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}]" }); } }