Virgo_ST/Framework/RTEquipmentLibrary/HardwareUnits/Robot/MAG7/Mag7RobotHandlerFactory.cs

using Aitex.Core.RT.SCCore;
using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Threading.Tasks;

using Aitex.Sorter.Common;
using MECF.Framework.Common.Equipment;
using Aitex.Core.RT.Device;

namespace MECF.Framework.RT.EquipmentLibrary.HardwareUnits.Robot.MAG7
{
    public class Mag7RobotHandlerFactory : IRobotHandlerFactory
    {
        private TokenGenerator _tokener;

        private IDevice _device = null;
        public Mag7RobotHandlerFactory(IDevice device)
        {
            _device = device;

            if (SC.ContainsItem($"{device.Name}.RobotCommunicationToken"))
                _tokener = new TokenGenerator($"{device.Name}.RobotCommunicationToken");
            else
            {
                _tokener = new TokenGenerator($"Robot.RobotCommunicationToken");
            }
        }

        public IHandler Init()
        {
            throw new NotImplementedException();
        }
        public IHandler Home()
        {
            return new Mag7RobotHandlerBase<RbHomeHandler>(_device, ref _tokener);
        }
        public IHandler Event()
        {
            return new Mag7RobotHandlerBase<RbEventHandler>(_device, ref _tokener,  true);
        }


        public IHandler QueryState()
        {
            return new Mag7RobotHandlerBase<RBQueryStateHandler>(_device, ref _tokener);
        }

        public IHandler QueryPosition()
        {          
            return new Mag7RobotHandlerBase<RBQueryPositionHandler>(_device, ref _tokener);
        }



        public IHandler Stop()
        {
            return new Mag7RobotHandlerBase<RbStopHandler>(_device, ref _tokener);
        }

        public IHandler SetSpeed(int speed)
        {
            return new Mag7RobotHandlerBase<RbSetSpeedHandler>(_device, ref _tokener, speed);
        }


        public IHandler Goto(ModuleName chamber, int slot,  Motion next, Hand hand, int x, int y, int z)
        {
            return new Mag7RobotHandlerBase<GotoHandler>(_device, ref _tokener, chamber, slot, next, hand, x, y , z);
        }


        public IHandler Pick(ModuleName chamber, int slot, Hand hand)
        {      
            return new Mag7RobotHandlerBase<PickHandler>(_device, ref _tokener, chamber, slot, hand);
        }

        public IHandler PickExtend(ModuleName chamber, int slot, Hand hand)
        {
            return new Mag7RobotHandlerBase<PickExtendHandler>(_device, ref _tokener, chamber, slot, hand);
        }

        public IHandler PickRetract(ModuleName chamber, int slot, Hand hand)
        {
            return new Mag7RobotHandlerBase<PickRetractHandler>(_device, ref _tokener, chamber, slot, hand);
        }

        public IHandler Place(ModuleName chamber, int slot, Hand hand)
        {      
            return new Mag7RobotHandlerBase<PlaceHandler>(_device, ref _tokener, chamber, slot, hand);
        }

        public IHandler PlaceExtend(ModuleName chamber, int slot, Hand hand)
        {
            return new Mag7RobotHandlerBase<PlaceExtendHandler>(_device, ref _tokener, chamber, slot, hand);
        }

        public IHandler PlaceRetract(ModuleName chamber, int slot, Hand hand)
        {
            return new Mag7RobotHandlerBase<PlaceRetractHandler>(_device, ref _tokener, chamber, slot, hand);
        }

        public IHandler Exchange(ModuleName chamber, int slot, Hand hand)
        {    
            return new Mag7RobotHandlerBase<ExchangHandler>(_device, ref _tokener, chamber, slot, hand);
        }


        public IHandler PickEx(ModuleName chamber, int slot, Hand hand, int x, int y, int z)
        {
            return new Mag7RobotHandlerBase<PickHandler>(_device, ref _tokener, chamber, slot, hand, x, y, z);
        }

        public IHandler PlaceEx(ModuleName chamber, int slot, Hand hand, int x, int y, int z)
        {
            return new Mag7RobotHandlerBase<PlaceHandler>(_device, ref _tokener, chamber, slot, hand, x, y, z);
        }

        public IHandler Grip(Hand hand)
        {
            throw new NotImplementedException();
        }

        public IHandler Release(Hand hand)
        {
            throw new NotImplementedException();
        }

        public IHandler Clear()
        {
            throw new NotImplementedException();
        }

        public IHandler WaferMapping(ModuleName loadport)
        {
            throw new NotImplementedException();
        }

        public IHandler QueryWaferMap(ModuleName loadport)
        {
            throw new NotImplementedException();
        }

        public IHandler SetCommunication( )
        {
            return new Mag7RobotHandlerBase<RbSetCommunicationHandler>(_device, ref _tokener);
        }

        public IHandler SetLoad(Hand hand)
        {
            return new Mag7RobotHandlerBase<RbSetLoadHandler>(_device, ref _tokener, hand);
        }

        public IHandler CheckLoad(ModuleName chamber, int slot)
        {
            return new Mag7RobotHandlerBase<RbCheckLoadHandler>(_device, ref _tokener, chamber, slot);
        }

        public IHandler RequestWaferPresent( )
        {
            return new Mag7RobotHandlerBase<RbRequestWaferPresentHandler>(_device, ref _tokener);
        }

        public IHandler Extend(ModuleName chamber, int slot, Hand hand)
        {
            return new Mag7RobotHandlerBase<ExtendHandler>(_device, ref _tokener, chamber, slot, hand);
        }

        public IHandler Retract(ModuleName chamber, int slot, Hand hand)
        {
            return new Mag7RobotHandlerBase<RetractHandler>(_device, ref _tokener, chamber, slot, hand);
        }
    }
}