public void Procedure(object ojb)
{
ProcedureBufferReturnToBuffer401 BfToBf = (ProcedureBufferReturnToBuffer401)ojb;
RobotUnity rb = BfToBf.robot;
TrafficManagementService Traffic = BfToBf.Traffic;
robot.ShowText(" Start -> " + procedureCode);
rb.mcuCtrl.lampRbOn();
while (ProRun)
{
switch (StateBufferToBuffer)
{
case BufferToBuffer.BUFTOBUF_IDLE:
//robot.ShowText("BUFTOBUF_IDLE");
break;
case BufferToBuffer.BUFTOBUF_SELECT_BEHAVIOR_ONZONE_BUFFER_A:
if (Traffic.RobotIsInArea("READY", robot.properties.pose.Position))
{
Pose endPose = BfToBf.GetFrontLineBufferReturn_BRB401(order.dataRequest_BufferReturn);
if (rb.PreProcedureAs == ProcedureControlAssign.PRO_READY)
{
StateBufferToBuffer = BufferToBuffer.BUFTOBUF_ROBOT_GOTO_BACK_FRONTLINE_READY;
registryRobotJourney.startPlaceName = Traffic.DetermineArea(robot.properties.pose.Position);
registryRobotJourney.startPoint = robot.properties.pose.Position;
registryRobotJourney.endPoint = endPose.Position;
}
}
else if (Traffic.RobotIsInArea("VIM", robot.properties.pose.Position))
{
Pose endPose = BfToBf.GetFrontLineBufferReturn_BRB401(order.dataRequest_BufferReturn);
if (rb.SendPoseStamped(endPose))
{
StateBufferToBuffer = BufferToBuffer.BUFTOBUF_ROBOT_WAITTING_CAME_FRONTLINE_BUFFER_A_FROM_VIM_REG;
registryRobotJourney.startPlaceName = Traffic.DetermineArea(robot.properties.pose.Position);
registryRobotJourney.startPoint = robot.properties.pose.Position;
registryRobotJourney.endPoint = endPose.Position;
//robot.ShowText("BUFMAC_ROBOT_WAITTING_CAME_FRONTLINE_BUFFER");
}
}
else if (Traffic.RobotIsInArea("OUTER", robot.properties.pose.Position))
{
Pose destPos1 = BfToBf.GetFrontLineBufferReturn_BRB401(order.dataRequest_BufferReturn);
String destName1 = Traffic.DetermineArea(destPos1.Position, TypeZone.MAIN_ZONE);
if (destName1.Equals("OUTER"))
{
//robot.ShowText("GO FRONTLINE IN OUTER");
if (rb.SendPoseStamped(destPos1))
{
StateBufferToBuffer = BufferToBuffer.BUFTOBUF_ROBOT_WAITTING_CAME_FRONTLINE_BUFFER_A;
registryRobotJourney.startPlaceName = Traffic.DetermineArea(robot.properties.pose.Position, TypeZone.OPZS);
registryRobotJourney.startPoint = robot.properties.pose.Position;
registryRobotJourney.endPoint = destPos1.Position;
//robot.ShowText("BUFMAC_ROBOT_WAITTING_CAME_FRONTLINE_BUFFER");
}
}
else if (destName1.Equals("VIM"))
{
//robot.ShowText("GO FRONTLINE IN VIM");
if (rb.SendPoseStamped(destPos1))
{
StateBufferToBuffer = BufferToBuffer.BUFTOBUF_ROBOT_WAITTING_CAME_FRONTLINE_BUFFER_A_FROM_VIM_REG;
registryRobotJourney.startPlaceName = Traffic.DetermineArea(robot.properties.pose.Position, TypeZone.OPZS);
registryRobotJourney.startPoint = robot.properties.pose.Position;
registryRobotJourney.endPoint = destPos1.Position;
//robot.ShowText("BUFMAC_ROBOT_WAITTING_CAME_FRONTLINE_BUFFER");
//robot.ShowText("CHECK - REG");
}
}
}
break;
case BufferToBuffer.BUFTOBUF_ROBOT_GOTO_BACK_FRONTLINE_READY:
if (TrafficRountineConstants.DetetectInsideStationCheck(registryRobotJourney))
{
break;
}
if (rb.SendCmdPosPallet(RequestCommandPosPallet.REQUEST_GOBACK_FRONTLINE_TURN_RIGHT))
{
Stopwatch sw = new Stopwatch();
sw.Start();
do
{
robot.onFlagGoBackReady = true;
if (resCmd == ResponseCommand.RESPONSE_FINISH_GOBACK_FRONTLINE)
{
robot.onFlagGoBackReady = false;
Pose destPos2 = BfToBf.GetFrontLineBufferReturn_BRB401(order.dataRequest_BufferReturn);
String destName2 = Traffic.DetermineArea(destPos2.Position, TypeZone.MAIN_ZONE);
if (destName2.Equals("OUTER"))
{
//robot.ShowText("GO FRONTLINE IN OUTER");
if (rb.SendPoseStamped(destPos2))
{
resCmd = ResponseCommand.RESPONSE_NONE;
StateBufferToBuffer = BufferToBuffer.BUFTOBUF_ROBOT_WAITTING_CAME_FRONTLINE_BUFFER_A;
registryRobotJourney.startPlaceName = Traffic.DetermineArea(robot.properties.pose.Position, TypeZone.OPZS);
registryRobotJourney.startPoint = robot.properties.pose.Position;
registryRobotJourney.endPoint = destPos2.Position;
//robot.ShowText("BUFMAC_ROBOT_WAITTING_CAME_FRONTLINE_BUFFER");
}
}
else if (destName2.Equals("VIM"))
{
//robot.ShowText("GO FRONTLINE IN VIM");
if (rb.SendPoseStamped(destPos2))
{
resCmd = ResponseCommand.RESPONSE_NONE;
StateBufferToBuffer = BufferToBuffer.BUFTOBUF_ROBOT_WAITTING_CAME_FRONTLINE_BUFFER_A_FROM_VIM_READY;
registryRobotJourney.startPlaceName = Traffic.DetermineArea(robot.properties.pose.Position, TypeZone.OPZS);
registryRobotJourney.startPoint = robot.properties.pose.Position;
registryRobotJourney.endPoint = destPos2.Position;
//robot.ShowText("BUFMAC_ROBOT_WAITTING_CAME_FRONTLINE_BUFFER");
//robot.ShowText("CHECK - REG");
}
}
break;
}
else if (resCmd == ResponseCommand.RESPONSE_ERROR)
{
errorCode = ErrorCode.DETECT_LINE_ERROR;
CheckUserHandleError(this);
break;
}
if (sw.ElapsedMilliseconds > TIME_OUT_WAIT_GOTO_FRONTLINE)
{
errorCode = ErrorCode.DETECT_LINE_ERROR;
CheckUserHandleError(this);
break;
}
Thread.Sleep(100);
} while (ProRunStopW);
sw.Stop();
}
break;
case BufferToBuffer.BUFTOBUF_ROBOT_WAITTING_CAME_FRONTLINE_BUFFER_A_FROM_VIM_READY:
TrafficRountineConstants.DetectRelease(registryRobotJourney);
if (TrafficCheckInBuffer(goalFrontLinePos, bayId))
{
break;
}
try
{
//bool onComePoint2 = robot.ReachedGoal();
if (resCmd == ResponseCommand.RESPONSE_LASER_CAME_POINT)
//if (onComePoint2)
{
//
robot.SwitchToDetectLine(true);
resCmd = ResponseCommand.RESPONSE_NONE;
//rb.prioritLevel.OnAuthorizedPriorityProcedure = true;
StateBufferToBuffer = BufferToBuffer.BUFTOBUF_ROBOT_SEND_CMD_PICKUP_PALLET_BUFFER_A;
}
}
catch (System.Exception)
{
errorCode = ErrorCode.CAN_NOT_GET_DATA;
CheckUserHandleError(this);
}
break;
case BufferToBuffer.BUFTOBUF_ROBOT_WAITTING_CAME_FRONTLINE_BUFFER_A_FROM_VIM_REG:
if (TrafficRountineConstants.DetetectInsideStationCheck(registryRobotJourney))
{
break;
}
else
{
StateBufferToBuffer = BufferToBuffer.BUFTOBUF_ROBOT_WAITTING_CAME_FRONTLINE_BUFFER_A_FROM_VIM;
}
break;
case BufferToBuffer.BUFTOBUF_ROBOT_WAITTING_CAME_FRONTLINE_BUFFER_A_FROM_VIM:
TrafficRountineConstants.DetectRelease(registryRobotJourney);
if (TrafficCheckInBuffer(goalFrontLinePos, bayId))
{
break;
}
try
{
if (resCmd == ResponseCommand.RESPONSE_LASER_CAME_POINT)
{
robot.SwitchToDetectLine(true);
resCmd = ResponseCommand.RESPONSE_NONE;
StateBufferToBuffer = BufferToBuffer.BUFTOBUF_ROBOT_SEND_CMD_PICKUP_PALLET_BUFFER_A;
}
}
catch (System.Exception)
{
errorCode = ErrorCode.CAN_NOT_GET_DATA;
CheckUserHandleError(this);
}
break;
case BufferToBuffer.BUFTOBUF_ROBOT_WAITTING_CAME_FRONTLINE_BUFFER_A:
try
{
//bool onComePoint2 = robot.ReachedGoal();
if (TrafficCheckInBuffer(goalFrontLinePos, bayId))
{
break;
}
if (resCmd == ResponseCommand.RESPONSE_LASER_CAME_POINT)
//if (onComePoint2)
{
robot.SwitchToDetectLine(true);
resCmd = ResponseCommand.RESPONSE_NONE;
//rb.prioritLevel.OnAuthorizedPriorityProcedure = true;
StateBufferToBuffer = BufferToBuffer.BUFTOBUF_ROBOT_SEND_CMD_PICKUP_PALLET_BUFFER_A;
}
}
catch (System.Exception)
{
errorCode = ErrorCode.CAN_NOT_GET_DATA;
CheckUserHandleError(this);
}
break;
case BufferToBuffer.BUFTOBUF_ROBOT_SEND_CMD_PICKUP_PALLET_BUFFER_A:
if (rb.SendCmdAreaPallet(BfToBf.GetInfoOfPalletBufferReturn_BRB401(PistonPalletCtrl.PISTON_PALLET_UP, order.dataRequest_BufferReturn)))
{
StateBufferToBuffer = BufferToBuffer.BUFTOBUF_ROBOT_WAITTING_PICKUP_PALLET_BUFFER_A;
}
break;
case BufferToBuffer.BUFTOBUF_ROBOT_WAITTING_PICKUP_PALLET_BUFFER_A:
if (resCmd == ResponseCommand.RESPONSE_LINEDETECT_PALLETUP)
{
resCmd = ResponseCommand.RESPONSE_NONE;
BfToBf.UpdatePalletState(PalletStatus.F, order.palletId_H, order.planId);
onUpdatedPalletState = true;
StateBufferToBuffer = BufferToBuffer.BUFTOBUF_ROBOT_WAITTING_GOBACK_FRONTLINE_BUFFER_A;
//robot.ShowText("BUFTOBUF_ROBOT_WAITTING_GOBACK_FRONTLINE_BUFFER_A");
}
else if (resCmd == ResponseCommand.RESPONSE_ERROR)
{
errorCode = ErrorCode.DETECT_LINE_ERROR;
CheckUserHandleError(this);
}
break;
case BufferToBuffer.BUFTOBUF_ROBOT_WAITTING_GOBACK_FRONTLINE_BUFFER_A: // đợi
try
{
if (resCmd == ResponseCommand.RESPONSE_FINISH_GOBACK_FRONTLINE)
{
robot.bayId = -1;
robot.bayIdReg = false;
robot.ReleaseWorkingZone();
robot.SwitchToDetectLine(false);
resCmd = ResponseCommand.RESPONSE_NONE;
StateBufferToBuffer = BufferToBuffer.BUFTOBUF_ROBOT_BUFFER_B_SELECT_ZONE;
// cập nhật lại điểm xuất phát
registryRobotJourney.startPoint = robot.properties.pose.Position;
//robot.ShowText("BUFTOBUF_ROBOT_WAITTING_GOTO_FRONTLINE_BUFFER_B");
}
else if (resCmd == ResponseCommand.RESPONSE_ERROR)
{
errorCode = ErrorCode.DETECT_LINE_ERROR;
CheckUserHandleError(this);
}
}
catch (System.Exception)
{
errorCode = ErrorCode.CAN_NOT_GET_DATA;
CheckUserHandleError(this);
}
break;
case BufferToBuffer.BUFTOBUF_ROBOT_BUFFER_B_SELECT_ZONE:
String startNamePoint = Traffic.DetermineArea(registryRobotJourney.startPoint, TypeZone.MAIN_ZONE);
Pose destPos = BfToBf.GetFrontLineBuffer401_BRB401(order.dataRequest_Buffer401);
String destName = Traffic.DetermineArea(destPos.Position, TypeZone.MAIN_ZONE);
if (startNamePoint.Equals("VIM"))
{
if (rb.SendPoseStamped(destPos))
{
StateBufferToBuffer = BufferToBuffer.BUFTOBUF_ROBOT_WAITTING_CAME_FRONTLINE_BUFFER_B_FROM_VIM_REG;
registryRobotJourney.startPlaceName = Traffic.DetermineArea(robot.properties.pose.Position, TypeZone.OPZS);
registryRobotJourney.startPoint = robot.properties.pose.Position;
registryRobotJourney.endPoint = destPos.Position;
//robot.ShowText("BUFMAC_ROBOT_WAITTING_CAME_FRONTLINE_BUFFER");
}
}
else if (startNamePoint.Equals("OUTER"))
{
if (destName.Equals("OUTER"))
{
if (rb.SendPoseStamped(destPos))
{
StateBufferToBuffer = BufferToBuffer.BUFTOBUF_ROBOT_WAITTING_CAME_FRONTLINE_BUFFER_B;
registryRobotJourney.startPlaceName = Traffic.DetermineArea(robot.properties.pose.Position, TypeZone.OPZS);
registryRobotJourney.startPoint = robot.properties.pose.Position;
registryRobotJourney.endPoint = destPos.Position;
//robot.ShowText("BUFMAC_ROBOT_WAITTING_CAME_FRONTLINE_BUFFER");
}
}
else if (destName.Equals("VIM"))
{
if (rb.SendPoseStamped(destPos))
{
StateBufferToBuffer = BufferToBuffer.BUFTOBUF_ROBOT_WAITTING_CAME_FRONTLINE_BUFFER_B_FROM_VIM_REG;
registryRobotJourney.startPlaceName = Traffic.DetermineArea(robot.properties.pose.Position, TypeZone.OPZS);
registryRobotJourney.startPoint = robot.properties.pose.Position;
registryRobotJourney.endPoint = destPos.Position;
//robot.ShowText("BUFMAC_ROBOT_WAITTING_CAME_FRONTLINE_BUFFER");
}
}
}
break;
case BufferToBuffer.BUFTOBUF_ROBOT_WAITTING_CAME_FRONTLINE_BUFFER_B_FROM_VIM_REG:
if (TrafficCheckInBuffer(goalFrontLinePos, bayId))
{
break;
}
if (TrafficRountineConstants.DetetectInsideStationCheck(registryRobotJourney))
{
break;
}
else
{
StateBufferToBuffer = BufferToBuffer.BUFTOBUF_ROBOT_WAITTING_CAME_FRONTLINE_BUFFER_B_FROM_VIM;
}
break;
case BufferToBuffer.BUFTOBUF_ROBOT_WAITTING_CAME_FRONTLINE_BUFFER_B_FROM_VIM:
try
{
TrafficRountineConstants.DetectRelease(registryRobotJourney);
if (resCmd == ResponseCommand.RESPONSE_LASER_CAME_POINT)
{
robot.SwitchToDetectLine(true);
resCmd = ResponseCommand.RESPONSE_NONE;
StateBufferToBuffer = BufferToBuffer.BUFTOBUF_ROBOT_SEND_CMD_CAME_FRONTLINE_BUFFER_B_FROM_VIM;
}
}
catch (System.Exception)
{
errorCode = ErrorCode.CAN_NOT_GET_DATA;
CheckUserHandleError(this);
}
break;
case BufferToBuffer.BUFTOBUF_ROBOT_WAITTING_CAME_FRONTLINE_BUFFER_B:
try
{
if (TrafficCheckInBuffer(goalFrontLinePos, bayId))
{
break;
}
if (resCmd == ResponseCommand.RESPONSE_LASER_CAME_POINT)
{
robot.SwitchToDetectLine(true);
resCmd = ResponseCommand.RESPONSE_NONE;
//rb.prioritLevel.OnAuthorizedPriorityProcedure = true;
StateBufferToBuffer = BufferToBuffer.BUFTOBUF_ROBOT_SEND_CMD_CAME_FRONTLINE_BUFFER_B_FROM_VIM;
}
}
catch (System.Exception)
{
errorCode = ErrorCode.CAN_NOT_GET_DATA;
CheckUserHandleError(this);
}
break;
case BufferToBuffer.BUFTOBUF_ROBOT_SEND_CMD_CAME_FRONTLINE_BUFFER_B_FROM_VIM:
if (rb.SendCmdAreaPallet(BfToBf.GetInfoOfPalletBuffer401_BRB401(PistonPalletCtrl.PISTON_PALLET_DOWN, order.dataRequest_Buffer401)))
{
StateBufferToBuffer = BufferToBuffer.BUFTOBUF_ROBOT_WAITTING_DROPDOWN_PALLET_BUFFER_B;
robot.ShowText("BUFTOBUF_ROBOT_WAITTING_DROPDOWN_PALLET_BUFFER_B");
}
break;
case BufferToBuffer.BUFTOBUF_ROBOT_WAITTING_DROPDOWN_PALLET_BUFFER_B:
if (resCmd == ResponseCommand.RESPONSE_LINEDETECT_PALLETUP)
{
resCmd = ResponseCommand.RESPONSE_NONE;
BfToBf.UpdatePalletState(PalletStatus.W);
//onUpdatedPalletState = true;
StateBufferToBuffer = BufferToBuffer.BUFTOBUF_ROBOT_WAITTING_GOBACK_FRONTLINE_BUFFER_B;
//robot.ShowText("FBUFTOBUF_ROBOT_WAITTING_GOBACK_FRONTLINE_BUFFER_B");
}
else if (resCmd == ResponseCommand.RESPONSE_ERROR)
{
errorCode = ErrorCode.DETECT_LINE_ERROR;
CheckUserHandleError(this);
}
break;
case BufferToBuffer.BUFTOBUF_ROBOT_WAITTING_GOBACK_FRONTLINE_BUFFER_B: // đợi
try
{
if (resCmd == ResponseCommand.RESPONSE_FINISH_GOBACK_FRONTLINE)
{
robot.bayId = -1;
robot.bayIdReg = false;
robot.ReleaseWorkingZone();
robot.SwitchToDetectLine(false);
resCmd = ResponseCommand.RESPONSE_NONE;
StateBufferToBuffer = BufferToBuffer.BUFTOBUF_ROBOT_RELEASED;
//robot.ShowText("BUFTOBUF_ROBOT_RELEASED");
}
else if (resCmd == ResponseCommand.RESPONSE_ERROR)
{
errorCode = ErrorCode.DETECT_LINE_ERROR;
CheckUserHandleError(this);
}
}
catch (System.Exception)
{
errorCode = ErrorCode.CAN_NOT_GET_DATA;
CheckUserHandleError(this);
}
break;
case BufferToBuffer.BUFTOBUF_ROBOT_RELEASED: // trả robot về robotmanagement để nhận quy trình mới
robot.bayId = -1;
TrafficRountineConstants.ReleaseAll(robot);
robot.orderItem = null;
robot.SwitchToDetectLine(false);
rb.PreProcedureAs = ProcedureControlAssign.PRO_BUFFER_TO_BUFFER;
ReleaseProcedureHandler(this);
ProRun = false;
UpdateInformationInProc(this, ProcessStatus.S);
order.status = StatusOrderResponseCode.FINISHED;
order.endTimeProcedure = DateTime.Now;
order.totalTimeProcedure = order.endTimeProcedure.Subtract(order.startTimeProcedure).TotalMinutes;
KillEvent();
break;
case BufferToBuffer.BUFTOBUF_ROBOT_DESTROY:
TrafficRountineConstants.ReleaseAll(robot);
order.endTimeProcedure = DateTime.Now;
order.totalTimeProcedure = order.endTimeProcedure.Subtract(order.startTimeProcedure).TotalMinutes;
robot.SwitchToDetectLine(false);
robot.ReleaseWorkingZone();
// StateBufferToBuffer = BufferToBuffer.BUFTOBUF_ROBOT_RELEASED;
//robot.prioritLevel.OnAuthorizedPriorityProcedure = false;
ProRun = false;
UpdateInformationInProc(this, ProcessStatus.F);
order.status = StatusOrderResponseCode.ROBOT_ERROR;
//reset status pallet Faile H->Ws
if (!onUpdatedPalletState)
{
BfToBf.UpdatePalletState(PalletStatus.F, order.palletId_P, order.planId);
}
selectHandleError = SelectHandleError.CASE_ERROR_EXIT;
procedureStatus = ProcedureStatus.PROC_KILLED;
FreeHoldBuffer(order.palletId_H);
KillEvent();
//this.robot.DestroyRegistrySolvedForm();
break;
default:
break;
}
Thread.Sleep(5);
}
StateBufferToBuffer = BufferToBuffer.BUFTOBUF_IDLE;
}
public void Procedure(object ojb)
{
ProcedureMachineToReturn BfToRe = (ProcedureMachineToReturn)ojb;
RobotUnity rb = BfToRe.robot;
DataMachineToReturn p = BfToRe.points;
TrafficManagementService Traffic = BfToRe.Traffic;
rb.mcuCtrl.lampRbOn();
robot.ShowText(" Start -> " + procedureCode);
while (ProRun)
{
switch (StateMachineToReturn)
{
case MachineToReturn.MACRET_IDLE:
break;
case MachineToReturn.MACRET_SELECT_BEHAVIOR_ONZONE:
if (Traffic.RobotIsInArea("READY", robot.properties.pose.Position))
{
if (rb.PreProcedureAs == ProcedureControlAssign.PRO_READY)
{
StateMachineToReturn = MachineToReturn.MACRET_ROBOT_GOTO_BACK_FRONTLINE_READY;
registryRobotJourney.startPlaceName = Traffic.DetermineArea(BfToRe.GetFrontLineMachine().Position, TypeZone.OPZS);
registryRobotJourney.startPoint = robot.properties.pose.Position;
registryRobotJourney.endPoint = BfToRe.GetFrontLineMachine().Position;
}
}
else if (Traffic.RobotIsInArea("VIM", robot.properties.pose.Position))
{
if (rb.SendPoseStamped(BfToRe.GetFrontLineMachine()))
{
StateMachineToReturn = MachineToReturn.MACRET_ROBOT_WAITTING_CAME_FRONTLINE_MACHINE_FROM_VIM_REG;
registryRobotJourney.startPlaceName = Traffic.DetermineArea(BfToRe.GetFrontLineMachine().Position, TypeZone.OPZS);
registryRobotJourney.startPoint = robot.properties.pose.Position;
registryRobotJourney.endPoint = BfToRe.GetFrontLineMachine().Position;
//robot.ShowText("BUFMAC_ROBOT_WAITTING_CAME_FRONTLINE_BUFFER");
}
}
else if (Traffic.RobotIsInArea("OUTER", robot.properties.pose.Position))
{
Pose destPos1 = BfToRe.GetFrontLineMachine();
String destName1 = Traffic.DetermineArea(destPos1.Position, TypeZone.MAIN_ZONE);
if (destName1.Equals("OUTER"))
{
//robot.ShowText("GO FRONTLINE IN OUTER");
if (rb.SendPoseStamped(destPos1))
{
StateMachineToReturn = MachineToReturn.MACRET_ROBOT_WAITTING_CAME_FRONTLINE_MACHINE;
registryRobotJourney.startPlaceName = Traffic.DetermineArea(robot.properties.pose.Position, TypeZone.OPZS);
registryRobotJourney.startPoint = robot.properties.pose.Position;
registryRobotJourney.endPoint = destPos1.Position;
//robot.ShowText("MACRET_ROBOT_WAITTING_CAME_FRONTLINE_MACHINE");
}
}
else if (destName1.Equals("VIM"))
{
//robot.ShowText("GO FRONTLINE IN VIM");
if (rb.SendPoseStamped(destPos1))
{
StateMachineToReturn = MachineToReturn.MACRET_ROBOT_WAITTING_CAME_FRONTLINE_MACHINE_FROM_VIM_REG;
registryRobotJourney.startPlaceName = Traffic.DetermineArea(robot.properties.pose.Position, TypeZone.OPZS);
registryRobotJourney.startPoint = robot.properties.pose.Position;
registryRobotJourney.endPoint = destPos1.Position;
//robot.ShowText("MACRET_ROBOT_WAITTING_CAME_FRONTLINE_MACHINE");
//robot.ShowText("CHECK - REG");
}
}
}
break;
case MachineToReturn.MACRET_ROBOT_GOTO_BACK_FRONTLINE_READY:
if (TrafficRountineConstants.DetetectInsideStationCheck(registryRobotJourney))
{
break;
}
if (rb.SendCmdPosPallet(RequestCommandPosPallet.REQUEST_GOBACK_FRONTLINE_TURN_RIGHT))
{
Stopwatch sw = new Stopwatch();
sw.Start();
do
{
robot.onFlagGoBackReady = true;
if (resCmd == ResponseCommand.RESPONSE_FINISH_GOBACK_FRONTLINE)
{
robot.onFlagGoBackReady = false;
Pose destPos1 = BfToRe.GetFrontLineMachine();
String destName1 = Traffic.DetermineArea(destPos1.Position, TypeZone.MAIN_ZONE);
if (destName1.Equals("OUTER"))
{
//robot.ShowText("GO FRONTLINE IN OUTER");
if (rb.SendPoseStamped(destPos1))
{
resCmd = ResponseCommand.RESPONSE_NONE;
StateMachineToReturn = MachineToReturn.MACRET_ROBOT_WAITTING_CAME_FRONTLINE_MACHINE;
registryRobotJourney.startPlaceName = Traffic.DetermineArea(robot.properties.pose.Position, TypeZone.OPZS);
registryRobotJourney.startPoint = robot.properties.pose.Position;
registryRobotJourney.endPoint = destPos1.Position;
//robot.ShowText("MACRET_ROBOT_WAITTING_CAME_FRONTLINE_MACHINE");
}
}
else if (destName1.Equals("VIM"))
{
//robot.ShowText("GO FRONTLINE IN VIM");
if (rb.SendPoseStamped(destPos1))
{
resCmd = ResponseCommand.RESPONSE_NONE;
StateMachineToReturn = MachineToReturn.MACRET_ROBOT_WAITTING_CAME_FRONTLINE_MACHINE_FROM_VIM_READY;
registryRobotJourney.startPlaceName = Traffic.DetermineArea(robot.properties.pose.Position, TypeZone.OPZS);
registryRobotJourney.startPoint = robot.properties.pose.Position;
registryRobotJourney.endPoint = destPos1.Position;
//robot.ShowText("MACRET_ROBOT_WAITTING_CAME_FRONTLINE_MACHINE");
//robot.ShowText("CHECK - REG");
}
}
break;
}
else if (resCmd == ResponseCommand.RESPONSE_ERROR)
{
errorCode = ErrorCode.DETECT_LINE_ERROR;
CheckUserHandleError(this);
break;
}
if (sw.ElapsedMilliseconds > TIME_OUT_WAIT_GOTO_FRONTLINE)
{
errorCode = ErrorCode.DETECT_LINE_ERROR;
CheckUserHandleError(this);
break;
}
Thread.Sleep(100);
} while (ProRunStopW);
sw.Stop();
}
break;
case MachineToReturn.MACRET_ROBOT_WAITTING_CAME_FRONTLINE_MACHINE_FROM_VIM_READY:
try
{
TrafficRountineConstants.DetectRelease(registryRobotJourney);
if (resCmd == ResponseCommand.RESPONSE_LASER_CAME_POINT)
//if (robot.ReachedGoal())
{
resCmd = ResponseCommand.RESPONSE_NONE;
StateMachineToReturn = MachineToReturn.MACRET_ROBOT_SEND_CMD_CAME_FRONTLINE_MACHINE;
}
else if (resCmd == ResponseCommand.RESPONSE_ERROR)
{
errorCode = ErrorCode.DETECT_LINE_ERROR;
CheckUserHandleError(this);
}
}
catch (System.Exception)
{
errorCode = ErrorCode.CAN_NOT_GET_DATA;
CheckUserHandleError(this);
}
break;
case MachineToReturn.MACRET_ROBOT_WAITTING_CAME_FRONTLINE_MACHINE_FROM_VIM_REG:
if (TrafficRountineConstants.DetetectInsideStationCheck(registryRobotJourney))
{
break;
}
else
{
StateMachineToReturn = MachineToReturn.MACRET_ROBOT_WAITTING_CAME_FRONTLINE_MACHINE_FROM_VIM;
}
break;
case MachineToReturn.MACRET_ROBOT_WAITTING_CAME_FRONTLINE_MACHINE_FROM_VIM:
try
{
TrafficRountineConstants.DetectRelease(registryRobotJourney);
if (resCmd == ResponseCommand.RESPONSE_LASER_CAME_POINT)
//if (robot.ReachedGoal())
{
resCmd = ResponseCommand.RESPONSE_NONE;
StateMachineToReturn = MachineToReturn.MACRET_ROBOT_SEND_CMD_CAME_FRONTLINE_MACHINE;
}
else if (resCmd == ResponseCommand.RESPONSE_ERROR)
{
errorCode = ErrorCode.DETECT_LINE_ERROR;
CheckUserHandleError(this);
}
}
catch (System.Exception)
{
errorCode = ErrorCode.CAN_NOT_GET_DATA;
CheckUserHandleError(this);
}
break;
case MachineToReturn.MACRET_ROBOT_WAITTING_CAME_FRONTLINE_MACHINE:
try
{
if (resCmd == ResponseCommand.RESPONSE_LASER_CAME_POINT)
//if (robot.ReachedGoal())
{
resCmd = ResponseCommand.RESPONSE_NONE;
StateMachineToReturn = MachineToReturn.MACRET_ROBOT_SEND_CMD_CAME_FRONTLINE_MACHINE;
}
else if (resCmd == ResponseCommand.RESPONSE_ERROR)
{
errorCode = ErrorCode.DETECT_LINE_ERROR;
CheckUserHandleError(this);
}
}
catch (System.Exception)
{
errorCode = ErrorCode.CAN_NOT_GET_DATA;
CheckUserHandleError(this);
}
break;
case MachineToReturn.MACRET_ROBOT_SEND_CMD_CAME_FRONTLINE_MACHINE:
if (rb.SendCmdAreaPallet(BfToRe.GetInfoOfPalletMachine(PistonPalletCtrl.PISTON_PALLET_UP)))
{
StateMachineToReturn = MachineToReturn.MACRET_ROBOT_WAITTING_PICKUP_PALLET_MACHINE;
//robot.ShowText("MACRET_ROBOT_WAITTING_PICKUP_PALLET_MACHINE");
}
break;
case MachineToReturn.MACRET_ROBOT_WAITTING_PICKUP_PALLET_MACHINE:
if (resCmd == ResponseCommand.RESPONSE_LINEDETECT_PALLETUP)
{
resCmd = ResponseCommand.RESPONSE_NONE;
StateMachineToReturn = MachineToReturn.MACRET_ROBOT_WAITTING_GOBACK_FRONTLINE_MACHINE;
//robot.ShowText("MACRET_ROBOT_WAITTING_GOBACK_FRONTLINE_MACHINE");
}
else if (resCmd == ResponseCommand.RESPONSE_ERROR)
{
errorCode = ErrorCode.DETECT_LINE_ERROR;
CheckUserHandleError(this);
}
break;
case MachineToReturn.MACRET_ROBOT_WAITTING_GOBACK_FRONTLINE_MACHINE: // đợi
try
{
if (resCmd == ResponseCommand.RESPONSE_FINISH_GOBACK_FRONTLINE)
{
StateMachineToReturn = MachineToReturn.MACRET_ROBOT_GOTO_RETURN_SELECT_BEHAVIOR_ONZONE;
// cập nhật lại điểm xuất phát
registryRobotJourney.startPoint = robot.properties.pose.Position;
}
else if (resCmd == ResponseCommand.RESPONSE_ERROR)
{
errorCode = ErrorCode.DETECT_LINE_ERROR;
CheckUserHandleError(this);
}
}
catch (System.Exception)
{
errorCode = ErrorCode.CAN_NOT_GET_DATA;
CheckUserHandleError(this);
}
break;
case MachineToReturn.MACRET_ROBOT_GOTO_RETURN_SELECT_BEHAVIOR_ONZONE:
String startNamePoint = Traffic.DetermineArea(registryRobotJourney.startPoint, TypeZone.MAIN_ZONE);
Pose destPos = BfToRe.GetFrontLineReturn();
String destName = Traffic.DetermineArea(destPos.Position, TypeZone.MAIN_ZONE);
if (startNamePoint.Equals("VIM"))
{
if (rb.SendPoseStamped(destPos))
{
StateMachineToReturn = MachineToReturn.MACRET_ROBOT_GOTO_FRONTLINE_RETURN_FROM_VIM;
registryRobotJourney.startPlaceName = Traffic.DetermineArea(robot.properties.pose.Position, TypeZone.OPZS);
registryRobotJourney.startPoint = robot.properties.pose.Position;
registryRobotJourney.endPoint = destPos.Position;
//robot.ShowText("BUFMAC_ROBOT_WAITTING_CAME_FRONTLINE_BUFFER");
}
}
else if (startNamePoint.Equals("OUTER"))
{
if (destName.Equals("OUTER"))
{
if (rb.SendPoseStamped(destPos))
{
StateMachineToReturn = MachineToReturn.MACRET_ROBOT_GOTO_FRONTLINE_RETURN_FROM_VIM;
registryRobotJourney.startPlaceName = Traffic.DetermineArea(robot.properties.pose.Position, TypeZone.OPZS);
registryRobotJourney.startPoint = robot.properties.pose.Position;
registryRobotJourney.endPoint = destPos.Position;
//robot.ShowText("BUFMAC_ROBOT_WAITTING_CAME_FRONTLINE_BUFFER");
}
}
else if (destName.Equals("VIM"))
{
if (rb.SendPoseStamped(destPos))
{
StateMachineToReturn = MachineToReturn.MACRET_ROBOT_GOTO_FRONTLINE_RETURN_FROM_VIM;
registryRobotJourney.startPlaceName = Traffic.DetermineArea(robot.properties.pose.Position, TypeZone.OPZS);
registryRobotJourney.startPoint = robot.properties.pose.Position;
registryRobotJourney.endPoint = destPos.Position;
//robot.ShowText("BUFMAC_ROBOT_WAITTING_CAME_FRONTLINE_BUFFER");
}
}
}
break;
case MachineToReturn.MACRET_ROBOT_GOTO_FRONTLINE_RETURN_FROM_VIM: // dang di
if (TrafficRountineConstants.DetetectInsideStationCheck(registryRobotJourney))
{
break;
}
try
{
if (resCmd == ResponseCommand.RESPONSE_LASER_CAME_POINT)
//if ( robot.ReachedGoal())
{
resCmd = ResponseCommand.RESPONSE_NONE;
StateMachineToReturn = MachineToReturn.MACRET_ROBOT_SEND_CMD_DROPDOWN_PALLET;
}
else if (resCmd == ResponseCommand.RESPONSE_ERROR)
{
errorCode = ErrorCode.DETECT_LINE_ERROR;
CheckUserHandleError(this);
}
}
catch (System.Exception)
{
errorCode = ErrorCode.CAN_NOT_GET_DATA;
CheckUserHandleError(this);
}
break;
case MachineToReturn.MACRET_ROBOT_GOTO_FRONTLINE_RETURN: // dang di
try
{
if (resCmd == ResponseCommand.RESPONSE_LASER_CAME_POINT)
//if ( robot.ReachedGoal())
{
resCmd = ResponseCommand.RESPONSE_NONE;
StateMachineToReturn = MachineToReturn.MACRET_ROBOT_SEND_CMD_DROPDOWN_PALLET;
}
else if (resCmd == ResponseCommand.RESPONSE_ERROR)
{
errorCode = ErrorCode.DETECT_LINE_ERROR;
CheckUserHandleError(this);
}
}
catch (System.Exception)
{
errorCode = ErrorCode.CAN_NOT_GET_DATA;
CheckUserHandleError(this);
}
break;
case MachineToReturn.MACRET_ROBOT_SEND_CMD_DROPDOWN_PALLET:
if (rb.SendCmdAreaPallet(BfToRe.GetInfoOfPalletReturn(PistonPalletCtrl.PISTON_PALLET_DOWN)))
{
//rb.prioritLevel.OnAuthorizedPriorityProcedure = true;
StateMachineToReturn = MachineToReturn.MACRET_ROBOT_WAITTING_DROPDOWN_PALLET;
//robot.ShowText("MACRET_ROBOT_WAITTING_DROPDOWN_PALLET");
}
break;
case MachineToReturn.MACRET_ROBOT_WAITTING_DROPDOWN_PALLET:
if (resCmd == ResponseCommand.RESPONSE_LINEDETECT_PALLETDOWN)
{
resCmd = ResponseCommand.RESPONSE_NONE;
BfToRe.UpdatePalletState(PalletStatus.W, order.palletId_P, order.palletId_P);
StateMachineToReturn = MachineToReturn.MACRET_ROBOT_WAITTING_GOTO_FRONTLINE;
//robot.ShowText("MACRET_ROBOT_WAITTING_GOTO_FRONTLINE");
}
else if (resCmd == ResponseCommand.RESPONSE_ERROR)
{
errorCode = ErrorCode.DETECT_LINE_ERROR;
CheckUserHandleError(this);
}
break;
case MachineToReturn.MACRET_ROBOT_WAITTING_GOTO_FRONTLINE:
if (resCmd == ResponseCommand.RESPONSE_FINISH_GOBACK_FRONTLINE)
{
resCmd = ResponseCommand.RESPONSE_NONE;
//rb.prioritLevel.OnAuthorizedPriorityProcedure = false;
StateMachineToReturn = MachineToReturn.MACRET_ROBOT_RELEASED;
//robot.ShowText("MACRET_ROBOT_RELEASED");
}
else if (resCmd == ResponseCommand.RESPONSE_ERROR)
{
errorCode = ErrorCode.DETECT_LINE_ERROR;
CheckUserHandleError(this);
}
break;
case MachineToReturn.MACRET_ROBOT_RELEASED: // trả robot về robotmanagement để nhận quy trình mới
TrafficRountineConstants.ReleaseAll(robot);
Global_Object.onFlagRobotComingGateBusy = false;
robot.orderItem = null;
rb.PreProcedureAs = ProcedureControlAssign.PRO_MACHINE_TO_RETURN;
ReleaseProcedureHandler(this);
ProRun = false;
//robot.ShowText("RELEASED");
UpdateInformationInProc(this, ProcessStatus.S);
order.status = StatusOrderResponseCode.FINISHED;
order.endTimeProcedure = DateTime.Now;
order.totalTimeProcedure = order.endTimeProcedure.Subtract(order.startTimeProcedure).TotalMinutes;
KillEvent();
break;
default:
break;
}
//robot.ShowText("-> " + procedureCode);
Thread.Sleep(5);
}
StateMachineToReturn = MachineToReturn.MACRET_IDLE;
}
public void Procedure(object ojb)
{
ProcedureForkLiftToBuffer FlToBuf = (ProcedureForkLiftToBuffer)ojb;
RobotUnity rb = FlToBuf.robot;
doorServiceCtrl = new DoorServiceCtrl();
doorServiceCtrl = getDoorService();
ds = doorServiceCtrl.doorService;
ds.setRb(rb);
TrafficManagementService Traffic = FlToBuf.Traffic;
ForkLiftToMachineInfo flToMachineInfo = new ForkLiftToMachineInfo();
rb.mcuCtrl.lampRbOn();
robot.ShowText(" Start -> " + procedureCode);
/* endPointBuffer = FlToBuf.GetFrontLineBuffer(true);
* if (endPointBuffer == null)
* {
* robot.bayId = -1;
* Console.WriteLine("Error Data Request" + order.dataRequest);
* order.status = StatusOrderResponseCode.ERROR_GET_FRONTLINE;
* TrafficRountineConstants.ReleaseAll(robot);
* robot.orderItem = null;
* robot.SwitchToDetectLine(false);
* robot.ReleaseWorkingZone();
* if (Traffic.RobotIsInArea("READY", robot.properties.pose.Position))
* {
* TrafficRountineConstants.RegIntZone_READY.Release(robot);
* robot.robotTag = RobotStatus.IDLE;
* robot.SetSafeYellowcircle(false);
* robot.SetSafeBluecircle(false);
* robot.SetSafeSmallcircle(false);
* robot.TurnOnSupervisorTraffic(false);
* // rb.mcuCtrl.lampRbOff();
* procedureCode = ProcedureCode.PROC_CODE_ROBOT_TO_READY;
* }
* else
* procedureCode = ProcedureCode.PROC_CODE_FORKLIFT_TO_BUFFER;
* ReleaseProcedureHandler(this);
* ProRun = false;
* robot.ShowText("RELEASED");
* UpdateInformationInProc(this, ProcessStatus.S);
* order.endTimeProcedure = DateTime.Now;
* order.totalTimeProcedure = order.endTimeProcedure.Subtract(order.startTimeProcedure).TotalMinutes;
* SaveOrderItem(order);
* KillEvent();
* }
* else
* {
* order.frontLinePos = endPointBuffer.Position;
* robot.bayId = bayId;
* }*/
while (ProRun)
{
// JPallet aa= GetInfoPallet_P_InBuffer(TrafficRobotUnity.PistonPalletCtrl.PISTON_PALLET_DOWN);
switch (StateForkLift)
{
case ForkLift.FORBUF_IDLE:
robot.ShowText("FORBUF_IDLE");
break;
case ForkLift.FORBUF_GET_FRONTLINE:
endPointBuffer = FlToBuf.GetFrontLineBuffer(true);
if (endPointBuffer == null)
{
if (countFrontLineNull++ < 10)
{
break;
}
countFrontLineNull = 0;
robot.bayId = -1;
robot.ShowText("Error Data Request FrontLine ForkLift" + order.dataRequest);
order.status = StatusOrderResponseCode.ERROR_GET_FRONTLINE;
TrafficRountineConstants.ReleaseAll(robot);
robot.orderItem = null;
robot.SwitchToDetectLine(false);
robot.ReleaseWorkingZone();
if (Traffic.RobotIsInArea("READY", robot.properties.pose.Position))
{
TrafficRountineConstants.RegIntZone_READY.Release(robot);
robot.robotTag = RobotStatus.IDLE;
robot.SetSafeYellowcircle(false);
robot.SetSafeBluecircle(false);
robot.SetSafeSmallcircle(false);
robot.TurnOnSupervisorTraffic(false);
// rb.mcuCtrl.lampRbOff();
procedureCode = ProcedureCode.PROC_CODE_ROBOT_TO_READY;
}
else
{
procedureCode = ProcedureCode.PROC_CODE_FORKLIFT_TO_BUFFER;
}
ProRun = false;
robot.ShowText("RELEASED FL---");
UpdateInformationInProc(this, ProcessStatus.S);
order.endTimeProcedure = DateTime.Now;
order.totalTimeProcedure = order.endTimeProcedure.Subtract(order.startTimeProcedure).TotalMinutes;
SaveOrderItem(order);
KillEvent();
ReleaseProcedureHandler(this);
}
else
{
order.frontLinePos = endPointBuffer.Position;
robot.bayId = bayId;
StateForkLift = ForkLift.FORBUF_SELECT_BEHAVIOR_ONZONE;
}
break;
case ForkLift.FORBUF_SELECT_BEHAVIOR_ONZONE:
order.status = StatusOrderResponseCode.GOING_AND_PICKING_UP;
if (Traffic.RobotIsInArea("READY", robot.properties.pose.Position))
{
if (rb.PreProcedureAs == ProcedureControlAssign.PRO_READY)
{
//if (false == rb.CheckInGateFromReadyZoneBehavior(doorServiceCtrl.PointFrontLine.Position))
{
robot.ShowText("FORBUF_ROBOT_GOTO_BACK_FRONTLINE_READY");
registryRobotJourney.startPlaceName = Traffic.DetermineArea(robot.properties.pose.Position, TypeZone.OPZS);
registryRobotJourney.startPoint = robot.properties.pose.Position;
registryRobotJourney.endPoint = doorServiceCtrl.PointFrontLine.Position;
StateForkLift = ForkLift.FORBUF_ROBOT_GOTO_BACK_FRONTLINE_READY;
}
}
}
else if (Traffic.RobotIsInArea("VIM", robot.properties.pose.Position))
{
robot.robotTag = RobotStatus.WORKING;
if (rb.SendPoseStamped(doorServiceCtrl.PointFrontLine))
{
StateForkLift = ForkLift.FORBUF_ROBOT_WAITTING_GOTO_GATE_FROM_VIM_REG;
// Cap Nhat Thong Tin CHuyen Di
registryRobotJourney.startPlaceName = Traffic.DetermineArea(robot.properties.pose.Position, TypeZone.OPZS);
registryRobotJourney.startPoint = robot.properties.pose.Position;
registryRobotJourney.endPoint = doorServiceCtrl.PointFrontLine.Position;
robot.ShowText("FORBUF_ROBOT_WAITTING_GOTO_GATE");
}
}
else if (Traffic.RobotIsInArea("OUTER", robot.properties.pose.Position))
{
// public void Start (ForkLiftToBuffer state = ForkLiftToBuffer.FORBUF_ROBOT_RELEASED) {
robot.robotTag = RobotStatus.WORKING;
if (rb.SendPoseStamped(doorServiceCtrl.PointFrontLine))
{
StateForkLift = ForkLift.FORBUF_ROBOT_WAITTING_GOTO_GATE_FROM_VIM_REG;
registryRobotJourney.startPlaceName = Traffic.DetermineArea(robot.properties.pose.Position, TypeZone.OPZS);
registryRobotJourney.startPoint = robot.properties.pose.Position;
registryRobotJourney.endPoint = doorServiceCtrl.PointFrontLine.Position;
robot.ShowText("FORBUF_ROBOT_WAITTING_GOTO_CHECKIN_GATE");
}
}
break;
case ForkLift.FORBUF_ROBOT_GOTO_BACK_FRONTLINE_READY:
if (TrafficRountineConstants.DetetectInsideStationCheck(registryRobotJourney))
{
break;
}
robot.ShowText("Detetect Inside Station Check Ready");
if (rb.SendCmdPosPallet(RequestCommandPosPallet.REQUEST_GOBACK_FRONTLINE_TURN_LEFT))
{
Stopwatch sw = new Stopwatch();
sw.Start();
do
{
robot.onFlagGoBackReady = true;
if (resCmd == ResponseCommand.RESPONSE_FINISH_GOBACK_FRONTLINE || Traffic.RobotIsInArea("READY_FRONTLINE", robot.properties.pose.Position))
{
robot.onFlagGoBackReady = false;
robot.robotTag = RobotStatus.WORKING;
if (rb.SendPoseStamped(doorServiceCtrl.PointFrontLine))
{
resCmd = ResponseCommand.RESPONSE_NONE;
StateForkLift = ForkLift.FORBUF_ROBOT_WAITTING_GOTO_GATE_READY;
robot.ShowText("FORBUF_ROBOT_WAITTING_GOTO_GATE");
break;
}
}
else if (resCmd == ResponseCommand.RESPONSE_ERROR)
{
errorCode = ErrorCode.DETECT_LINE_ERROR;
CheckUserHandleError(this);
break;
}
if (sw.ElapsedMilliseconds > TIME_OUT_WAIT_GOTO_FRONTLINE)
{
errorCode = ErrorCode.DETECT_LINE_ERROR;
CheckUserHandleError(this);
break;
}
Thread.Sleep(100);
} while (ProRunStopW);
sw.Stop();
}
break;
case ForkLift.FORBUF_ROBOT_WAITTING_GOTO_GATE_READY:
// dò ra điểm đích đến và xóa đăng ký vùng
// TrafficRountineConstants.DetectRelease(registryRobotJourney);
if (Traffic.RobotIsInArea("C3", rb.properties.pose.Position))
{
ds.setDoorBusy(true);
ds.openDoor(DoorService.DoorType.DOOR_BACK);
StateForkLift = ForkLift.FORBUF_ROBOT_WAITTING_GOTO_GATE_READY_OPEN_DOOR;
}
break;
case ForkLift.FORBUF_ROBOT_WAITTING_GOTO_GATE_READY_OPEN_DOOR:
// dò ra điểm đích đến và xóa đăng ký vùng
TrafficRountineConstants.DetectRelease(registryRobotJourney);
if (resCmd == ResponseCommand.RESPONSE_LASER_CAME_POINT)
{
robot.setTrafficAllCircles(false, false, false, false);
TrafficRountineConstants.RegIntZone_READY.Release(robot);
robot.SwitchToDetectLine(true);
resCmd = ResponseCommand.RESPONSE_NONE;
StateForkLift = ForkLift.FORBUF_ROBOT_CAME_GATE_POSITION;
robot.ShowText("FORBUF_ROBOT_CAME_GATE_POSITION");
}
break;
case ForkLift.FORBUF_ROBOT_WAITTING_GOTO_GATE_FROM_VIM_REG:
// kiem tra vung đăng ký tai khu vuc xac định
if (TrafficRountineConstants.DetetectInsideStationCheck(registryRobotJourney))
{
break;
}
else
{
// dò ra điểm đích đến và xóa đăng ký vùng
StateForkLift = ForkLift.FORBUF_ROBOT_WAITTING_GOTO_GATE_FROM_VIM;
}
break;
case ForkLift.FORBUF_ROBOT_WAITTING_GOTO_GATE_FROM_VIM:
// kiem tra vung đăng ký tai khu vuc xac định
//TrafficRountineConstants.DetectRelease(registryRobotJourney);
if (Traffic.RobotIsInArea("C3", rb.properties.pose.Position))
{
ds.setDoorBusy(true);
ds.openDoor(DoorService.DoorType.DOOR_BACK);
StateForkLift = ForkLift.FORBUF_ROBOT_WAITTING_GOTO_GATE_FROM_VIM_OPEN_DOOR;
}
break;
case ForkLift.FORBUF_ROBOT_WAITTING_GOTO_GATE_FROM_VIM_OPEN_DOOR:
// kiem tra vung đăng ký tai khu vuc xac định
TrafficRountineConstants.DetectRelease(registryRobotJourney);
if (resCmd == ResponseCommand.RESPONSE_LASER_CAME_POINT)
{
// robot.setTrafficAllCircles(false, false, false, false);
TrafficRountineConstants.RegIntZone_READY.Release(robot);
robot.SwitchToDetectLine(true);
resCmd = ResponseCommand.RESPONSE_NONE;
//rb.prioritLevel.OnAuthorizedPriorityProcedure = true;
StateForkLift = ForkLift.FORBUF_ROBOT_CAME_GATE_POSITION;
robot.ShowText("FORBUF_ROBOT_CAME_GATE_POSITION");
}
break;
case ForkLift.FORBUF_ROBOT_CAME_GATE_POSITION: // da den khu vuc cong , gui yeu cau mo cong.
robot.robotRegistryToWorkingZone.onRobotwillCheckInsideGate = false;
//ds.setDoorBusy(true);
//ds.openDoor(DoorService.DoorType.DOOR_BACK);
StateForkLift = ForkLift.FORBUF_ROBOT_WAITTING_OPEN_DOOR;
robot.ShowText("FORBUF_ROBOT_WAITTING_OPEN_DOOR");
break;
case ForkLift.FORBUF_ROBOT_WAITTING_OPEN_DOOR: //doi mo cong
RetState ret = ds.checkOpen(DoorService.DoorType.DOOR_BACK);
if (RetState.DOOR_CTRL_SUCCESS == ret || robot.onForceGoToGate)
{
ds.resetWaitOpenBack();
robot.onForceGoToGate = false;
StateForkLift = ForkLift.FORBUF_ROBOT_OPEN_DOOR_SUCCESS;
robot.ShowText("FORBUF_ROBOT_OPEN_DOOR_SUCCESS");
}
else if (RetState.DOOR_CTRL_ERROR == ret)
{
robot.ShowText("FORBUF_ROBOT_OPEN_DOOR_ERROR");
//StateForkLift = ForkLift.FORBUF_ROBOT_CAME_GATE_POSITION;
Thread.Sleep(1000);
ds.setDoorBusy(true);
ds.openDoor(DoorService.DoorType.DOOR_BACK);
}
break;
case ForkLift.FORBUF_ROBOT_OPEN_DOOR_SUCCESS: // mo cua thang cong ,gui toa do line de robot di vao gap hang
// rb.SendCmdLineDetectionCtrl(RequestCommandLineDetect.REQUEST_LINEDETECT_PALLETUP);
if (rb.SendCmdAreaPallet(doorServiceCtrl.infoPallet))
{
StateForkLift = ForkLift.FORBUF_ROBOT_WAITTING_PICKUP_PALLET_IN;
robot.ShowText("FORBUF_ROBOT_WAITTING_PICKUP_PALLET_IN");
}
break;
case ForkLift.FORBUF_ROBOT_WAITTING_PICKUP_PALLET_IN: // doi robot gap hang
try
{
DoorStatus ret1 = ds.getStatusDoor(DoorType.DOOR_BACK);
if (DoorStatus.DOOR_OPEN == ret1)
{
robot.SetSpeedTraffic(RobotSpeedLevel.ROBOT_SPEED_NORMAL, false);
if (resCmd == ResponseCommand.RESPONSE_LINEDETECT_PALLETUP)
{
resCmd = ResponseCommand.RESPONSE_NONE;
StateForkLift = ForkLift.FORBUF_ROBOT_FINISH_PALLET_UP;
Console.WriteLine("pallet ID" + order.palletId);
robot.robotBahaviorAtGate = RobotBahaviorAtReadyGate.GOING_OUTSIDE_GATE;
robot.ShowText("FORBUF_ROBOT_WAITTING_GOBACK_FRONTLINE_GATE");
}
else if (resCmd == ResponseCommand.RESPONSE_ERROR)
{
errorCode = ErrorCode.DETECT_LINE_ERROR;
CheckUserHandleError(this);
}
}
//else if (DoorStatus.DOOR_UNKNOW == ret1)
//{
//}
else /* if(DoorStatus.DOOR_CLOSE == ret1)*/
{
robot.ShowText("DOOR_ERROR_(-___-)");
robot.SetSpeedTraffic(RobotSpeedLevel.ROBOT_SPEED_STOP, true);
ds.setDoorBusy(true);
ds.openDoor(DoorType.DOOR_BACK);
Thread.Sleep(7000);
}
}
catch
{
}
break;
case ForkLift.FORBUF_ROBOT_FINISH_PALLET_UP:
String destName = Traffic.DetermineArea(endPointBuffer.Position, TypeZone.MAIN_ZONE);
if (destName.Equals("VIM"))
{
if (checkAnyRobotAtElevator(robot))
{
break;
}
else
{
StateForkLift = ForkLift.FORBUF_ROBOT_WAITTING_GOBACK_FRONTLINE_GATE;
}
}
else
{
StateForkLift = ForkLift.FORBUF_ROBOT_WAITTING_GOBACK_FRONTLINE_GATE;
}
break;
case ForkLift.FORBUF_ROBOT_WAITTING_GOBACK_FRONTLINE_GATE:
// kiem tra da toi vung dong cong
if (!Traffic.RobotIsInArea("CLOSE-GATE", robot.properties.pose.Position))
{
DoorStatus ret2 = ds.getStatusDoor(DoorType.DOOR_BACK);
if (DoorStatus.DOOR_OPEN == ret2)
{
robot.SetSpeedTraffic(RobotSpeedLevel.ROBOT_SPEED_NORMAL, false);
if (resCmd == ResponseCommand.RESPONSE_FINISH_GOBACK_FRONTLINE)
{
Global_Object.setGateStatus(order.gate, false);
resCmd = ResponseCommand.RESPONSE_NONE;
ds.LampSetStateOff(DoorType.DOOR_FRONT);
ds.closeDoor(DoorType.DOOR_BACK);
ds.setDoorBusy(false);
StateForkLift = ForkLift.FORBUF_ROBOT_WAITTING_CLOSE_GATE;
robot.ShowText("FORBUF_ROBOT_WAITTING_CLOSE_GATE");
}
else if (resCmd == ResponseCommand.RESPONSE_ERROR)
{
errorCode = ErrorCode.DETECT_LINE_ERROR;
CheckUserHandleError(this);
}
}
//else if (DoorStatus.DOOR_UNKNOW == ret1)
//{
//}
else /* if(DoorStatus.DOOR_CLOSE == ret1)*/
{
robot.ShowText("DOOR_ERROR_(-___-)");
robot.SetSpeedTraffic(RobotSpeedLevel.ROBOT_SPEED_STOP, true);
ds.setDoorBusy(true);
ds.openDoor(DoorType.DOOR_BACK);
Thread.Sleep(6000);
}
}
else
{
robot.SetSpeedTraffic(RobotSpeedLevel.ROBOT_SPEED_NORMAL, false);
if (resCmd == ResponseCommand.RESPONSE_FINISH_GOBACK_FRONTLINE)
{
Global_Object.setGateStatus(order.gate, false);
resCmd = ResponseCommand.RESPONSE_NONE;
ds.LampSetStateOff(DoorType.DOOR_FRONT);
ds.closeDoor(DoorType.DOOR_BACK);
ds.setDoorBusy(false);
StateForkLift = ForkLift.FORBUF_ROBOT_WAITTING_CLOSE_GATE;
robot.ShowText("FORBUF_ROBOT_WAITTING_CLOSE_GATE");
}
else if (resCmd == ResponseCommand.RESPONSE_ERROR)
{
errorCode = ErrorCode.DETECT_LINE_ERROR;
CheckUserHandleError(this);
}
}
break;
case ForkLift.FORBUF_ROBOT_WAITTING_CLOSE_GATE:
try
{
StateForkLift = ForkLift.FORBUF_ROBOT_CHECK_GOTO_BUFFER_OR_MACHINE;
robot.SwitchToDetectLine(false);
registryRobotJourney.startPlaceName = Traffic.DetermineArea(robot.properties.pose.Position, TypeZone.OPZS);
registryRobotJourney.startPoint = robot.properties.pose.Position;
registryRobotJourney.endPoint = endPointBuffer.Position;
}
catch (System.Exception)
{
errorCode = ErrorCode.CAN_NOT_GET_DATA;
CheckUserHandleError(this);
}
break;
case ForkLift.FORBUF_ROBOT_CHECK_GOTO_BUFFER_OR_MACHINE:
order.status = StatusOrderResponseCode.DELIVERING;
flToMachineInfo = GetPriorityTaskForkLiftToMachine(order.productDetailId);
if (flToMachineInfo == null)
{
StateForkLift = ForkLift.FORBUF_ROBOT_WAITTING_ZONE_BUFFER_READY;
registryRobotJourney.startPlaceName = Traffic.DetermineArea(robot.properties.pose.Position, TypeZone.OPZS);
registryRobotJourney.startPoint = robot.properties.pose.Position;
registryRobotJourney.endPoint = endPointBuffer.Position;
}
else
{
FreePlanedBuffer(order.palletId_P);
UpdatePalletState(PalletStatus.W, flToMachineInfo.palletId, flToMachineInfo.planId);
StateForkLift = ForkLift.FORMAC_ROBOT_GOTO_FRONTLINE_MACHINE_FROM_VIM_REG;
}
break;
case ForkLift.FORBUF_ROBOT_WAITTING_ZONE_BUFFER_READY:
if (TrafficRountineConstants.DetetectInsideStationCheck(registryRobotJourney))
{
break;
}
Pose destPos1 = endPointBuffer;
if (rb.SendPoseStamped(destPos1))
{
StateForkLift = ForkLift.FORBUF_ROBOT_WAITTING_CAME_FRONTLINE_BUFFER;
robot.ShowText("FORBUF_ROBOT_WAITTING_CAME_FRONTLINE_BUFFER");
}
break;
case ForkLift.FORBUF_ROBOT_WAITTING_CAME_FRONTLINE_BUFFER_FROM_VIM_REG:
if (TrafficRountineConstants.DetetectInsideStationCheck(registryRobotJourney))
{
break;
}
else
{
StateForkLift = ForkLift.FORBUF_ROBOT_WAITTING_CAME_FRONTLINE_BUFFER_FROM_VIM;
}
break;
case ForkLift.FORBUF_ROBOT_WAITTING_CAME_FRONTLINE_BUFFER_FROM_VIM:
TrafficRountineConstants.DetectRelease(registryRobotJourney);
try
{
if (resCmd == ResponseCommand.RESPONSE_LASER_CAME_POINT)
{
robot.SwitchToDetectLine(true);
resCmd = ResponseCommand.RESPONSE_NONE;
StateForkLift = ForkLift.FORBUF_ROBOT_SEND_CMD_DROPDOWN_PALLET_BUFFER;
}
}
catch (System.Exception)
{
errorCode = ErrorCode.CAN_NOT_GET_DATA;
CheckUserHandleError(this);
}
break;
case ForkLift.FORBUF_ROBOT_WAITTING_CAME_FRONTLINE_BUFFER:
// xóa đăng ký vùng
TrafficRountineConstants.DetectRelease(registryRobotJourney);
if (TrafficCheckInBuffer(goalFrontLinePos, bayId))
{
break;
}
try
{
if (resCmd == ResponseCommand.RESPONSE_LASER_CAME_POINT)
{
robot.SwitchToDetectLine(true);
resCmd = ResponseCommand.RESPONSE_NONE;
StateForkLift = ForkLift.FORBUF_ROBOT_SEND_CMD_DROPDOWN_PALLET_BUFFER;
}
}
catch (System.Exception)
{
errorCode = ErrorCode.CAN_NOT_GET_DATA;
CheckUserHandleError(this);
}
break;
case ForkLift.FORBUF_ROBOT_SEND_CMD_DROPDOWN_PALLET_BUFFER:
JResult = FlToBuf.GetInfoPallet_P_InBuffer(PistonPalletCtrl.PISTON_PALLET_DOWN);
String data = JsonConvert.SerializeObject(JResult.jInfoPallet);
if (rb.SendCmdAreaPallet(data))
{
StateForkLift = ForkLift.FORBUF_ROBOT_WAITTING_DROPDOWN_PALLET_BUFFER;
robot.ShowText("FORBUF_ROBOT_WAITTING_DROPDOWN_PALLET_BUFFER");
}
break;
case ForkLift.FORBUF_ROBOT_WAITTING_DROPDOWN_PALLET_BUFFER:
if (resCmd == ResponseCommand.RESPONSE_LINEDETECT_PALLETDOWN)
{
resCmd = ResponseCommand.RESPONSE_NONE;
FlToBuf.UpdatePalletState(PalletStatus.W, JResult.palletId, order.planId);
// rb.SendCmdPosPallet (RequestCommandPosPallet.REQUEST_GOBACK_FRONTLINE);
StateForkLift = ForkLift.FORBUF_ROBOT_WAITTING_GOBACK_FRONTLINE_BUFFER;
robot.ShowText("FORBUF_ROBOT_WAITTING_GOBACK_FRONTLINE_BUFFER");
}
else if (resCmd == ResponseCommand.RESPONSE_ERROR)
{
Console.WriteLine("Loi Update :ForkLift.FORBUF_ROBOT_WAITTING_DROPDOWN_PALLET_BUFFER");
errorCode = ErrorCode.DETECT_LINE_ERROR;
CheckUserHandleError(this);
}
break;
case ForkLift.FORBUF_ROBOT_WAITTING_GOBACK_FRONTLINE_BUFFER: // đợi
if (resCmd == ResponseCommand.RESPONSE_FINISH_GOBACK_FRONTLINE)
{
robot.bayId = -1;
robot.bayIdReg = false;
robot.ReleaseWorkingZone();
robot.SwitchToDetectLine(false);
resCmd = ResponseCommand.RESPONSE_NONE;
//rb.prioritLevel.OnAuthorizedPriorityProcedure = false;
StateForkLift = ForkLift.FORBUF_ROBOT_RELEASED;
robot.ShowText("FORBUF_ROBOT_RELEASED");
}
else if (resCmd == ResponseCommand.RESPONSE_ERROR)
{
Console.WriteLine("Loi Update :ForkLift.FORBUF_ROBOT_WAITTING_GOBACK_FRONTLINE_BUFFER");
errorCode = ErrorCode.DETECT_LINE_ERROR;
CheckUserHandleError(this);
}
break;
case ForkLift.FORBUF_ROBOT_RELEASED: // trả robot về robotmanagement để nhận quy trình mới
rb.PreProcedureAs = ProcedureControlAssign.PRO_FORKLIFT_TO_BUFFER;
ReleaseProcedureHandler(this);
ProRun = false;
robot.ShowText("RELEASED");
UpdateInformationInProc(this, ProcessStatus.S);
order.status = StatusOrderResponseCode.FINISHED;
break;
case ForkLift.FORMAC_ROBOT_GOTO_FRONTLINE_MACHINE_FROM_VIM_REG:
if (TrafficRountineConstants.DetetectInsideStationCheck(registryRobotJourney))
{
break;
}
else
{
StateForkLift = ForkLift.FORMAC_ROBOT_GOTO_FRONTLINE_MACHINE_FROM_VIM;
}
break;
case ForkLift.FORMAC_ROBOT_GOTO_FRONTLINE_MACHINE_FROM_VIM:
TrafficRountineConstants.DetectRelease(registryRobotJourney);
try
{
if (rb.SendPoseStamped(flToMachineInfo.frontLinePose))
{
StateForkLift = ForkLift.FORMAC_ROBOT_WAITTING_CAME_FRONTLINE_MACHINE;
robot.ShowText("FORMAC_ROBOT_WAITTING_CAME_FRONTLINE_MACHINE");
onFlagResetedGate = false;
}
}
catch (System.Exception)
{
errorCode = ErrorCode.CAN_NOT_GET_DATA;
CheckUserHandleError(this);
}
break;
case ForkLift.FORMAC_ROBOT_GOTO_FRONTLINE_MACHINE:
try
{
if (TrafficRountineConstants.DetetectInsideStationCheck(registryRobotJourney))
{
break;
}
if (rb.SendPoseStamped(flToMachineInfo.frontLinePose))
{
StateForkLift = ForkLift.FORMAC_ROBOT_WAITTING_CAME_FRONTLINE_MACHINE;
robot.ShowText("FORMAC_ROBOT_WAITTING_CAME_FRONTLINE_MACHINE");
onFlagResetedGate = false;
}
}
catch (System.Exception)
{
errorCode = ErrorCode.CAN_NOT_GET_DATA;
CheckUserHandleError(this);
}
break;
case ForkLift.FORMAC_ROBOT_WAITTING_CAME_FRONTLINE_MACHINE:
try
{
TrafficRountineConstants.DetectRelease(registryRobotJourney);
if (resCmd == ResponseCommand.RESPONSE_LASER_CAME_POINT)
{
robot.SwitchToDetectLine(true);
StateForkLift = ForkLift.FORMAC_ROBOT_SEND_CMD_DROPDOWN_PALLET_MACHINE;
}
}
catch (System.Exception)
{
errorCode = ErrorCode.CAN_NOT_GET_DATA;
CheckUserHandleError(this);
}
break;
case ForkLift.FORMAC_ROBOT_SEND_CMD_DROPDOWN_PALLET_MACHINE:
if (rb.SendCmdAreaPallet(flToMachineInfo.infoPallet))
{
StateForkLift = ForkLift.FORMAC_ROBOT_WAITTING_DROPDOWN_PALLET_MACHINE;
robot.ShowText("FORMAC_ROBOT_WAITTING_DROPDOWN_PALLET_MACHINE");
}
break;
case ForkLift.FORMAC_ROBOT_WAITTING_DROPDOWN_PALLET_MACHINE:
if (resCmd == ResponseCommand.RESPONSE_LINEDETECT_PALLETDOWN)
{
resCmd = ResponseCommand.RESPONSE_NONE;
// FlToBuf.UpdatePalletState(PalletStatus.W);
// rb.SendCmdPosPallet (RequestCommandPosPallet.REQUEST_GOBACK_FRONTLINE);
StateForkLift = ForkLift.FORMAC_ROBOT_WAITTING_GOBACK_FRONTLINE_MACHINE;
robot.ShowText("FORMAC_ROBOT_WAITTING_GOBACK_FRONTLINE_MACHINE");
}
else if (resCmd == ResponseCommand.RESPONSE_ERROR)
{
errorCode = ErrorCode.DETECT_LINE_ERROR;
CheckUserHandleError(this);
}
break;
case ForkLift.FORMAC_ROBOT_WAITTING_GOBACK_FRONTLINE_MACHINE: // đợi
if (resCmd == ResponseCommand.RESPONSE_FINISH_GOBACK_FRONTLINE)
{
robot.SwitchToDetectLine(false);
resCmd = ResponseCommand.RESPONSE_NONE;
//rb.prioritLevel.OnAuthorizedPriorityProcedure = false;
StateForkLift = ForkLift.FORMAC_ROBOT_RELEASED;
robot.ShowText("FORMAC_ROBOT_RELEASED");
}
else if (resCmd == ResponseCommand.RESPONSE_ERROR)
{
errorCode = ErrorCode.DETECT_LINE_ERROR;
CheckUserHandleError(this);
}
break;
case ForkLift.FORMAC_ROBOT_RELEASED: // trả robot về robotmanagement để nhận quy trình mới
ds.removeListCtrlDoorBack();
TrafficRountineConstants.ReleaseAll(robot);
robot.orderItem = null;
// Global_Object.onFlagDoorBusy = false;
robot.SwitchToDetectLine(false);
// robot.robotTag = RobotStatus.IDLE;
robot.ReleaseWorkingZone();
rb.PreProcedureAs = ProcedureControlAssign.PRO_FORKLIFT_TO_BUFFER;
// if (errorCode == ErrorCode.RUN_OK) {
// } else {
// ErrorProcedureHandler (this);
// }
ProRun = false;
robot.ShowText("RELEASED");
UpdateInformationInProc(this, ProcessStatus.S);
order.status = StatusOrderResponseCode.FINISHED;
order.endTimeProcedure = DateTime.Now;
order.totalTimeProcedure = order.endTimeProcedure.Subtract(order.startTimeProcedure).TotalMinutes;
KillEvent();
ReleaseProcedureHandler(this);
break;
case ForkLift.FORMAC_ROBOT_DESTROY: // trả robot về robotmanagement để nhận quy trình mới
ds.removeListCtrlDoorBack();
TrafficRountineConstants.ReleaseAll(robot);
robot.SwitchToDetectLine(false);
robot.ReleaseWorkingZone();
robot.robotBahaviorAtGate = RobotBahaviorAtReadyGate.IDLE;
//robot.prioritLevel.OnAuthorizedPriorityProcedure = false;
ProRun = false;
UpdateInformationInProc(this, ProcessStatus.F);
order.status = StatusOrderResponseCode.ROBOT_ERROR;
selectHandleError = SelectHandleError.CASE_ERROR_EXIT;
procedureStatus = ProcedureStatus.PROC_KILLED;
// RestoreOrderItem();
//FreePlanedBuffer(order.palletId_P);
order.endTimeProcedure = DateTime.Now;
order.totalTimeProcedure = order.endTimeProcedure.Subtract(order.startTimeProcedure).TotalMinutes;
KillEvent();
break;
//////////////////////////////////////////////////////
default:
break;
}
Thread.Sleep(700);
}
StateForkLift = ForkLift.FORBUF_IDLE;
}
public void Procedure(object ojb)
{
ProcedureReturnToGate ReToGate = (ProcedureReturnToGate)ojb;
RobotUnity rb = ReToGate.robot;
// DataReturnToGate p = ReToGate.points;
ds = ReToGate.door.DoorMezzamineReturn;
ds.setRb(rb);
TrafficManagementService Traffic = ReToGate.Traffic;
rb.mcuCtrl.lampRbOn();
robot.ShowText(" Start -> " + procedureCode);
while (ProRun)
{
switch (StateReturnToGate)
{
case ReturnToGate.RETGATE_IDLE:
break;
case ReturnToGate.RETGATE_ROBOT_WAITTING_GOTO_CHECKIN_RETURN: // doi robot di den khu vuc checkin cua vung buffer
try
{
if (rb.PreProcedureAs == ProcedureControlAssign.PRO_READY)
{
if (rb.SendCmdPosPallet(RequestCommandPosPallet.REQUEST_GOBACK_FRONTLINE_TURN_RIGHT))
{
Stopwatch sw = new Stopwatch();
sw.Start();
do
{
if (resCmd == ResponseCommand.RESPONSE_FINISH_GOBACK_FRONTLINE)
{
if (rb.SendPoseStamped(ReToGate.GetCheckInBuffer()))
{
resCmd = ResponseCommand.RESPONSE_NONE;
StateReturnToGate = ReturnToGate.RETGATE_ROBOT_WAITTING_ZONE_RETURN_READY;
robot.ShowText("RETGATE_ROBOT_WAITTING_ZONE_RETURN_READY");
break;
}
}
else if (resCmd == ResponseCommand.RESPONSE_ERROR)
{
errorCode = ErrorCode.DETECT_LINE_ERROR;
CheckUserHandleError(this);
break;
}
if (sw.ElapsedMilliseconds > TIME_OUT_WAIT_GOTO_FRONTLINE)
{
errorCode = ErrorCode.DETECT_LINE_ERROR;
CheckUserHandleError(this);
break;
}
Thread.Sleep(100);
} while (ProRunStopW);
sw.Stop();
}
}
else
{
if (rb.SendPoseStamped(ReToGate.GetCheckInBuffer()))
{
StateReturnToGate = ReturnToGate.RETGATE_ROBOT_WAITTING_ZONE_RETURN_READY;
robot.ShowText("RETGATE_ROBOT_WAITTING_ZONE_RETURN_READY");
}
}
}
catch (System.Exception)
{
errorCode = ErrorCode.CAN_NOT_GET_DATA;
CheckUserHandleError(this);
}
break;
case ReturnToGate.RETGATE_ROBOT_WAITTING_ZONE_RETURN_READY: // doi khu vuc buffer san sang de di vao
try
{
if (false == robot.CheckInZoneBehavior(ReToGate.GetFrontLineReturn().Position))
{
if (rb.SendPoseStamped(ReToGate.GetFrontLineReturn()))
{
StateReturnToGate = ReturnToGate.RETGATE_ROBOT_WAITTING_CAME_FRONTLINE_RETURN;
robot.ShowText("RETGATE_ROBOT_WAITTING_CAME_FRONTLINE_RETURN");
}
}
}
catch (System.Exception)
{
errorCode = ErrorCode.CAN_NOT_GET_DATA;
CheckUserHandleError(this);
}
break;
case ReturnToGate.RETGATE_ROBOT_WAITTING_CAME_FRONTLINE_RETURN:
try
{
if (resCmd == ResponseCommand.RESPONSE_LASER_CAME_POINT)
{
resCmd = ResponseCommand.RESPONSE_NONE;
StateReturnToGate = ReturnToGate.RETGATE_ROBOT_SEND_CMD_PICKUP_PALLET;
}
else if (resCmd == ResponseCommand.RESPONSE_ERROR)
{
errorCode = ErrorCode.DETECT_LINE_ERROR;
CheckUserHandleError(this);
}
}
catch (System.Exception)
{
errorCode = ErrorCode.CAN_NOT_GET_DATA;
CheckUserHandleError(this);
}
break;
case ReturnToGate.RETGATE_ROBOT_SEND_CMD_PICKUP_PALLET:
if (rb.SendCmdAreaPallet(ReToGate.GetInfoOfPalletReturn(PistonPalletCtrl.PISTON_PALLET_UP)))
{
StateReturnToGate = ReturnToGate.RETGATE_ROBOT_WAITTING_PICKUP_PALLET_RETURN;
robot.ShowText("RETGATE_ROBOT_WAITTING_PICKUP_PALLET_RETURN");
}
break;
case ReturnToGate.RETGATE_ROBOT_WAITTING_PICKUP_PALLET_RETURN:
if (resCmd == ResponseCommand.RESPONSE_LINEDETECT_PALLETUP)
{
resCmd = ResponseCommand.RESPONSE_NONE;
ReToGate.UpdatePalletState(PalletStatus.F, order.palletId_H, order.planId);
StateReturnToGate = ReturnToGate.RETGATE_ROBOT_WAITTING_GOBACK_FRONTLINE_RETURN;
robot.ShowText("RETGATE_ROBOT_WAITTING_GOBACK_FRONTLINE_RETURN");
}
else if (resCmd == ResponseCommand.RESPONSE_ERROR)
{
errorCode = ErrorCode.DETECT_LINE_ERROR;
CheckUserHandleError(this);
}
break;
case ReturnToGate.RETGATE_ROBOT_WAITTING_GOBACK_FRONTLINE_RETURN: // đợi
if (resCmd == ResponseCommand.RESPONSE_FINISH_GOBACK_FRONTLINE)
{
//rb.prioritLevel.OnAuthorizedPriorityProcedure = false;
if (rb.SendPoseStamped(ds.config.PointCheckInGate))
{
resCmd = ResponseCommand.RESPONSE_NONE;
StateReturnToGate = ReturnToGate.RETGATE_ROBOT_WAITTING_GOTO_CHECKIN_GATE;
robot.ShowText("RETGATE_ROBOT_WAITTING_GOTO_CHECKIN_GATE");
}
}
else if (resCmd == ResponseCommand.RESPONSE_ERROR)
{
errorCode = ErrorCode.DETECT_LINE_ERROR;
CheckUserHandleError(this);
}
break;
// case ReturnToGate.RETGATE_ROBOT_GOTO_CHECKIN_GATE: //gui toa do di den khu vuc checkin cong
// rb.SendPoseStamped(ds.config.PointCheckInGate);
// StateReturnToGate = ReturnToGate.RETGATE_ROBOT_WAITTING_GOTO_CHECKIN_GATE;
// break;
case ReturnToGate.RETGATE_ROBOT_WAITTING_GOTO_CHECKIN_GATE:
if (resCmd == ResponseCommand.RESPONSE_LASER_CAME_POINT)
{
resCmd = ResponseCommand.RESPONSE_NONE;
//rb.prioritLevel.OnAuthorizedPriorityProcedure = true;
StateReturnToGate = ReturnToGate.RETGATE_ROBOT_CAME_CHECKIN_GATE;
robot.ShowText("RETGATE_ROBOT_CAME_CHECKIN_GATE");
}
break;
case ReturnToGate.RETGATE_ROBOT_CAME_CHECKIN_GATE: // đã đến vị trí, kiem tra va cho khu vuc cong san sang de di vao.
if (false == robot.CheckInZoneBehavior(ds.config.PointFrontLine.Position))
{
//rb.prioritLevel.OnAuthorizedPriorityProcedure = false;
if (rb.SendPoseStamped(ds.config.PointFrontLine))
{
StateReturnToGate = ReturnToGate.RETGATE_ROBOT_WAITTING_GOTO_GATE;
robot.ShowText("RETGATE_ROBOT_WAITTING_GOTO_GATE");
}
}
break;
case ReturnToGate.RETGATE_ROBOT_WAITTING_GOTO_GATE:
if (Traffic.RobotIsInArea("GATE3", rb.properties.pose.Position))
{
ds.setDoorBusy(true);
ds.openDoor(DoorService.DoorType.DOOR_BACK);
StateReturnToGate = ReturnToGate.RETGATE_ROBOT_WAITTING_GOTO_GATE_OPENDOOR;
}
break;
case ReturnToGate.RETGATE_ROBOT_WAITTING_GOTO_GATE_OPENDOOR:
if (resCmd == ResponseCommand.RESPONSE_LASER_CAME_POINT)
{
resCmd = ResponseCommand.RESPONSE_NONE;
//rb.prioritLevel.OnAuthorizedPriorityProcedure = true;
StateReturnToGate = ReturnToGate.RETGATE_ROBOT_CAME_GATE_POSITION;
robot.ShowText("RETGATE_ROBOT_CAME_GATE_POSITION");
}
break;
case ReturnToGate.RETGATE_ROBOT_CAME_GATE_POSITION: // da den khu vuc cong , gui yeu cau mo cong.
//ds.setDoorBusy(true);
//ds.openDoor(DoorService.DoorType.DOOR_BACK);
StateReturnToGate = ReturnToGate.RETGATE_ROBOT_WAITTING_OPEN_DOOR;
robot.ShowText("RETGATE_ROBOT_WAITTING_OPEN_DOOR");
break;
case ReturnToGate.RETGATE_ROBOT_WAITTING_OPEN_DOOR: //doi mo cong
RetState ret = ds.checkOpen(DoorService.DoorType.DOOR_BACK);
if (ret == RetState.DOOR_CTRL_SUCCESS)
{
if (rb.SendCmdAreaPallet(ds.config.infoPallet))
{
StateReturnToGate = ReturnToGate.RETGATE_ROBOT_WAITTING_DROPDOWN_PALLET_RETURN;
robot.ShowText("RETGATE_ROBOT_WAITTING_DROPDOWN_PALLET_RETURN");
}
}
else if (ret == RetState.DOOR_CTRL_ERROR)
{
robot.ShowText("RETGATE_ROBOT_WAITTING_OPEN_DOOR_ERROR__(-_-)");
Thread.Sleep(1000);
ds.setDoorBusy(true);
ds.openDoor(DoorService.DoorType.DOOR_BACK);
}
break;
// case ReturnToGate.RETGATE_ROBOT_OPEN_DOOR_SUCCESS: // mo cua thang cong ,gui toa do line de robot di vao
// rb.SendCmdLineDetectionCtrl(RequestCommandLineDetect.REQUEST_LINEDETECT_PALLETDOWN);
// StateReturnToGate = ReturnToGate.RETGATE_ROBOT_GOTO_POSITION_PALLET_RETURN;
// break;
// case ReturnToGate.RETGATE_ROBOT_GOTO_POSITION_PALLET_RETURN:
// if (true == rb.CheckPointDetectLine(ds.config.PointOfPallet, rb))
// {
// rb.SendCmdPosPallet(RequestCommandPosPallet.REQUEST_LINEDETECT_COMING_POSITION);
// StateReturnToGate = ReturnToGate.RETGATE_ROBOT_WAITTING_DROPDOWN_PALLET_RETURN;
// }
// break;
case ReturnToGate.RETGATE_ROBOT_WAITTING_DROPDOWN_PALLET_RETURN: // doi robot gap hang
if (resCmd == ResponseCommand.RESPONSE_LINEDETECT_PALLETDOWN)
{
resCmd = ResponseCommand.RESPONSE_NONE;
// ReToGate.UpdatePalletState(PalletStatus.W);
StateReturnToGate = ReturnToGate.RETGATE_ROBOT_WAITTING_GOBACK_FRONTLINE_GATE;
robot.ShowText("RETGATE_ROBOT_WAITTING_GOBACK_FRONTLINE_GATE");
}
else if (resCmd == ResponseCommand.RESPONSE_ERROR)
{
errorCode = ErrorCode.DETECT_LINE_ERROR;
CheckUserHandleError(this);
}
break;
case ReturnToGate.RETGATE_ROBOT_WAITTING_GOBACK_FRONTLINE_GATE:
if (resCmd == ResponseCommand.RESPONSE_FINISH_GOBACK_FRONTLINE)
{
resCmd = ResponseCommand.RESPONSE_NONE;
ds.closeDoor(DoorService.DoorType.DOOR_BACK);
ds.setDoorBusy(false);
StateReturnToGate = ReturnToGate.RETGATE_ROBOT_WAITTING_CLOSE_GATE;
robot.ShowText("RETGATE_ROBOT_WAITTING_CLOSE_GATE");
}
else if (resCmd == ResponseCommand.RESPONSE_ERROR)
{
errorCode = ErrorCode.DETECT_LINE_ERROR;
CheckUserHandleError(this);
}
break;
case ReturnToGate.RETGATE_ROBOT_WAITTING_CLOSE_GATE: // doi dong cong.
//if (true == ds.WaitClose(DoorService.DoorType.DOOR_BACK, TIME_OUT_CLOSE_DOOR))
//{
StateReturnToGate = ReturnToGate.RETGATE_ROBOT_RELEASED;
//rb.prioritLevel.OnAuthorizedPriorityProcedure = false;
robot.ShowText("RETGATE_ROBOT_WAITTING_CLOSE_GATE");
//}
//else
//{
// errorCode = ErrorCode.CLOSE_DOOR_ERROR;
// CheckUserHandleError(this);
//}
break;
case ReturnToGate.RETGATE_ROBOT_RELEASED: // trả robot về robotmanagement để nhận quy trình mới
ds.removeListCtrlDoorBack();
robot.robotTag = RobotStatus.IDLE;
rb.PreProcedureAs = ProcedureControlAssign.PRO_RETURN_TO_GATE;
// if (errorCode == ErrorCode.RUN_OK) {
ReleaseProcedureHandler(this);
// } else {
// ErrorProcedureHandler (this);
// }
ProRun = false;
robot.ShowText("RELEASED");
UpdateInformationInProc(this, ProcessStatus.S);
order.endTimeProcedure = DateTime.Now;
order.totalTimeProcedure = order.endTimeProcedure.Subtract(order.startTimeProcedure).TotalMinutes;
KillEvent();
break;
default:
break;
}
Thread.Sleep(5);
}
StateReturnToGate = ReturnToGate.RETGATE_IDLE;
}
public void Procedure(object ojb)
{
ProcedureBufferToGate BuffToGate = (ProcedureBufferToGate)ojb;
RobotUnity rb = BuffToGate.robot;
// DataBufferToGate p = BuffToGate.points;
doorServiceCtrl = getDoorService();
ds = doorServiceCtrl.doorService;
ds.setRb(rb);
TrafficManagementService Traffic = BuffToGate.Traffic;
rb.mcuCtrl.lampRbOn();
robot.ShowText(" Start -> " + procedureCode);
while (ProRun)
{
switch (StateBufferToGate)
{
case BufferToGate.BUFGATE_IDLE:
break;
case BufferToGate.BUFGATE_SELECT_BEHAVIOR_ONZONE:
if (Traffic.RobotIsInArea("READY", robot.properties.pose.Position, TypeZone.OPZS))
{
if (rb.PreProcedureAs == ProcedureControlAssign.PRO_READY)
{
StateBufferToGate = BufferToGate.BUFGATE_ROBOT_GOTO_BACK_FRONTLINE_READY;
registryRobotJourney.startPlaceName = Traffic.DetermineArea(robot.properties.pose.Position, TypeZone.OPZS);
registryRobotJourney.startPoint = robot.properties.pose.Position;
registryRobotJourney.endPoint = BuffToGate.GetFrontLineBuffer().Position;
////robot.ShowText("BUFMAC_SELECT_BEHAVIOR_ONZONE : READY");
////robot.ShowText("CHECK - REG");
}
}
else if (Traffic.RobotIsInArea("VIM", robot.properties.pose.Position, TypeZone.MAIN_ZONE))
{
if (rb.SendPoseStamped(BuffToGate.GetFrontLineBuffer()))
{
StateBufferToGate = BufferToGate.BUFGATE_ROBOT_WAITTING_CAME_FRONTLINE_BUFFER;
registryRobotJourney.startPlaceName = Traffic.DetermineArea(robot.properties.pose.Position);
registryRobotJourney.startPoint = robot.properties.pose.Position;
registryRobotJourney.endPoint = BuffToGate.GetFrontLineBuffer().Position;
////robot.ShowText("BUFMAC_ROBOT_WAITTING_CAME_FRONTLINE_BUFFER");
}
}
else if (Traffic.RobotIsInArea("OUTER", robot.properties.pose.Position, TypeZone.MAIN_ZONE))
{
Point destPos1 = BuffToGate.GetFrontLineBuffer().Position;
String destName1 = Traffic.DetermineArea(destPos1, TypeZone.MAIN_ZONE);
if (destName1.Equals("OUTER"))
{
////robot.ShowText("GO FRONTLINE IN OUTER");
if (rb.SendPoseStamped(BuffToGate.GetFrontLineBuffer()))
{
StateBufferToGate = BufferToGate.BUFGATE_ROBOT_WAITTING_CAME_FRONTLINE_BUFFER;
registryRobotJourney.startPlaceName = Traffic.DetermineArea(robot.properties.pose.Position, TypeZone.OPZS);
registryRobotJourney.startPoint = robot.properties.pose.Position;
registryRobotJourney.endPoint = destPos1;
////robot.ShowText("BUFMAC_ROBOT_WAITTING_CAME_FRONTLINE_BUFFER");
}
}
else if (destName1.Equals("VIM"))
{
////robot.ShowText("GO FRONTLINE IN VIM");
if (rb.SendPoseStamped(BuffToGate.GetFrontLineBuffer()))
{
StateBufferToGate = BufferToGate.BUFGATE_ROBOT_WAITTING_CAME_FRONTLINE_BUFFER_FROM_VIM_REG;
registryRobotJourney.startPlaceName = Traffic.DetermineArea(robot.properties.pose.Position, TypeZone.OPZS);
registryRobotJourney.startPoint = robot.properties.pose.Position;
registryRobotJourney.endPoint = destPos1;
////robot.ShowText("BUFMAC_ROBOT_WAITTING_CAME_FRONTLINE_BUFFER");
////robot.ShowText("CHECK - REG");
}
}
}
break;
case BufferToGate.BUFGATE_ROBOT_GOTO_BACK_FRONTLINE_READY:
if (TrafficRountineConstants.DetetectInsideStationCheck(registryRobotJourney))
{
break;
}
////robot.ShowText("START :GOTO_BACK_FRONTLINE_READY");
if (rb.SendCmdPosPallet(RequestCommandPosPallet.REQUEST_GOBACK_FRONTLINE_TURN_RIGHT))
{
Stopwatch sw = new Stopwatch();
sw.Start();
do
{
robot.onFlagGoBackReady = true;
if (resCmd == ResponseCommand.RESPONSE_FINISH_GOBACK_FRONTLINE)
{
robot.onFlagGoBackReady = false;
Pose destPos2 = BuffToGate.GetFrontLineBuffer();
String destName2 = Traffic.DetermineArea(destPos2.Position, TypeZone.MAIN_ZONE);
if (destName2.Equals("OUTER"))
{
////robot.ShowText("GO FRONTLINE IN OUTER");
if (rb.SendPoseStamped(BuffToGate.GetFrontLineBuffer()))
{
resCmd = ResponseCommand.RESPONSE_NONE;
StateBufferToGate = BufferToGate.BUFGATE_ROBOT_WAITTING_CAME_FRONTLINE_BUFFER;
registryRobotJourney.startPlaceName = Traffic.DetermineArea(robot.properties.pose.Position, TypeZone.OPZS);
registryRobotJourney.startPoint = robot.properties.pose.Position;
registryRobotJourney.endPoint = destPos2.Position;
////robot.ShowText("BUFMAC_ROBOT_WAITTING_CAME_FRONTLINE_BUFFER");
}
}
else if (destName2.Equals("VIM"))
{
////robot.ShowText("GO FRONTLINE IN VIM");
if (rb.SendPoseStamped(BuffToGate.GetFrontLineBuffer()))
{
resCmd = ResponseCommand.RESPONSE_NONE;
StateBufferToGate = BufferToGate.BUFGATE_ROBOT_WAITTING_CAME_FRONTLINE_BUFFER_FROM_VIM_READY;
registryRobotJourney.startPlaceName = Traffic.DetermineArea(robot.properties.pose.Position, TypeZone.OPZS);
registryRobotJourney.startPoint = robot.properties.pose.Position;
registryRobotJourney.endPoint = destPos2.Position;
////robot.ShowText("BUFMAC_ROBOT_WAITTING_CAME_FRONTLINE_BUFFER");
////robot.ShowText("CHECK - REG");
}
}
break;
}
else if (resCmd == ResponseCommand.RESPONSE_ERROR)
{
errorCode = ErrorCode.DETECT_LINE_ERROR;
CheckUserHandleError(this);
break;
}
if (sw.ElapsedMilliseconds > TIME_OUT_WAIT_GOTO_FRONTLINE)
{
errorCode = ErrorCode.DETECT_LINE_ERROR;
CheckUserHandleError(this);
break;
}
Thread.Sleep(100);
} while (ProRunStopW);
sw.Stop();
}
break;
case BufferToGate.BUFGATE_ROBOT_WAITTING_ZONE_BUFFER_READY: // doi khu vuc buffer san sang de di vao
try
{
if (false == robot.CheckInZoneBehavior(BuffToGate.GetFrontLineBuffer().Position))
{
if (rb.SendPoseStamped(BuffToGate.GetFrontLineBuffer()))
{
StateBufferToGate = BufferToGate.BUFGATE_ROBOT_WAITTING_CAME_FRONTLINE_BUFFER;
////robot.ShowText("BUFGATE_ROBOT_WAITTING_CAME_FRONTLINE_BUFFER");
}
}
}
catch (System.Exception)
{
errorCode = ErrorCode.CAN_NOT_GET_DATA;
CheckUserHandleError(this);
}
break;
case BufferToGate.BUFGATE_ROBOT_WAITTING_CAME_FRONTLINE_BUFFER_FROM_VIM_READY:
TrafficRountineConstants.DetectRelease(registryRobotJourney);
try
{
if (resCmd == ResponseCommand.RESPONSE_LASER_CAME_POINT)
{
resCmd = ResponseCommand.RESPONSE_NONE;
StateBufferToGate = BufferToGate.BUFGATE_ROBOT_SEND_CMD_PICKUP_PALLET_BUFFER;
}
else if (resCmd == ResponseCommand.RESPONSE_ERROR)
{
errorCode = ErrorCode.DETECT_LINE_ERROR;
CheckUserHandleError(this);
}
}
catch (System.Exception)
{
errorCode = ErrorCode.CAN_NOT_GET_DATA;
CheckUserHandleError(this);
}
break;
case BufferToGate.BUFGATE_ROBOT_WAITTING_CAME_FRONTLINE_BUFFER_FROM_VIM_REG:
if (TrafficRountineConstants.DetetectInsideStationCheck(registryRobotJourney))
{
break;
}
else
{
StateBufferToGate = BufferToGate.BUFGATE_ROBOT_WAITTING_CAME_FRONTLINE_BUFFER_FROM_VIM;
}
break;
case BufferToGate.BUFGATE_ROBOT_WAITTING_CAME_FRONTLINE_BUFFER_FROM_VIM:
TrafficRountineConstants.DetectRelease(registryRobotJourney);
if (TrafficCheckInBuffer(goalFrontLinePos, bayId))
{
break;
}
try
{
if (resCmd == ResponseCommand.RESPONSE_LASER_CAME_POINT)
{
resCmd = ResponseCommand.RESPONSE_NONE;
StateBufferToGate = BufferToGate.BUFGATE_ROBOT_SEND_CMD_PICKUP_PALLET_BUFFER;
}
else if (resCmd == ResponseCommand.RESPONSE_ERROR)
{
errorCode = ErrorCode.DETECT_LINE_ERROR;
CheckUserHandleError(this);
}
}
catch (System.Exception)
{
errorCode = ErrorCode.CAN_NOT_GET_DATA;
CheckUserHandleError(this);
}
break;
case BufferToGate.BUFGATE_ROBOT_WAITTING_CAME_FRONTLINE_BUFFER:
try
{
if (TrafficCheckInBuffer(goalFrontLinePos, bayId))
{
break;
}
if (resCmd == ResponseCommand.RESPONSE_LASER_CAME_POINT)
{
resCmd = ResponseCommand.RESPONSE_NONE;
StateBufferToGate = BufferToGate.BUFGATE_ROBOT_SEND_CMD_PICKUP_PALLET_BUFFER;
}
else if (resCmd == ResponseCommand.RESPONSE_ERROR)
{
errorCode = ErrorCode.DETECT_LINE_ERROR;
CheckUserHandleError(this);
}
}
catch (System.Exception)
{
errorCode = ErrorCode.CAN_NOT_GET_DATA;
CheckUserHandleError(this);
}
break;
case BufferToGate.BUFGATE_ROBOT_SEND_CMD_PICKUP_PALLET_BUFFER:
String palletInfo = JsonConvert.SerializeObject(BuffToGate.GetInfoOfPalletBuffer(PistonPalletCtrl.PISTON_PALLET_UP));
if (rb.SendCmdAreaPallet(palletInfo))
{
// rb.SendCmdLineDetectionCtrl(RequestCommandLineDetect.REQUEST_LINEDETECT_PALLETUP);
//rb.prioritLevel.OnAuthorizedPriorityProcedure = true;
StateBufferToGate = BufferToGate.BUFGATE_ROBOT_WAITTING_PICKUP_PALLET_BUFFER;
////robot.ShowText("BUFGATE_ROBOT_WAITTING_PICKUP_PALLET_BUFFER");
}
break;
case BufferToGate.BUFGATE_ROBOT_WAITTING_PICKUP_PALLET_BUFFER:
if (resCmd == ResponseCommand.RESPONSE_LINEDETECT_PALLETUP)
{
resCmd = ResponseCommand.RESPONSE_NONE;
BuffToGate.UpdatePalletState(PalletStatus.F, order.palletId_H, order.planId);
StateBufferToGate = BufferToGate.BUFGATE_ROBOT_WAITTING_GOBACK_FRONTLINE_BUFFER;
////robot.ShowText("BUFGATE_ROBOT_WAITTING_GOBACK_FRONTLINE_BUFFER");
}
else if (resCmd == ResponseCommand.RESPONSE_ERROR)
{
errorCode = ErrorCode.DETECT_LINE_ERROR;
CheckUserHandleError(this);
}
break;
case BufferToGate.BUFGATE_ROBOT_WAITTING_GOBACK_FRONTLINE_BUFFER: // đợi
if (resCmd == ResponseCommand.RESPONSE_FINISH_GOBACK_FRONTLINE)
{
robot.bayId = -1;
robot.bayIdReg = false;
resCmd = ResponseCommand.RESPONSE_NONE;
//rb.prioritLevel.OnAuthorizedPriorityProcedure = false;
StateBufferToGate = BufferToGate.BUFGATE_SELECT_BEHAVIOR_ONZONE_TO_GATE;
// cập nhật lại điểm xuất phát
registryRobotJourney.startPoint = robot.properties.pose.Position;
}
else if (resCmd == ResponseCommand.RESPONSE_ERROR)
{
errorCode = ErrorCode.DETECT_LINE_ERROR;
CheckUserHandleError(this);
}
break;
case BufferToGate.BUFGATE_SELECT_BEHAVIOR_ONZONE_TO_GATE:
String startNamePoint = Traffic.DetermineArea(registryRobotJourney.startPoint, TypeZone.MAIN_ZONE);
Pose destPos = doorServiceCtrl.PointFrontLine;
String destName = Traffic.DetermineArea(destPos.Position, TypeZone.MAIN_ZONE);
// đi tới đầu line cổng theo tọa độ chỉ định. gate 1 , 2, 3
if (rb.SendPoseStamped(doorServiceCtrl.PointFrontLine))
{
StateBufferToGate = BufferToGate.BUFGATE_ROBOT_WAITTING_GOTO_GATE_FROM_VIM_REG;
// Cap Nhat Thong Tin CHuyen Di
registryRobotJourney.startPlaceName = Traffic.DetermineArea(robot.properties.pose.Position);
registryRobotJourney.startPoint = robot.properties.pose.Position;
registryRobotJourney.endPoint = doorServiceCtrl.PointFrontLine.Position;
////robot.ShowText("FORBUF_ROBOT_WAITTING_GOTO_GATE");
}
break;
case BufferToGate.BUFGATE_ROBOT_WAITTING_GOTO_GATE_FROM_VIM_REG:
if (TrafficRountineConstants.DetetectInsideStationCheck(registryRobotJourney))
{
break;
}
else
{
StateBufferToGate = BufferToGate.BUFGATE_ROBOT_WAITTING_GOTO_GATE_FROM_VIM;
}
break;
case BufferToGate.BUFGATE_ROBOT_WAITTING_GOTO_GATE_FROM_VIM:
TrafficRountineConstants.DetectRelease(registryRobotJourney);
if (Traffic.RobotIsInArea("C5", rb.properties.pose.Position))
{
ds.setDoorBusy(true);
ds.openDoor(DoorService.DoorType.DOOR_BACK);
StateBufferToGate = BufferToGate.BUFGATE_ROBOT_WAITTING_GOTO_GATE_FROM_VIM_OPEN_DOOR;
}
break;
case BufferToGate.BUFGATE_ROBOT_WAITTING_GOTO_GATE_FROM_VIM_OPEN_DOOR:
TrafficRountineConstants.DetectRelease(registryRobotJourney);
if (resCmd == ResponseCommand.RESPONSE_LASER_CAME_POINT)
{
resCmd = ResponseCommand.RESPONSE_NONE;
//rb.prioritLevel.OnAuthorizedPriorityProcedure = true;
StateBufferToGate = BufferToGate.BUFGATE_ROBOT_CAME_GATE_POSITION;
////robot.ShowText("BUFGATE_ROBOT_CAME_GATE_POSITION");
}
break;
case BufferToGate.BUFGATE_ROBOT_WAITTING_GOTO_GATE:
if (resCmd == ResponseCommand.RESPONSE_LASER_CAME_POINT)
{
resCmd = ResponseCommand.RESPONSE_NONE;
//rb.prioritLevel.OnAuthorizedPriorityProcedure = true;
StateBufferToGate = BufferToGate.BUFGATE_ROBOT_CAME_GATE_POSITION;
////robot.ShowText("BUFGATE_ROBOT_CAME_GATE_POSITION");
}
break;
case BufferToGate.BUFGATE_ROBOT_CAME_GATE_POSITION: // da den khu vuc cong , gui yeu cau mo cong.
// ds.setDoorBusy(true);
// ds.openDoor(DoorService.DoorType.DOOR_BACK);
StateBufferToGate = BufferToGate.BUFGATE_ROBOT_WAITTING_OPEN_DOOR;
////robot.ShowText("BUFGATE_ROBOT_WAITTING_OPEN_DOOR");
break;
case BufferToGate.BUFGATE_ROBOT_WAITTING_OPEN_DOOR: //doi mo cong
RetState ret = ds.checkOpen(DoorService.DoorType.DOOR_BACK);
if (ret == RetState.DOOR_CTRL_SUCCESS)
{
if (rb.SendCmdAreaPallet(doorServiceCtrl.infoPallet))
{
StateBufferToGate = BufferToGate.BUFGATE_ROBOT_WAITTING_DROPDOWN_PALLET_BUFFER;
////robot.ShowText("BUFGATE_ROBOT_WAITTING_DROPDOWN_PALLET_BUFFER");
}
}
else if (ret == RetState.DOOR_CTRL_ERROR)
{
robot.ShowText("BUFGATE_ROBOT_WAITTING_OPEN_DOOR_ERROR__(-_-)");
Thread.Sleep(1000);
ds.setDoorBusy(true);
ds.openDoor(DoorService.DoorType.DOOR_BACK);
}
break;
case BufferToGate.BUFGATE_ROBOT_WAITTING_DROPDOWN_PALLET_BUFFER: // doi robot gap hang
if (resCmd == ResponseCommand.RESPONSE_LINEDETECT_PALLETDOWN)
{
resCmd = ResponseCommand.RESPONSE_NONE;
// BuffToGate.UpdatePalletState(PalletStatus.W);
StateBufferToGate = BufferToGate.BUFGATE_ROBOT_WAITTING_GOBACK_FRONTLINE_GATE;
////robot.ShowText("BUFGATE_ROBOT_WAITTING_GOBACK_FRONTLINE_GATE");
}
else if (resCmd == ResponseCommand.RESPONSE_ERROR)
{
errorCode = ErrorCode.DETECT_LINE_ERROR;
CheckUserHandleError(this);
}
break;
case BufferToGate.BUFGATE_ROBOT_WAITTING_GOBACK_FRONTLINE_GATE:
if (resCmd == ResponseCommand.RESPONSE_FINISH_GOBACK_FRONTLINE)
{
resCmd = ResponseCommand.RESPONSE_NONE;
ds.closeDoor(DoorService.DoorType.DOOR_BACK);
ds.setDoorBusy(false);
ds.LampSetStateOn(DoorType.DOOR_BACK);
StateBufferToGate = BufferToGate.BUFGATE_ROBOT_WAITTING_CLOSE_GATE;
////robot.ShowText("BUFGATE_ROBOT_WAITTING_CLOSE_GATE");
}
else if (resCmd == ResponseCommand.RESPONSE_ERROR)
{
errorCode = ErrorCode.DETECT_LINE_ERROR;
CheckUserHandleError(this);
}
break;
case BufferToGate.BUFGATE_ROBOT_WAITTING_CLOSE_GATE: // doi dong cong.
StateBufferToGate = BufferToGate.BUFGATE_ROBOT_RELEASED;
////robot.ShowText("BUFGATE_ROBOT_WAITTING_CLOSE_GATE");
break;
case BufferToGate.BUFGATE_ROBOT_RELEASED: // trả robot về robotmanagement để nhận quy trình mới
ds.removeListCtrlDoorBack();
robot.bayId = -1;
robot.bayIdReg = false;
TrafficRountineConstants.ReleaseAll(robot);
robot.robotTag = RobotStatus.IDLE;
rb.PreProcedureAs = ProcedureControlAssign.PRO_BUFFER_TO_GATE;
ReleaseProcedureHandler(this);
ProRun = false;
UpdateInformationInProc(this, ProcessStatus.S);
order.endTimeProcedure = DateTime.Now;
order.totalTimeProcedure = order.endTimeProcedure.Subtract(order.startTimeProcedure).TotalMinutes;
KillEvent();
break;
case BufferToGate.BUFGATE_ROBOT_DESTROY:
ds.removeListCtrlDoorBack();
ProRunStopW = false;
ProRunStopW = false;
robot.robotTag = RobotStatus.IDLE;
ProRun = false;
order.endTimeProcedure = DateTime.Now;
order.totalTimeProcedure = order.endTimeProcedure.Subtract(order.startTimeProcedure).TotalMinutes;
TrafficRountineConstants.ReleaseAll(robot);
break;
default:
break;
}
//robot.ShowText("-> " + procedureCode);
Thread.Sleep(500);
}
StateBufferToGate = BufferToGate.BUFGATE_IDLE;
}
public void Procedure(object ojb)
{
ProcedureRobotToReady RbToRd = (ProcedureRobotToReady)ojb;
RobotUnity rb = RbToRd.robot;
DataRobotToReady p = RbToRd.points;
TrafficManagementService Traffic = RbToRd.Traffic;
robot.ShowText(" start -> " + procedureCode + "_________________0000000000000000000_____________________");
while (ProRun)
{
switch (StateRobotGoToReady)
{
case RobotGoToReady.ROBREA_IDLE:
//robot.ShowText("ROBREA_IDLE");
break;
case RobotGoToReady.ROBREA_SELECT_BEHAVIOR_ONZONE:
robot.ShowText("ROBREA_SELECT_BEHAVIOR_ONZONE");
if (Traffic.RobotIsInArea("READY", robot.properties.pose.Position, TypeZone.OPZS))
{
robot.ShowText("ROBREA_ROBOT_RELEASED");
StateRobotGoToReady = RobotGoToReady.ROBREA_ROBOT_RELEASED;
}
if (rb.SendPoseStamped(p.PointFrontLine))
{
StateRobotGoToReady = RobotGoToReady.ROBREA_ROBOT_WAITTING_GOTO_READYSTATION_REG;
robot.ShowText("ROBREA_ROBOT_GOTO_FRONTLINE_READYSTATION");
registryRobotJourney.startPlaceName = Traffic.DetermineArea(robot.properties.pose.Position);
registryRobotJourney.startPoint = robot.properties.pose.Position;
registryRobotJourney.endPoint = p.PointFrontLine.Position;
}
break;
case RobotGoToReady.ROBREA_ROBOT_WAITTING_GOTO_READYSTATION_REG: // Robot dang di toi dau line ready station
if (TrafficRountineConstants.DetetectInsideStationCheck(registryRobotJourney))
{
if (DetermineHasTaskWaitingAnRobotAvailable())
{
StateRobotGoToReady = RobotGoToReady.ROBREA_ROBOT_WAITINGREADY_FORCERELEASED;
robot.ShowText("ROBREA_ROBOT_WAITINGREADY_FORCERELEASED");
break;
}
}
else
{
StateRobotGoToReady = RobotGoToReady.ROBREA_ROBOT_WAITTING_GOTO_READYSTATION;
}
break;
case RobotGoToReady.ROBREA_ROBOT_WAITTING_GOTO_READYSTATION: // Robot dang di toi dau line ready station
if (resCmd == ResponseCommand.RESPONSE_LASER_CAME_POINT)
{
TrafficRountineConstants.DetectRelease(registryRobotJourney);
resCmd = ResponseCommand.RESPONSE_NONE;
StateRobotGoToReady = RobotGoToReady.ROBREA_ROBOT_WAIITNG_DETECTLINE_TO_READYSTATION;
robot.ShowText("ROBREA_ROBOT_WAIITNG_DETECTLINE_TO_READYSTATION");
}
break;
case RobotGoToReady.ROBREA_ROBOT_WAIITNG_DETECTLINE_TO_READYSTATION: // đang đợi dò line để đến vị trí line trong buffer
if (rb.SendCmdAreaPallet(RbToRd.points.PointOfCharger))
{
StateRobotGoToReady = RobotGoToReady.ROBREA_ROBOT_WAITTING_CAME_POSITION_READYSTATION;
robot.ShowText("ROBREA_ROBOT_WAITTING_CAME_POSITION_READYSTATION");
}
break;
case RobotGoToReady.ROBREA_ROBOT_WAITTING_CAME_POSITION_READYSTATION: // đến vị trả robot về robotmanagement để nhận quy trình mới
if (resCmd == ResponseCommand.RESPONSE_FINISH_GOTO_POSITION)
{
//rb.prioritLevel.OnAuthorizedPriorityProcedure = false;
StateRobotGoToReady = RobotGoToReady.ROBREA_ROBOT_RELEASED;
TrafficRountineConstants.RegIntZone_READY.Release(robot);
robot.robotTag = RobotStatus.IDLE;
robot.SetSafeYellowcircle(false);
robot.SetSafeBluecircle(false);
robot.SetSafeSmallcircle(false);
robot.TurnOnSupervisorTraffic(false);
rb.mcuCtrl.lampRbOff();
robot.ShowText("ROBREA_ROBOT_RELEASED");
}
else if (resCmd == ResponseCommand.RESPONSE_ERROR)
{
errorCode = ErrorCode.DETECT_LINE_ERROR;
CheckUserHandleError(this);
}
break;
case RobotGoToReady.ROBREA_ROBOT_RELEASED:
Global_Object.cntGoready++;
rb.PreProcedureAs = ProcedureControlAssign.PRO_READY;
// if (errorCode == ErrorCode.RUN_OK) {
ReleaseProcedureHandler(this);
// } else {
// ErrorProcedureHandler (this);
// }
robot.setColorRobotStatus(RobotStatusColorCode.ROBOT_STATUS_OK);
ProRun = false;
//robot.ShowText("RELEASED");
UpdateInformationInProc(this, ProcessStatus.S);
order.endTimeProcedure = DateTime.Now;
order.totalTimeProcedure = order.endTimeProcedure.Subtract(order.startTimeProcedure).TotalMinutes;
KillEvent();
break;
case RobotGoToReady.ROBREA_ROBOT_WAITINGREADY_FORCERELEASED:
// add to wait task;
//robot.robotTag = RobotStatus.IDLE;
robot.setColorRobotStatus(RobotStatusColorCode.ROBOT_STATUS_OK);
procedureCode = ProcedureControlServices.ProcedureCode.PROC_CODE_ROBOT_WAITINGTO_READY;
ProRun = false;
robot.ShowText("RELEASED WHEN WAITTING TO READY, HAS AN NEW TASK");
UpdateInformationInProc(this, ProcessStatus.S);
order.endTimeProcedure = DateTime.Now;
order.totalTimeProcedure = order.endTimeProcedure.Subtract(order.startTimeProcedure).TotalMinutes;
rb.PreProcedureAs = ProcedureControlAssign.PRO_WAIT_TASK;
ReleaseProcedureHandler(this);
KillEvent();
break;
}
Thread.Sleep(700);
}
StateRobotGoToReady = RobotGoToReady.ROBREA_IDLE;
}
public void Procedure(object ojb)
{
ProcedureForkLiftToMachine FlToMach = (ProcedureForkLiftToMachine)ojb;
RobotUnity rb = FlToMach.robot;
ds = FlToMach.door;
ds.setRb(rb);
TrafficManagementService Traffic = FlToMach.Traffic;
rb.mcuCtrl.lampRbOn();
robot.ShowText(" Start -> " + procedureCode);
while (ProRun)
{
switch (StateForkLiftToMachine)
{
case ForkLiftToMachine.FORMACH_IDLE:
robot.ShowText("FORMACH_IDLE");
break;
case ForkLiftToMachine.FORMACH_ROBOT_GOTO_CHECKIN_GATE: //gui toa do di den khu vuc checkin cong
if (rb.PreProcedureAs == ProcedureControlAssign.PRO_READY)
{
if (false == robot.CheckInGateFromReadyZoneBehavior(ds.config.PointFrontLine.Position))
{
robot.robotTag = RobotStatus.WORKING;
StateForkLiftToMachine = ForkLiftToMachine.FORMACH_ROBOT_GOTO_BACK_FRONTLINE_READY;
}
}
else
{
robot.robotTag = RobotStatus.WORKING;
if (Traffic.RobotIsInArea("OPA4", rb.properties.pose.Position))
{
rb.SendPoseStamped(ds.config.PointFrontLine);
StateForkLiftToMachine = ForkLiftToMachine.FORMACH_ROBOT_WAITTING_GOTO_GATE;
robot.ShowText("FORMACH_ROBOT_CAME_CHECKIN_GATE");
}
else
{
rb.SendPoseStamped(ds.config.PointCheckInGate);
StateForkLiftToMachine = ForkLiftToMachine.FORMACH_ROBOT_WAITTING_GOTO_CHECKIN_GATE;
robot.ShowText("FORMACH_ROBOT_WAITTING_GOTO_CHECKIN_GATE");
}
}
break;
case ForkLiftToMachine.FORMACH_ROBOT_GOTO_BACK_FRONTLINE_READY:
if (rb.SendCmdPosPallet(RequestCommandPosPallet.REQUEST_GOBACK_FRONTLINE_TURN_LEFT))
{
Stopwatch sw = new Stopwatch();
sw.Start();
do
{
if (resCmd == ResponseCommand.RESPONSE_FINISH_GOBACK_FRONTLINE)
{
if (rb.SendPoseStamped(ds.config.PointFrontLine))
{
resCmd = ResponseCommand.RESPONSE_NONE;
StateForkLiftToMachine = ForkLiftToMachine.FORMACH_ROBOT_WAITTING_GOTO_GATE;
robot.ShowText("FORMACH_ROBOT_WAITTING_GOTO_GATE");
break;
}
}
else if (resCmd == ResponseCommand.RESPONSE_ERROR)
{
errorCode = ErrorCode.DETECT_LINE_ERROR;
CheckUserHandleError(this);
break;
}
if (sw.ElapsedMilliseconds > TIME_OUT_WAIT_GOTO_FRONTLINE)
{
errorCode = ErrorCode.DETECT_LINE_ERROR;
CheckUserHandleError(this);
break;
}
Thread.Sleep(100);
} while (ProRunStopW);
sw.Stop();
}
break;
case ForkLiftToMachine.FORMACH_ROBOT_WAITTING_GOTO_CHECKIN_GATE:
if (resCmd == ResponseCommand.RESPONSE_LASER_CAME_POINT)
//if (robot.ReachedGoal())
{
resCmd = ResponseCommand.RESPONSE_NONE;
//rb.prioritLevel.OnAuthorizedPriorityProcedure = true;
rb.UpdateRiskAraParams(0, rb.properties.L2, rb.properties.WS, rb.properties.DistInter);
StateForkLiftToMachine = ForkLiftToMachine.FORMACH_ROBOT_CAME_CHECKIN_GATE;
robot.ShowText("FORMACH_ROBOT_CAME_CHECKIN_GATE");
}
break;
case ForkLiftToMachine.FORMACH_ROBOT_CAME_CHECKIN_GATE: // đã đến vị trí, kiem tra va cho khu vuc cong san sang de di vao.
// robot.ShowText( "FORMACH_ROBOT_WAITTING_GOTO_GATE ===> FLAG " + Traffic.HasRobotUnityinArea(ds.config.PointFrontLine.Position));
if (false == robot.CheckInZoneBehavior(ds.config.PointFrontLine.Position))
{
if (TrafficRountineConstants.RegIntZone_READY.ProcessRegistryIntersectionZone(robot))
{
rb.UpdateRiskAraParams(40, rb.properties.L2, rb.properties.WS, rb.properties.DistInter);
//rb.prioritLevel.OnAuthorizedPriorityProcedure = false;
rb.SendPoseStamped(ds.config.PointFrontLine);
StateForkLiftToMachine = ForkLiftToMachine.FORMACH_ROBOT_WAITTING_GOTO_GATE;
robot.ShowText("FORMACH_ROBOT_WAITTING_GOTO_GATE");
}
else
{
Thread.Sleep(500);
break;
}
}
break;
case ForkLiftToMachine.FORMACH_ROBOT_WAITTING_GOTO_GATE:
if (Traffic.RobotIsInArea("C3", rb.properties.pose.Position))
{
ds.setDoorBusy(true);
ds.openDoor(DoorService.DoorType.DOOR_BACK);
StateForkLiftToMachine = ForkLiftToMachine.FORMACH_ROBOT_WAITTING_GOTO_GATE_OPENDOOR;
}
break;
case ForkLiftToMachine.FORMACH_ROBOT_WAITTING_GOTO_GATE_OPENDOOR:
if (resCmd == ResponseCommand.RESPONSE_LASER_CAME_POINT)
{
TrafficRountineConstants.RegIntZone_READY.Release(robot);
robot.SwitchToDetectLine(true);
resCmd = ResponseCommand.RESPONSE_NONE;
//rb.prioritLevel.OnAuthorizedPriorityProcedure = true;
StateForkLiftToMachine = ForkLiftToMachine.FORMACH_ROBOT_CAME_GATE_POSITION;
robot.ShowText("FORMACH_ROBOT_CAME_GATE_POSITION");
}
break;
case ForkLiftToMachine.FORMACH_ROBOT_CAME_GATE_POSITION: // da den khu vuc cong , gui yeu cau mo cong.
robot.robotRegistryToWorkingZone.onRobotwillCheckInsideGate = false;
//ds.setDoorBusy(true);
//ds.openDoor(DoorService.DoorType.DOOR_BACK);
StateForkLiftToMachine = ForkLiftToMachine.FORMACH_ROBOT_WAITTING_OPEN_DOOR;
robot.ShowText("FORMACH_ROBOT_WAITTING_OPEN_DOOR");
break;
case ForkLiftToMachine.FORMACH_ROBOT_WAITTING_OPEN_DOOR: //doi mo cong
RetState ret = ds.checkOpen(DoorService.DoorType.DOOR_BACK);
if (ret == RetState.DOOR_CTRL_SUCCESS)
{
StateForkLiftToMachine = ForkLiftToMachine.FORMACH_ROBOT_OPEN_DOOR_SUCCESS;
robot.ShowText("FORMACH_ROBOT_OPEN_DOOR_SUCCESS");
}
else if (ret == RetState.DOOR_CTRL_ERROR)
{
robot.ShowText("FORMACH_ROBOT_OPEN_DOOR_ERROR");
StateForkLiftToMachine = ForkLiftToMachine.FORMACH_ROBOT_CAME_GATE_POSITION;
Thread.Sleep(1000);
}
break;
case ForkLiftToMachine.FORMACH_ROBOT_OPEN_DOOR_SUCCESS: // mo cua thang cong ,gui toa do line de robot di vao gap hang
// rb.SendCmdLineDetectionCtrl(RequestCommandLineDetect.REQUEST_LINEDETECT_PALLETUP);
rb.SendCmdAreaPallet(ds.config.infoPallet);
StateForkLiftToMachine = ForkLiftToMachine.FORMACH_ROBOT_WAITTING_PICKUP_PALLET_IN;
robot.ShowText("FORMACH_ROBOT_WAITTING_PICKUP_PALLET_IN");
break;
case ForkLiftToMachine.FORMACH_ROBOT_WAITTING_PICKUP_PALLET_IN: // doi robot gap hang
if (resCmd == ResponseCommand.RESPONSE_LINEDETECT_PALLETUP)
{
resCmd = ResponseCommand.RESPONSE_NONE;
// FlToMach.UpdatePalletState(PalletStatus.F);
StateForkLiftToMachine = ForkLiftToMachine.FORMACH_ROBOT_WAITTING_GOBACK_FRONTLINE_GATE;
robot.robotBahaviorAtGate = RobotBahaviorAtReadyGate.GOING_OUTSIDE_GATE;
robot.ShowText("FORMACH_ROBOT_WAITTING_GOBACK_FRONTLINE_GATE");
}
else if (resCmd == ResponseCommand.RESPONSE_ERROR)
{
errorCode = ErrorCode.DETECT_LINE_ERROR;
CheckUserHandleError(this);
}
break;
case ForkLiftToMachine.FORMACH_ROBOT_WAITTING_GOBACK_FRONTLINE_GATE:
if (resCmd == ResponseCommand.RESPONSE_FINISH_GOBACK_FRONTLINE)
{
Global_Object.setGateStatus(order.gate, false);
robot.SwitchToDetectLine(false);
resCmd = ResponseCommand.RESPONSE_NONE;
ds.LampSetStateOff(DoorService.DoorType.DOOR_FRONT);
ds.closeDoor(DoorService.DoorType.DOOR_BACK);
ds.setDoorBusy(false);
StateForkLiftToMachine = ForkLiftToMachine.FORMACH_ROBOT_WAITTING_CLOSE_GATE;
robot.ShowText("FORMACH_ROBOT_WAITTING_CLOSE_GATE");
}
else if (resCmd == ResponseCommand.RESPONSE_ERROR)
{
errorCode = ErrorCode.DETECT_LINE_ERROR;
CheckUserHandleError(this);
}
break;
case ForkLiftToMachine.FORMACH_ROBOT_WAITTING_CLOSE_GATE: // doi dong cong.
try
{
if (TrafficRountineConstants.RegIntZone_READY.ProcessRegistryIntersectionZone(robot))
{
//rb.prioritLevel.OnAuthorizedPriorityProcedure = false;
if (rb.SendPoseStamped(FlToMach.GetFrontLineMachine()))
{
Global_Object.setGateStatus(order.gate, false);
// Global_Object.onFlagDoorBusy = false;
StateForkLiftToMachine = ForkLiftToMachine.FORMACH_ROBOT_WAITTING_CAME_FRONTLINE_MACHINE;
robot.ShowText("FORMACH_ROBOT_WAITTING_CAME_FRONTLINE_MACHINE");
}
}
else
{
Thread.Sleep(500);
break;
}
//}
//else
//{
// // errorCode = ErrorCode.CLOSE_DOOR_ERROR;
// // CheckUserHandleError(this);
//}
}
catch (System.Exception)
{
errorCode = ErrorCode.CAN_NOT_GET_DATA;
CheckUserHandleError(this);
}
break;
case ForkLiftToMachine.FORMACH_ROBOT_WAITTING_CAME_FRONTLINE_MACHINE:
try
{
// Global_Object.onFlagDoorBusy = false;
if (!Traffic.HasRobotUnityinArea("GATE_CHECKOUT", robot))
{
// robot.ShowText("RELEASED ZONE");
if (!onFlagResetedGate)
{
TrafficRountineConstants.RegIntZone_READY.Release(robot);
robot.robotBahaviorAtGate = RobotBahaviorAtReadyGate.IDLE;
onFlagResetedGate = true;
Global_Object.onFlagRobotComingGateBusy = false;
robot.ReleaseWorkingZone();
}
}
if (resCmd == ResponseCommand.RESPONSE_LASER_CAME_POINT)
//if (robot.ReachedGoal())
{
//robot.TurnOnCtrlSelfTraffic(false);
//rb.prioritLevel.OnAuthorizedPriorityProcedure = true;
rb.SendCmdPosPallet(RequestCommandPosPallet.REQUEST_DROPDOWN_PALLET);
StateForkLiftToMachine = ForkLiftToMachine.FORMACH_ROBOT_WAITTING_DROPDOWN_PALLET_MACHINE;
robot.ShowText("FORMACH_ROBOT_WAITTING_DROPDOWN_PALLET_MACHINE");
}
}
catch (System.Exception)
{
errorCode = ErrorCode.DETECT_LINE_ERROR;
CheckUserHandleError(this);
}
break;
case ForkLiftToMachine.FORMACH_ROBOT_WAITTING_DROPDOWN_PALLET_MACHINE:
if (resCmd == ResponseCommand.RESPONSE_FINISH_DROPDOWN_PALLET)
{
resCmd = ResponseCommand.RESPONSE_NONE;
StateForkLiftToMachine = ForkLiftToMachine.FORMACH_ROBOT_RELEASED;
robot.ShowText("FORMACH_ROBOT_RELEASED");
}
else if (resCmd == ResponseCommand.RESPONSE_ERROR)
{
errorCode = ErrorCode.DETECT_LINE_ERROR;
CheckUserHandleError(this);
}
break;
//case ForkLiftToMachine.FORMACH_ROBOT_WAITTING_GOBACK_FRONTLINE_MACHINE: // đợi
// if (resCmd == ResponseCommand.RESPONSE_FINISH_GOBACK_FRONTLINE)
// {
// resCmd = ResponseCommand.RESPONSE_NONE;
// rb.prioritLevel.OnAuthorizedPriorityProcedure = false;
// StateForkLiftToMachine = ForkLiftToMachine.FORMACH_ROBOT_RELEASED;
// robot.ShowText("FORMACH_ROBOT_RELEASED");
// }
// else if (resCmd == ResponseCommand.RESPONSE_ERROR)
// {
// errorCode = ErrorCode.DETECT_LINE_ERROR;
// CheckUserHandleError(this);
// }
// break;
case ForkLiftToMachine.FORMACH_ROBOT_RELEASED: // trả robot về robotmanagement để nhận quy trình mới
ds.removeListCtrlDoorBack();
robot.orderItem = null;
//Global_Object.onFlagDoorBusy = false;
robot.SwitchToDetectLine(false);
// robot.robotTag = RobotStatus.IDLE;
robot.ReleaseWorkingZone();
rb.PreProcedureAs = ProcedureControlAssign.PRO_FORKLIFT_TO_MACHINE;
order.status = StatusOrderResponseCode.FINISHED;
// if (errorCode == ErrorCode.RUN_OK) {
ReleaseProcedureHandler(this);
// } else {
// ErrorProcedureHandler (this);
// }
ProRun = false;
robot.ShowText("RELEASED");
UpdateInformationInProc(this, ProcessStatus.S);
order.endTimeProcedure = DateTime.Now;
order.totalTimeProcedure = order.endTimeProcedure.Subtract(order.startTimeProcedure).TotalMinutes;
KillEvent();
break;
default:
break;
}
Thread.Sleep(5);
}
StateForkLiftToMachine = ForkLiftToMachine.FORMACH_IDLE;
}
public void Procedure(object ojb)
{
ProcedureBufferToMachine BfToMa = (ProcedureBufferToMachine)ojb;
RobotUnity rb = BfToMa.robot;
// DataBufferToMachine p = BfToMa.points;
TrafficManagementService Traffic = BfToMa.Traffic;
robot.ShowText(" Start -> " + procedureCode);
//GetFrontLineBuffer(false);
// ProRun = false;
rb.mcuCtrl.lampRbOn();
/* frontLinePose = BfToMa.GetFrontLineBuffer();
* if (frontLinePose == null)
* {
* robot.bayId = -1;
* TrafficRountineConstants.ReleaseAll(robot);
* robot.bayId = -1;
* robot.bayIdReg = false;
* robot.orderItem = null;
* robot.SwitchToDetectLine(false);
* if (Traffic.RobotIsInArea("READY", robot.properties.pose.Position))
* {
* TrafficRountineConstants.RegIntZone_READY.Release(robot);
* robot.robotTag = RobotStatus.IDLE;
* robot.SetSafeYellowcircle(false);
* robot.SetSafeBluecircle(false);
* robot.SetSafeSmallcircle(false);
* robot.TurnOnSupervisorTraffic(false);
* // rb.mcuCtrl.lampRbOff();
* procedureCode = ProcedureCode.PROC_CODE_ROBOT_TO_READY;
* }
* else
* procedureCode = ProcedureCode.PROC_CODE_BUFFER_TO_MACHINE;
* ReleaseProcedureHandler(this);
* ProRun = false;
* UpdateInformationInProc(this, ProcessStatus.S);
* order.status = StatusOrderResponseCode.ERROR_GET_FRONTLINE;
* order.endTimeProcedure = DateTime.Now;
* order.totalTimeProcedure = order.endTimeProcedure.Subtract(order.startTimeProcedure).TotalMinutes;
* SaveOrderItem(order);
* KillEvent();
* }
* else
* {
* order.frontLinePos = frontLinePose.Position;
* robot.bayId = bayId;
* }*/
while (ProRun)
{
switch (StateBufferToMachine)
{
case BufferToMachine.BUFMAC_IDLE:
//robot.ShowText("BUFMAC_IDLE");
break;
case BufferToMachine.BUFMAC_GET_FRONTLINE:
frontLinePose = BfToMa.GetFrontLineBuffer();
if (frontLinePose == null)
{
if (countFrontLineNull++ < 10)
{
break;
}
countFrontLineNull = 0;
robot.bayId = -1;
TrafficRountineConstants.ReleaseAll(robot);
robot.bayId = -1;
robot.bayIdReg = false;
robot.orderItem = null;
robot.SwitchToDetectLine(false);
if (Traffic.RobotIsInArea("READY", robot.properties.pose.Position))
{
TrafficRountineConstants.RegIntZone_READY.Release(robot);
robot.robotTag = RobotStatus.IDLE;
robot.SetSafeYellowcircle(false);
robot.SetSafeBluecircle(false);
robot.SetSafeSmallcircle(false);
robot.TurnOnSupervisorTraffic(false);
// rb.mcuCtrl.lampRbOff();
procedureCode = ProcedureCode.PROC_CODE_ROBOT_TO_READY;
}
else
{
procedureCode = ProcedureCode.PROC_CODE_BUFFER_TO_MACHINE;
}
ReleaseProcedureHandler(this);
ProRun = false;
UpdateInformationInProc(this, ProcessStatus.S);
order.status = StatusOrderResponseCode.ERROR_GET_FRONTLINE;
order.endTimeProcedure = DateTime.Now;
order.totalTimeProcedure = order.endTimeProcedure.Subtract(order.startTimeProcedure).TotalMinutes;
SaveOrderItem(order);
KillEvent();
}
else
{
order.frontLinePos = frontLinePose.Position;
robot.bayId = bayId;
StateBufferToMachine = BufferToMachine.BUFMAC_SELECT_BEHAVIOR_ONZONE;
}
//robot.ShowText("BUFMAC_IDLE");
break;
case BufferToMachine.BUFMAC_SELECT_BEHAVIOR_ONZONE:
if (Traffic.RobotIsInArea("READY", robot.properties.pose.Position, TypeZone.OPZS))
{
if (rb.PreProcedureAs == ProcedureControlAssign.PRO_READY)
{
StateBufferToMachine = BufferToMachine.BUFMAC_ROBOT_GOTO_BACK_FRONTLINE_READY;
//robot.ShowText("BUFMAC_SELECT_BEHAVIOR_ONZONE : READY");
//robot.ShowText("CHECK - REG");
}
}
else if (Traffic.RobotIsInArea("GATE", robot.properties.pose.Position, TypeZone.MAIN_ZONE))
{
StateBufferToMachine = BufferToMachine.BUFMAC_ROBOT_WAITTING_CAME_FRONTLINE_BUFFER;
}
else //if (Traffic.RobotIsInArea("OUTER", robot.properties.pose.Position,TypeZone.MAIN_ZONE))
{
Point destPos1 = frontLinePose.Position;
String destName1 = Traffic.DetermineArea(destPos1, TypeZone.MAIN_ZONE);
if (rb.SendPoseStamped(frontLinePose))
{
StateBufferToMachine = BufferToMachine.BUFMAC_ROBOT_WAITTING_CAME_FRONTLINE_BUFFER;
registryRobotJourney.startPlaceName = Traffic.DetermineArea(robot.properties.pose.Position, TypeZone.OPZS);
registryRobotJourney.startPoint = robot.properties.pose.Position;
registryRobotJourney.endPoint = destPos1;
//robot.ShowText("BUFMAC_ROBOT_WAITTING_CAME_FRONTLINE_BUFFER");
}
}
break;
case BufferToMachine.BUFMAC_ROBOT_GOTO_BACK_FRONTLINE_READY:
if (Traffic.HasOtherRobotUnityinArea("GATE", robot))
{
break;
}
if (rb.SendCmdPosPallet(RequestCommandPosPallet.REQUEST_GOBACK_FRONTLINE_TURN_RIGHT))
{
Stopwatch sw = new Stopwatch();
sw.Start();
do
{
robot.onFlagGoBackReady = true;
if (resCmd == ResponseCommand.RESPONSE_FINISH_GOBACK_FRONTLINE)
{
robot.onFlagGoBackReady = false;
Point destPos2 = frontLinePose.Position;
String destName2 = Traffic.DetermineArea(destPos2, TypeZone.MAIN_ZONE);
//robot.ShowText("GO FRONTLINE IN OUTER");
if (rb.SendPoseStamped(frontLinePose))
{
resCmd = ResponseCommand.RESPONSE_NONE;
StateBufferToMachine = BufferToMachine.BUFMAC_ROBOT_WAITTING_CAME_FRONTLINE_BUFFER;
}
break;
}
else if (resCmd == ResponseCommand.RESPONSE_ERROR)
{
errorCode = ErrorCode.DETECT_LINE_ERROR;
CheckUserHandleError(this);
break;
}
if (sw.ElapsedMilliseconds > TIME_OUT_WAIT_GOTO_FRONTLINE)
{
errorCode = ErrorCode.DETECT_LINE_ERROR;
CheckUserHandleError(this);
break;
}
Thread.Sleep(100);
} while (ProRunStopW);
sw.Stop();
}
break;
case BufferToMachine.BUFMAC_ROBOT_WAITTING_CAME_FRONTLINE_BUFFER:
// nếu chưa đến goal phải check tới vùng c1
// nếu goal nằm trong C1 thì không đăng ký
try
{
if (resCmd == ResponseCommand.RESPONSE_LASER_CAME_POINT)
{
robot.SwitchToDetectLine(true);
resCmd = ResponseCommand.RESPONSE_NONE;
//rb.prioritLevel.OnAuthorizedPriorityProcedure = true;
StateBufferToMachine = BufferToMachine.BUFMAC_ROBOT_SEND_CMD_PICKUP_PALLET_BUFFER;
}
else
{
if (!Traffic.PositionIsInArea(frontLinePose.Position).Equals("C1"))
{
if (TrafficRountineConstants.DetetectInsideStationCheckMerz(registryRobotJourney))
{
break;
}
}
if (TrafficCheckInBuffer(goalFrontLinePos, bayId))
{
break;
}
}
}
catch (System.Exception)
{
errorCode = ErrorCode.CAN_NOT_GET_DATA;
CheckUserHandleError(this);
}
break;
case BufferToMachine.BUFMAC_ROBOT_SEND_CMD_PICKUP_PALLET_BUFFER:
JPallet jPallet_H = BfToMa.GetInfoPallet_H_InBuffer(PistonPalletCtrl.PISTON_PALLET_UP);
jPResult = BfToMa.GetInfoOfPalletBuffer_Compare_W_H(PistonPalletCtrl.PISTON_PALLET_UP, jPallet_H);
String data = JsonConvert.SerializeObject(jPResult.jInfoPallet);
if (rb.SendCmdAreaPallet(data))
{
StateBufferToMachine = BufferToMachine.BUFMAC_ROBOT_WAITTING_PICKUP_PALLET_BUFFER;
//robot.ShowText("BUFMAC_ROBOT_WAITTING_PICKUP_PALLET_BUFFER");
}
break;
case BufferToMachine.BUFMAC_ROBOT_WAITTING_PICKUP_PALLET_BUFFER:
if (resCmd == ResponseCommand.RESPONSE_LINEDETECT_PALLETUP)
{
resCmd = ResponseCommand.RESPONSE_NONE;
BfToMa.UpdatePalletState(PalletStatus.F, jPResult.palletId, order.planId);
//Reset trạng thai W cho pallet_H nếu truoc đó có cây W
if (jPResult.jInfoPallet.row < order.palletRow)
{
BfToMa.UpdatePalletState(PalletStatus.W, order.palletId_H, order.planId);
}
onUpdatedPalletState = true;
StateBufferToMachine = BufferToMachine.BUFMAC_ROBOT_WAITTING_GOBACK_FRONTLINE_BUFFER;
//robot.ShowText("BUFMAC_ROBOT_WAITTING_GOBACK_FRONTLINE_BUFFER");
}
else if (resCmd == ResponseCommand.RESPONSE_ERROR)
{
errorCode = ErrorCode.DETECT_LINE_ERROR;
CheckUserHandleError(this);
}
break;
case BufferToMachine.BUFMAC_ROBOT_WAITTING_GOBACK_FRONTLINE_BUFFER: // đợi
try
{
if (resCmd == ResponseCommand.RESPONSE_FINISH_GOBACK_FRONTLINE)
{
robot.bayId = -1;
robot.bayIdReg = false;
robot.ReleaseWorkingZone();
robot.SwitchToDetectLine(false);
resCmd = ResponseCommand.RESPONSE_NONE;
StateBufferToMachine = BufferToMachine.BUFMAC_ROBOT_GOTO_FRONTLINE_DROPDOWN_PALLET_SELECT_ZONE;
// cập nhật lại điểm xuất phát
registryRobotJourney.startPoint = robot.properties.pose.Position;
//robot.ShowText("BUFMAC_ROBOT_GOTO_FRONTLINE_DROPDOWN_PALLET");
}
else if (resCmd == ResponseCommand.RESPONSE_ERROR)
{
errorCode = ErrorCode.DETECT_LINE_ERROR;
CheckUserHandleError(this);
}
}
catch (System.Exception)
{
errorCode = ErrorCode.CAN_NOT_GET_DATA;
CheckUserHandleError(this);
}
break;
case BufferToMachine.BUFMAC_ROBOT_GOTO_FRONTLINE_DROPDOWN_PALLET_SELECT_ZONE:
String startNamePoint = Traffic.DetermineArea(registryRobotJourney.startPoint, TypeZone.MAIN_ZONE);
Pose destPos = BfToMa.GetFrontLineMachine();
String destName = Traffic.DetermineArea(destPos.Position, TypeZone.MAIN_ZONE);
if (rb.SendPoseStamped(destPos))
{
StateBufferToMachine = BufferToMachine.BUFMAC_ROBOT_GOTO_FRONTLINE_DROPDOWN_PALLET;
}
break;
case BufferToMachine.BUFMAC_ROBOT_GOTO_FRONTLINE_DROPDOWN_PALLET: // tai may
try
{
if (resCmd == ResponseCommand.RESPONSE_LASER_CAME_POINT)
{
robot.SwitchToDetectLine(true);
StateBufferToMachine = BufferToMachine.BUFMAC_ROBOT_SEND_CMD_DROPDOWN_PALLET;
}
}
catch (System.Exception)
{
errorCode = ErrorCode.CAN_NOT_GET_DATA;
CheckUserHandleError(this);
}
break;
case BufferToMachine.BUFMAC_ROBOT_SEND_CMD_DROPDOWN_PALLET:
if (rb.SendCmdAreaPallet(BfToMa.GetInfoOfPalletMachine(PistonPalletCtrl.PISTON_PALLET_DOWN)))
{
//rb.prioritLevel.OnAuthorizedPriorityProcedure = true;
StateBufferToMachine = BufferToMachine.BUFMAC_ROBOT_WAITTING_DROPDOWN_PALLET;
//robot.ShowText("BUFMAC_ROBOT_WAITTING_DROPDOWN_PALLET");
}
break;
case BufferToMachine.BUFMAC_ROBOT_WAITTING_DROPDOWN_PALLET:
if (resCmd == ResponseCommand.RESPONSE_LINEDETECT_PALLETDOWN)
{
resCmd = ResponseCommand.RESPONSE_NONE;
StateBufferToMachine = BufferToMachine.BUFMAC_ROBOT_WAITTING_GOTO_FRONTLINE;
//robot.ShowText("BUFMAC_ROBOT_WAITTING_GOTO_FRONTLINE");
}
else if (resCmd == ResponseCommand.RESPONSE_ERROR)
{
errorCode = ErrorCode.DETECT_LINE_ERROR;
CheckUserHandleError(this);
}
break;
case BufferToMachine.BUFMAC_ROBOT_WAITTING_GOTO_FRONTLINE:
if (resCmd == ResponseCommand.RESPONSE_FINISH_GOBACK_FRONTLINE)
{
robot.SwitchToDetectLine(false);
resCmd = ResponseCommand.RESPONSE_NONE;
//rb.prioritLevel.OnAuthorizedPriorityProcedure = false;
StateBufferToMachine = BufferToMachine.BUFMAC_ROBOT_RELEASED;
//robot.ShowText("BUFMAC_ROBOT_RELEASED");
}
else if (resCmd == ResponseCommand.RESPONSE_ERROR)
{
errorCode = ErrorCode.DETECT_LINE_ERROR;
CheckUserHandleError(this);
}
break;
case BufferToMachine.BUFMAC_ROBOT_RELEASED: // trả robot về robotmanagement để nhận quy trình mới
TrafficRountineConstants.ReleaseAll(robot);
robot.bayId = -1;
robot.bayIdReg = false;
robot.orderItem = null;
robot.SwitchToDetectLine(false);
// Release WorkinZone Robot
// robot.robotTag = RobotStatus.IDLE;
rb.PreProcedureAs = ProcedureControlAssign.PRO_BUFFER_TO_MACHINE;
// if (errorCode == ErrorCode.RUN_OK) {
ReleaseProcedureHandler(this);
// } else {
// ErrorProcedureHandler (this);
// }
ProRun = false;
//robot.ShowText("RELEASED");
UpdateInformationInProc(this, ProcessStatus.S);
order.status = StatusOrderResponseCode.FINISHED;
order.endTimeProcedure = DateTime.Now;
order.totalTimeProcedure = order.endTimeProcedure.Subtract(order.startTimeProcedure).TotalMinutes;
SaveOrderItem(order);
KillEvent();
break;
case BufferToMachine.BUFMAC_ROBOT_DESTROY:
order.endTimeProcedure = DateTime.Now;
order.totalTimeProcedure = order.endTimeProcedure.Subtract(order.startTimeProcedure).TotalMinutes;
SaveOrderItem(order);
robot.SwitchToDetectLine(false);
robot.ReleaseWorkingZone();
// StateBufferToMachine = BufferToMachine.BUFMAC_ROBOT_RELEASED;
//robot.prioritLevel.OnAuthorizedPriorityProcedure = false;
ProRun = false;
UpdateInformationInProc(this, ProcessStatus.F);
order.status = StatusOrderResponseCode.ROBOT_ERROR;
//reset status pallet Faile H->Ws
selectHandleError = SelectHandleError.CASE_ERROR_EXIT;
procedureStatus = ProcedureStatus.PROC_KILLED;
//FreeHoldBuffer(order.palletId_H);
KillEvent();
//this.robot.DestroyRegistrySolvedForm();
break;
default:
break;
}
// robot.ShowText("-> " + procedureCode);
Thread.Sleep(700);
}
StateBufferToMachine = BufferToMachine.BUFMAC_IDLE;
}