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

using Aitex.Core.RT.Device;
using Aitex.Core.Util;
using athosRT.Devices.EFEM.ABS;
using athosRT.Modules.EFEMs;
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 HoldTask : CheckImp, ITask
    {
        public bool Execute(out string result, params string[] args)
        {
            string str = "Robot";
            if (!this.Check<NoReadyPolicy>(str, out result) || !this.Check<NoInitCompletedPolicy>(str, out result) || !this.Check<NoOriginCompletedPolicy>(str, out result) || !this.Check<EMSPolicy>(str, out result) || !this.Check<ErrorPolicy>(str, out result) || !this.Check<NoMovingPolicy>(str, out result) || !this.Check<HoldPolicy>(str, out result) || !this.Check<MaintenancePolicy>(str, out result) || !this.Check<PowerDownPolicy>(str, out result))
                return false;
            RobotBaseDevice device = DEVICE.GetDevice<RobotBaseDevice>(str);
            if (!device.IsBusy)
            {
                result = "NOTINMOTION";
                return false;
            }
            if (!device.Stop())
                return false;
            Singleton<EfemEntity>.Instance.SetSystemHold();
            return true;
        }

        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);
            return device.IsReady() ? new bool?(true) : new bool?();
        }
    }
}