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

using Aitex.Core.RT.Device;
using Aitex.Sorter.Common;
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 SetClampTask : CheckImp, ITask
    {
        public SetClampTask() => this.HasInfoMessage = false;

        public bool Execute(out string result, params string[] args)
        {
            result = "NOFUNC";
            return false;
        }

        public bool? Monitor(out string result, params string[] args)
        {
            result = "";
            if (!args[0].StartsWith("ARM"))
                return new bool?(true);
            string name = "Robot";
            Hand arm = Hand.Blade2;
            if (!this.ParseMoveArm(args[0], out arm) || arm == Hand.Both)
            {
                result = "PARAM_NG";
                return new bool?(false);
            }
            RobotBaseDevice device = DEVICE.GetDevice<RobotBaseDevice>(name);
            if (device.IsError)
                return new bool?(false);
            return !device.IsBusy ? new bool?(true) : new bool?();
        }
    }
}