ZZ-EFEM/Jet/Jet_001_2P_Jet/EfemRT/Tasks/FlipTask.cs

using Aitex.Core.RT.Device;
using Aitex.Core.RT.SCCore;
using Aitex.Core.Util;
using EFEM.RT.Devices;
using EFEM.RT.Devices.Flipper;
using EFEM.RT.Modules;
using MECF.Framework.Common.Equipment;
using MECF.Framework.RT.EquipmentLibrary.HardwareUnits.LoadPorts.LoadPortBase;
using SciChart.Core.AttachedProperties;

namespace EFEM.RT.Tasks
{
    public class FlipTask : CheckImp, ITask
    {
        private string device;
        public FlipTask()
        {
        }
        public bool Execute(out string result, params string[] args)
        {
            device = ModuleName.Flipper.ToString();
            JetFlipper flipper = DEVICE.GetDevice<JetFlipper>(device);
            if (flipper == null || SC.ContainsItem("System.FlipperDisable") ? SC.GetValue<bool>("System.FlipperDisable") : true)
            {
                result = "FLP NULL";
                return false;
            }
           
            if (!Check<NoReadyPolicy>(device, out result))
            {
                return false;
            }
            if (!Check<NoInitCompletedPolicy>(device, out result))
            {
                return false;
            }
            if (!Check<NoOriginCompletedPolicy>(device, out result))
            {
                return false;
            }
            if (!Check<EMSPolicy>(device, out result))
            {
                return false;
            }
            if (!Check<ErrorPolicy>(device, out result))
            {
                return false;
            }
            if (!Check<BusyPolicy>(device, out result))
            {
                return false;
            }
            if (!Check<HoldPolicy>(device, out result))
            {
                return false;
            }
            if (!Check<RemovePolicy>(device, out result))
            {
                return false;
            }
            if (!Check<MaintenancePolicy>(device, out result))
            {
                return false;
            }
            if (!Check<LinkPolicy>(device, out result))
            {
                return false;
            }
            if (!Check<ArmExtendPolicy>(device, out result))
            {
                return false;
            }
            if (!Check<PowerDownPolicy>(device, out result))
            {
                return false;
            }

            if (!Check<NoPodPolicy>(device, out result))
            {
                return false;
            }
            if (flipper.IsBusy)
            {
                result = "FLP BUSY";
                return false;
            }
            //需进行反转情况：
            //1. 目标正面，当前在反面
            //2. 目标反面，当前在正面
            //3. 总是反转
            if ((args[0].Equals("FaceUp") && flipper.IsFlipperHorizontal) || (args[0].Equals("FaceDown") && flipper.IsFlipperOrigin) || args[0].Equals("AlwaysReverse"))
            {
                return Singleton<RouteManager>.Instance.FLPEntity.CheckToPostMsg(FlipperEntity.FlipperMSG.TurnOver);
            }
            
            return true;
        }
        public bool? Monitor(out string result, params string[] args)
        {
            result = string.Empty;
            JetFlipper flipper = DEVICE.GetDevice<JetFlipper>(device);
            if (Singleton<RouteManager>.Instance.FLPEntity.IsIdle && !flipper.IsBusy)
            {
                return true;
            }

            return null;
        }
    }


}