CreateMaterial(UInt32 material, string place, int?mfcs_id, bool ignoreMaterialExsists, bool ignorePlaceExsists)
{
try
{
SimpleCommand c = null;
DBService.FindMaterialID((int)material, true);
Place pm = DBService.FindMaterial((int)material);
Place pp = DBService.FindPlace(place);
PlaceID pid = DBService.FindPlaceID(place);
//if(pm != null && pm.Place1 == "W:out")
//{
// DBService.MaterialDelete(pm.Place1, (int)material);
// pm = null;
//}
if (!ignoreMaterialExsists && pm != null) // material exists
{
if (mfcs_id.HasValue)
{
Command cmd = DBService.FindCommandByID(mfcs_id.Value);
cmd.Reason = Command.EnumCommandReason.MFCS;
cmd.Status = Command.EnumCommandStatus.Canceled;
DBService.UpdateCommand(cmd);
OnCommandFinish?.Invoke(cmd);
}
}
else if (!ignorePlaceExsists && pp != null && pid.Size != 999) // place is full
{
if (mfcs_id.HasValue)
{
Command cmd = DBService.FindCommandByID(mfcs_id.Value);
cmd.Reason = Command.EnumCommandReason.LocationFull;
cmd.Status = Command.EnumCommandStatus.Canceled;
DBService.UpdateCommand(cmd);
OnCommandFinish?.Invoke(cmd);
}
}
else
{
LPosition loc = LPosition.FromString(place);
if (!loc.IsWarehouse())
{
ConveyorBasic cb = FindConveyorBasic(place);
if (cb is Conveyor)
{
DBService.AddSimpleCommand(c = new SimpleConveyorCommand
{
Command_ID = mfcs_id,
Material = (int)material,
Source = place,
Status = SimpleCommand.EnumStatus.NotActive,
Target = place,
Task = SimpleCommand.EnumTask.Create,
Time = DateTime.Now
});
}
else if (cb is Crane)
{
DBService.AddSimpleCommand(c = new SimpleCraneCommand
{
Command_ID = mfcs_id,
Material = (int)material,
Source = place,
Status = SimpleCommand.EnumStatus.NotActive,
Task = SimpleCommand.EnumTask.Create,
Time = DateTime.Now,
Unit = cb.Name
});
}
}
else
{
DBService.MaterialCreate(place, (int)material, true);
OnMaterialMove?.Invoke(new Place {
Place1 = place, Material = (int)material
}, EnumMovementTask.Create);
if (mfcs_id.HasValue)
{
Command cmd = DBService.FindCommandByID(mfcs_id.Value);
cmd.Status = Command.EnumCommandStatus.Finished;
DBService.UpdateCommand(cmd);
OnCommandFinish?.Invoke(cmd);
}
}
}
}
catch (Exception ex)
{
AddEvent(Event.EnumSeverity.Error, Event.EnumType.Exception, String.Format("BasicWarehouse.CreateMaterial material({0}),place({1}) failed. Reason :{2}", material, place, ex.Message));
}
}
public string this[string propertyName]
{
get
{
try
{
LPosition p;
string frontLoc;
if (_warehouse.DBService != null)
{
string validationResult = String.Empty;
if (ValidationEnabled)
{
switch (propertyName)
{
case "TaskTU":
if (TaskTU >= EnumCommandTUTask.InfoMaterial)
{
validationResult = ResourceReader.GetString("ERR_TASK");
}
break;
case "MaterialStr":
if (TaskTU == EnumCommandTUTask.Move ||
TaskTU == EnumCommandTUTask.CreateMaterial ||
(TaskTU == EnumCommandTUTask.DeleteMaterial && Material != null))
{
if (!Material.HasValue || Material <= 0)
{
validationResult = ResourceReader.GetString("ERR_MATERIALNOTVALID");
}
else if (TaskTU != EnumCommandTUTask.CreateMaterial && _warehouse.DBService.FindMaterial(Material.Value) == null)
{
validationResult = ResourceReader.GetString("ERR_MATERIALNOTEXISTS");
}
else if (TaskTU == EnumCommandTUTask.CreateMaterial && _warehouse.DBService.FindMaterial(Material.Value) != null)
{
validationResult = ResourceReader.GetString("ERR_MATERIALEXISTS");
}
}
break;
case "Source":
if (_warehouse.DBService.FindPlaceID(Source) == null)
{
validationResult = ResourceReader.GetString("ERR_LOCATION");
}
else if (TaskTU == EnumCommandTUTask.Move && _warehouse.DBService.FindPlaceID(Target) != null &&
!(_warehouse.WCFClient as WCFUIClient).NotifyUIClient.RouteExists(Source, Target, false))
{
validationResult = ResourceReader.GetString("ERR_ROUTE");
}
else
{
p = LPosition.FromString(Source);
frontLoc = Source;
if (p.Shelve > 0 && p.Depth == 2)
{
LPosition pOther = new LPosition {
Shelve = p.Shelve, Travel = p.Travel, Height = p.Height, Depth = 1
};
frontLoc = pOther.ToString();
}
if (_warehouse.DBService.FindPlaceID(Source).Blocked || _warehouse.DBService.FindPlaceID(frontLoc).Blocked)
{
validationResult = ResourceReader.GetString("ERR_BLOCKED");
}
}
break;
case "Target":
if (_warehouse.DBService.FindPlaceID(Target) == null)
{
validationResult = ResourceReader.GetString("ERR_LOCATION");
}
else if (TaskTU == EnumCommandTUTask.Move && _warehouse.DBService.FindPlaceID(Source) != null &&
!(_warehouse.WCFClient as WCFUIClient).NotifyUIClient.RouteExists(Source, Target, false))
{
validationResult = ResourceReader.GetString("ERR_ROUTE");
}
else
{
p = LPosition.FromString(Target);
frontLoc = Target;
if (p.Shelve > 0 && p.Depth == 2)
{
frontLoc = frontLoc.Substring(0, frontLoc.Length - 1) + '1';
}
if (_warehouse.DBService.FindPlaceID(Target).Blocked || _warehouse.DBService.FindPlaceID(frontLoc).Blocked)
{
validationResult = ResourceReader.GetString("ERR_BLOCKED");
}
else
{
var mat = Material.HasValue ? _warehouse.DBService.FindMaterialID(Material.Value, false) : null;
var pid = _warehouse.DBService.FindPlaceID(Target);
if (Target.StartsWith("W") && mat != null && pid != null && mat.ID / 10000 > pid.Size)
{
validationResult = ResourceReader.GetString("ERR_LOCATIONCLASS");
}
}
}
break;
case "Priority":
if (Priority < 0 || Priority > 100)
{
validationResult = ResourceReader.GetString("ERR_PRIORITY");
}
break;
}
}
Validator.AddOrUpdate(propertyName, validationResult == String.Empty);
AllPropertiesValid = Validator.IsValid();
return(validationResult);
}
Validator.AddOrUpdate(propertyName, false);
AllPropertiesValid = Validator.IsValid();
return(ResourceReader.GetString("ERR_NULL"));
}
catch (Exception e)
{
_warehouse.AddEvent(Database.Event.EnumSeverity.Error, Database.Event.EnumType.Exception,
string.Format("{0}.{1}: {2}", this.GetType().Name, (new StackTrace()).GetFrame(0).GetMethod().Name, e.Message));
Validator.AddOrUpdate(propertyName, false);
AllPropertiesValid = Validator.IsValid();
return(ResourceReader.GetString("ERR_EXCEPTION"));
}
}
}
private int Distance(Telegrams.Position p1, LPosition p2)
{
return(Math.Abs(p1.X - p2.Travel) + Math.Abs(p1.Y - p2.Height));
}
public override void Strategy()
{
if (Crane.PLC_Status != null)
{
Crane.FastCommand = null;
}
if (!Warehouse.StrategyActive)
{
return;
}
if (!Crane.Communicator.Online())
{
return;
}
if (!Crane.CheckIfAllNotified())
{
return;
}
try
{
PickAction = null;
Command = Crane.Command;
BufferCommand = Crane.BufferCommand;
bool remote = Warehouse.SteeringCommands.RemoteMode;
if (Crane.FastCommand == null)
{
Crane.FastCommand = Warehouse.DBService.FindFirstFastSimpleCraneCommand(Crane.Name, Warehouse.SteeringCommands.AutomaticMode);
}
WriteCommandToPLC(Crane.FastCommand, true);
if (!Warehouse.SteeringCommands.Run)
{
return;
}
if ((!Crane.Remote() || Crane.LongTermBlock()))
{
return;
}
if (!Crane.Automatic())
{
return;
}
GetNewCommand(remote, null);
GetNewCommand(remote, null);
// make double cycles
if (PickAction != null)
{
PrefferedInput = LPosition.FromString(PickAction.Source).IsWarehouse();
}
WriteCommandToPLC(Command);
WriteCommandToPLC(BufferCommand);
BannedPlaces.Clear();
}
catch (Exception e)
{
Warehouse.AddEvent(Event.EnumSeverity.Error, Event.EnumType.Exception, e.Message);
throw new StrategyCraneException(String.Format("{0} Strategy failed.", Name));
}
}
