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

using Aitex.Core.RT.Device;
using Aitex.Core.RT.Event;
using Aitex.Sorter.Common;
using MECF.Framework.RT.EquipmentLibrary.HardwareUnits.Robot;
using MECF.Framework.RT.EquipmentLibrary.HardwareUnits.Robots;
using MECF.Framework.RT.EquipmentLibrary.HardwareUnits.Robots.RobotBase;


namespace EFEM.RT.Tasks
{
    public class SetClampTask : RobotImp, ITask
    {
        public SetClampTask()
        {
            //HasInfoMessage = false;
        }
        public bool Execute(out string result, params string[] args)
        {
            Hand arm = Hand.Blade2;
          
            if (!ParseMoveArm(args[0], out arm))
            {
                EV.PostWarningLog("Server", $"{args[0]} not valid arm parameter");
                result = PARAM_NG;
                return false;
            }
            if (!Check<NoReadyPolicy>(DeviceName.Robot, out result))
            {
                return false;
            }
            if (!Check<NoInitCompletedPolicy>(DeviceName.Robot, out result))
            {
                return false;
            }
            if (!Check<NoOriginCompletedPolicy>(DeviceName.Robot, out result))
            {
                return false;
            }
            RobotBaseDevice _device = DEVICE.GetDevice<RobotBaseDevice>(DeviceName.Robot);
            if (_device != null)
            {
                if (_device.IsError)
                {
                    result = "HASERROR";
                    return false;
                }
                if(args[1].ToString()=="ON")
                   _device.Grip((RobotArmEnum)arm);
                else if (args[1].ToString() == "OFF")
                   _device.Release((RobotArmEnum)arm);
                result = string.Empty;
                return true;
            }
              result = "NOFUNC";
            return false;
        }
        public bool? Monitor(out string result, params string[] args)
        {
            result = "";

            if (args[0].StartsWith("ARM"))
            {
                string device = DeviceName.Robot;
                Hand arm = Hand.Blade2;

                if (!ParseMoveArm(args[0], out arm) || arm == Hand.Both)
                {
                    result = PARAM_NG;
                    return false;
                }

                RobotBaseDevice robot = DEVICE.GetDevice<RobotBaseDevice>(device);

                if (robot.IsError)
                {
                    return false;
                }

                if (robot.IsReady())
                {
                    //if (arm == Hand.Blade1)
                    //    result = robot.StateBlade1Gripped ? "ON" : "OFF";
                    //else if (arm == Hand.Blade2)
                    //    result = robot.StateBlade2Gripped ? "ON" : "OFF";
                    return true;
                }

            }
            else
            {
                return true;

            }


            return null;
        }
    }
    public class GetClampTask : RobotImp, ITask
    {
        public GetClampTask()
        {
        }
        public bool Execute(out string result, params string[] args)
        {
            result = "NOFUNC";
            return false;
        }

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


            if (args[0].StartsWith("ARM"))
            {
                string device = DeviceName.Robot;
                Hand arm = Hand.Blade2;
 
                if (!ParseMoveArm(args[0], out arm) || arm == Hand.Both)
                {
                    result = PARAM_NG;
                    return false;
                }

                RobotBaseDevice robot = DEVICE.GetDevice<RobotBaseDevice>(device);

                if (robot.IsError)
                {
                    return false;
                }

                if (!robot.IsBusy)
                {
                    //if (arm == Hand.Blade1)
                    //    result = robot. ? "ON" : "OFF";
                    //else if (arm == Hand.Blade2)
                    //    result = robot.StateBlade2Gripped ? "ON" : "OFF";
                    return true;
                }

            }
            else
            {
                return true;

            }


            return null;
        }
    }


}