90 lines
3.0 KiB
C#
90 lines
3.0 KiB
C#
using NLog;
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using RobotNet.VDA5050.Type;
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using RobotNet10.RobotApp.Client.Pages;
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using RobotNet10.RobotApp.Interfaces;
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using RobotNet10.RobotApp.Modules;
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namespace RobotNet10.RobotApp.Services.Robot.Actions;
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[RobotAction(ActionType.PICK,
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[ActionScope.INSTANT, ActionScope.NODE, ActionScope.EDGE],
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[BlockingType.HARD],
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"Nâng cao pallet.",
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"Robot đã nâng cao pallet.")]
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public class RobotPickAction(IServiceProvider ServiceProvider) : RobotAction(ServiceProvider)
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{
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private const int MAX_TIMEOUT = 60000;
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private int CountTimeout = 0;
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private ILoad? LoadManager;
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private ILiftModule? LiftModule;
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private IPlcController? PlcController;
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private CancellationTokenSource CancellationToken = new();
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protected override async Task StartAction()
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{
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try
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{
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LoadManager = ServiceProvider.GetRequiredService<ILoad>();
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LiftModule = ServiceProvider.GetRequiredService<ILiftModule>();
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PlcController = ServiceProvider.GetRequiredService<IPlcController>();
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if (!LiftModule.IsReady)
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{
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SetStatus(ActionEvent.FAILED);
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ResultDescription = "Lift module not ready";
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return;
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}
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CancellationToken = new CancellationTokenSource();
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PlcController.SetOperationState(OperationState.Lifting);
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_ = LiftModule.LiftUpAsync(CancellationToken.Token);
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CountTimeout = 0;
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await base.StartAction();
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}
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catch (Exception ex)
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{
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SetStatus(ActionEvent.FAILED);
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ResultDescription = "Pick failed: " + ex.Message;
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}
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}
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protected override Task StopAction()
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{
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CancellationToken.Cancel();
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return base.StopAction();
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}
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protected override Task CleanupAction()
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{
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CancellationToken.Dispose();
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PlcController?.SetOperationState(OperationState.None);
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return base.CleanupAction();
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}
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protected override async Task ExecuteAction()
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{
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if (LiftModule is null)
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{
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SetStatus(ActionEvent.FAILED);
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ResultDescription = "Lift module not found";
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}
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else if (LiftModule.State == LiftModuleState.Error)
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{
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SetStatus(ActionEvent.FAILED);
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ResultDescription = "Lift module error";
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}
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else if (LiftModule.Position == LiftPosition.Top)
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{
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LoadManager?.AddLoad(new());
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SetStatus(ActionEvent.FINISHED);
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ResultDescription = string.IsNullOrEmpty(ActionAttribute.ResultDescription) ? "Robot has picked up the load." : ActionAttribute.ResultDescription;
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}
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else if (CountTimeout++ > MAX_TIMEOUT / ActionInterval)
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{
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CancellationToken.Cancel();
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SetStatus(ActionEvent.FAILED);
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ResultDescription = "Timeout action";
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}
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await base.ExecuteAction();
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}
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}
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