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

using Aitex.Core.RT.Device;
using Aitex.Core.Util;
using Aitex.Sorter.Common;
using Efem;
using MECF.Framework.Common.Equipment;
using MECF.Framework.RT.EquipmentLibrary.HardwareUnits.LoadPorts.LoadPortBase;
using MECF.Framework.RT.EquipmentLibrary.HardwareUnits.Robots.RobotBase;

namespace EFEM.RT.Tasks
{
    public class HomeTask : CheckImp, ITask
    {
        public HomeTask()
        {
        }
        public bool Execute(out string result, params string[] args)
        {
            result = string.Empty;
            string device = Args2Unit(args.Length > 0 ?args[0]:string.Empty);

            if (string.IsNullOrEmpty(device))
            {
                result = PARAM_NG;
                return false;
            }

            IServerModule entity = GetEntity(device);
            if (entity == null || !(entity is RobotServerModule || entity is LoadPortServerModule || entity is BufferServerModule))
            {
                result = PARAM_NG;
                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<VacPolicy>(device, out result))
            {
                return false;
            }
            if (!Check<AirPolicy>(device, out result))
            {
                return false;
            }
            if (!Check<EMSPolicy>(device, out result))
            {
                return false;
            }
            if (!Check<ErrorPolicy>(device, out result))
            {
                return false;
            }
            if (!Check<InitBusyPolicy>(device, out result))
            {
                return false;
            }
            if (!Check<HoldPolicy>(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;
            }
            entity.Initialized = false;
            if (!entity.Home(out result))
            {
                return false;
            }
            return true;
        }
        public bool? Monitor(out string result, params string[] args)
        {
            result = string.Empty;
            string device = Args2Unit(args.Length > 0 ?args[0]:string.Empty);

            IServerModule entity = GetEntity(device);

            if (entity.Error)
            {
                flag1 = ErrorCheckList1.VAC | ErrorCheckList1.AIR | ErrorCheckList1.STALL
                        | ErrorCheckList1.LIMIT | ErrorCheckList1.SENSOR | ErrorCheckList1.POSITION | ErrorCheckList1.EMS
                        | ErrorCheckList1.COMM | ErrorCheckList1.COMM2 | ErrorCheckList1.VACON | ErrorCheckList1.VACOFF
                        | ErrorCheckList1.CLAMPON | ErrorCheckList1.CLAMPOF;
                flag2 = ErrorCheckList2.RRTWAF | ErrorCheckList2.CRSWAF | ErrorCheckList2.THICKWAF | ErrorCheckList2.THINWAF
                        | ErrorCheckList2.DBLWAF | ErrorCheckList2.BAOWAF | ErrorCheckList2.COMMAND | ErrorCheckList2.PODNG
                        | ErrorCheckList2.PODMISMATCH | ErrorCheckList2.VAC_S | ErrorCheckList2.CLAMP_S | ErrorCheckList2.SAFTY
                        | ErrorCheckList2.LOCKNG | ErrorCheckList2.UNLOCKNG | ErrorCheckList2.L_KEY_LK | ErrorCheckList2.L_KEY_UL;

                flag3 = ErrorCheckList3.MAP_S | ErrorCheckList3.MAP_S1 | ErrorCheckList3.MAP_S2 | ErrorCheckList3.WAFLOST
                        | ErrorCheckList3.ALIGNNG
                         | ErrorCheckList3.DRIVER | ErrorCheckList3.DRPOWERDOWN | ErrorCheckList3.HARDWARE
                        | ErrorCheckList3.INTERNAL | ErrorCheckList3.E84_TIMEOUTx | ErrorCheckList3.E84_CS_VALID | ErrorCheckList3.READFAIL;

                return CheckError(device, out result);
            }


            if (!entity.Busy)
            {
                if (ModuleHelper.IsLoadPort(ModuleHelper.Converter(device)))
                {
                    var lp = DEVICE.GetDevice<LoadPortBaseDevice>(device);
                    if (lp.IsHomed)
                    {
                        entity.Initialized = true;
                        Singleton<EfemEntity>.Instance.SendSigStatEvent(ModuleHelper.Converter(device));
                        return true;
                    }
                    else return null;
                }else if (ModuleHelper.IsRobot(ModuleHelper.Converter(device)))
                {
                    RobotBaseDevice _device = DEVICE.GetDevice<RobotBaseDevice>(DeviceName.Robot);
                    if (_device.IsReady())
                    {
                        entity.Initialized = true;
                        return true;
                    }
                    else
                        return null;
                }
                else
                {   
                    
                    entity.Initialized = true;
                    return true;
                }
            }


            return null;
        }
    }

}