parent
74af3166a3
commit
d2bcfff977
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@ -149,7 +149,30 @@ namespace MECF.Framework.RT.EquipmentLibrary.HardwareUnits.Robots.HwinRobot
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OnActionDone(args);
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return true;
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});
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//开真空
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OP.Subscribe($"{Module}.VacuumOn", (string cmd, object[] args) =>
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{
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RobotVacuumOn();
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return true;
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});
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//关真空
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OP.Subscribe($"{Module}.VacuumOff", (string cmd, object[] args) =>
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{
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RobotVacuumOff();
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return true;
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});
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//开夹爪
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OP.Subscribe($"{Module}.HandOn", (string cmd, object[] args) =>
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{
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RobotHandOn();
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return true;
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});
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//关夹爪
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OP.Subscribe($"{Module}.HandOff", (string cmd, object[] args) =>
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{
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RobotHandOff();
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return true;
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});
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ModuleAssociateStationDic = new Dictionary<string, string>()
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{
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{$"{ModuleName.LoadLock }", "D" },
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@ -777,6 +800,42 @@ namespace MECF.Framework.RT.EquipmentLibrary.HardwareUnits.Robots.HwinRobot
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_lstHandler.AddLast(new HwinRobotSVONHandler(this));
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}
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}
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public void RobotVacuumOn()
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{
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_lstHandler.Clear();
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lock (_locker)
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{
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_lstHandler.AddLast(new HwinRobotOutpOpenHandler(this));
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}
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}
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public void RobotVacuumOff()
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{
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_lstHandler.Clear();
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lock (_locker)
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{
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_lstHandler.AddLast(new HwinRobotOutpCloseHandler(this));
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}
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}
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public void RobotHandOn()
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{
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_lstHandler.Clear();
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lock (_locker)
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{
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_lstHandler.AddLast(new HwinRobotBOPTPHandler(this));
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}
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}
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public void RobotHandOff()
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{
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_lstHandler.Clear();
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lock (_locker)
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{
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_lstHandler.AddLast(new HwinRobotBOPTClosePHandler(this));
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}
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}
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#endregion
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#region Note Functions
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@ -824,7 +824,7 @@ namespace MECF.Framework.RT.EquipmentLibrary.HardwareUnits.Robots.HwinRobot
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public class HwinRobotBOPTPHandler : HwinRobotHandler
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{
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//打开夹爪
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public HwinRobotBOPTPHandler(HwinRobotB device, int timeout = 60)
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public HwinRobotBOPTPHandler(HwinRobot device, int timeout = 60)
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: base(device, $"OUTP 1 0")
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{
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AckTimeout = TimeSpan.FromSeconds(timeout);
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