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();
        }
示例#8
0
        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);
        }