public static bool DetetectInsideStationCheck(RegistryRobotJourney rrj)
{
// xác định vùng đặt biệt trước khi bắt đầu frontline
if (rrj.traffic.HasRobotUnityinArea("C1", rrj.robot) || rrj.traffic.HasRobotUnityinArea("C2", rrj.robot) ||
rrj.traffic.HasRobotUnityinArea("C3", rrj.robot) || rrj.traffic.HasRobotUnityinArea("C4", rrj.robot) ||
rrj.traffic.HasRobotUnityinArea("C5", rrj.robot) || rrj.traffic.HasRobotUnityinArea("READY", rrj.robot))
{
// Robot được gửi lệnh Stop
if (StationCheckInSpecialZone(rrj))
{
rrj.robot.SetSpeedRegZone(RobotSpeedLevel.ROBOT_SPEED_NORMAL, false);
return(false);
}
else
{
rrj.robot.SetSpeedRegZone(RobotSpeedLevel.ROBOT_SPEED_STOP, true);
ReleaseAll(rrj.robot);
return(true);
}
}
else
{
// Robot van toc bình thuong
rrj.robot.SetSpeedRegZone(RobotSpeedLevel.ROBOT_SPEED_NORMAL, false);
ReleaseAll(rrj.robot);
return(true);
}
}
public static bool DetectRelease(RegistryRobotJourney rrj)
{
// xác định khu vực release
String destOP = rrj.traffic.DetermineArea(rrj.endPoint, TypeZone.MAIN_ZONE);
switch (destOP)
{
case "OUTER":
String startplace = rrj.traffic.DetermineArea(rrj.startPoint, TypeZone.MAIN_ZONE);
if (startplace.Equals("VIM"))
{
// release khi robot vào vùng OUTER
if (rrj.traffic.HasRobotUnityinArea("OUTER", rrj.robot))
{
ReleaseAll(rrj.robot);
// rrj.robot.ShowText("RELEASED ROBOT IN REGISTER LIST OF SEPCIAL ZONE FROM VIM -> OUTER");
return(true);
}
}
break;
case "VIM":
// xác định vùng đến cuối trong VIM.
String endPointName = rrj.traffic.DetermineArea(rrj.endPoint, TypeZone.OPZS);
if (rrj.traffic.HasRobotUnityinArea(endPointName, rrj.robot))
{
ReleaseAll(rrj.robot);
// rrj.robot.ShowText("RELEASED ROBOT IN REGISTER LIST OF SEPCIAL ZONE" + endPointName);
return(true);
}
break;
}
return(false);
}
public void Start(MachineToReturn state = MachineToReturn.MACRET_SELECT_BEHAVIOR_ONZONE)
{
robot.orderItem = null;
errorCode = ErrorCode.RUN_OK;
robot.robotTag = RobotStatus.WORKING;
robot.ProcedureAs = ProcedureControlAssign.PRO_MACHINE_TO_RETURN;
StateMachineToReturn = state;
ProMachineToReturn = new Thread(this.Procedure);
ProRun = true;
ProRunStopW = true;
//robot.prioritLevel.OnAuthorizedPriorityProcedure = false;
order.startTimeProcedure = DateTime.Now;
registryRobotJourney = new RegistryRobotJourney();
registryRobotJourney.robot = robot;
registryRobotJourney.traffic = Traffic;
ProMachineToReturn.Start(this);
}
public void Start(BufferToGate state = BufferToGate.BUFGATE_SELECT_BEHAVIOR_ONZONE)
{
robot.bayId = -1;
errorCode = ErrorCode.RUN_OK;
robot.robotTag = RobotStatus.WORKING;
robot.ProcedureAs = ProcedureControlAssign.PRO_BUFFER_TO_GATE;
StateBufferToGate = state;
ProBufferToGate = new Thread(this.Procedure);
ProRun = true;
ProRunStopW = true;
//robot.prioritLevel.OnAuthorizedPriorityProcedure = false;
order.startTimeProcedure = DateTime.Now;
registryRobotJourney = new RegistryRobotJourney();
registryRobotJourney.robot = robot;
registryRobotJourney.traffic = Traffic;
ProBufferToGate.Start(this);
}
public void Start(BufferToBuffer state = BufferToBuffer.BUFTOBUF_SELECT_BEHAVIOR_ONZONE_BUFFER_A)
{
robot.bayId = -1;
robot.bayIdReg = false;
errorCode = ErrorCode.RUN_OK;
robot.robotTag = RobotStatus.WORKING;
robot.ProcedureAs = ProcedureControlAssign.PRO_BUFFER_TO_BUFFER;
StateBufferToBuffer = state;
Task ProBuferToMachine = new Task(() => this.Procedure(this));
procedureStatus = ProcedureStatus.PROC_ALIVE;
ProRun = true;
ProRunStopW = true;
//robot.prioritLevel.OnAuthorizedPriorityProcedure = false;
order.startTimeProcedure = DateTime.Now;
registryRobotJourney = new RegistryRobotJourney();
registryRobotJourney.robot = robot;
registryRobotJourney.traffic = Traffic;
ProBuferToMachine.Start();
}
public static bool StationCheckInSpecialZone(RegistryRobotJourney rrj)
{
// vì "OUTER" có kiều là Main_Zone, nhưng vùng khac co kieu là OPZS
String startZone = rrj.traffic.DetermineArea(rrj.startPoint, TypeZone.MAIN_ZONE).Equals("OUTER") ? "OUTER" : rrj.traffic.DetermineArea(rrj.startPoint, TypeZone.OPZS);
String endZone = rrj.traffic.DetermineArea(rrj.endPoint, TypeZone.MAIN_ZONE).Equals("OUTER") ? "OUTER" : rrj.traffic.DetermineArea(rrj.endPoint, TypeZone.OPZS);
rrj.robot.StartPointName = startZone;
rrj.robot.EndPointName = endZone;
#region READY -> GATE, OUTER
if (startZone.Equals("READY") && endZone.Equals("GATE"))
{
return(Reg_checkinReady_G12(rrj.robot, rrj.traffic));
}
if (startZone.Equals("READY") && endZone.Equals("OUTER"))
{
return(Reg_checkinReady_ReadyandOuter(rrj.robot, rrj.traffic));
}
#endregion
#region OUTER (C1) -> READY , GATE, ELEVATOR, GATE3, VIM
if (startZone.Equals("OUTER") && endZone.Equals("GATE"))
{
return(Reg_checkinC1_GATE(rrj.robot, rrj.traffic));
}
// OUTER->READY
if (startZone.Equals("OUTER") && endZone.Equals("READY"))
{
return(Reg_checkinC1_Ready(rrj.robot, rrj.traffic));
}
#endregion
#region ANY_PLACE -> MERZ
if (endZone.Equals("MERZ"))
{
return(Reg_checkinMerz(rrj.robot, rrj.traffic));
}
#endregion
return(false);
}
public void Start(ForkLift state = ForkLift.FORBUF_GET_FRONTLINE)
{
errorCode = ErrorCode.RUN_OK;
robot.robotTag = RobotStatus.WORKING;
robot.ProcedureAs = ProcedureControlAssign.PRO_FORKLIFT_TO_BUFFER;
robot.bayId = -1;
robot.bayIdReg = false;
robot.robotBahaviorAtGate = RobotBahaviorAtReadyGate.GOING_INSIDE_GATE;
StateForkLift = state;
Task ProForkLift = new Task(() => this.Procedure(this));
procedureStatus = ProcedureStatus.PROC_ALIVE;
ProRun = true;
ProRunStopW = true;
//robot.prioritLevel.OnAuthorizedPriorityProcedure = false;
robot.robotRegistryToWorkingZone.onRobotwillCheckInsideGate = true;
order.startTimeProcedure = DateTime.Now;
registryRobotJourney = new RegistryRobotJourney();
registryRobotJourney.robot = robot;
registryRobotJourney.traffic = Traffic;
ProForkLift.Start();
}
public void Start(RobotGoToReady state = RobotGoToReady.ROBREA_SELECT_BEHAVIOR_ONZONE)
{
order = new OrderItem();
order.typeReq = TyeRequest.TYPEREQUEST_GOTO_READY;
errorCode = ErrorCode.RUN_OK;
robot.robotTag = RobotStatus.WORKING;
robot.ProcedureAs = ProcedureControlAssign.PRO_READY;
StateRobotGoToReady = state;
ProRobotToReady = new Thread(this.Procedure);
procedureCode = ProcedureCode.PROC_CODE_ROBOT_TO_READY;
ProRun = true;
//robot.prioritLevel.OnAuthorizedPriorityProcedure = false;
order.startTimeProcedure = DateTime.Now;
points.PointCheckIn = null;
points.PointFrontLine = GetFrontLineChargeStation();
points.PointOfCharger = GetPointOfCharger();
registryRobotJourney = new RegistryRobotJourney();
registryRobotJourney.robot = robot;
registryRobotJourney.traffic = Traffic;
ProRobotToReady.Start(this);
cntOrderItem = 0;
robot.bayId = -1;
}
public static bool StationCheckInSpecialZone(RegistryRobotJourney rrj)
{
// vì "OUTER" có kiều là Main_Zone, nhưng vùng khac co kieu là OPZS
String startZone = rrj.traffic.DetermineArea(rrj.startPoint, TypeZone.MAIN_ZONE).Equals("OUTER") ? "OUTER" : rrj.traffic.DetermineArea(rrj.startPoint, TypeZone.OPZS);
String endZone = rrj.traffic.DetermineArea(rrj.endPoint, TypeZone.MAIN_ZONE).Equals("OUTER") ? "OUTER" : rrj.traffic.DetermineArea(rrj.endPoint, TypeZone.OPZS);
rrj.robot.StartPointName = startZone;
rrj.robot.EndPointName = endZone;
#region READY -> GATE12, ELEVATOR, GATE3, VIM
if (startZone.Equals("READY") && endZone.Equals("GATE12"))
{
return(Reg_checkinReady_G12(rrj.robot, rrj.traffic));
}
if (startZone.Equals("READY") && endZone.Equals("ELEVATOR"))
{
return(Reg_checkinReady__ElevatorAndVIM(rrj.robot, rrj.traffic));
}
if (startZone.Equals("READY") && endZone.Equals("VIM-BTLCAP"))
{
return(Reg_checkinReady__ElevatorAndVIM(rrj.robot, rrj.traffic));
}
if (startZone.Equals("READY") && endZone.Equals("GATE3"))
{
return(Reg_checkinReady_G3(rrj.robot, rrj.traffic));
}
if (startZone.Equals("READY") && endZone.Equals("OUTER"))
{
return(Reg_checkinReady_ReadyandOuter(rrj.robot, rrj.traffic));
}
#endregion
#region OUTER (C1) -> READY , GATE12, ELEVATOR, GATE3, VIM
// OUTER->GATE3
if (startZone.Equals("OUTER") && endZone.Equals("GATE3"))
{
return(Reg_checkinC1_G3(rrj.robot, rrj.traffic));
}
// OUTER->ELEVATOR && VIM
if (startZone.Equals("OUTER") && endZone.Equals("ELEVATOR"))
{
return(Reg_checkinC1_ElevatorAndVIM(rrj.robot, rrj.traffic));
}
if (startZone.Equals("OUTER") && endZone.Equals("VIM-BTLCAP"))
{
return(Reg_checkinC1_ElevatorAndVIM(rrj.robot, rrj.traffic));
}
// OUTER->GATE12
if (startZone.Equals("OUTER") && endZone.Equals("GATE12"))
{
return(Reg_checkinC1_Gate12(rrj.robot, rrj.traffic));
}
// OUTER->READY
if (startZone.Equals("OUTER") && endZone.Equals("READY"))
{
return(Reg_checkinC1_Ready(rrj.robot, rrj.traffic));
}
#endregion
#region VIM (C2) -> READY , GATE12, ELEVATOR, VIM, GATE3
if (startZone.Equals("VIM-BTLCAP") && endZone.Equals("GATE12"))
{
return(Reg_checkinC2_G12(rrj.robot, rrj.traffic));
}
// VIM->ELEVATOR && VIM
if (startZone.Equals("VIM-BTLCAP") && endZone.Equals("ELEVATOR"))
{
return(Reg_checkinC2_ElevatorAndVIM(rrj.robot, rrj.traffic));
}
if (startZone.Equals("VIM-BTLCAP") && endZone.Equals("VIM-BTLCAP"))
{
return(Reg_checkinC2_ElevatorAndVIM(rrj.robot, rrj.traffic));
}
// VIM->READY && OUTER
if (startZone.Equals("VIM-BTLCAP") && endZone.Equals("READY"))
{
return(Reg_checkinC2_Ready(rrj.robot, rrj.traffic));
}
if (startZone.Equals("VIM-BTLCAP") && endZone.Equals("OUTER"))
{
return(Reg_checkinC2_Outer(rrj.robot, rrj.traffic));
}
if (startZone.Equals("VIM-BTLCAP") && endZone.Equals("GATE3"))
{
return(Reg_checkinC2_G3(rrj.robot, rrj.traffic));
}
#endregion
#region GATE12 (C3) -> READY, ELEVATOR, VIM , GATE3
if (startZone.Equals("GATE12") && endZone.Equals("GATE3"))
{
return(Reg_checkinGate12_Gate3(rrj.robot, rrj.traffic));
}
// GATE12->ELEVATOR && VIM
if (startZone.Equals("GATE12") && endZone.Equals("ELEVATOR"))
{
return(Reg_checkinGate12_ElevatorAndVIM(rrj.robot, rrj.traffic));
}
if (startZone.Equals("GATE12") && endZone.Equals("VIM-BTLCAP"))
{
return(Reg_checkinGate12_ElevatorAndVIM(rrj.robot, rrj.traffic));
}
// GATE12->READY && OUTER
if (startZone.Equals("GATE12") && endZone.Equals("READY"))
{
return(Reg_checkinGate12_ReadyAndOuter(rrj.robot, rrj.traffic));
}
if (startZone.Equals("GATE12") && endZone.Equals("OUTER"))
{
return(Reg_checkinGate12_ReadyAndOuter(rrj.robot, rrj.traffic));
}
#endregion
#region GATE3 (C4) -> READY, ELEVATOR, VIM , GATE12
// GATE3->ELEVATOR && VIM
if (startZone.Equals("GATE3") && endZone.Equals("ELEVATOR"))
{
return(Reg_checkinGate3_ElevatorAndVIM(rrj.robot, rrj.traffic));
}
if (startZone.Equals("GATE3") && endZone.Equals("VIM-BTLCAP"))
{
return(Reg_checkinGate3_ElevatorAndVIM(rrj.robot, rrj.traffic));
}
// GATE3->READY && OUTER
if (startZone.Equals("GATE3") && endZone.Equals("READY"))
{
return(Reg_checkinGate3_ReadyAndOuter(rrj.robot, rrj.traffic));
}
if (startZone.Equals("GATE3") && endZone.Equals("OUTER"))
{
return(Reg_checkinGate3_ReadyAndOuter(rrj.robot, rrj.traffic));
}
if (startZone.Equals("GATE3") && endZone.Equals("GATE12"))
{
return(Reg_checkinGate3_Gate12(rrj.robot, rrj.traffic));
}
#endregion
#region ELEVATOR (C5) -> READY, GATE12, GATE3
if (startZone.Equals("ELEVATOR") && endZone.Equals("GATE12"))
{
return(Reg_checkinElevator_Gate12(rrj.robot, rrj.traffic));
}
// ELEVATOR->READY && OUTER
if (startZone.Equals("ELEVATOR") && endZone.Equals("READY"))
{
return(Reg_checkinElevator_ReadyAndOuter(rrj.robot, rrj.traffic));
}
if (startZone.Equals("ELEVATOR") && endZone.Equals("OUTER"))
{
return(Reg_checkinElevator_ReadyAndOuter(rrj.robot, rrj.traffic));
}
if (startZone.Equals("ELEVATOR") && endZone.Equals("GATE3"))
{
return(Reg_checkinElevator_Gate3(rrj.robot, rrj.traffic));
}
#endregion
return(false);
}