private void MakeExecuteAction()
{
int currentIndex = 0;
var seq = ExecuteAction;
seq.Steps.Add("Start", new StepInfo());
seq.Steps.Add("SetActionCode", new StepInfo());
seq.Steps.Add("Retry", new StepInfo());
seq.OnStart += delegate { ReceiveData.Clear(); };
seq.OnStop += delegate { UseFailReturn = false; SubActionList = null; };
seq.OnTerminate += delegate { UseFailReturn = false; SubActionList = null; SendData.Clear(); };
seq.Steps["Start"].StepIndex = seq.AddItem(ActionRequest.Off.Execute);
seq.AddItem(
delegate(FASequence actor, TimeSpan time)
{
if (RobotStatusActionFail.IsOn || RobotStatusActionSuccess.IsOn)
actor.NextStep();
else
actor.NextStep("SetActionCode");
});
seq.AddItem(
(object obj) =>
{
ActionTerminatedConfirm.PulseTime.Type = FATimeType.millisecond;
ActionTerminatedConfirm.PulseTime.TypeValue = 300;
});
seq.AddItem(ActionTerminatedConfirm.PulseOnAction.Sequence);
seq.Steps["SetActionCode"].StepIndex = seq.AddItem(
delegate(FASequence actor, TimeSpan time)
{
int alarm;
if (IsReady(out alarm) == false)
{
RaiseAlarm(actor, alarm);
}
else if (RobotStatusReady.IsOn && RobotStatusActionSuccess.IsOff && RobotStatusActionFail.IsOff)
{
OutputCommandParameter.OutputData = 1;//SendData.Parameter;
OutputCommandAction.OutputData = SendData.ActionCode;
actor.NextStep();
}
else if (TimeStatusCheckTimeout.Time < time)
{
RaiseAlarm(actor,
AlarmRobotIsUnknownStatus,
RobotStatusReady.GetInputIOStatus(),
RobotStatusActionSuccess.GetInputIOStatus(),
RobotStatusActionFail.GetInputIOStatus());
actor.NextStep("Start");
}
});
seq.AddItem(
(object obj) =>
{
ActionRequest.PulseTime.Type = FATimeType.millisecond;
ActionRequest.PulseTime.TypeValue = 300;
});
seq.AddItem(ActionRequest.PulseOnAction.Sequence);
seq.AddItem((object obj) => currentIndex = 0);
seq.AddItem(
delegate(FASequence actor, TimeSpan time)
{
if (SubActionList == null)
{
actor.NextStep();
}
else if (RobotStatusActionFail.IsOn)
{
ReceiveData.ActionFail = true;
actor.NextStep();
}
else if (TimeSubActionTimeout.Time < time)
{
actor.NextStep();
}
else
{
var action = SubActionList[currentIndex];
if (action() == true)
{
currentIndex++;
if (currentIndex >= SubActionList.Count)
actor.NextStep();
}
}
});
seq.AddItem(
delegate(FASequence actor, TimeSpan time)
{
if (RobotStatusEmergency.IsOn)
{
RaiseAlarm(actor, AlarmRobotEmergency);
actor.NextStep("Retry");
}
//if (RobotStatusReady.IsOff)
//{
// RaiseAlarm(actor, AlarmRobotAlarm);
// actor.NextStep("Retry");
//}
else if (IsActionSuccess() == true)
{
actor.NextStep();
}
else if (IsActionFail() == true)
{
RaiseAlarm(actor, AlarmRobotActionFail, "KUKA ROBOT ACTION ERROR NO: " + InputAlarmCode.OutputData.ToString());
actor.NextStep("Retry");
}
else if (TimeRobotActionTimeout.Time < time)
{
if (UseFailReturn)
actor.NextStep();
else if (IsActionTerminated() == false)
{
RaiseAlarm(actor, AlarmRobotActionTimeOut);
actor.NextStep("Retry");
}
else if (IsActionFail() == true)
{
RaiseAlarm(actor, AlarmRobotActionFail, "KUKA ROBOT ACTION ERROR NO: " + InputAlarmCode.OutputData.ToString());
actor.NextStep("Retry");
}
}
});
seq.AddItem(
(object obj) =>
{
ActionTerminatedConfirm.PulseTime.Type = FATimeType.millisecond;
ActionTerminatedConfirm.PulseTime.TypeValue = 300;
});
seq.AddItem(ActionTerminatedConfirm.PulseOnAction.Sequence);
seq.AddItem(
delegate(object obj)
{
SubActionList = null;
});
seq.AddTerminate();
QuestionMessageBoxWindow questionWindow = null;
seq.Steps["Retry"].StepIndex =
seq.AddItem(
delegate(object obj)
{
App.Current.Dispatcher.Invoke(
new Action(
delegate
{
questionWindow = new QuestionMessageBoxWindow();
questionWindow.Message = Utility.UtilityClass.GetStringResource(this, "KUKA.AreYouSureYouWantToRetryRobotAction", "Are you sure you want to retry robot action?");
questionWindow.Show();
}), null);
});
seq.AddItem(
delegate(FASequence actor, TimeSpan time)
{
if (questionWindow.Result == QuestionMessageBoxWindow.QuestionResult.Yes)
actor.NextStep();
else if (questionWindow.Result == QuestionMessageBoxWindow.QuestionResult.No)
actor.NextTerminate();
});
seq.AddItem("Start");
}
private void MakeTransferNormalLabel()
{
int scanAlarmNo = 0;
string scanAlarmMsg = string.Empty;
var seq = TransferNormalLabel;
seq.OnStart +=
delegate
{
RetryInfoLabelScan.ClearCount();
};
seq.Steps.Add("Start", new StepInfo());
seq.Steps.Add("TransferLabelToTrashBin", new StepInfo());
seq.Steps.Add("Retry", new StepInfo());
seq.AddItem(SetCurrentLabelPrinterModule);
seq.Steps["Start"].StepIndex = seq.AddItem(ScanNormalLabel);
seq.AddItem(
delegate(FASequence actor, TimeSpan time)
{
CurrentNormalLabelPrinterModule.LabelScanCompleted = true;
CurrentNormalLabelPrinterModule.LabelScanSuccess = false;
if (SkipLabelScan)
{
CurrentNormalLabelPrinterModule.LabelScanSuccess = true;
//SkipLabelScan = false;
WriteTraceLog(string.Format("Skip Label Scan Result. LOT_ID={0}, L_BOX_INDEX={1}", CurrentLotID, CurrentLargeBoxIndex));
actor.NextStep();
}
else if (LabelScanResult)
{
var dmSerials = RobotUnit.CognexVisionReceiver.VisionResult.BarcodeScanResult.DMSerialsItem;
var serials = RobotUnit.CognexVisionReceiver.VisionResult.BarcodeScanResult.SerialsItems;
var largeBoxID = RobotUnit.CognexVisionReceiver.VisionResult.BarcodeScanResult.LargeBoxID;
if (IsEqualBarcodes(serials, dmSerials) == false)
{
scanAlarmNo = AlarmLabelSerialsDifferent;
scanAlarmMsg = string.Format("NORMAL LABEL SERIALS DIFFERENT. 1D BARCODE=[{0}], DATA_MATRIX=[{1}]", string.Join(",", serials), string.Join(",", dmSerials));
WriteTraceLog(scanAlarmMsg);
actor.NextStep("TransferLabelToTrashBin");
}
else if (serials.Count != TurnkeyBoxCount)
{
scanAlarmNo = AlarmLabelSerialsCountDifferant;
scanAlarmMsg = string.Format("NORMAL LABEL T/K BOX COUNT DIFFERENT. CURRENT COUNT={0}, LABEL COUNT={1}", TurnkeyBoxCount, serials.Count);
WriteTraceLog(scanAlarmMsg);
actor.NextStep("TransferLabelToTrashBin");
}
else if (string.IsNullOrEmpty(largeBoxID) == true)
{
scanAlarmNo = AlarmLabelLargeBoxIDCanNotFound;
scanAlarmMsg = "NORMAL LABEL LOT_ID EMPTY";
WriteTraceLog(scanAlarmMsg);
actor.NextStep("TransferLabelToTrashBin");
}
else if (CurrentLargeBoxID.Trim() != largeBoxID.Trim())
{
scanAlarmNo = AlarmLabelLargeBoxIDDifferent;
scanAlarmMsg = string.Format("NORMAL LABEL L_BOX_ID DIFFERENT. CURRENT L_BOX_ID={0}, LABEL L_BOX_ID={1}", CurrentLotID, largeBoxID);
WriteTraceLog(scanAlarmMsg);
actor.NextStep("TransferLabelToTrashBin");
}
else
{
CurrentNormalLabelPrinterModule.LabelScanSuccess = true;
actor.NextStep();
}
}
else
{
WriteTraceLog("NORMAL LABEL SCAN FAIL. LABEL SCANNER NOT RESPONSE");
actor.NextStep("TransferLabelToTrashBin");
}
});
seq.AddItem(
delegate(FASequence actor, TimeSpan time)
{
if (CurrentNormalLabelPrinterModule.UnloadingStandby)
{
if (CurrentNormalLabelPrinterModule.CurrentWork.BoxIndex != (CurrentLargeBoxIndex + 1))
{
var msg = string.Format("BoxIndex Of Printer={0}, BoxIndex Of Robot={1}",
CurrentNormalLabelPrinterModule.CurrentWork.BoxIndex,
CurrentLargeBoxIndex + 1);
RaiseAlarm(actor, AlarmBarcodeIndexMatchFail, msg);
actor.NextStep("TransferLabelToTrashBin");
}
else if (CurrentNormalLabelPrinterModule.CurrentWork.LotID != CurrentWork.ProductInfo.ECInfo.PackingMasterInfo.LOT_ID)
{
var msg = string.Format("LotID Of Printer={0}, LotID Of Robot={1}",
CurrentNormalLabelPrinterModule.CurrentWork.LotID,
CurrentWork.ProductInfo.ECInfo.PackingMasterInfo.LOT_ID);
RaiseAlarm(actor, AlarmLotIDMatchFail, msg);
actor.NextStep("TransferLabelToTrashBin");
}
else
{
actor.NextStep();
}
}
});
seq.AddItem(SetTransferNormalLabelAction);
seq.AddItem((object obj) => RobotModule.UseFailReturn = true);
seq.AddItem(new FASequenceAtomicInfo(RobotModule.ExecuteAction, true));
seq.AddItem(
delegate(FASequence actor, TimeSpan time)
{
if (RobotModule.ReceiveData.ActionSuccess)
actor.NextStep();
else
actor.NextStep("Retry");
});
seq.AddItem(
delegate(object obj)
{
CurrentNormalLabelPrinterModule.UnloadingSuccess = true;
CurrentNormalLabelPrinterModule.UnloadingCompleted = true;
});
seq.AddTerminate();
seq.Steps["TransferLabelToTrashBin"].StepIndex = seq.AddItem(TransferNormalLabelToTrashBin);
seq.AddItem(
delegate(FASequence actor, TimeSpan time)
{
if (RetryInfoLabelScan.IncreaseCount() == false)
{
RaiseAlarm(actor, scanAlarmNo, scanAlarmMsg);
}
actor.NextStep();
});
seq.AddItem("Start");
QuestionMessageBoxWindow questionWindow = null;
seq.Steps["Retry"].StepIndex = seq.AddItem(
delegate(object obj)
{
App.Current.Dispatcher.Invoke(
new Action(
delegate
{
questionWindow = new QuestionMessageBoxWindow();
questionWindow.Message = Utility.UtilityClass.GetStringResource(this, "KUKA.AreYouSureYouWantToRetryTransferGlueLabel", "Are you sure you want to retry transfer glue label?");
questionWindow.Show();
}), null);
});
seq.AddItem(
delegate(FASequence actor, TimeSpan time)
{
if (questionWindow.Result == QuestionMessageBoxWindow.QuestionResult.Yes)
{
CurrentNormalLabelPrinterModule.UnloadingSuccess = false;
CurrentNormalLabelPrinterModule.UnloadingCompleted = true;
actor.NextStep("Start");
}
else if (questionWindow.Result == QuestionMessageBoxWindow.QuestionResult.No)
{
CurrentNormalLabelPrinterModule.UnloadingSuccess = true;
CurrentNormalLabelPrinterModule.UnloadingCompleted = true;
actor.NextTerminate();
}
});
seq.AddItem("Start");
}
private void MakePickEmptyTray()
{
var seq = PickEmptyTray;
seq.Steps.Add("Retry", new StepInfo());
seq.Steps.Add("Start", new StepInfo());
seq.Steps.Add("EmptyTrayPickCheck", new StepInfo());
seq.Steps["Start"].StepIndex = seq.AddItem(SetTargetStacker);
seq.AddItem(MoveXYPosition);
seq.AddItem(TransferServoZ.MoveStandbyPos.Sequence);
seq.AddItem(
delegate(FASequence actor, TimeSpan time)
{
if (TraySideDetectSensor.IsOn)
RaiseAlarm(actor, AlarmTrayDetectedBeforeTrayPicking, TraySideDetectSensor.GetInputIOStatus());
else
actor.NextStep();
});
seq.AddItem(CountEmptyTrayStacker);
seq.AddItem(
delegate(FASequence actor, TimeSpan time)
{
if (PickingTrayCount <= 0)
actor.NextTerminate();
else
actor.NextStep();
});
seq.AddItem(TrayGripper.Release.Sequence);
seq.AddItem(MovePreTrayGripPosition);
seq.AddItem(TrayGripper.Grip.Sequence);
seq.AddItem(MoveTraySeperatePosition);
seq.AddItem(TraySeperator.Down.Sequence);
seq.AddItem(TraySeperator.Up.Sequence);
seq.AddItem(TraySeperator.Down.Sequence);
seq.AddItem(TraySeperator.Up.Sequence);
seq.AddItem(TransferServoZ.MoveStandbyPos.Sequence);
seq.Steps["EmptyTrayPickCheck"].StepIndex = seq.AddItem(
delegate(FASequence actor, TimeSpan time)
{
if (TraySideDetectSensor.IsOn)
actor.NextStep();
else
{
RaiseAlarm(actor, AlarmEmptyTrayFail, TraySideDetectSensor.GetInputIOStatus());
actor.NextStep("Retry");
}
});
seq.AddItem((object obj) => CurrentTrayCount -= PickingTrayCount);
seq.AddTerminate();
QuestionMessageBoxWindow questionWindow = null;
seq.Steps["Retry"].StepIndex =
seq.AddItem(
delegate(object obj)
{
App.Current.Dispatcher.Invoke(
new Action(
delegate
{
questionWindow = new QuestionMessageBoxWindow();
questionWindow.Message = Utility.UtilityClass.GetStringResource(this, "EmptyTray Pick Fail", "Are you sure you want to retry EmptyTray Pick action?");
questionWindow.Owner = Equipment.Window;
questionWindow.Show();
}), null);
});
seq.AddItem(
delegate(FASequence actor, TimeSpan time)
{
if (questionWindow.Result == QuestionMessageBoxWindow.QuestionResult.Yes)
actor.NextStep();
else if (questionWindow.Result == QuestionMessageBoxWindow.QuestionResult.No)
actor.NextTerminate();
});
seq.AddItem("Start");
}
private void MakeSupplyEmptyTray()
{
var seq = SupplyEmptyTray;
seq.OnStart +=
delegate
{
RetryInfoTrayMarkingMatch.ClearCount();
SuppliedTrayCount = 0;
EmptyTraySupplyConveyor.TrayCount = 0;
};
seq.Steps.Add("SelectTargetStacker", new StepInfo());
seq.Steps.Add("RemoveEmptyTray", new StepInfo());
seq.Steps.Add("Retry", new StepInfo());
seq.Steps.Add("ScanTrayCode", new StepInfo());
seq.Steps.Add("ConfirmTrayCount", new StepInfo());
seq.Steps["SelectTargetStacker"].StepIndex = seq.AddItem(SelectTargetStacker);
seq.AddItem(SetTargetStacker);
seq.AddItem(MoveXYPosition);
seq.AddItem(PickEmptyTray);
seq.AddItem((object obj) => SelectedLoadingStacker.IsAvailable = true);
seq.AddItem(
delegate(FASequence actor, TimeSpan time)
{
if (PickingTrayCount <= 0)
actor.NextStep("SelectTargetStacker");
else
actor.NextStep();
});
seq.AddItem(PlaceEmptyTrayToSupplyConveyor);
seq.AddItem(
delegate(object obj)
{
EmptyTraySupplyConveyor.TrayCount += PickingTrayCount;
SuppliedTrayCount += PickingTrayCount;
});
seq.Steps["ScanTrayCode"].StepIndex = seq.AddItem(ScanTrayCode);
seq.AddItem(
delegate(FASequence actor, TimeSpan time)
{
if (TrayScanResult == EScanResult.Success)
actor.NextStep();
else
{
if (RetryInfoTrayMarkingMatch.IncreaseCount() == false)
{
RaiseAlarm(actor, AlarmTrayMarkingMatchFail);
actor.NextStep("ScanTrayCode");
}
else
{
SuppliedTrayCount = 0;
actor.NextStep("RemoveEmptyTray");
}
}
});
seq.AddItem(TransferServoY.MoveStandbyPos.Sequence);
seq.AddItem(
delegate(FASequence actor, TimeSpan time)
{
if (PickTrayReady == false)
{
RaiseAlarm(actor, AlarmEmptyTrayFail);
actor.NextStep("Retry");
}
else
actor.NextStep();
});
seq.Steps["ConfirmTrayCount"].StepIndex = seq.AddItem(ConfirmRemainTrayCount);
seq.AddTerminate();
QuestionMessageBoxWindow questionWindow = null;
seq.Steps["Retry"].StepIndex =
seq.AddItem(
delegate(object obj)
{
App.Current.Dispatcher.Invoke(
new Action(
delegate
{
questionWindow = new QuestionMessageBoxWindow();
questionWindow.Message = Utility.UtilityClass.GetStringResource(this, "EmptyTray Pick Fail", "Are you sure you want to retry EmptyTray Pick action?");
questionWindow.Owner = Equipment.Window;
questionWindow.Show();
}), null);
});
seq.AddItem(
delegate(FASequence actor, TimeSpan time)
{
if (questionWindow.Result == QuestionMessageBoxWindow.QuestionResult.Yes)
{
EmptyTraySupplyConveyor.TrayCount -= PickingTrayCount;
SuppliedTrayCount -= PickingTrayCount;
actor.NextStep();
}
else if (questionWindow.Result == QuestionMessageBoxWindow.QuestionResult.No)
actor.NextStep("ConfirmTrayCount");
});
seq.AddItem("SelectTargetStacker");
seq.Steps["RemoveEmptyTray"].StepIndex = seq.AddItem(PickTrayOnSupplyConveyor);
seq.AddItem(PlaceEmptyTrayUnloadingConveyor);
seq.AddItem(
delegate(object obj)
{
EmptyTraySupplyConveyor.TrayCount = 0;
SuppliedTrayCount = 0;
});
seq.AddItem((object obj) => WriteTraceLog("Tray Mark Not Correct. Remove Tray"));
seq.AddItem("SelectTargetStacker");
}
protected virtual void MakePreInitialize()
{
var seq = PreInitialize;
AddDebugLogToSequence(seq);
QuestionMessageBoxWindow questionWindow = null;
seq.AddItem(
delegate(object obj)
{
App.Current.Dispatcher.Invoke(
new Action(
delegate
{
questionWindow = new QuestionMessageBoxWindow();
questionWindow.Message = Utility.UtilityClass.GetStringResource(this, "AreYouSureYouWantToInitializing", "Are you sure you want to initializing?");
questionWindow.EquipmentInstance = Equipment;
questionWindow.Show();
}), null);
});
seq.AddItem(
delegate(FASequence actor, TimeSpan time)
{
if (questionWindow.Result == QuestionMessageBoxWindow.QuestionResult.Yes)
{
actor.NextStep();
}
else if (questionWindow.Result == QuestionMessageBoxWindow.QuestionResult.No)
{
Equipment.RequestStop();
actor.NextTerminate();
}
});
seq.AddItem(ConfirmDoorClosed);
seq.AddItem(LockDoor);
seq.AddItem(new FATime(FATimeType.millisecond, 1000));
seq.AddItem(ConfirmDoorLockOk);
seq.AddItem(DoInitialize);
}
private void MakeLoading()
{
var seq = Loading;
seq.Steps.Add("Start", new StepInfo());
seq.Steps.Add("Retry", new StepInfo());
seq.Steps.Add("ConfirmLoadingFail", new StepInfo());
seq.Steps.Add("Ready", new StepInfo());
seq.Steps.Add("EmptyBoxRetry", new StepInfo());
seq.Steps["Start"].StepIndex = seq.AddItem(
delegate(FASequence actor, TimeSpan time)
{
if (DummyBoxLoadingUnit.StackerBoxSensor.IsOn)
{
Manager.MessageWindowManager.Instance.CloseWindow("DummyBoxCharging");
actor.NextStep();
}
else
{
var alarm = Utility.AlarmUtility.GetAlarm(AlarmDummyBoxShortage, "Dummy Box Shortage");
Manager.MessageWindowManager.Instance.Show(Equipment, "DummyBoxCharging", alarm.AlarmName);
}
});
seq.AddItem(
delegate(FASequence actor, TimeSpan time)
{
if (DummyBoxLoadingUnit.InsideBoxOutSensor.IsOn && DummyBoxLoadingUnit.InsideBoxInSensor.IsOn)
actor.NextStep("Ready");
else
actor.NextStep();
});
seq.AddItem(LoadingBox);
seq.Steps["Ready"].StepIndex = seq.AddItem(
delegate(FASequence actor, TimeSpan time)
{
if (DummyBoxLoadingUnit.InsideBoxOutSensor.IsOn)
{
actor.NextStep();
}
else
{
actor.NextStep("EmptyBoxRetry");
}
});
seq.AddTerminate();
seq.Steps["EmptyBoxRetry"].StepIndex = seq.AddItem(LoadingBox);
seq.AddItem(
delegate(FASequence actor, TimeSpan time)
{
if (DummyBoxLoadingUnit.InsideBoxOutSensor.IsOn && DummyBoxLoadingUnit.InsideBoxInSensor.IsOn)
{
actor.NextStep();
}
else
{
RaiseAlarm(actor, AlarmDummyBoxCheck,DummyBoxLoadingUnit.InsideBoxInSensor.GetInputIOStatus(),DummyBoxLoadingUnit.InsideBoxOutSensor.GetInputIOStatus());
}
});
seq.AddTerminate();
QuestionMessageBoxWindow questionWindow = null;
seq.Steps["Retry"].StepIndex =
seq.AddItem(
delegate(FASequence actor, TimeSpan time)
{
var alarm = Utility.AlarmUtility.GetAlarm(AlarmDummyBoxDidNotDetectionAfterLoading, "Dummy Box Shortage");
questionWindow = new QuestionMessageBoxWindow();
questionWindow.Message = alarm.AlarmName;
questionWindow.Show();
});
seq.AddItem(
delegate(FASequence actor, TimeSpan time)
{
if (questionWindow.Result == QuestionMessageBoxWindow.QuestionResult.Yes)
actor.NextStep();
else if (questionWindow.Result == QuestionMessageBoxWindow.QuestionResult.No)
actor.NextTerminate();
});
seq.AddItem("Start");
}
private void MakeTransferTraysToPlacePos2()
{
var seq = TransferTraysToPlacePos2;
seq.Steps.Add("Start", new StepInfo());
seq.Steps.Add("Retry", new StepInfo());
seq.Steps["Start"].StepIndex = seq.AddItem(
delegate(FASequence actor, TimeSpan time)
{
if (BoxPuttingModule.TrayPuttingUnit.InsertingPositionSensor.IsOn)
actor.NextStep();
else
RaiseAlarm(actor, AlarmPuttingUnitLargeBoxNotExist, BoxPuttingModule.TrayPuttingUnit.InsertingPositionSensor.GetInputIOStatus());
});
seq.AddItem(
delegate(FASequence actor, TimeSpan time)
{
if (TrayInletModule.UnloadingStandby && BoxPuttingModule.TrayLoadingStandby)
actor.NextStep();
});
seq.AddItem(ScanTrayOnInletCV);
seq.AddItem(
delegate(FASequence actor, TimeSpan time)
{
if (TrayInletModule.TrayExist())
{
if (JobInfo.FoamPadJobInfo.BottomFoamPadType == VT5081.JobInfo.EBottomFoamPadType.High)
{
RobotUnit.Tray07Floor.DoTurnOn(actor);
RobotUnit.Tray11Floor.DoTurnOff(actor);
}
else
{
RobotUnit.Tray07Floor.DoTurnOff(actor);
RobotUnit.Tray11Floor.DoTurnOn(actor);
}
RobotModule.SendData.Parameter = ROBOT_PARAM_NONE;
RobotModule.SendData.ActionCode = (byte)FAKukaRobotCommandList.TrayActionList.EAction.TransferTrayToPlacePosition2;
actor.NextStep();
}
else
RaiseAlarm(actor, AlarmTrayNotExistOnTrayInletUnit, TrayInletModule.TrayInletUnit.StopSensor.GetInputIOStatus());
});
seq.AddItem(new FASequenceAtomicInfo(RobotModule.ExecuteAction, true));
seq.AddItem(
delegate(FASequence actor, TimeSpan time)
{
if (TrayInletModule.TrayInletUnit.StopSensor.IsOff)
{
TrayInletModule.UnloadingCompleted = true;
actor.NextTerminate();
}
else
{
RaiseAlarm(actor, AlarmTrayNotExistOnTrayInletUnit, TrayInletModule.TrayInletUnit.StopSensor.GetInputIOStatus());
actor.NextStep("Retry");
}
});
QuestionMessageBoxWindow questionWindow = null;
seq.Steps["Retry"].StepIndex =
seq.AddItem(
delegate(object obj)
{
App.Current.Dispatcher.Invoke(
new Action(
delegate
{
questionWindow = new QuestionMessageBoxWindow();
questionWindow.Message = Utility.UtilityClass.GetStringResource(this, "KUKA.AreYouSureYouWantToRetryRobotAction", "Are you sure you want to retry robot action?");
questionWindow.Show();
}), null);
});
seq.AddItem(
delegate(FASequence actor, TimeSpan time)
{
if (questionWindow.Result == QuestionMessageBoxWindow.QuestionResult.Yes)
actor.NextStep("Start");
else if (questionWindow.Result == QuestionMessageBoxWindow.QuestionResult.No)
actor.NextStep();
});
seq.AddItem((object obj) => TrayInletModule.UnloadingCompleted = true);
seq.AddTerminate();
}
private void MakeTransferLargeBox()
{
var seq = TransferLargeBox;
seq.Steps.Add("Start", new StepInfo());
seq.Steps.Add("Retry", new StepInfo());
seq.Steps["Start"].StepIndex = seq.AddItem(ScanLargeBoxOnPickingPosition);
seq.AddItem(
delegate(FASequence actor, TimeSpan time)
{
if (BoxFormingBufferModule.UnloadingStandby && BoxPuttingModule.LargeBoxLoadingStandby)
{
if (BoxPuttingModule.TrayPuttingUnit.InsertingPositionSensor.IsOff)
actor.NextStep();
else
RaiseAlarm(actor, AlarmPuttingUnitLargeBoxExist);
}
});
seq.AddItem(
(object obj) =>
{
RobotModule.SendData.Parameter = ROBOT_PARAM_NONE;
RobotModule.SendData.ActionCode = (byte)FAKukaRobotCommandList.LargeBoxActionList.EAction.TransferBox;
});
seq.AddItem(new FASequenceAtomicInfo(RobotModule.ExecuteAction, true));
seq.AddItem(
delegate(FASequence actor, TimeSpan time)
{
if (BoxPuttingModule.TrayPuttingUnit.InSensor.IsOn)
{
BoxFormingBufferModule.UnloadingCompleted = true;
BoxPuttingModule.LargeBoxLoadingCompleted = true;
actor.NextTerminate();
}
else
{
RaiseAlarm(actor, AlarmPuttingUnitLargeBoxNotExist, BoxPuttingModule.TrayPuttingUnit.InSensor.GetInputIOStatus());
BoxFormingBufferModule.UnloadingCompleted = true;
actor.NextStep("Retry");
}
});
QuestionMessageBoxWindow questionWindow = null;
seq.Steps["Retry"].StepIndex =
seq.AddItem(
delegate(object obj)
{
App.Current.Dispatcher.Invoke(
new Action(
delegate
{
questionWindow = new QuestionMessageBoxWindow();
questionWindow.Message = Utility.UtilityClass.GetStringResource(this, "KUKA.AreYouSureYouWantToRetryRobotAction", "Are you sure you want to retry robot action?");
questionWindow.Show();
}), null);
});
seq.AddItem(
delegate(FASequence actor, TimeSpan time)
{
if (questionWindow.Result == QuestionMessageBoxWindow.QuestionResult.Yes)
actor.NextStep("Start");
else if (questionWindow.Result == QuestionMessageBoxWindow.QuestionResult.No)
actor.NextStep();
});
seq.AddItem((object obj) => BoxFormingBufferModule.UnloadingCompleted = true);
seq.AddItem((object obj) => BoxPuttingModule.LargeBoxLoadingCompleted = true);
seq.AddTerminate();
}
private void MakeTransferDummyBox()
{
var seq = TransferDummyBox;
seq.Steps.Add("Start", new StepInfo());
seq.Steps.Add("Retry", new StepInfo());
seq.Steps["Start"].StepIndex = seq.AddItem(
delegate(FASequence actor, TimeSpan time)
{
if (DummyBoxLoadingModule.UnloadingStandby)
actor.NextStep();
});
seq.AddItem(
(object obj) =>
{
RobotModule.SendData.Parameter = ROBOT_PARAM_NONE;
RobotModule.SendData.ActionCode = (byte)FAKukaRobotCommandList.DummyBoxActionList.EAction.TransferBoxToPlacePos;
RobotModule.UseFailReturn = true;
});
seq.AddItem(new FASequenceAtomicInfo(RobotModule.ExecuteAction, true));
seq.AddItem(
delegate(FASequence actor, TimeSpan time)
{
DummyBoxLoadingModule.UnloadingCompleted = true;
if (RobotModule.ReceiveData.ActionSuccess)
actor.NextStep();
else
actor.NextStep("Retry");
});
seq.AddTerminate();
seq.Steps["Retry"].StepIndex = seq.AddItem(
delegate(FASequence actor, TimeSpan time)
{
if (RetryInfoDummyBoxTransfer.IncreaseCount() == false)
{
RaiseAlarm(actor, AlarmDummyBoxTransferError);
actor.NextStep();
}
else
{
actor.NextStep("Start");
}
});
QuestionMessageBoxWindow questionWindow = null;
seq.AddItem(
delegate(object obj)
{
App.Current.Dispatcher.Invoke(
new Action(
delegate
{
questionWindow = new QuestionMessageBoxWindow();
questionWindow.Message = Utility.UtilityClass.GetStringResource(this, "KUKA.AreYouSureYouWantToRetryRobotAction", "Are you sure you want to retry robot action?");
questionWindow.Show();
}), null);
});
seq.AddItem(
delegate(FASequence actor, TimeSpan time)
{
if (questionWindow.Result == QuestionMessageBoxWindow.QuestionResult.Yes)
actor.NextStep();
else if (questionWindow.Result == QuestionMessageBoxWindow.QuestionResult.No)
actor.NextTerminate();
});
seq.AddItem("Start");
}
