public EnumMoveCommandControlErrorCode SensorSafety(EnumControlStatus motionDriverStatus, EnumControlStatus locationControlStatus)
{
EnumMoveCommandControlErrorCode temp;
if (localData.MoveControlData.MoveCommand.CommandStatus != EnumMoveCommandStartStatus.Start)
{
return(EnumMoveCommandControlErrorCode.None);
}
else if (locationControlStatus != EnumControlStatus.Ready)
{
return(EnumMoveCommandControlErrorCode.安全保護停止_定位Control異常);
}
else if (localData.MoveControlData.MoveCommand.VehicleStopFlag)
{
return(EnumMoveCommandControlErrorCode.安全保護停止_人為控制);
}
else if (localData.MIPCData.SafetySensorStatus == EnumSafetyLevel.Alarm)
{
return(EnumMoveCommandControlErrorCode.安全保護停止_SafetySensorAlarm);
}
else if (localData.MIPCData.SafetySensorStatus == EnumSafetyLevel.EMO ||
localData.MIPCData.SafetySensorStatus == EnumSafetyLevel.IPCEMO)
{
return(EnumMoveCommandControlErrorCode.安全保護停止_EMO停止);
}
else if (localData.MIPCData.MotionAlarmCount != 0)
{
return(EnumMoveCommandControlErrorCode.安全保護停止_MotionAlarm);
}
else if (!VChangeSafetyNormal())
{
return(EnumMoveCommandControlErrorCode.安全保護停止_速度變化異常);
}
else
{
temp = AxisErrorCheck(motionDriverStatus);
if (temp != EnumMoveCommandControlErrorCode.None)
{
return(temp);
}
// temp = ForkNotHomeCheck();
// if (temp != EnumMoveCommandControlErrorCode.None)
// return temp;
temp = AGVPathSafety();
if (temp != EnumMoveCommandControlErrorCode.None)
{
return(temp);
}
temp = SafetyTurnOutAndLineBarcodeIntervalInRange();
if (temp != EnumMoveCommandControlErrorCode.None)
{
return(temp);
}
}
return(EnumMoveCommandControlErrorCode.None);
}
public void UpdateLocateControlData()
{
LocateAGVPosition newLocateAGVPosition = null;
int order;
if (localData.MoveControlData.LocateControlData.SelectOrder == null)
{
order = LocateControlDriverList.Count - 1;
}
else
{
order = localData.MoveControlData.LocateControlData.SelectOrder.Order +
(int)((DateTime.Now - localData.MoveControlData.LocateControlData.SelectOrder.GetDataTime).TotalMilliseconds / config.OrderLowerDelay);
}
EnumControlStatus newStatus = EnumControlStatus.Ready;
for (int i = 0; i < LocateControlDriverList.Count && i <= order; i++)
{
if (newLocateAGVPosition == null)
{
newLocateAGVPosition = LocateControlDriverList[i].GetLocateAGVPosition;
}
if ((int)newStatus < (int)LocateControlDriverList[i].Status)
{
newStatus = LocateControlDriverList[i].Status;
}
}
status = newStatus;
if (setAGVPositionByAdmin)
{
if (setAGVPosition != null)
{
setAGVPositionByAdmin = false;
newLocateAGVPosition = setAGVPosition;
}
}
localData.MoveControlData.LocateControlData.LocateAGVPosition = newLocateAGVPosition;
}
public LocateControlHandler(AlarmHandler alarmHandler, string normalLogName)
{
this.alarmHandler = alarmHandler;
this.normalLogName = normalLogName;
string errorMessage = "";
if (ReadLocateControlConfig(ref errorMessage))
{
//ReadResetPointCSV();
status = EnumControlStatus.Initial;
InitailControlDriver();
}
else
{
WriteLog(1, "", errorMessage);
SendAlarmCode(EnumMoveCommandControlErrorCode.LocateControl初始化失敗);
}
}
private EnumMoveCommandControlErrorCode AxisErrorCheck(EnumControlStatus motionDriverStatus)
{
if (motionDriverStatus != EnumControlStatus.Ready)
{
return(EnumMoveCommandControlErrorCode.安全保護停止_軸異常);
}
//if (vehicleData.CommandFlags.AxisError != EnumVehicleSafetyAction.Normal)
//{
// if (vehicleData.CommandFlags.OnlyAxisError &&
// vehicleData.CommandFlags.AxisErrorDelayTimer.ElapsedMilliseconds >
// vehicleData.MoveControlConfig.TimeValueConfig.DelayTimeList[EnumDelayTimeType.AxisErrorDelayTime])
// {
// vehicleData.CommandFlags.AxisErrorDelayTimer.Stop();
// return EnumMoveCommandControlErrorCode.安全保護停止_軸異常;
// }
//}
return(EnumMoveCommandControlErrorCode.None);
}
public void CloseLoadUnloadControlHanlder()
{
Stopwatch closeTimer = new Stopwatch();
Status = EnumControlStatus.Closing;
closeTimer.Restart();
/// if forkCommand
/// {
/// Stop
/// And Wait
/// timeout >> EMO & log
///
/// }
/// else if (fork jog)
/// Stop
/// And Wait
/// timeout >> EMO & log
///
Status = EnumControlStatus.WaitThreadStop;
closeTimer.Restart();
while (thread != null && thread.IsAlive)
{
if (closeTimer.ElapsedMilliseconds > 1000 /*config.TimeValueConfig.TimeoutValueList[EnumTimeoutValueType.EndTimeoutValue]*/)
{
// log.
// abort
break;
}
Thread.Sleep(10);
}
Status = EnumControlStatus.Closed;
}
public void UpdateData()
{
if (driver == null)
{
return;
}
if (triggerOnOff != driver.PoolingOnOff)
{
triggerOnOff = driver.PoolingOnOff;
if (triggerOnOff)
{
label_TriggerValue.Text = "On";
label_TriggerValue.ForeColor = Color.Green;
button_TriggerOnOff.Text = "關閉";
driver.PoolingOnOff = true;
}
else
{
label_TriggerValue.Text = "Off";
label_TriggerValue.ForeColor = Color.Red;
button_TriggerOnOff.Text = "開啟";
driver.PoolingOnOff = false;
}
}
EnumControlStatus status = driver.Status;
label_DriverStatusValue.Text = status.ToString();
switch (status)
{
case EnumControlStatus.Initial:
case EnumControlStatus.Error:
case EnumControlStatus.NotReady:
label_DriverStatusValue.ForeColor = Color.Red;
break;
case EnumControlStatus.ResetAlarm:
label_DriverStatusValue.ForeColor = Color.Yellow;
break;
case EnumControlStatus.Ready:
label_DriverStatusValue.ForeColor = Color.Green;
break;
default:
label_DriverStatusValue.ForeColor = Color.DarkRed;
break;
}
button_TriggerOnOff.Enabled = (localData.LoginLevel >= EnumLoginLevel.Engineer);
LocateAGVPosition locateAGVPosition = null;
if (index == -1)
{
locateAGVPosition = driver.GetLocateAGVPosition;
}
else
{
if (((LocateDriver)driver).LocateType == EnumLocateType.SLAM)
{
locateAGVPosition = ((LocateDriver_SLAM)driver).GetOriginAGVPosition;
}
else
{
switch (driver.DriverConfig.LocateDriverType)
{
case EnumLocateDriverType.BarcodeMapSystem:
locateAGVPosition = ((LocateDriver_BarcodeMapSystem)driver).GetLocateAGVPositionByIndex(index);
break;
default:
locateAGVPosition = driver.GetLocateAGVPosition;
break;
}
}
}
if (locateAGVPosition != null)
{
if (((LocateDriver)driver).LocateType == EnumLocateType.SLAM)
{
label_SpecialTurnValue.ForeColor = Color.Green;
}
label_SpecialTurnValue.Text = locateAGVPosition.Value.ToString("0");
label_DataTypeValue.Text = locateAGVPosition.Type.ToString();
label_MapXValue.Text = locateAGVPosition.AGVPosition.Position.X.ToString("0.0");
label_MapYValue.Text = locateAGVPosition.AGVPosition.Position.Y.ToString("0.0");
label_MapThetaValue.Text = locateAGVPosition.AGVPosition.Angle.ToString("0.0");
}
else
{
if (((LocateDriver)driver).LocateType == EnumLocateType.SLAM)
{
label_SpecialTurnValue.ForeColor = Color.Red;
locateAGVPosition = ((LocateDriver_SLAM)driver).GetOriginAGVPosition;
}
if (locateAGVPosition != null)
{
label_SpecialTurnValue.Text = locateAGVPosition.Value.ToString("0");
}
else
{
label_SpecialTurnValue.Text = "";
}
label_DataTypeValue.Text = "";
label_MapXValue.Text = "";
label_MapYValue.Text = "";
label_MapThetaValue.Text = "";
}
}
