ZZ-EFEM/Framework/AitexSorterRT/EFEMs/Tasks/EmsTask.cs

using Aitex.Core.RT.Device;
using Aitex.Core.Util;
using Aitex.Sorter.Common;
using Aitex.Sorter.RT.EFEMs.Servers;
using MECF.Framework.RT.EquipmentLibrary.HardwareUnits.Robot;

namespace Aitex.Sorter.RT.EFEMs.Tasks
{
    public class EmsTask : CheckImp, ITask
    {
        public EmsTask()
        {
        }
        public bool Execute(out string result, params string[] args)
        {
            string device = DeviceName.Robot;

            if (!Check<NoReadyPolicy>(device, out result))
            {
                return false;
            }
            if (!Check<EMSPolicy>(device, out result))
            {
                return false;
            }
            if (!Check<ErrorPolicy>(device, out result))
            {
                return false;
            }
            if (!Check<HoldPolicy>(device, out result))
            {
                return false;
            }
            if (!Check<MaintenancePolicy>(device, out result))
            {
                return false;
            }
            if (!Check<NoReadyPolicy>(device, out result))
            {
                return false;
            }
 
            Singleton<EfemEntity>.Instance.EfemDevice.IsEMSStop = false;
 

            return true;
        }

        public bool? Monitor(out string result, params string[] args)
        {
            result = string.Empty;
  
            if (Singleton<EfemEntity>.Instance.EfemDevice.IsError)
            {
                result = "ERROR";
                return false;
            }

            if (Singleton<EfemEntity>.Instance.EfemDevice.IsIdle &&
                Singleton<EfemEntity>.Instance.EfemDevice.CheckAcked(_token))
            {
                return true;
            }

            return null;
        }
    }

}