JET-EFEM/athos/athosRT/Devices/EFEM/Task/EmsTask.cs

using Aitex.Core.RT.Device;
using Aitex.Core.Util;
using athosRT.Devices.EFEM.ABS;
using athosRT.Modules;
using MECF.Framework.RT.EquipmentLibrary.HardwareUnits.Robots.RobotBase;
using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Threading.Tasks;

namespace athosRT.Devices.EFEM.Task
{
    public class EmsTask : CheckImp, ITask
    {
        public bool Execute(out string result, params string[] args)
        {
            string str = "Robot";
            if (!this.Check<NoReadyPolicy>(str, out result) || !this.Check<EMSPolicy>(str, out result) || !this.Check<ErrorPolicy>(str, out result) || !this.Check<HoldPolicy>(str, out result) || !this.Check<MaintenancePolicy>(str, out result) || !this.Check<NoReadyPolicy>(str, out result))
                return false;
            RobotBaseDevice device = DEVICE.GetDevice<RobotBaseDevice>(str);
            Singleton<RouteManager1>.Instance.IsEMSStop = false;
            return device.Stop();
        }

        public bool? Monitor(out string result, params string[] args)
        {
            result = string.Empty;
            RobotBaseDevice device = DEVICE.GetDevice<RobotBaseDevice>("Robot");
            if (device.IsError)
                return new bool?(false);
            if (!device.IsReady())
                return new bool?();
            Singleton<RouteManager1>.Instance.IsEMSStop = true;
            return new bool?(true);
        }
    }
}