public void DoRobotCommandFor(RobotCommand robotCommand)
{
if (IsReadyForRobotCommand())
{
Task.Run(() =>
{
string addressID = robotCommand.PortAddressId;
EnumLoadUnload enumLoadUnload = GetEnumLoadUnloadFrom(robotCommand);
if (!LocalPackage.MainFlowHandler.LoadUnloadCommand(addressID, enumLoadUnload))
{
OnLogDebugEvent?.Invoke(this, new MessageHandlerArgs()
{
ClassMethodName = GetType().Name + ":" + System.Reflection.MethodBase.GetCurrentMethod().Name,
Message = "LocalPackage.MainFlowHandler.LoadUnloadCommand return fail."
});
//TODO : Vertify will local package publish robot fail event?
//OnRobotEndEvent?.Invoke(this, EnumRobotEndType.RobotError);
}
});
}
else
{
OnLogDebugEvent?.Invoke(this, new MessageHandlerArgs()
{
ClassMethodName = GetType().Name + ":" + System.Reflection.MethodBase.GetCurrentMethod().Name,
Message = $"LocalPackage is not ready for robot command.[ReadySignal={LocalPackage.MainFlowHandler.localData.LoadUnloadData.Ready}][ErrorSignal={LocalPackage.MainFlowHandler.localData.LoadUnloadData.ErrorBit}]"
});
}
}
public void SetAutoState(EnumAutoState autoState)
{
try
{
Agv.EnumAutoState localPackageAutoState = GetLocalPackageAutoStateFrom(autoState);
string errorMessage = "";
if (LocalPackage.MainFlowHandler.ChangeAutoManual(localPackageAutoState, ref errorMessage))
{
OnModeChangeEvent?.Invoke(this, autoState);
}
else
{
OnLogDebugEvent?.Invoke(this, new MessageHandlerArgs()
{
ClassMethodName = GetType().Name + ":" + System.Reflection.MethodBase.GetCurrentMethod().Name,
Message = $"LocalPackage.ChangeMode fail.[Error={errorMessage}]"
});
}
}
catch (Exception ex)
{
OnLogErrorEvent?.Invoke(this, new MessageHandlerArgs()
{
ClassMethodName = GetType().Name + ":" + System.Reflection.MethodBase.GetCurrentMethod().Name,
Message = ex.Message
});
}
}
private void AlarmHandler_OnAlarmSetEvent(object sender, INX.Model.Alarm e)
{
if (!MainAlarmHandler.dicHappeningAlarms.ContainsKey(e.Id))
{
MainAlarmHandler.SetAlarm(e.Id);
OnSetAlarmToAgvcEvent?.Invoke(sender, new AgvcAlarmArgs()
{
ErrorCode = e.Id,
IsAlarm = MainAlarmHandler.IsAlarm(e.Id)
});
OnLogDebugEvent?.Invoke(sender, new MessageHandlerArgs()
{
ClassMethodName = GetType().Name + ":" + System.Reflection.MethodBase.GetCurrentMethod().Name,
Message = MainAlarmHandler.GetAlarmText(e.Id)
});
}
}
public void SetAlarmFromAgvm(int errorCode)
{
if (!MainAlarmHandler.dicHappeningAlarms.ContainsKey(errorCode))
{
MainAlarmHandler.SetAlarm(errorCode);
LocalPackage.MainFlowHandler.AlarmHandler.SetAlarm(errorCode);
OnSetAlarmToAgvcEvent?.Invoke(this, new AgvcAlarmArgs()
{
ErrorCode = errorCode,
IsAlarm = MainAlarmHandler.IsAlarm(errorCode)
});
OnLogDebugEvent?.Invoke(this, new MessageHandlerArgs()
{
ClassMethodName = GetType().Name + ":" + System.Reflection.MethodBase.GetCurrentMethod().Name,
Message = MainAlarmHandler.GetAlarmText(errorCode)
});
}
}
public void SetMovingGuide(MovingGuide movingGuide)
{
var localData = LocalPackage.MainFlowHandler.localData;
if (IsReadyForMoveCommand())
{
Task.Run(() =>
{
if (localData.MoveControlData.MoveCommand == null)
{
string errorMessage = "";
var moveCmdInfo = GetLocalMoveCmdInfoFrom(movingGuide);
LocalPackage.MainFlowHandler.MoveControl.VehicleMove(moveCmdInfo, ref errorMessage);
if (!string.IsNullOrEmpty(errorMessage))
{
OnLogDebugEvent?.Invoke(this, new MessageHandlerArgs()
{
ClassMethodName = GetType().Name + ":" + System.Reflection.MethodBase.GetCurrentMethod().Name,
Message = $"LocalPackage.MoveControl can not do move command.[Error={errorMessage}]"
});
}
}
else
{
OnLogDebugEvent?.Invoke(this, new MessageHandlerArgs()
{
ClassMethodName = GetType().Name + ":" + System.Reflection.MethodBase.GetCurrentMethod().Name,
Message = $"LocalPackage.MoveControl has another move command.[EndAddress={localData.MoveControlData.MoveCommand.EndAddress.Id}]"
});
}
});
}
else
{
OnLogDebugEvent?.Invoke(this, new MessageHandlerArgs()
{
ClassMethodName = GetType().Name + ":" + System.Reflection.MethodBase.GetCurrentMethod().Name,
Message = $"LocalPackage is not ready for move command.[ReadySignal={localData.MoveControlData.Ready}][ErrorSignal={localData.MoveControlData.ErrorBit}]"
});
}
}
