private void AssembleMachineForCompleteTrayPickup(TransportOperationMachine machine, object sourceLockOwner)
{
// In this case, Station is the source of the tray.
var station = machine.Station as IStation;
var dockStation = machine.Station as ITransportDock;
if (station != null && dockStation != null)
{
// This machine doesn't know if Transport is safe yet or not.
machine.AddActivity(new DynamicActivity("Set machine HaltOnError", () => machine.HaltOnError = true));
// Wait for transportation to stop moving.
machine.AddContinueCondition(new DynamicConstraint <ITransport>("Transport Detects Tray?", machine.Transport,
(td) => IsTransportParkedWithTray(machine.Transport)));
if (station.Type != StationType.Stainer)
{
// This machine knows it is above the station and in elevator now, so no need for transport error.
machine.AddActivity(new DynamicActivity("Set machine HaltOnError", () => machine.HaltOnError = false));
}
// Wait for the source station IsTrayDetected trigger.
// Slide id does not have a tray present sensor, so it should always be faking it.
machine.AddContinueCondition(
new DynamicConstraint <ITrayDetector>("Tray Not Detected At Source?", machine.Station, (td) => !td.IsTrayDetected));
// Complete the handoff. Quit this machine if the CompleteHandoff fails.
machine.SetActivityTrayHandlerCompleteHandoff();
// If we just picked up from a stainer and the destination is below it, wait for CompleteHandoff to finish.
if (station.Type == StationType.Stainer)
{
var destinationZ = machine.Configuration.Data.DestinationZLocation;
// If the destination is below the source stainer,
// wait until the stainer's handoff is completed. Otherwise, transport can move on safely.
if (dockStation.DockZ > destinationZ)
{
// Pause until source station has completed its handoff.
machine.SetPauseUntilConditionOfStation("IsStationNotHandoffPrepared", IsStationNotHandoffPrepared);
}
}
// Assuming the station is no longer HandoffPrepared, TrayMover does not need to halt movements anymore.
machine.AddActivity(new DynamicActivity("Set machine HaltOnError", () => machine.HaltOnError = true));
// Reassign the tray from source to transport.
machine.SetActivityReassignTray(machine.Station, machine.Transport);
// Special activity needed only for this machine to release the lock on the source station early.
machine.SetActivityReleaseDockLock(sourceLockOwner);
}
else
{
throw new Exception("Complete tray pick-up failed to build: no source station.");
}
}
public void AssembleMachineForCompleteTrayDropoff(TransportOperationMachine machine)
{
var station = machine.Station as IStation;
if (station != null)
{
// This machine doesn't know if Transport is safe or not.
machine.AddActivity(new DynamicActivity("Set machine HaltOnError", () => machine.HaltOnError = true));
// If the prior machine was stopped, skip tray reassignment.
if (!machine.IsStopped)
{
//TODO: change this to go by interfaces once SlideId is refactored.
if (station.Type != StationType.SlideId)
{
// Wait for transportation to stop moving
machine.AddContinueCondition(new DynamicConstraint <ITransport>("Transport Missing Tray?", machine.Transport,
(td) => IsTransportParkedWithoutTray(machine.Transport)));
}
// Wait for the destination station IsTrayDetected trigger.
// Slide id does not have a tray present sensor, so it should always be faking it.
machine.AddContinueCondition(new DynamicConstraint <ITrayDetector>("Tray Detected At Destination?", machine.Station,
(td) => td.IsTrayDetected));
// Reassign the tray from transport to destination.
// Needed to reassign the Tray before performing complete handoff to ensure the tray cooling is performed.
machine.SetActivityReassignTray(machine.Transport, machine.Station);
}
if (station.Type != StationType.Stainer)
{
// This machine knows it is below the station and in elevator now, so no need for transport error.
machine.AddActivity(new DynamicActivity("Set machine HaltOnError", () => machine.HaltOnError = false));
}
// Complete the handoff. Quit this machine if the CompleteHandoff fails.
machine.SetActivityTrayHandlerCompleteHandoff();
// Pause until destination station has completed its handoff, which indicates the overall tray move is done.
machine.SetPauseUntilConditionOfStation("IsStationNotHandoffPrepared?", IsStationNotHandoffPrepared);
// If neither the destination nor the transport detect a tray when the machine exits, set tray to Lost state.
machine.UseFinalExitBehavior(new ActOnResultActivity <bool>("Set Tray Lost",
() => IsTrayLost(machine.Transport, machine.Station) && machine.Tray != null, true,
() => machine.Tray.OnDetectionLost()));
}
else
{
throw new Exception("Complete tray drop-off failed to build: no destination station.");
}
}
internal static IActivityMachine CreateMachineForTransportOperation(DynamicConfiguration config)
{
var dispatcher = config.Data.Dispatcher as SimpleDispatcher;
var operation = config.Data.TransportOperation;
var activityMachine = new TransportOperationMachine(Enum.GetName(typeof(TransportOperation), operation), dispatcher);
// Try to reuse a builder if one was supplied.
try
{
activityMachine.Builder = config.Data.Builder as IActivityMachineBuilder;
}
catch (Exception)
{
//nothing to do
}
if (activityMachine.Builder == null)
{
activityMachine.Builder = ActivityMachineBuilderLoader.GetActivityMachineBuilder(config);
}
return(activityMachine);
}
public void AssembleMachineForBeginTrayDropoff(TransportOperationMachine machine)
{
var station = machine.Station as IStation;
var dockStation = machine.Station as ITransportDock;
if (station != null && dockStation != null && IsStationDropoffReady(station))
{
// We can get an early start on handoff preparation if not dropping off to a stainer,
// or if the transport is already above the stainer.
var prepareForHandoffEarly = station.Type != StationType.Stainer ||
IsTransportAboveDropoffHeight(dockStation)(machine.Transport);
if (prepareForHandoffEarly)
{
// Pause until the source station is ready to start hand-off prep.
machine.SetPauseUntilConditionOfStation("IsStationDropoffReady", IsStationDropoffReady);
// Prepare the source station for handoff. Quit this machine if the PrepareForHandoff fails.
machine.SetActivityTrayHandlerPrepareForHandoff();
}
// Move the transport to the tray destination station for a tray drop-off. Quit if the move fails.
machine.SetConditionalActivityTransportMoveToDropoffHeight(IsTransportParkedInElevator,
machine.Configuration.Data.MoveCancellationToken);
// Pause until the transport is above the destination station's drop-off location.
// If it is already above, this will continue immediately.
machine.SetPauseUntilConditionOfTransport("IsTransportAboveDropoffHeight", IsTransportAboveDropoffHeight(dockStation));
// If we didn't already prepare for handoff before the Z move, do it now.
if (!prepareForHandoffEarly)
{
// Pause until the source station is ready to start hand-off prep.
machine.SetPauseUntilConditionOfStation("IsStationDropoffReady?", IsStationDropoffReady);
// Prepare the source station for handoff. Quit this machine if the PrepareForHandoff fails.
machine.SetActivityTrayHandlerPrepareForHandoff();
}
// Pause until the destination station is handoff-prepared for drop-off.
machine.SetPauseUntilConditionOfStation("IsStationHandoffPrepared?", IsStationHandoffPrepared);
// Wait for transport to be stopped at location.
machine.SetPauseUntilConditionOfTransport("IsTransportStoppedAtLocation?", IsTransportParkedAtDropoffHeight(dockStation));
// Ensure destination station is safe to enter to drop-off tray
machine.SetActivityTrayHandlerSafeToEnter();
// Don't allow the machine to be stopped once the drop-off has started.
machine.AddActivity(new DynamicActivity("Set CanStop=false", () => machine.CanStop = false));
// Possibly finish before doing the drop-off if the operation was cancelled, regardless of tray aborted or not.
// CompleteTrayDropoff operation will do recovery if we finish here.
machine.SetFinishOrContinueForMoveStopped();
// From this point on, TrayMover should stop movements if this machine encounters an error.
machine.AddActivity(new DynamicActivity("Set machine HaltOnError", () => machine.HaltOnError = true));
// Tell transport to put the tray. Quit if the move fails.
// This will not act until transport is at the drop-off height.
machine.SetActivityTransportPerformDropoff();
// If dropping off to a stainer, make sure transport is clear of the stainer mount before allowing complete handoff.
if (station.Type == StationType.Stainer)
{
//TODO: ASK TEST/DEV TEAMS IF STAINER UPPER&LOWER LOADOFFSETS ARE EVER DIFFERENT THAN UPPER&LOWER OFFSETS.
//TODO: IF NOT, CAN ELIMINATE THIS AND REMOVE THE LOADOFFSETS FROM THE CONFIGURATION.
//TODO: IF STILL NEEDED, ELIMINATE SPECIAL CASE HERE BY MAKING STAINERS OVERRIDE UPPEROFFSET & LOWEROFFSET WHICH INCORPORATES ANY EXTRA OFFSET INTO THE ONE MOVE.
// Ensure the transport made it to below the stainer mount. If it already is below the stainer, just move on.
machine.SetPauseUntilConditionOfTransport("IsTransportBelowPickupHeight?", IsTransportBelowPickupHeight(dockStation));
}
}
else
{
throw new Exception("Begin tray drop-off failed to build: no destination station, or station is not ready.");
}
}
private void AssembleMachineForBeginTrayPickup(TransportOperationMachine machine)
{
// In this case, Station is the source of the tray.
var station = machine.Station as IStation;
var dockStation = machine.Station as ITransportDock;
if (station != null && dockStation != null)
{
// Wait for the source station to detect a tray, responding only to the IsTrayDetected trigger.
// The source station should have the tray. Slide id does not have a tray present sensor, so it should fake it.
machine.AddQuitOrContinueCondition(
new DynamicConstraint <ITrayDetector>("Tray Not Detected At Source?", machine.Station, (td) => !td.IsTrayDetected),
new DynamicConstraint <ITrayDetector>("Tray Detected At Source?", machine.Station, (td) => td.IsTrayDetected));
// We can get an early start on handoff preparation if not picking up from a stainer,
// or if the transport is already below the stainer.
var prepareForHandoffEarly = station.Type != StationType.Stainer ||
IsTransportBelowPickupHeight(dockStation)(machine.Transport);
if (prepareForHandoffEarly)
{
// Pause until the source station is ready for hand-off preparation.
machine.SetPauseUntilConditionOfStation("IsStationPickupReady?", IsStationPickupReady);
// Prepare the source station for handoff. Quit this machine if the PrepareForHandoff fails.
machine.SetActivityTrayHandlerPrepareForHandoff();
}
// Move the transport to the tray source station for a tray pick-up. Quit if the move fails.
machine.SetConditionalActivityTransportMoveToPickupHeight(IsTransportParkedInElevator,
machine.Configuration.Data.MoveCancellationToken);
// Pause until the transport is below the source station's pick-up location.
machine.SetPauseUntilConditionOfTransport("IsTransportBelowPickupHeight?", IsTransportBelowPickupHeight(dockStation));
// If we didn't already prepare for handoff before the elevator move, do it now.
if (!prepareForHandoffEarly)
{
// Pause until the source station is ready.
machine.SetPauseUntilConditionOfStation("IsStationPickupReady?", IsStationPickupReady);
// Prepare the source station for handoff. Quit this machine if the PrepareForHandoff fails.
machine.SetActivityTrayHandlerPrepareForHandoff();
}
// Pause until source station is handoff-prepared for pickup.
machine.SetPauseUntilConditionOfStation("IsStationHandoffPrepared?", IsStationHandoffPrepared);
// Wait for transport to be stopped at the pick-up height.
machine.SetPauseUntilConditionOfTransport("IsTransportStoppedAtLocation?", IsTransportParkedAtPickupHeight(dockStation));
// Ensure source station is safe to enter to pick-up tray
machine.SetActivityTrayHandlerSafeToEnter();
// From this point on, TrayMover should stop movements if this machine encounters an error.
machine.AddActivity(new DynamicActivity("Set machine HaltOnError", () => machine.HaltOnError = true));
// Tell transport to get the tray. Quit if the move fails.
machine.SetActivityTransportPerformPickup();
// If picking up from a stainer, make sure transport is clear of stainer mount before allowing complete handoff.
if (station.Type == StationType.Stainer)
{
//TODO: ASK TEST/DEV TEAMS IF STAINER UPPER&LOWER LOADOFFSETS ARE EVER DIFFERENT THAN UPPER&LOWER OFFSETS.
//TODO: IF NOT, CAN ELIMINATE THIS AND REMOVE THE LOADOFFSETS FROM THE CONFIGURATION.
//TODO: IF STILL NEEDED, ELIMINATE SPECIAL CASE HERE BY MAKING STAINERS OVERRIDE UPPEROFFSET & LOWEROFFSET WHICH INCORPORATES ANY EXTRA OFFSET INTO THE ONE MOVE.
// Ensure the transport made it to the desired Z position.
machine.SetPauseUntilConditionOfTransport("IsTransportAboveDropoffHeight?", IsTransportAboveDropoffHeight(dockStation));
}
}
else
{
throw new Exception("Begin tray pick-up failed to build: no source station.");
}
}
