public TrackRail(TrackRailInfo info) : base(Color.Gray, info.parentMultiShuttle.Raillength, 0.05f)
{
trackRailInfo = info;
parentMultishuttle = info.parentMultiShuttle;
ListSolutionExplorer = true;
level = info.level;
Name = "S" + level.ToString().PadLeft(2, '0');
//TrackVehicleInfo trackVehicleInfo = new TrackVehicleInfo() { trackRail = this, moveToDistance = parentMultishuttle.InfeedRackShuttleLocation };
//trackVehicle = new TrackVehicle(trackVehicleInfo);
//Load.Items.Add(trackVehicle);
route.Motor.Speed = info.shuttlecarSpeed;
route.Motor.Stop();
// info.controlAssembly.Add((Core.Parts.RigidPart)this);
Visible = true;
if (!ParentMultishuttle.ShowBoxGraphic)
{
Visible = true;
}
Core.Environment.Scene.OnLoaded += Scene_OnLoaded;
}
public DropStationPoint(Types type, MultiShuttle parent, Elevator elevator) : base(type, parent)
{
Multishuttle = parent;
Elevator = elevator;
Core.Communication.Internal.AddListener(this, new Core.Communication.Internal.RecieveMessage(listen));
}
private float GetXDistance(int xCoord, MultiShuttle multishuttle)
{
if (xCoord < 1)
{
Log.Write("Error: X coordinate less then 1: " + xCoord, Color.Red);
Core.Environment.Scene.Pause();
xCoord = 1;
}
//if (multishuttle.MultiShuttleDriveThrough)
//{
// //assuming equal number on both sides!
// int midpoint = multishuttle.RackBays / 2;
// if (xCoord <= midpoint)
// return (xCoord - 0.5f) * multishuttle.BayLength;
// return (xCoord - 0.5f) * multishuttle.BayLength + multishuttle.RackConveyorLength * 2 + multishuttle.ElevatorConveyorLength;
//}
if (multishuttle.FrontLeftElevator || multishuttle.FrontRightElevator)
{
return((xCoord - 0.5f) * multishuttle.LocationLength + multishuttle.RackConveyorLength);
}
return((xCoord - 0.5f) * multishuttle.LocationLength);
}
public Shuttle(ShuttleInfo info) : base(info)
{
shuttleInfo = info;
//trackRail = new TrackRail(info.multiShuttleinfo, info.level, info.parent)
trackRail = new TrackRail(new TrackRailInfo()
{
level = info.level, parentMultiShuttle = info.parentMultishuttle, shuttlecarSpeed = info.parentMultishuttle.ShuttleCarSpeed
})
{
Name = "S" + info.level.ToString().PadLeft(2, '0'),
ThisShuttle = this
};
ParentMultiShuttle = info.parentMultishuttle;
Add((Core.Parts.RigidPart)trackRail);
shuttleConveyor = new StraightTransportSection(Core.Environment.Scene.DefaultColor, 0.1f, 0.1f)
{
Height = 0.05f
};
Add(shuttleConveyor, new Vector3(trackRail.Length / 2, 0, 0));
//shuttleConveyor.LocalYaw = (float)Math.PI / 2;
shuttleAP = shuttleConveyor.Route.InsertActionPoint(shuttleConveyor.Length / 2);
shuttleAP.OnEnter += shuttleAP_OnEnter;
shuttleAP2 = shuttleConveyor.Route.InsertActionPoint(shuttleConveyor.Length / 2);
shuttleAP_Zpos = (info.multiShuttleinfo.RackConveyorWidth / 2) + (info.multiShuttleinfo.carwidth / 2);
trackRail.Car.OnPositionChanged += Car_OnPositionChanged;
ShuttleTasks.CollectionChanged += ShuttleTasks_CollectionChanged;
ShuttleTasks.Clear();
shuttleConveyor.Route.Motor.Stop();
}
private void SingleLoadAtPS(string telegramFields, Case_Load caseLoad)
{
// Rack Location for an ElevatorTask takes the form: aasyyxz: aa=aisle, s = side, yy = level, x = conv type see enum ConveyorTypes , Z = loc A or B e.g. 01R05OA e.g. 01R05OA
// Source location for a shuttleTask takes the form: sxxxyydd: Side, xxx location, yy = level, dd = depth
// Elevator Format saa s = Side ( L or R), aa = aisle
string currentLoc = telegramFields.GetFieldValue(this, TelegramFields.Current);
string destLoc = telegramFields.GetFieldValue(this, TelegramFields.Destination);
string aisle = GetPSDSLocFields(currentLoc, PSDSRackLocFields.Aisle);
string side = GetPSDSLocFields(currentLoc, PSDSRackLocFields.Side);
string dest = null;
string sourceLoadB = string.Format("{0}{1}{2}{3}B", aisle, //Single load will always be at B
side,
GetPSDSLocFields(currentLoc, PSDSRackLocFields.Level),
GetPSDSLocFields(currentLoc, PSDSRackLocFields.ConvType));
MultiShuttle ms = GetMultishuttleFromAisleNum(sourceLoadB);
if (telegramFields.GetFieldValue(this, TelegramFields.Destination).LocationType() == LocationTypes.DropStation)
{
//First check if the destination is to a drop station... check if the drop station is on this elevator
if (GetPSDSLocFields(destLoc, PSDSRackLocFields.Side) != side)
{
//If not choose a destination to level 1 and remember the load route
dest = string.Format("{0}{1}{2}{3}A", aisle, side, FindLevelForReject(ms), "I");
}
else
{
dest = string.Format("{0}{1}{2}{3}A",
aisle,
side,
GetPSDSLocFields(destLoc, PSDSRackLocFields.Level),
GetPSDSLocFields(destLoc, PSDSRackLocFields.ConvType));
}
}
else if (telegramFields.GetFieldValue(this, TelegramFields.Destination).LocationType() == LocationTypes.RackConvIn)
{
dest = string.Format("{0}{1}{2}{3}B", aisle,
side,
GetLocFields(destLoc, PSDSRackLocFields.Level),
GetLocFields(destLoc, PSDSRackLocFields.ConvType));
}
else
{
dest = GetRackDestinationFromDCIBinLocation(string.Join(",", telegramFields), 0);
}
ElevatorTask et = new ElevatorTask(null, caseLoad.Identification)
{
SourceLoadB = sourceLoadB,
DestinationLoadB = dest,
LoadCycle = Cycle.Single,
UnloadCycle = Cycle.Single,
Flow = TaskType.Infeed
};
ms.elevators.First(x => x.ElevatorName == side + aisle).ElevatorTasks.Add(et);
//ms.elevators[side+aisle].ElevatorTasks.Add(et);
}
public Elevator(MultiShuttleElevatorInfo info) : base(info)
{
multishuttleElevatorInfo = info;
Embedded = true;
ParentMultiShuttle = info.Multishuttle;
Side = info.Side;
AisleNumber = ParentMultiShuttle.AisleNumber;
ElevatorConveyor = new ElevatorConveyor(new ElevatorConveyorInfo
{
length = info.multishuttleinfo.ElevatorConveyorLength,
width = info.multishuttleinfo.ElevatorConveyorWidth,
thickness = 0.05f,
color = Core.Environment.Scene.DefaultColor,
Elevator = this
}
);
AddAssembly(ElevatorConveyor);
ElevatorConveyor.Route.Motor.Speed = info.multishuttleinfo.ConveyorSpeed;
ElevatorConveyor.LocalYaw = -(float)Math.PI;
lift = new TrackRail(info.multishuttleinfo, 1, info.Multishuttle, this);// UserData = this };
lift.Car.OnPositionChanged += Car_PositionChanged;
AddPart(lift);
lift.LocalRoll = -(float)Math.PI / 2;
lift.Route.Motor.Speed = multishuttleElevatorInfo.multishuttleinfo.elevatorSpeed;
lift.Car.Visible = false;
ElevatorTasks.Clear();
ElevatorTasks.CollectionChanged += ElevatorTasks_CollectionChanged;
}
/// <summary>
/// Takes a dci bin location in the form MS011005080152 and converts it to a shuttletask location (sxxxyydd: Side, xxx location, yy = level, dd = depth)
///
/// </summary>
public string DCIbinLocToMultiShuttleLoc(string dciLoc, out int _level, MultiShuttle ms)
{
string side = GetBinLocField(dciLoc, BinLocFields.Side);
if (side == "1")
{
side = "L";
}
else if (side == "2")
{
side = "R";
}
string yLoc = GetBinLocField(dciLoc, BinLocFields.YLoc);
int.TryParse(yLoc, out _level); //assign out parameter
string xLoc = ((MHEControl_MultiShuttle)ms.ControllerProperties).XLocConverter(GetBinLocField(dciLoc, BinLocFields.XLoc), GetBinLocField(dciLoc, BinLocFields.RasterPos));
// takes the form sxxxyydd: Side, xxx location, yy = level, dd = depth
return(string.Format("{0}{1}{2}{3}", side,
xLoc, //Need control object here to get properties of raster position and type
yLoc,
GetBinLocField(dciLoc, BinLocFields.Depth)));
}
/// <summary>
/// Shuffle Move
/// </summary>
/// <param name="telegram"></param>
private void CreateShuttleTask(string telegram) //TODO should this go into the control object?
{
int level;
string destination = string.Empty;
string current = telegram.GetFieldValue(this, TelegramFields.Current); //GetFieldValue by string not enum (faster)
MultiShuttle ms = GetMultishuttleFromAisleNum(GetBinLocField(current, BinLocFields.Aisle));
ShuttleTask st = new ShuttleTask();
st.Source = DCIbinLocToMultiShuttleLoc(current, out level, ms);
string tlgDest = telegram.GetFieldValue(this, TelegramFields.Destination);
if (tlgDest.LocationType() == LocationTypes.BinLocation)//A shuffle move
{
destination = DCIbinLocToMultiShuttleLoc(tlgDest, out level, ms);
}
else if (tlgDest.LocationType() == LocationTypes.DropStation)//A move to a drop station
{
// takes the form aasyyxz: aa=aisle, s = side, yy = level, x = conv type see enum ConveyorTypes , Z = loc A or B e.g. 01R05OA
destination = string.Format("{0}{1}{2}OA", GetPSDSLocFields(tlgDest, PSDSRackLocFields.Aisle),
GetPSDSLocFields(tlgDest, PSDSRackLocFields.Side),
level.ToString().PadLeft(2, '0'));
}
else if (tlgDest.LocationType() == LocationTypes.RackConvOut)
{
destination = DCIrackLocToMultiShuttleRackLoc(level, tlgDest);//Create the rack location destination for the shuttle task
}
st.Destination = destination;
st.Level = level;
st.LoadID = telegram.GetFieldValue(this, TelegramFields.TUIdent);
st.caseData = CreateDCICaseData(telegram);
ms.shuttlecars[level].ShuttleTasks.Add(st);
}
public TrackCar(MultiShuttleInfo shuttleinfo, int level, MultiShuttle parent) : base(Color.Gray, shuttleinfo.raillength, 0.05f)
{
multishuttle = parent;
ListSolutionExplorer = true;
this.level = level;
this.shuttleinfo = shuttleinfo;//TODO shuttleinfo is of type multishuttleinfo -- this is confusing
LoadInfo shuttlecarinfo = new LoadInfo();
shuttlecarinfo.length = carlength;
shuttlecarinfo.height = carheight;
shuttlecarinfo.width = carwidth;
shuttlecarinfo.color = Color.Yellow;
shuttlecar = new ShuttleCar(shuttlecarinfo);
Load.Items.Add(shuttlecar);
route.Add(shuttlecar);
shuttlecar.Deletable = false;
shuttlecar.UserDeletable = false;
shuttlecar.Embedded = true;
route.Motor.Speed = shuttleinfo.shuttlecarSpeed;
shuttlecar.Stop();
route.Motor.Stop();
Destination = route.InsertActionPoint(0);
// Destination.Visible = true;
Destination.OnEnter += destination_Enter;
shuttlecar.OnPositionChanged += Car_PositionChanged;
//timer = new Core.Timer(shuttleinfo.ShuttlePositioningTime);
//nextJobDelayTimer = new Core.Timer(0.1f);
}
public Elevator(ElevatorInfo info) : base(info)
{
multishuttleElevatorInfo = info;
Embedded = true;
ParentMultiShuttle = info.Multishuttle;
Side = info.Side;
AisleNumber = ParentMultiShuttle.AisleNumber;
GroupName = info.groupName;
ElevatorConveyor = new ElevatorConveyor(new ElevatorConveyorInfo
{
length = info.multishuttleinfo.ElevatorConveyorLength,
width = info.multishuttleinfo.ElevatorConveyorWidth,
thickness = 0.05f,
color = Core.Environment.Scene.DefaultColor,
Elevator = this
}
);
Add(ElevatorConveyor);
ElevatorConveyor.Visible = false;
ElevatorConveyor.Route.Motor.Speed = info.multishuttleinfo.ConveyorSpeed;
ElevatorConveyor.LocalYaw = -(float)Math.PI;
Lift = new TrackRail(new TrackRailInfo()
{
parentMultiShuttle = ParentMultiShuttle, level = 0, shuttlecarSpeed = ParentMultiShuttle.ShuttleCarSpeed, controlAssembly = this
});
Vehicle = new TrackVehicle(new TrackVehicleInfo()
{
trackRail = Lift, moveToDistance = 0, controlAssembly = this
});
Vehicle.Length = info.multishuttleinfo.ElevatorConveyorLength;
Vehicle.Width = info.multishuttleinfo.ElevatorConveyorWidth;
Vehicle.Color = Color.Silver;
Vehicle.OnVehicleArrived += ElevatorOnArrived;
Vehicle.OnPositionChanged += Car_PositionChanged;
Add((Core.Parts.RigidPart)Lift, new Vector3(-0.025f, 0, 0));
Lift.LocalRoll = -(float)Math.PI / 2;
Lift.Route.Motor.Speed = multishuttleElevatorInfo.multishuttleinfo.elevatorSpeed;
Lift.Route.Motor.Stop();
Vehicle.Roll = (float)Math.PI / 2;
Vehicle.Movable = false;
ElevatorTasks.Clear();
ElevatorTasks.CollectionChanged += ElevatorTasks_CollectionChanged;
taskMonitor = new Timer(5);
taskMonitor.AutoReset = true;
taskMonitor.OnElapsed += TaskMonitor_OnElapsed;
taskMonitor.Start();
Core.Environment.Scene.OnResetCompleted += Scene_OnResetCompleted;
}
private string FindLevelForReject(MultiShuttle ms)
{
string destLevel = "01";
foreach (RackConveyor rackConveyor in ms.RackConveyors.Reverse <RackConveyor>())
{
if (rackConveyor.RackConveyorType == MultiShuttleDirections.Infeed)
{
if (rackConveyor.TransportSection.Route.Loads.Count < 2)
{
destLevel = rackConveyor.Level.ToString("00");
}
}
}
return(destLevel);
}
public TrackRail(MultiShuttleInfo trackInfo, int level, MultiShuttle parent, Elevator elevator = null) : base(Color.Gray, trackInfo.raillength, 0.05f)
{
multishuttle = parent;
ListSolutionExplorer = true;
this.level = level;
this.shuttleinfo = trackInfo;//TODO shuttleinfo is of type multishuttleinfo -- this is confusing
ThisElevator = elevator;
LoadInfo shuttlecarinfo = new LoadInfo()
{
length = carlength,
height = carheight,
width = carwidth,
color = Color.Yellow
};
shuttlecar = new TrackVehicle(shuttlecarinfo);
shuttlecar.Deletable = false;
shuttlecar.UserDeletable = false;
shuttlecar.Embedded = true;
//if (elevator == null)
//{
// shuttlecar.OnPositionChanged += Car_PositionChanged;
//}
Load.Items.Add(shuttlecar);
if (ThisElevator != null)
{
route.Add(shuttlecar);
Destination = route.InsertActionPoint(0);
}
else
{
route.Add(shuttlecar, multishuttle.workarround);
Destination = route.InsertActionPoint(multishuttle.workarround);
}
Destination.Visible = true;
Destination.OnEnter += destination_Enter;
route.Motor.Speed = trackInfo.shuttlecarSpeed;
shuttlecar.Stop();
route.Motor.Stop();
Visible = false;
}
public Shuttle(ShuttleInfo info) : base(info)
{
shuttleInfo = info;
trackRail = new TrackRail(info.multiShuttleinfo, info.level, info.parent)
{
Name = "S" + info.level.ToString().PadLeft(2, '0'),
ThisShuttle = this
};
ParentMultiShuttle = info.parent;
AddPart(trackRail);
shuttleConveyor = new StraightTransportSection(Core.Environment.Scene.DefaultColor, ParentMultiShuttle.DepthDistPos2 * 2, 0.5f)
{
Height = 0.05f
};
Add(shuttleConveyor, new Vector3(trackRail.Length / 2, 0, 0));
shuttleConveyor.LocalYaw = (float)Math.PI / 2;
transferIn = shuttleConveyor.Route.InsertActionPoint(ParentMultiShuttle.DepthDistPos2 - ((info.multiShuttleinfo.RackConveyorWidth / 2) + (info.multiShuttleinfo.carwidth / 2)));
transferIn.OnEnter += transferIn_OnEnter;
transferOut = shuttleConveyor.Route.InsertActionPoint(ParentMultiShuttle.DepthDistPos2 + ((info.multiShuttleinfo.RackConveyorWidth / 2) + (info.multiShuttleinfo.carwidth / 2)));
transferOut.OnEnter += transferOut_OnEnter;
shuttleAP = shuttleConveyor.Route.InsertActionPoint(shuttleConveyor.Length / 2);
shuttleAP.OnEnter += shuttleAP_OnEnter;
enterPointDepth1 = shuttleConveyor.Route.InsertActionPoint(ParentMultiShuttle.DepthDistPos2 - ParentMultiShuttle.DepthDistPos1);
enterPointDepth1.OnEnter += enterPointDepth1_OnEnter;
enterPointDepth2 = shuttleConveyor.Route.InsertActionPoint(0);
exitPointDepth1 = shuttleConveyor.Route.InsertActionPoint(ParentMultiShuttle.DepthDistPos2 + ParentMultiShuttle.DepthDistPos1);
exitPointDepth1.OnEnter += exitPointDepth1_OnEnter;
exitPointDepth2 = shuttleConveyor.Route.InsertActionPoint(shuttleConveyor.Length);
exitPointDepth2.OnEnter += exitPointDepth2_OnEnter;
trackRail.Car.OnPositionChanged += Car_OnPositionChanged;
ShuttleTasks.Clear();
ShuttleTasks.CollectionChanged += ShuttleTasks_CollectionChanged;
// MoveShuttle(ParentMultiShuttle.workarround);
}
void hideShow_Click(object sender, EventArgs e)
{
for (int i = 1; i < 9; i++)
{
string name = string.Format("Multi-Shuttle {0}", i.ToString());
MultiShuttle dms = Core.Assemblies.Assembly.Items[name] as MultiShuttle;
if (dms.Visible)
{
dms.Visible = false;
}
else
{
dms.Visible = true;
}
}
}
private const float Tolerance = 0.01f; //1 cm
public MSlevel(MSlevelInfo info) : base(info)
{
msLevelInfo = info;
ParentMS = info.parentMultishuttle;
Track = new TrackRail(new TrackRailInfo()
{
level = info.level, parentMultiShuttle = ParentMS, shuttlecarSpeed = ParentMS.ShuttleCarSpeed, controlAssembly = this
});
Vehicle = new TrackVehicle(new TrackVehicleInfo()
{
trackRail = Track, moveToDistance = InfeedRackShuttleLocation, controlAssembly = this
});
Add((Core.Parts.RigidPart)Track, new Vector3(0, -0.025f, 0));
Vehicle.OnLoadArrived += Vehicle_OnLoadArrived;
Vehicle.Length = ParentMS.ShuttleCarLength;
Vehicle.Width = ParentMS.ShuttleCarWidth;
shuttleAP_Zpos = (info.multiShuttleinfo.RackConveyorWidth / 2) + (info.multiShuttleinfo.carwidth / 2);
ShuttleTasks.CollectionChanged += ShuttleTasks_CollectionChanged;
Vehicle.OnVehicleArrived += ShuttleOnArrived;
ShuttleTasks.Clear();
}
public MHEControl_MultiShuttle(MultiShuttleDatcomInfo info, MultiShuttle multishuttle)
{
Info = info; // set this to save properties
theMultishuttle = multishuttle;
mheController_Multishuttle = ((MHEController_Multishuttle)theMultishuttle.Controller);
multishuttle.AutoNewElevatorTask = false; // Let this controller decide when a new task is created call Elevator.GetNewElevatorTask to assign the next task if there is one
//theMultishuttle.OnLoadTransferingToPickStation += theMultishuttle_OnLoadTransferingToPickStation;
//Shuttle
theMultishuttle.OnArrivedAtShuttle += theMultishuttle_OnArrivedAtShuttle;
//Bin Location
theMultishuttle.OnArrivedAtRackLocation += theMultishuttle_OnArrivedAtRackLocation;
//OutfeedRack
theMultishuttle.OnArrivedAtOutfeedRackConvPosA += theMultishuttle_OnArrivedAtOutfeedRackConvPosA;
theMultishuttle.OnArrivedAtOutfeedRackConvPosB += theMultishuttle_OnArrivedAtOutfeedRackConvPosB;
//Elevator Conv
theMultishuttle.OnArrivedAtElevatorConvPosA += theMultishuttle_OnArrivedAtElevatorConvPosA;
theMultishuttle.OnArrivedAtElevatorConvPosB += theMultishuttle_OnArrivedAtElevatorConvPosB;
//DropStation
theMultishuttle.OnArrivedAtDropStationConvPosA += theMultishuttle_OnArrivedAtDropStationConvPosA;
theMultishuttle.OnArrivedAtDropStationConvPosB += theMultishuttle_OnArrivedAtDropStationConvPosB;
//PickStation
theMultishuttle.OnArrivedAtPickStationConvPosA += theMultishuttle_OnArrivedAtPickStationConvPosA;
theMultishuttle.OnArrivedAtPickStationConvPosB += theMultishuttle_OnArrivedAtPickStationConvPosB;
//InfeedRack
theMultishuttle.OnArrivedAtInfeedRackConvPosA += theMultishuttle_OnArrivedAtInfeedRackConvPosA;
theMultishuttle.OnArrivedAtInfeedRackConvPosB += theMultishuttle_OnArrivedAtInfeedRackConvPosB;
}
//private Func<ObservableCollection<ElevatorTask>, ElevatorTask, ElevatorTask> elevatorPriority;
public MHEControl_MultiShuttle(MultiShuttleDCIInfo info, MultiShuttle multishuttle)
{
Info = info; // set this to save properties
multiShuttleATCInfo = info;
theMultishuttle = multishuttle;
controller = ((MHEController_Multishuttle)theMultishuttle.Controller);
multishuttle.AutoNewElevatorTask = false; // Let this controller decide when a new task is created call Elevator.GetNewElevatorTask to assign the next task if there is one
//Shuttle
theMultishuttle.OnArrivedAtShuttle += theMultishuttle_OnArrivedAtShuttle;
//Bin Location
theMultishuttle.OnArrivedAtRackLocation += theMultishuttle_OnArrivedAtRackLocation;
//InfeedRack
theMultishuttle.OnArrivedAtInfeedRackConvPosA += theMultishuttle_OnArrivedAtInfeedRackConvPosA;
theMultishuttle.OnArrivedAtInfeedRackConvPosB += theMultishuttle_OnArrivedAtInfeedRackConvPosB;
//OutfeedRack
theMultishuttle.OnArrivedAtOutfeedRackConvPosA += theMultishuttle_OnArrivedAtOutfeedRackConvPosA;
theMultishuttle.OnArrivedAtOutfeedRackConvPosB += theMultishuttle_OnArrivedAtOutfeedRackConvPosB;
//Elevator Conv
theMultishuttle.OnArrivedAtElevatorConvPosA += theMultishuttle_OnArrivedAtElevatorConvPosA;
theMultishuttle.OnArrivedAtElevatorConvPosB += theMultishuttle_OnArrivedAtElevatorConvPosB;
theMultishuttle.OnElevatorTasksStatusChanged += TheMultishuttle_OnElevatorTasksStatusChanged;
//DropStation
theMultishuttle.OnArrivedAtDropStationConvPosA += theMultishuttle_OnArrivedAtDropStationConvPosA;
theMultishuttle.OnArrivedAtDropStationConvPosB += theMultishuttle_OnArrivedAtDropStationConvPosB;
theMultishuttle.OnDropStationConvClear += TheMultishuttle_OnDropStationConvClear;
//PickStation
theMultishuttle.OnArrivedAtPickStationConvPosA += theMultishuttle_OnArrivedAtPickStationConvPosA;
theMultishuttle.OnArrivedAtPickStationConvPosB += theMultishuttle_OnArrivedAtPickStationConvPosB;
}
/// <summary>
/// Tasks are split into elevator task and shuttle task this method gives you the corrent rack location (i.e. the destination for an infeed elevator task)
/// </summary>
/// <param name="messageA">Can be either a full message or just the destination</param>
/// <param name="multipal">We need to know if it is multipal as we need to know if we need to extract destinations or destination</param>
/// <returns>A rack destination that the assembly will understand</returns>
private string GetRackDestinationFromDCIBinLocation(string telegram, int blockPosition)
{
string dest = null, current = null;
current = telegram.GetFieldValue(this, TelegramFields.Current, blockPosition);
dest = telegram.GetFieldValue(this, TelegramFields.Destination, blockPosition);
//Need to make the intermediate position to the rack conveyor
//takes the form aasyyxz: aa=aisle, s = side, yy = level, x = conv type see enum ConveyorTypes , Z = loc A or B e.g. 01R05OA
//The actual final destination from the message is stored on a load parameter and this will be used when creating the shuttle task
MultiShuttle ms = GetMultishuttleFromAisleNum(GetPSDSLocFields(current, PSDSRackLocFields.Aisle));
string destinationLoc = string.Format("{0}{1}{2}IA", GetPSDSLocFields(current, PSDSRackLocFields.Aisle), GetPSDSLocFields(current, PSDSRackLocFields.Side), GetBinLocField(dest, BinLocFields.YLoc));
DematicActionPoint ap = ms.ConveyorLocations.Find(x => x.LocName == destinationLoc);
if (ap == null)
{
Log.Write("Can't find location in MHEController_Multishuttle.GetRackDestinationFromDCIBinLocation.", Color.Red);
return(null);
}
return(destinationLoc);
}
/// <summary>
/// Rack Location for an ElevatorTask takes the form: aasyyxz: a=aisle, s = side, y = level, x = input or output, Z = loc A or B e.g. 01R05OA
/// Elevator Source location for a shuttleTask takes the form: sxxxyydd: Side, xxx location, yy = level, dd = depth
/// </summary>
/// <param name="info"></param>
/// <param name="cPoint"></param>
public MHEControl_MultiShuttleSimulation(MultiShuttleSimInfo info, MultiShuttle cPoint)
{
theMultishuttle = cPoint;
multiShuttleSimInfo = info; // set this to save properties
theMultishuttle.OnArrivedAtPickStationConvPosB += multiShuttle_OnArrivedAtPickStationConvPosB;
theMultishuttle.OnArrivedAtPickStationConvPosA += multiShuttle_OnArrivedAtPickStationConvPosA;
theMultishuttle.OnArrivedAtInfeedRackConvPosB += theMultishuttle_OnArrivedAtInfeedRackConvPosB;
theMultishuttle.OnArrivedAtOutfeedRackConvPosA += theMultishuttle_OnArrivedAtOutfeedRackConvPosA;
theMultishuttle.OnArrivedAtOutfeedRackConvPosB += theMultishuttle_OnArrivedAtOutfeedRackConvPosB;
theMultishuttle.OnLoadTransferingToPickStation += theMultishuttle_OnLoadTransferingToPickStation;
theMultishuttle.OnArrivedAtRackLocation += theMultishuttle_OnArrivedAtRackLocation;
//List<string> setShuttleTasks = new List<string>() { "L0270902", "R0150202", "L0340102", "R0280302", "L0090701", "R0400802", "L0370802", "R0140102", "L0390402", "R0180602" };
//foreach (string item in setShuttleTasks)
//{
// ShuttleTask sT = new ShuttleTask();
// sT.LoadColor = Color.Peru;
// sT.LoadHeight = 0.32f;
// sT.LoadLength = 0.65f;
// sT.LoadWidth = 0.32f;
// sT.LoadWeight = 2.3f;
// sT.Source = item;
// sT.Level = sT.Source.Level();
// sT.Destination = string.Format("01R{0}OB", sT.Level.ToString().PadLeft(2, '0'));
// sT.Barcode = FeedCase.GetSSCCBarcode();
// theMultishuttle.shuttlecars[sT.Level].ShuttleTasks.Add(sT);
//}
ShuttleTask sT = new ShuttleTask();
try
{
//sT.LoadColor = Color.Peru;
//sT.LoadHeight = 0.32f;
//sT.LoadLength = 0.65f;
//sT.LoadWidth = 0.32f;
//sT.LoadWeight = 2.3f;
sT.Source = "R0011001";//"L0011001"
sT.Level = sT.Source.Level();
sT.Destination = string.Format("01{0}{1}OA", (char)(sT.Source.Side()), sT.Level.ToString().PadLeft(2, '0'));
sT.Barcode = FeedCase.GetSSCCBarcode();
theMultishuttle.shuttlecars[sT.Level].ShuttleTasks.Add(sT);
sT = new ShuttleTask();
//sT.LoadColor = Color.Peru;
//sT.LoadHeight = 0.32f;
//sT.LoadLength = 0.65f;
//sT.LoadWidth = 0.32f;
//sT.LoadWeight = 2.3f;
sT.Source = "R0110801";
sT.Level = sT.Source.Level();
sT.Destination = string.Format("01{0}{1}OA", (char)sT.Source.Side(), sT.Level.ToString().PadLeft(2, '0'));
sT.Barcode = FeedCase.GetSSCCBarcode();
theMultishuttle.shuttlecars[sT.Level].ShuttleTasks.Add(sT);
}
catch (Exception ex)
{
Log.Write("Error in simulation: " + ex.Message, Color.Red);
}
//for (int i = 0; i < 30; i++)
//{
// ShuttleTask task = GenerateBinLocRetrival(1);
// if (task != null)
// {
// theMultishuttle.shuttlecars[task.Source.Level()].ShuttleTasks.Add(task);
// task = null;
// }
//}
//List<RackConveyor> infeedRackConvTemp = new List<RackConveyor>();
//foreach (DematicActionPoint dAP in theMultishuttle.ConveyorLocations)
//{
// if (dAP.LocName.ConvType() == ConveyorTypes.InfeedRack)
// {
// infeedRackConvTemp.Add((dAP.Parent.Parent.Parent) as RackConveyor);
// }
//}
//var hash = new HashSet<RackConveyor>(infeedRackConvTemp);
//List<RackConveyor> infeedRackConv = hash.ToList();
}
private void LoadAtRackConv(string telegram, Case_Load caseLoad)
{
if (telegram.GetFieldValue(this, TelegramFields.Destination).LocationType() == LocationTypes.DropStation)
{
DCICaseData caseData = caseLoad.Case_Data as DCICaseData;
string currentLevel = GetRackLocFields(caseData.Current, PSDSRackLocFields.Level);
string destLevel = GetPSDSLocFields(caseData.Destination, PSDSRackLocFields.Level);
string aisle = GetRackLocFields(caseData.Current, PSDSRackLocFields.Aisle);
string side = GetRackLocFields(caseData.Current, PSDSRackLocFields.Side);
//Set somedata on the load
caseData.Current = telegram.GetFieldValue(this, TelegramFields.Current);
caseData.Destination = telegram.GetFieldValue(this, TelegramFields.Destination);
int dropIndex = 0;
if (int.TryParse(telegram.GetFieldValue(this, TelegramFields.DropIndex), out dropIndex))
{
caseData.DropIndex = dropIndex;
}
ElevatorTask et = new ElevatorTask(null, caseLoad.Identification)
{
SourceLoadB = string.Format("{0}{1}{2}{3}B", aisle, side, currentLevel, (char)ConveyorTypes.OutfeedRack),
DestinationLoadB = string.Format("{0}{1}{2}{3}A", aisle, side, destLevel, (char)ConveyorTypes.Drop), // aasyyxz: a=aisle, s = side, yy = level, x = input or output, Z = loc A or B e.g. 01R05OA
DropIndexLoadB = dropIndex,
LoadCycle = Cycle.Single,
UnloadCycle = Cycle.Single,
Flow = TaskType.Outfeed
};
string elevatorName = string.Format("{0}{1}", side, aisle);
MultiShuttle ms = GetMultishuttleFromAisleNum(aisle);
Elevator elevator = ms.elevators.First(x => x.ElevatorName == elevatorName);
elevator.ElevatorTasks.Add(et);
}
else if (telegram.GetFieldValue(this, TelegramFields.Destination).LocationType() == LocationTypes.RackConvIn) //This will only work for drive through!
{
DCICaseData caseData = caseLoad.Case_Data as DCICaseData;
string currentLevel = GetRackLocFields(caseData.Current, PSDSRackLocFields.Level);
string destLevel = GetRackLocFields(caseData.Destination, PSDSRackLocFields.Level);
string aisle = GetRackLocFields(caseData.Current, PSDSRackLocFields.Aisle);
string side = GetRackLocFields(caseData.Current, PSDSRackLocFields.Side);
//Set somedata on the load
caseData.Current = telegram.GetFieldValue(this, TelegramFields.Current);
caseData.Destination = telegram.GetFieldValue(this, TelegramFields.Destination);
int dropIndex = 0;
if (int.TryParse(telegram.GetFieldValue(this, TelegramFields.DropIndex), out dropIndex))
{
caseData.DropIndex = dropIndex;
}
ElevatorTask et = new ElevatorTask(null, caseLoad.Identification)
{
SourceLoadB = string.Format("{0}{1}{2}{3}B", aisle, side, currentLevel, (char)ConveyorTypes.OutfeedRack),
DestinationLoadB = string.Format("{0}{1}{2}{3}A", aisle, side, destLevel, (char)ConveyorTypes.InfeedRack), // aasyyxz: a=aisle, s = side, yy = level, x = input or output, Z = loc A or B e.g. 01R05OA
DropIndexLoadB = dropIndex,
LoadCycle = Cycle.Single,
UnloadCycle = Cycle.Single,
Flow = TaskType.HouseKeep
};
string elevatorName = string.Format("{0}{1}", side, aisle);
MultiShuttle ms = GetMultishuttleFromAisleNum(aisle);
Elevator elevator = ms.elevators.First(x => x.ElevatorName == elevatorName);
elevator.ElevatorTasks.Add(et);
}
}
private void TUMissionMultiBlock(string telegram)
{
string currentLoc = string.Empty;
DematicActionPoint locA = null, locB = null;
MultiShuttle ms = null;
TelegramTypes type = telegram.GetTelegramType(this);
//List<string> indexTags;
//List<string> messageBodies = Telegrams.DeMultaplise(telegram, telegram.GetTelegramType(), out indexTags);
//string[] messageBodySplit = messageBodies.First().Split(',');//don't care which message is used as both on the same conveyor
string current = telegram.GetFieldValue(this, TelegramFields.Current);
string destLoc0 = telegram.GetFieldValue(this, TelegramFields.Destination, 0);
string destLoc1 = telegram.GetFieldValue(this, TelegramFields.Destination, 1);
string tuIdent0 = telegram.GetFieldValue(this, TelegramFields.TUIdent, 0);
string tuIdent1 = telegram.GetFieldValue(this, TelegramFields.TUIdent, 1);
string aisle = GetPSDSLocFields(current, PSDSRackLocFields.Aisle);
string side = GetPSDSLocFields(current, PSDSRackLocFields.Side);
string destA = null, destB = null;
// takes the form aasyyxz: aa=aisle, s = side, yy = level, x = conv type see enum ConveyorTypes , Z = loc A or B e.g. 01R05OA
string loc = string.Format("{0}{1}{2}P", aisle, side, GetPSDSLocFields(current, PSDSRackLocFields.Level));
ms = GetMultishuttleFromAisleNum(loc + "A");
locA = ms.ConveyorLocations.Find(x => x.LocName == loc + "A");
locB = ms.ConveyorLocations.Find(x => x.LocName == loc + "B");
if ((locA != null && locA.Active) && (locB != null && locB.Active))
{
string messageA = telegram.Split(',').ToList().Find(x => x.Contains(locA.ActiveLoad.Identification));
string messageB = telegram.Split(',').ToList().Find(x => x.Contains(locB.ActiveLoad.Identification));
if (destLoc0 == null || destLoc1 == null)
{
Log.Write(string.Format("{0}: Invalid destinations sent in TUMission - Logically Grouped", Name), Color.Red);
return;
}
if (telegram.GetFieldValue(this, TelegramFields.Destination, 0).LocationType() == LocationTypes.DropStation) //Assume that both going to DS
{
destA = string.Format("{0}{1}{2}{3}A", aisle,
side,
GetPSDSLocFields(destLoc0, PSDSRackLocFields.Level),
GetPSDSLocFields(destLoc0, PSDSRackLocFields.ConvType));
destB = destA;
}
else if (telegram.GetFieldValue(this, TelegramFields.Destination).LocationType() == LocationTypes.RackConvIn)
{
//need to calculate which way around the loads are on the PS and ensure that the elevator task is correct
if (locA.ActiveLoad.Identification == tuIdent0)
{
destA = string.Format("{0}{1}{2}{3}B", aisle, side, GetLocFields(destLoc0, PSDSRackLocFields.Level), GetLocFields(destLoc0, PSDSRackLocFields.ConvType));
}
else if (locA.ActiveLoad.Identification == tuIdent1)
{
destA = string.Format("{0}{1}{2}{3}B", aisle, side, GetLocFields(destLoc1, PSDSRackLocFields.Level), GetLocFields(destLoc1, PSDSRackLocFields.ConvType));
}
else
{
Log.Write(string.Format("Error {0}: The tuIdent at the PS does not match the tuIdent in the TU Mission - Logically Grouped (Position A"), Color.Orange);
return;
}
if (locB.ActiveLoad.Identification == tuIdent0)
{
destB = string.Format("{0}{1}{2}{3}B", aisle, side, GetLocFields(destLoc0, PSDSRackLocFields.Level), GetLocFields(destLoc0, PSDSRackLocFields.ConvType));
}
else if (locB.ActiveLoad.Identification == tuIdent1)
{
destB = string.Format("{0}{1}{2}{3}B", aisle, side, GetLocFields(destLoc1, PSDSRackLocFields.Level), GetLocFields(destLoc1, PSDSRackLocFields.ConvType));
}
else
{
Log.Write(string.Format("Error {0}: The tuIdent at the PS does not match the tuIdent in the TU Mission - Logically Grouped (Position A"), Color.Orange);
return;
}
}
else
{
destA = GetRackDestinationFromDCIBinLocation(telegram, 0);
destB = GetRackDestinationFromDCIBinLocation(telegram, 1);
}
if (messageA != null && messageB != null)
{
ElevatorTask et = new ElevatorTask(locA.ActiveLoad.Identification, locB.ActiveLoad.Identification)
{
LoadCycle = Cycle.Double,
Flow = TaskType.Infeed,
SourceLoadA = locA.LocName,
SourceLoadB = locB.LocName,
DestinationLoadA = destA,
DestinationLoadB = destB,
UnloadCycle = Cycle.Single
};
if (et.DestinationLoadA == et.DestinationLoadB)
{
et.UnloadCycle = Cycle.Double;
}
UpDateLoadParameters(telegram, (Case_Load)locA.ActiveLoad, 1);
UpDateLoadParameters(telegram, (Case_Load)locB.ActiveLoad, 0);
ms.elevators.First(x => x.ElevatorName == side + aisle).ElevatorTasks.Add(et);
//ms.elevators[side+aisle].ElevatorTasks.Add(et);
}
else
{
Log.Write("ERROR: Load ids from telegram do not match active load ids in TU Mission - Logically Grouped", Color.Red);
return;
}
}
else
{
Log.Write("ERROR: Can't find locations or can't find loads on the locations named in TU Mission - Logically Grouped", Color.Red);
}
}
private void TUMissionSingleBlock(string telegram)
{
try
{
if (Core.Environment.InvokeRequired)
{
Core.Environment.Invoke(() => TUMissionSingleBlock(telegram));
return;
}
//Look for the load somewhere in the model, if the load is found then change it's status, if not create it at the current location
Case_Load caseLoad = Case_Load.GetCaseFromIdentification(telegram.GetFieldValue(this, TelegramFields.TUIdent));
if (caseLoad != null)
{
DCICaseData caseData = caseLoad.Case_Data as DCICaseData;
UpDateLoadParameters(telegram, caseLoad);
if (telegram.GetFieldValue(this, TelegramFields.Current).LocationType() == LocationTypes.PickStation)
{
//Check how many loads are at the pickstation, first i need to find the pick station
string currentLoc = telegram.GetFieldValue(this, TelegramFields.Current);
string destLoc = telegram.GetFieldValue(this, TelegramFields.Destination);
string aisle = GetPSDSLocFields(currentLoc, PSDSRackLocFields.Aisle);
string side = GetPSDSLocFields(currentLoc, PSDSRackLocFields.Side);
string psLevel = GetPSDSLocFields(currentLoc, PSDSRackLocFields.Level);
string psA = string.Format("{0}{1}{2}{3}A", aisle, side, psLevel, GetPSDSLocFields(currentLoc, PSDSRackLocFields.ConvType));
string psB = string.Format("{0}{1}{2}{3}B", aisle, side, psLevel, GetPSDSLocFields(currentLoc, PSDSRackLocFields.ConvType));
MultiShuttle ms = GetMultishuttleFromAisleNum(psA);
PickStationConveyor psConv = ms.PickStationConveyors.Find(x => x.Name == string.Format("{0}{1}PS{2}", aisle, side, psLevel));
//Check how many loads are on the pickstation if there is only 1 then send a single mission
if (psConv.LocationA.Active && psConv.LocationB.Active)
{
Case_Load caseA = psConv.LocationA.ActiveLoad as Case_Load;
Case_Load caseB = psConv.LocationB.ActiveLoad as Case_Load;
DCICaseData caseDataA = caseA.Case_Data as DCICaseData;
DCICaseData caseDataB = caseB.Case_Data as DCICaseData;
//This is a double move to the elevator so don't send a single
if (caseB.Identification == telegram.GetFieldValue(this, TelegramFields.TUIdent)) //LocationB just set the destination
{
UpDateLoadParameters(telegram, caseB);
return;
}
else if (caseA.Identification == telegram.GetFieldValue(this, TelegramFields.TUIdent)) //LocationA Should be the second message so create the elevator task
{
UpDateLoadParameters(telegram, caseA);
string DestLoadA, DestLoadB;
if (caseDataA.Destination.LocationType() == LocationTypes.DropStation && GetPSDSLocFields(caseDataA.Destination, PSDSRackLocFields.Side) != side)
{
//First check if the destination is to a drop station... check if the drop station is on this elevator
//If not choose a destination to level 1 and remember the load route
DestLoadA = string.Format("{0}{1}{2}{3}B",
GetPSDSLocFields(caseDataA.Current, PSDSRackLocFields.Aisle),
GetPSDSLocFields(caseDataA.Current, PSDSRackLocFields.Side),
FindLevelForReject(ms),
"I");
}
else
{
DestLoadA = string.Format("{0}{1}{2}{3}B",
aisle,
side,
//GetLocFields(caseDataA.Destination, PSDSRackLocFields.Level),
//GetLocFields(caseDataA.Destination, PSDSRackLocFields.ConvType));
GetLocFields(caseDataA.Destination, PSDSRackLocFields.Level) != "" ? GetLocFields(caseDataA.Destination, PSDSRackLocFields.Level) : GetBinLocField(caseDataA.Destination, BinLocFields.YLoc),
GetLocFields(caseDataA.Destination, PSDSRackLocFields.ConvType) != "" ? GetLocFields(caseDataA.Destination, PSDSRackLocFields.ConvType) : "I");
}
if (caseDataB.Destination.LocationType() == LocationTypes.DropStation && GetPSDSLocFields(caseDataB.Destination, PSDSRackLocFields.Side) != side)
{
//First check if the destination is to a drop station... check if the drop station is on this elevator
//If not choose a destination to level 1 and remember the load route
DestLoadB = string.Format("{0}{1}{2}{3}B",
GetPSDSLocFields(caseDataB.Current, PSDSRackLocFields.Aisle),
GetPSDSLocFields(caseDataB.Current, PSDSRackLocFields.Side),
FindLevelForReject(ms),
"I");
}
else
{
DestLoadB = string.Format("{0}{1}{2}{3}B",
aisle,
side,
GetLocFields(caseDataB.Destination, PSDSRackLocFields.Level) != "" ? GetLocFields(caseDataB.Destination, PSDSRackLocFields.Level) : GetBinLocField(caseDataB.Destination, BinLocFields.YLoc),
GetLocFields(caseDataB.Destination, PSDSRackLocFields.ConvType) != "" ? GetLocFields(caseDataB.Destination, PSDSRackLocFields.ConvType) : "I");
}
ElevatorTask et = new ElevatorTask(caseA.Identification, caseB.Identification)
{
LoadCycle = Cycle.Double,
Flow = TaskType.Infeed,
SourceLoadA = psA,
SourceLoadB = psB,
DestinationLoadA = DestLoadA,
DestinationLoadB = DestLoadB,
UnloadCycle = Cycle.Single
};
if (et.DestinationLoadA == et.DestinationLoadB)
{
et.UnloadCycle = Cycle.Double;
}
ms.elevators.First(x => x.ElevatorName == side + aisle).ElevatorTasks.Add(et);
}
else
{
Log.Write(string.Format("Error {0}: None of the tuIdents match any of the loads at the PS on StartTransportTelegram"), Color.Orange);
}
}
else
{
SingleLoadAtPS(telegram, caseLoad);
}
}
else if (telegram.GetFieldValue(this, TelegramFields.Current).LocationType() == LocationTypes.RackConvOut)
{
LoadAtRackConv(telegram, caseLoad);
}
else if (telegram.GetFieldValue(this, TelegramFields.Current).LocationType() == LocationTypes.RackConvIn &&
caseData.Current == telegram.GetFieldValue(this, TelegramFields.Current)) //Mission for load at Infeed Rack conveyor
{
ShuttleTask st = new ShuttleTask();
string destination = caseData.Destination;
if (destination.LocationType() != LocationTypes.BinLocation)
{
Log.Write("WARNING: Arrived at infeed rack and destination is NOT a binlocation.", Color.Red);
return;
}
string current = telegram.GetFieldValue(this, TelegramFields.Current);
string aisle = GetRackLocFields(current, PSDSRackLocFields.Aisle);
string side = GetRackLocFields(current, PSDSRackLocFields.Side);
string location = string.Format("{0}{1}{2}IB", aisle, side, GetRackLocFields(current, PSDSRackLocFields.Level));
MultiShuttle ms = GetMultishuttleFromAisleNum(location);
int level;
st.Destination = DCIbinLocToMultiShuttleLoc(destination, out level, ms);
st.Level = level;
st.LoadID = caseLoad.Identification;
st.Source = location;
ms.shuttlecars[level].ShuttleTasks.Add(st);
}
else
{
Log.Write(string.Format("{0}: MultishuttleStartTransportTelegram received but the load was found elsewhere in the model ({1}) message ignored", Name, caseData.Current), Color.Red);
}
}
//Anything FROM a binloc will not have a load until the shuttle gets to the bin location at this point it will be created.
else if (telegram.GetFieldValue(this, TelegramFields.Current).LocationType() == LocationTypes.BinLocation)
{
CreateShuttleTask(telegram);
}
else if (telegram.GetFieldValue(this, TelegramFields.Current).LocationType() == LocationTypes.BinLocation &&
telegram.GetFieldValue(this, TelegramFields.Destination).LocationType() == LocationTypes.DropStation) //It's a shuffle move
{
SingleLoadOut(telegram);
}
else
{
Log.Write("Error: Load not found in StartTransportTelegramReceived", Color.Red);
}
}
catch (Exception ex)
{
Log.Write(ex.ToString());
if (ex.InnerException != null)
{
Log.Write(ex.InnerException.ToString());
}
}
}
private void Telegram01Recieved(string[] splittelegram, int datasets)
{
MultiShuttle ms = GetMultishuttleFromAisleNum(splittelegram);
#region Case on Pos2 is the first in dataset, Case on Pos1 is the second in dataset
CaseData cData = new CaseData();
cData.UserData = string.Empty;
if ((splittelegram[7].Length > 0 && splittelegram[7].Substring(0, 1) == "R") && (splittelegram[8].Length > 0 && splittelegram[8].Substring(0, 1) == "O"))
{
//From rack to outfeed rack conveyor
cData = SetUpCaseMissionDataSet(splittelegram, 1);
((MHEControl_MultiShuttle)ms.ControllerProperties).CreateShuttleTask(splittelegram[7], splittelegram[8], cData, ShuttleTaskTypes.RackToConv);
return;
}
else if ((splittelegram[7].Length > 0 && splittelegram[7].Substring(0, 1) == "R") && (splittelegram[8].Length > 0 && splittelegram[8].Substring(0, 1) == "R"))
{
//Shuffle move from rack loc to rack loc
cData = SetUpCaseMissionDataSet(splittelegram, 1);
((MHEControl_MultiShuttle)ms.ControllerProperties).CreateShuttleTask(splittelegram[7], splittelegram[8], cData, ShuttleTaskTypes.Shuffle);
return;
}
else if ((splittelegram[7].Length > 0 && splittelegram[7].Substring(0, 1) == "O") && (splittelegram[8].Length > 0 && splittelegram[8].Substring(0, 1) == "D") && datasets == 1)
{
//Outfeed rack to Drop Station single load
cData = SetUpCaseMissionDataSet(splittelegram, 1);
((MHEControl_MultiShuttle)ms.ControllerProperties).CreateElevatorTask(null, null, null, splittelegram[7], splittelegram[8], cData, Cycle.Single, Cycle.Single, TaskType.Outfeed);
return;
}
else if ((splittelegram[7].Length > 0 && splittelegram[7].Substring(0, 1) == "O") && (splittelegram[8].Length > 0 && splittelegram[8].Substring(0, 1) == "D") && datasets == 2)
{
//Outfeed rack to Drop Station double load
CaseData cDataA = SetUpCaseMissionDataSet(splittelegram, 2);
CaseData cDataB = SetUpCaseMissionDataSet(splittelegram, 1);
cDataA.UserData = cDataA.ULID + "," + cDataB.ULID; //Tag double loads for the correct 02 at the dropstation
cDataB.UserData = cDataA.UserData;
Cycle unloadcycle = Cycle.Double;
if (splittelegram[8].Datcom_Y_Vertical() != splittelegram[15 + datcomVersionIndexOffset].Datcom_Y_Vertical())
{
unloadcycle = Cycle.Single;
}
Cycle loadcycle = Cycle.Double;
if (splittelegram[6].Datcom_Y_Vertical() != splittelegram[13 + datcomVersionIndexOffset].Datcom_Y_Vertical())
{
loadcycle = Cycle.Single;
}
if (unloadcycle == Cycle.Single && loadcycle == Cycle.Single)
{
}
((MHEControl_MultiShuttle)ms.ControllerProperties).CreateElevatorTask(splittelegram[14 + datcomVersionIndexOffset], splittelegram[15 + datcomVersionIndexOffset], cDataA, splittelegram[7], splittelegram[8], cDataB, loadcycle, unloadcycle, TaskType.Outfeed);
return;
}
else if ((splittelegram[7].Length > 0 && splittelegram[7].Substring(0, 1) == "P") && ((splittelegram[7].Length > 0 && splittelegram[8].Substring(0, 1) == "D")))
{
//Pick Station to drop station
if (datasets == 1)
{
cData = SetUpCaseMissionDataSet(splittelegram, 1);
((MHEControl_MultiShuttle)ms.ControllerProperties).CreateElevatorTask(null, null, null, splittelegram[7], splittelegram[8], cData, Cycle.Single, Cycle.Single);
}
else if (datasets == 2)
{
cData = SetUpCaseMissionDataSet(splittelegram, 1);
CaseData cDataA = SetUpCaseMissionDataSet(splittelegram, 2);
cDataA.UserData = cDataA.ULID + "," + cData.ULID; //Tag double loads for the correct 02 at the dropstation
cData.UserData = cDataA.UserData;
((MHEControl_MultiShuttle)ms.ControllerProperties).CreateElevatorTask(splittelegram[18], splittelegram[19], cDataA, splittelegram[7], splittelegram[8], cData, Cycle.Double, Cycle.Double);
}
}
else if (splittelegram[7].Length > 0 && splittelegram[7].Substring(0, 1) == "P" && datasets == 1)
{
cData = SetUpCaseMissionDataSet(splittelegram, 1);
((MHEControl_MultiShuttle)ms.ControllerProperties).CreateElevatorTask(null, null, null, splittelegram[7], splittelegram[8], cData, Cycle.Single, Cycle.Single, TaskType.Infeed);
}
else if ((splittelegram[7].Length > 0 && splittelegram[7].Substring(0, 1) == "I") && (splittelegram[8].Length > 0 && splittelegram[8].Substring(0, 1) == "R"))
{
//From infeed conveyor to rack location
cData = SetUpCaseMissionDataSet(splittelegram, 1);
((MHEControl_MultiShuttle)ms.ControllerProperties).CreateShuttleTask(splittelegram[7], splittelegram[8], cData, ShuttleTaskTypes.ConvToRack);
return;
}
else if ((splittelegram[7].Length > 0 && splittelegram[7].Substring(0, 1) == "P") && (splittelegram[8].Length > 0 && splittelegram[8].Substring(0, 1) == "I") && datasets == 2 &&
splittelegram[8].Length > 0 && splittelegram[8].Datcom_Y_Vertical() == splittelegram[15 + datcomVersionIndexOffset].Datcom_Y_Vertical())
{
CaseData cDataA;
CaseData cDataB;
SetCaseData(splittelegram, out cDataA, out cDataB);
// CaseData cDataA = SetUpCaseMissionDataSet(splittelegram, 2);
// CaseData cDataB = SetUpCaseMissionDataSet(splittelegram, 1);
// cDataA.UserData = cDataA.ULID + "," + cDataB.ULID; //Tag double loads for the correct 02 at the dropstation
// cDataB.UserData = cDataA.UserData;
((MHEControl_MultiShuttle)ms.ControllerProperties).CreateElevatorTask(splittelegram[14 + datcomVersionIndexOffset], splittelegram[15 + datcomVersionIndexOffset], cDataA, splittelegram[7], splittelegram[8], cDataB, Cycle.Double, Cycle.Double, TaskType.Infeed);
return;
}
else if ((splittelegram[7].Length > 0 && splittelegram[7].Substring(0, 1) == "P") && (splittelegram[8].Length > 0 && splittelegram[8].Substring(0, 1) == "I") && datasets == 2 &&
splittelegram[8].Length > 0 && splittelegram[8].Datcom_Y_Vertical() != splittelegram[15 + datcomVersionIndexOffset].Datcom_Y_Vertical())
{
CaseData cDataA;
CaseData cDataB;
SetCaseData(splittelegram, out cDataA, out cDataB);
((MHEControl_MultiShuttle)ms.ControllerProperties).CreateElevatorTask(splittelegram[14 + datcomVersionIndexOffset], splittelegram[15 + datcomVersionIndexOffset], cDataA, splittelegram[7], splittelegram[8], cDataB, Cycle.Double, Cycle.Single, TaskType.Infeed);
return;
}
else
{
Log.Write(string.Join(",", splittelegram));
Log.Write("ERROR: 01 not handled by Experior.Catalog.Dematic.DatcomUK.Assemblies.MHEController_Multishuttle.Telegram01Recieved", Color.Red);
}
//Doesn't seem to do anything
//if (datasets == 2 && splittelegram[7].Length > 0 && splittelegram[7].Substring(0, 1) != "R" && splittelegram[14 + datcomVersionIndexOffset].Length > 0 && splittelegram[14 + datcomVersionIndexOffset].Substring(0, 1) != "R")
//{
// //switch D, E, I, O pos2 & pos1
// if (splittelegram[7].Contains("001") && splittelegram[14 + datcomVersionIndexOffset].Contains("002"))
// {
// //switch around!
// string temp17 = splittelegram[13 + datcomVersionIndexOffset];
// string temp18 = splittelegram[14 + datcomVersionIndexOffset];
// string temp19 = splittelegram[15 + datcomVersionIndexOffset];
// string temp20 = splittelegram[26 + datcomVersionIndexOffset];
// string temp21 = splittelegram[27 + datcomVersionIndexOffset];
// splittelegram[13 + datcomVersionIndexOffset] = splittelegram[6];
// splittelegram[14 + datcomVersionIndexOffset] = splittelegram[7];
// splittelegram[15 + datcomVersionIndexOffset] = splittelegram[8];
// splittelegram[16 + datcomVersionIndexOffset] = splittelegram[9];
// splittelegram[17 + datcomVersionIndexOffset] = splittelegram[10];
// splittelegram[6] = temp17;
// splittelegram[7] = temp18;
// splittelegram[8] = temp19;
// splittelegram[9] = temp20;
// splittelegram[10] = temp21;
// }
//}
#endregion
//string originalPosition2;
//string currentPosition2;
//string destinationPosition2;
//string missionStatus2;
//string ULID2;
//string originalPosition1;
//string currentPosition1;
//string destinationPosition1;
//string missionStatus1;
//string ULID1;
//MultiShuttle multishuttle;
//Case_Load caseload1, caseload2;
//if (!VerifyReceivedMission(splittelegram, datasets, out originalPosition2, out currentPosition2, out destinationPosition2, out missionStatus2, out ULID2,
// out originalPosition1, out currentPosition1, out destinationPosition1, out missionStatus1, out ULID1, out multishuttle, out caseload1, out caseload2))
//{
// return; //Reason is written to log in VerifyReceivedMission method
//}
}
public void ConfigureRackConveyor(Elevator elevator, float zCoord, int level, float xoffset)
{
Elevator = elevator;
MultiShuttle ParentMultiShuttle = Elevator.ParentMultiShuttle;
if (ParentMultiShuttle.MultiShuttleinfo.MultiShuttleDriveThrough)
{
LocalPosition = ParentMultiShuttle.shuttlecars[level].LocalPosition + new Vector3(-Length + ParentMultiShuttle.DriveThroughElevatorOffset + xoffset, 0, zCoord);
}
else //outfeed wll always travel in the same direction so point the conveyor in the correct direction and not reverse the conveyor
{
Height = ParentMultiShuttle.shuttlecars[level].LocalPosition.Y;
LocalPosition = ParentMultiShuttle.shuttlecars[level].LocalPosition + new Vector3(ParentMultiShuttle.MultiShuttleinfo.raillength / 2 - Length / 2 + xoffset, /*0.025f*/ 0, zCoord);
}
if (RackConveyorType == MultiShuttleDirections.Outfeed)
{
LocalYaw = (float)Math.PI;
}
// TransportSection.Route.InsertActionPoint(LocationA, Length/ 2 + Length / 4);
// TransportSection.Route.InsertActionPoint(LocationB, Length/ 2 - Length / 4);
//}
//else if (RackConveyorType == MultiShuttleDirections.Infeed)
//{
TransportSection.Route.InsertActionPoint(LocationA, Length / 2 - Length / 4);
TransportSection.Route.InsertActionPoint(LocationB, Length / 2 + Length / 4);
// }
//LocationA.Visible = true;
//LocationB.Visible = true;
LocationA.LocName = string.Format("{0}{1}{2}{3}{4}", Elevator.AisleNumber.ToString().PadLeft(2, '0'), (char)Elevator.Side, level.ToString().PadLeft(2, '0'), (char)RackConveyorType, "A");
LocationB.LocName = string.Format("{0}{1}{2}{3}{4}", Elevator.AisleNumber.ToString().PadLeft(2, '0'), (char)Elevator.Side, level.ToString().PadLeft(2, '0'), (char)RackConveyorType, "B");
ParentMultiShuttle.ConveyorLocations.Add(LocationA);
ParentMultiShuttle.ConveyorLocations.Add(LocationB);
Level = level;
Elevator = elevator;
// RackName = rackname;
// ms.RackConveyors.Add(rackname, this);
ParentMultiShuttle.RackConveyors.Add(this);
LocationA.OnEnter += rackConvLocA_Enter;
LocationB.OnEnter += rackConvLocB_Enter;
//Location1.UserData = elevator;
//Location2.UserData = elevator;
//if (ms.MultiShuttleDriveThrough)
//{
// RackConveyorInfo rackConvInfo = new RackConveyorInfo();
// //rackConvInfo.length = RackConveyorLength;
// //rackConvInfo.width = RackConveyorWidth;
// // conv = new RackConveyor(rackConvInfo);
// //ElevatorConveyor = new RackConveyor(Color.Gray, RackConveyorLength, RackConveyorWidth);
// //AddPart(ElevatorConveyor);
// AddAssembly(this);
// ConvRoute.Motor.Speed = ms.ConveyorSpeed;
// LocalPosition = ms.shuttlecars[level].LocalPosition + new Vector3(Length + ms.DriveThroughElevatorOffset + xoffset, 0, zCoord);
// LocalYaw = (float)Math.PI;
// _level = level.ToString();
// _level = _level.PadLeft(2, '0');
// if (rackConveyorType == MultiShuttleDirections.Infeed)
// {
// if (mSside == "L")
// {
// name1 = ms.FrontLeftOutfeedRackGroupName + mSside + ms.POS1OUTFEED + _level; // Front, Left, pos 001, level level
// name2 = ms.FrontLeftOutfeedRackGroupName + mSside + ms.POS2OUTFEED + _level; // Front, Left, pos 001, level level
// rackname = ms.FrontLeftOutfeedRackGroupName + mSside + _level;
// }
// else
// {
// name1 = ms.FrontRightOutfeedRackGroupName + mSside + ms.POS1OUTFEED + _level; // Front, Left, pos 001, level level
// name2 = ms.FrontRightOutfeedRackGroupName + mSside + ms.POS2OUTFEED + _level; // Front, Left, pos 001, level level
// rackname = ms.FrontRightOutfeedRackGroupName + mSside + _level;
// }
// }
// else
// {
// if (mSside == "L")
// {
// name1 = ms.FrontLeftInfeedRackGroupName + mSside + ms.POS1 + _level; // Front, Left, pos 001, level level
// name2 = ms.FrontLeftInfeedRackGroupName + mSside + ms.POS2 + _level; // Front, Left, pos 001, level level'
// rackname = ms.FrontLeftInfeedRackGroupName + mSside + _level;
// }
// else
// {
// name1 = ms.FrontRightInfeedRackGroupName + mSside + ms.POS1 + _level; // Front, Left, pos 001, level level
// name2 = ms.FrontRightInfeedRackGroupName + mSside + ms.POS2 + _level; // Front, Left, pos 001, level level
// rackname = ms.FrontRightInfeedRackGroupName + mSside + _level;
// }
// }
// if (rackConveyorType == MultiShuttleDirections.Infeed)
// {
// ConvRoute.Motor.Backward();
// //ElevatorConveyor.Exit = ElevatorConveyor.Route.InsertActionPoint(0);
// //ElevatorConveyor.Exit.OnEnter += new ActionPoint.EnterEvent(Exit_Enter);
// //ElevatorConveyor.RackConveyorType = RackConveyor.RackConveyorTypes.Outfeed;
// }
// Location1 = ConvRoute.InsertActionPoint(Length / 2 + Length / 4 + 0.01f);
// Location1.Name = name1;
// Location2 = ConvRoute.InsertActionPoint(Length / 2 - Length / 4);
// Location2.Name = name2;
// ms.conveyorlocations.Add(Location1.Name, Location1);
// ms.conveyorlocations.Add(Location2.Name, Location2);
// Level = _level;
// Elevator = elevator;
// RackName = rackname;
// ms.RackConveyors.Add(rackname, this);
// ms.RackConveyorsList.Add(this);
// Location1.OnEnter += rackConvLoc1_Enter;
// Location2.OnEnter += rackConvLoc2_Enter;
// Location1.UserData = elevator;
// Location2.UserData = elevator;
//}
}
