Kepler-Release/Venus/Venus_RT/Devices/TM/ITransferRobot.cs

using Aitex.Sorter.Common;
using MECF.Framework.Common.Equipment;
using Venus_Core;
using MECF.Framework.Common.CommonData;


namespace Venus_RT.Devices
{
    public interface ITransferRobot
    {
        RState Status { get;}
        RobotMoveInfo TMRobotMoveInfo { get; }
        bool IsHomed { get; }
        double Offset_X { get; }
        double Offset_Y { get; }

        double Offset_D { get; }
        bool Home();
        bool Halt();
        bool CheckLoad(Hand hand = Hand.Blade1);
        bool ReQueryLoadA();
        bool ReQueryLoadB();
        bool QueryAwc();
        bool Goto(ModuleName station, int slot, Hand hand);
        bool MoveTo(ModuleName stnFrom, ModuleName stnTo, Hand hand);
        bool PickExtend(ModuleName chamber, int slot, Hand hand);
        bool PickRetract(ModuleName chamber, int slot, Hand hand);
        bool PlaceExtend(ModuleName chamber, int slot, Hand hand);
        bool PlaceRetract(ModuleName chamber, int slot, Hand hand);
        bool Pick(ModuleName station, int slot, Hand hand);
        bool PickWithOffset(ModuleName station, int slot, Hand hand,int Roffset, int Toffset);
        bool Place(ModuleName station, int slot, Hand hand);
        void SetRobotMovingInfo(RobotAction action, Hand hand, ModuleName target);
    }
}