public override void InitialNotify(Telegram t, uint material)
{
try
{
TelegramCraneTO tel = t as TelegramCraneTO;
base.InitialNotify(t, material);
if (tel.Buffer_ID != 0)
{
BufferCommand = Warehouse.DBService.FindSimpleCraneCommandByID(tel.Buffer_ID);
if (BufferCommand == null)
{
throw new CraneException(String.Format("Unknown BufferCommand ({0})", tel.Buffer_ID));
}
BufferCommand.Status = SimpleCommand.EnumStatus.InPlc;
Warehouse.DBService.UpdateSimpleCommand(BufferCommand);
Warehouse.AddEvent(Event.EnumSeverity.Event, Event.EnumType.Command, String.Format("{0} buffer command ({1}) in PLC", Name, BufferCommand != null ? BufferCommand.ToString() : "null"));
}
else if (BufferCommand != null)
{
BufferCommand.Reason = SimpleCommand.EnumReason.MFCS;
BufferCommand.Status = SimpleCommand.EnumStatus.Canceled;
Warehouse.DBService.UpdateSimpleCommand(BufferCommand);
OnSimpleCommandFinish(BufferCommand);
BufferCommand = null;
Warehouse.AddEvent(Event.EnumSeverity.Event, Event.EnumType.Command, String.Format("{0} buffer command ({1}) not in PLC.", Name, BufferCommand != null ? BufferCommand.ToString() : "null"));
}
if (tel.MFCS_ID != 0)
{
Command = Warehouse.DBService.FindSimpleCraneCommandByID(tel.MFCS_ID);
if (Command == null)
{
throw new CraneException(String.Format("Unknown Command ({0})", tel.Buffer_ID));
}
Command.Status = SimpleCommand.EnumStatus.InPlc;
Warehouse.DBService.UpdateSimpleCommand(Command);
Warehouse.AddEvent(Event.EnumSeverity.Event, Event.EnumType.Command, String.Format("{0} Command ({1}) in PLC", Name, Command != null ? Command.ToString() : "null"));
}
else if (Command != null)
{
Command.Reason = SimpleCommand.EnumReason.MFCS;
Command.Status = SimpleCommand.EnumStatus.Canceled;
Warehouse.DBService.UpdateSimpleCommand(Command);
OnSimpleCommandFinish(Command);
Warehouse.AddEvent(Event.EnumSeverity.Event, Event.EnumType.Command, String.Format("{0} Command ({1}) not in PLC", Name, Command != null ? Command.ToString() : "null"));
Command = null;
}
}
catch (Exception ex)
{
Warehouse.AddEvent(Event.EnumSeverity.Error, Event.EnumType.Exception, ex.Message);
throw new CraneException(String.Format("{0} Crane.InitialNotify failed ({1},{2})", Name, t is TelegramCraneTO ? (t as TelegramCraneTO).MFCS_ID : 0, material));
}
}
public void OnTelegramCraneTO(Telegram t)
{
TelegramCraneTO cmd = t as TelegramCraneTO;
if (Command == null)
{
throw new CraneException(String.Format("{0} command=null at new notification MFCS_ID={1}", Name, cmd.MFCS_ID));
}
if (Command.ID != cmd.MFCS_ID)
{
throw new CraneException(String.Format("{0} CommandID({1} != cmd.MFCS_ID{2} ", Name, Command.ID, cmd.MFCS_ID));
}
Command_Status = cmd;
if (Command.Status <= EnumSimpleCraneCommandStatus.InPlc)
{
Command.Status = EnumSimpleCraneCommandStatus.InPlc;
}
if (Command_Status.Confirmation == TelegramCraneTO.CONFIRMATION_OK)
{
if (Command.Status <= EnumSimpleCraneCommandStatus.PLCFinished)
{
Command.Status = EnumSimpleCraneCommandStatus.PLCFinished;
}
}
if (Command_Status.Confirmation == TelegramCraneTO.CONFIRMATION_CANCELBYMFCS ||
Command_Status.Confirmation == TelegramCraneTO.CONFIRMATION_CANCELBYWAREHOUSE)
{
CommandCancelFault = Command_Status.Fault;
CommandCancelText = Command_Status.Fault.ToString();
CommandCancelByText = Command_Status.Confirmation.ToString();
Command.Status = EnumSimpleCraneCommandStatus.PLCCanceled;
if (BufferCommand != null)
{
BufferCommand.Status = EnumSimpleCraneCommandStatus.PLCCanceled;
}
}
}
// proces incoming TO telegram connected to command
// proces incoming TO telegram connected to command
private void WorkCommand(TelegramCraneTO tel, SimpleCraneCommand cmd, bool fastCommand)
{
try
{
if (tel.Confirmation == TelegramCraneTO.CONFIRMATION_OK)
{
try
{
if (fastCommand && cmd.Task < SimpleCommand.EnumTask.Delete && fastCommand)
{
throw new CraneException(String.Format("Crane.WorkCommand {0} FastCommand{1} has wrong task {2}", Name, cmd.ID, cmd.Task));
}
if (cmd.Task == SimpleCommand.EnumTask.Pick)
{
Pick(tel.Palette.Barcode, cmd.Source);
}
else if (cmd.Task == SimpleCommand.EnumTask.Drop)
{
Drop(tel.Palette.Barcode, cmd.Source);
}
else if (cmd.Task == SimpleCommand.EnumTask.Create)
{
MaterialCreate(tel.Palette.Barcode);
}
else if (cmd.Task == SimpleCommand.EnumTask.Delete)
{
MaterialDelete(tel.Palette.Barcode);
}
FinishCommand(tel.MFCS_ID, cmd, SimpleCommand.EnumStatus.Finished);
}
catch
{
cmd.Reason = SimpleCommand.EnumReason.MFCS;
FinishCommand(tel.MFCS_ID, cmd, SimpleCommand.EnumStatus.Canceled);
throw;
}
finally
{
AssignCommandsAfterFinish();
}
}
else if (tel.Confirmation == TelegramCraneTO.CONFIRMATION_DIMENSIONCHECKERROR)
{
cmd.Reason = SimpleCommand.EnumReason.DimensionCheck;
FinishCommand(tel.MFCS_ID, cmd, SimpleCommand.EnumStatus.Canceled);
Command Command = Warehouse.DBService.FindCommandByID(cmd.Command_ID.Value);
if (Command != null)
{
Command.Status = Database.Command.EnumCommandStatus.Canceled;
Warehouse.DBService.UpdateCommand(Command);
Warehouse.OnCommandFinish?.Invoke(Command);
}
else
{
throw new ConveyorBasicException(String.Format("{0} has no corresponding Command", cmd != null ? cmd.ToString() : "null"));
}
}
else if (tel.Confirmation == TelegramCraneTO.CONFIRMATION_CANCELBYWAREHOUSE ||
tel.Confirmation == TelegramCraneTO.CONFIRMATION_FAULT ||
tel.Confirmation == TelegramCraneTO.CONFIRMATION_CANCELBYMFCS)
{
bool finish = false;
if (tel.Confirmation == TelegramCraneTO.CONFIRMATION_CANCELBYWAREHOUSE)
{
cmd.Reason = SimpleCommand.EnumReason.Warehouse;
}
else if (tel.Confirmation == TelegramCraneTO.CONFIRMATION_FAULT)
{
cmd.Reason = (Database.SimpleCommand.EnumReason)tel.Fault;
if (tel.Fault == TelegramCraneTO.FAULT_CANCEL_NOCMD)
{
FinishCommand(tel.Buffer_ID, null, SimpleCommand.EnumStatus.Canceled);
finish = true;
}
}
else if (tel.Confirmation == TelegramCraneTO.CONFIRMATION_CANCELBYMFCS)
{
cmd.Reason = SimpleCommand.EnumReason.MFCS;
}
if (finish)
{
FinishCommand(tel.MFCS_ID, cmd, SimpleCommand.EnumStatus.Finished);
}
else
{
FinishCommand(tel.MFCS_ID, cmd, SimpleCommand.EnumStatus.Canceled);
}
if (BufferCommand != null)
{
BufferCommand.Reason = SimpleCommand.EnumReason.MFCS;
FinishCommand(tel.MFCS_ID, BufferCommand, SimpleCommand.EnumStatus.Canceled);
}
AssignCommandsAfterFinish();
Warehouse.AddEvent(Event.EnumSeverity.Error, Event.EnumType.Command,
String.Format("{0} Confirmation({1}), Fault({2})",
cmd.ToString(), tel.Confirmation, tel.Fault));
Warehouse.SteeringCommands.Run &= tel.Confirmation == TelegramCraneTO.CONFIRMATION_CANCELBYMFCS ||
tel.Confirmation == TelegramCraneTO.CONFIRMATION_CANCELBYWAREHOUSE ||
(tel.Confirmation == TelegramCraneTO.CONFIRMATION_FAULT &&
(tel.Fault == TelegramCraneTO.FAULT_CANCEL_NOCMD || tel.Fault > TelegramCraneTO.FAULT_REPEATORDER));
}
else if (cmd.Status <= SimpleCommand.EnumStatus.InPlc)
{
cmd.Status = SimpleCommand.EnumStatus.InPlc;
Warehouse.DBService.UpdateSimpleCommand(Command);
}
}
catch (Exception ex)
{
Warehouse.AddEvent(Event.EnumSeverity.Error, Event.EnumType.Exception, ex.Message);
throw new CraneException(String.Format("{0} Crane.WorkCommand failed", Name));
}
}
public void OnTelegramCraneTO(Telegram t)
{
try
{
TelegramCraneTO tel = t as TelegramCraneTO;
Command_Status = tel;
// check if material exists
if (tel.Order != TelegramCraneTO.ORDER_DELETEPALETTE)
{
CreateOrUpdateMaterialID(tel.Palette);
}
// check if this is move command
if (tel.Order < 50)
{
if (tel.Confirmation == TelegramCraneTO.CONFIRMATION_INITIALNOTIFY)
{
InitialNotify(t, tel.Palette.Barcode);
}
else if (Command != null && Command.ID == tel.MFCS_ID)
{
WorkCommand(tel, Command, false);
}
else if (BufferCommand != null && BufferCommand.ID == tel.MFCS_ID)
{
// without confirmation of Command
Command = BufferCommand;
BufferCommand = null;
Warehouse.AddEvent(Event.EnumSeverity.Event, Event.EnumType.Program, String.Format("{0} goes from buffer directly in execution", Command.ToString()));
WorkCommand(tel, Command, false);
}
else
{
Command = Warehouse.DBService.FindSimpleCraneCommandByID(tel.MFCS_ID);
if (Command == null)
{
throw new CraneException(String.Format("Crane.OnTelegramCraneTO {0}, tel.MFCS ({1}) does not match any move active command.", Name, tel.MFCS_ID));
}
Warehouse.AddEvent(Event.EnumSeverity.Event, Event.EnumType.Program, String.Format("{0} goes from database directly in execution", Command.ToString()));
WorkCommand(tel, Command, false);
}
}
else
{
// fast command
if (Command_Status.MFCS_ID != 0 && (FastCommand == null || FastCommand.ID != Command_Status.MFCS_ID))
{
FastCommand = Warehouse.DBService.FindSimpleCraneCommandByID(tel.MFCS_ID);
}
if ((FastCommand != null) && (FastCommand.ID == tel.MFCS_ID))
{
WorkCommand(tel, FastCommand, true);
}
else
{
Warehouse.SteeringCommands.Run = false;
throw new CraneException(String.Format("Crane.OnTelegramCraneTO {0}, tel.MFCS ({1}) does not match any fast active command.", Name, tel.MFCS_ID));
}
}
OnStrategy?.Invoke();
if (Command != null && CraneInfo != null)
{
CraneInfo.LastCommand = Command.ToSmallString();
}
if (BufferCommand != null && CraneInfo != null)
{
CraneInfo.LastBufferCommand = BufferCommand.ToString();
}
DirectVMNotify();
}
catch (Exception e)
{
Warehouse.SteeringCommands.Run = false;
Warehouse.AddEvent(Event.EnumSeverity.Error, Event.EnumType.Exception, e.Message);
Warehouse.AddEvent(Event.EnumSeverity.Error, Event.EnumType.Exception, String.Format("{0} OnTelegramCraneTO failed.", Name));
}
}
