public LableCode getOutLabel(PlcCacheResult cr)
{
if (cr.state == CacheState.GetThenCache ||
cr.state == CacheState.GetThenGo ||
cr.state == CacheState.GoThenGet)
{
return(cacheposes[cr.getpos - 1].labelcode);
}
else
{
return(null);
}
}
/// <summary>
/// 主要函数。
/// </summary>
/// <param name="state"></param>
/// <param name="saveCode"></param>
/// <param name="getCode"></param>
/// <returns></returns>
public PlcCacheResult WhenRollArrived(CacheState state, LableCode saveCode, LableCode getCode)
{
PlcCacheResult result = null;
const int NULL_POS = 0;
var posToGet = 0;
var posToSave = 0;
switch (state)
{
case CacheState.Go:
result = new PlcCacheResult(state, NULL_POS, NULL_POS);
break;
case CacheState.Cache:
posToSave = SelectNearestNullPos(saveCode.ToLocation, -1);
save(saveCode, posToSave);
result = new PlcCacheResult(state, NULL_POS, posToSave);
break;
case CacheState.GetThenCache:
// 考虑错开机械手。
posToGet = getPosByCode(getCode);
posToSave = SelectNearestNullPos(saveCode.ToLocation, posToGet);
save(saveCode, posToSave);
result = new PlcCacheResult(state, posToGet, posToSave);
break;
case CacheState.GetThenGo:
posToGet = getPosByCode(getCode);
result = new PlcCacheResult(state, posToGet, NULL_POS);
break;
case CacheState.GoThenGet:
posToGet = getPosByCode(getCode);
result = new PlcCacheResult(state, posToGet, NULL_POS);
break;
case CacheState.CacheAndGet:
posToGet = getPosByCode(getCode);
posToSave = SelectNearestNullPos(saveCode.ToLocation, posToGet);;
result = new PlcCacheResult(state, posToGet, posToSave);
break;
}
return(result);
}