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@@ -37,6 +37,7 @@ namespace CyberX8_RT.Modules
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#region 常量
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private const string VACUUM_VALUE = "VacuumValue";
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private const string DOOR_UNLOCK = "DoorUnlock";
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+ private const string DOOR_LOCKED = "DoorLocked";
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#endregion
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//private int _bigWafer = 0;
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//private int _midWafer = 0;
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@@ -242,6 +243,7 @@ namespace CyberX8_RT.Modules
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/// </summary>
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private double _vacuumValue;
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private bool _doorUnlock;
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+ private bool _doorLocked;
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// Constructor
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public EfemEntity()
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{
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@@ -296,6 +298,7 @@ namespace CyberX8_RT.Modules
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BeckhoffIoSubscribeUpdateVariable(VACUUM_VALUE);
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BeckhoffIoSubscribeUpdateVariable(DOOR_UNLOCK);
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+ BeckhoffIoSubscribeUpdateVariable(DOOR_LOCKED);
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OP.Subscribe($"{ModuleName.EFEM}.{EfemOperation.Home}", (cmd, args) => { PostMsg(MSG.HomeAll); return true; });
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@@ -356,6 +359,7 @@ namespace CyberX8_RT.Modules
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DATA.Subscribe($"{Name}.CurrentRobotCycleTime",()=>_currentCycleTimes, SubscriptionAttribute.FLAG.IgnoreSaveDB);
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DATA.Subscribe($"{Name}.VacuumValue",()=>_vacuumValue, SubscriptionAttribute.FLAG.IgnoreSaveDB);
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DATA.Subscribe($"{Name}.DoorUnlock", () => _doorUnlock, SubscriptionAttribute.FLAG.IgnoreSaveDB);
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+ DATA.Subscribe($"{Name}.DoorLocked", () => _doorLocked, SubscriptionAttribute.FLAG.IgnoreSaveDB);
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_robotWatch.Restart();
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return true;
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}
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@@ -383,6 +387,10 @@ namespace CyberX8_RT.Modules
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{
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_doorUnlock = (bool)value;
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}
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+ else if (variable == DOOR_LOCKED)
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+ {
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+ _doorLocked = (bool)value;
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+ }
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}
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private void InitFsmMap()
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{
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