/** * Scheduler ** */
protected boolean pickAndExecuteAnAction() {
if (badRequests.size() > 0) {
processNonNorms();
return true;
}
if (requests.size() > 0) {
verifyParts();
return true;
}
return false;
}
/* (GUI NN Panel) Drives the Parts Missing Non-Normative */
public void msgPartsMissing(int num) // nest num
{
print("Received part missing non-normative");
FactoryState.out.println("Received part missing non-normative");
badRequests.add(new BadRequest(num, BadRequestState.partsMissing));
stateChanged();
}
private void verifyParts() {
CheckRequest c = requests.remove(0);
print("Taking picture of " + c.nest.getName());
FactoryState.out.println("Taking picture of " + c.nest.getName());
c.nest.guiNest().camera.DoTakePicture(c.nest);
try {
verify.acquire();
} catch (Exception ex) {
}
if (c.state == RequestState.good) {
c.nest.msgPartsAreGood(c.parts);
} else if (c.state == RequestState.partsBad) {
c.nest.msgPartsAreBad();
} else if (c.state == RequestState.partsUnstable) {
c.nest.msgPartsAreUnstable();
} else if (c.state == RequestState.partsMissing) {
print("Parts missing from " + c.nest.getName());
FactoryState.out.println("Parts missing from " + c.nest.getName());
} else if (c.state == RequestState.photobombing) {
c.nest.msgPartsArePhotobombing();
} else if (c.state == RequestState.cameraError) {
c.nest.msgPartsAreCameraError();
}
stateChanged();
}
public void processNonNorms() {
BadRequest n = badRequests.remove(0);
int num = n.num;
print("Taking picture of " + factoryState.nestList.get(num).getName());
FactoryState.out.println("Taking picture of " + factoryState.nestList.get(num).getName());
factoryState.nestList.get(num).guiNest().camera.DoTakePicture(factoryState.nestList.get(num));
try {
verify.acquire();
} catch (Exception ex) {
}
if (n.state == BadRequestState.partsMissing) {
print("Parts missing from " + factoryState.nestList.get(num).getName());
FactoryState.out.println("Parts missing from " + factoryState.nestList.get(num).getName());
factoryState.nestList.get(num).msgPartsMissing();
}
stateChanged();
}
/* (Nest) Requests to verify parts and take picture when we have unstable parts */
public void msgVerifyPartsUnstable(List<Part> visionParts, NestAgent nest) {
requests.add(new CheckRequest(visionParts, nest, RequestState.partsUnstable));
stateChanged();
}
/* (Nest) Requests to verify parts and take picture when there's a camera error */
public void msgVerifyPartsCameraError(List<Part> visionParts, NestAgent nest) {
requests.add(new CheckRequest(visionParts, nest, RequestState.cameraError));
stateChanged();
}
/* (Nest) Requests to verify parts and take picture when partrobot is photobombing */
public void msgVerifyPartsPhotobombing(List<Part> visionParts, NestAgent nest) {
requests.add(new CheckRequest(visionParts, nest, RequestState.photobombing));
stateChanged();
}