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

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

namespace Aitex.Sorter.RT.EFEMs.Tasks
{
    public class GotoTask : RobotImp, ITask
    {
        public GotoTask()
        {
        }
        public bool Execute(out string result, params string[] args)
        {
            string device = DeviceName.Robot;
            IServerModule entity = GetEntity(device);
            ModuleName target = ModuleName.System;
            int slot = 1;

            if (!ParseMoveTarget(args[0], out target, out slot))
            {
                result = PARAM_NG;
                return false;
            }

            Hand arm = Hand.Blade2;
            if (!ParseMoveArm(args[1], out arm))
            {
                result = PARAM_NG;
                return false;
            }

            //for goto, only assign lower arm 
            if (arm == Hand.Both)
                arm = Hand.Blade1;

            MovePosition pos = MovePosition.UP;
            if (!ParseMovePosition(args[2], out pos))
            {
                result = PARAM_NG;
                return false;
            }
            
            var isPick = true;
            isPick = pos == MovePosition.DOWN;

            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<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<PowerDownPolicy>(device, out result))
            {
                return false;
            }

            _token = Singleton<EfemEntity>.Instance.EfemDevice.Invoke("Goto", target.ToString(), slot - 1, arm);

            return true;
        }
        public bool? Monitor(out string result, params string[] args)
        {
            result = string.Empty;

            if (Singleton<EfemEntity>.Instance.EfemDevice.CheckIsError(ModuleName.Robot))
            {
                result = "ERROR";
                return false;
            }
            if (Singleton<EfemEntity>.Instance.EfemDevice.CheckIsIdle(ModuleName.Robot)
                && Singleton<EfemEntity>.Instance.EfemDevice.CheckIsIdle(ModuleName.System)
                && Singleton<EfemEntity>.Instance.EfemDevice.CheckAcked(_token))
                return true;

            return null;
        }
    }



}