[RT.EquipmentLibrary]

上银机械手注册真空开关，夹爪开关函数

MECF.Framework.RT.EquipmentLibrary/HardwareUnits/Robots/HwinRobort/HwinRobot.cs

@@ -149,7 +149,30 @@ namespace MECF.Framework.RT.EquipmentLibrary.HardwareUnits.Robots.HwinRobot
                 OnActionDone(args);
                 return true;
             });
-
+            //开真空
+            OP.Subscribe($"{Module}.VacuumOn", (string cmd, object[] args) =>
+            {
+                RobotVacuumOn();
+                return true;
+            });
+            //关真空
+            OP.Subscribe($"{Module}.VacuumOff", (string cmd, object[] args) =>
+            {
+                RobotVacuumOff();
+                return true;
+            });
+            //开夹爪
+            OP.Subscribe($"{Module}.HandOn", (string cmd, object[] args) =>
+            {
+                RobotHandOn();
+                return true;
+            });
+            //关夹爪
+            OP.Subscribe($"{Module}.HandOff", (string cmd, object[] args) =>
+            {
+                RobotHandOff();
+                return true;
+            });
             ModuleAssociateStationDic = new Dictionary<string, string>()
             {
                 {$"{ModuleName.LoadLock }", "D" },
@@ -777,6 +800,42 @@ namespace MECF.Framework.RT.EquipmentLibrary.HardwareUnits.Robots.HwinRobot
                 _lstHandler.AddLast(new HwinRobotSVONHandler(this));
             }
         }
+
+        public void RobotVacuumOn()
+        {
+            _lstHandler.Clear();
+            lock (_locker)
+            {
+                _lstHandler.AddLast(new HwinRobotOutpOpenHandler(this));
+            }
+        }
+
+        public void RobotVacuumOff()
+        {
+            _lstHandler.Clear();
+            lock (_locker)
+            {
+                _lstHandler.AddLast(new HwinRobotOutpCloseHandler(this));
+            }
+        }
+
+        public void RobotHandOn()
+        {
+            _lstHandler.Clear();
+            lock (_locker)
+            {
+                _lstHandler.AddLast(new HwinRobotBOPTPHandler(this));
+            }
+        }
+
+        public void RobotHandOff()
+        {
+            _lstHandler.Clear();
+            lock (_locker)
+            {
+                _lstHandler.AddLast(new HwinRobotBOPTClosePHandler(this));
+            }
+        }
         #endregion
 
         #region Note Functions

MECF.Framework.RT.EquipmentLibrary/HardwareUnits/Robots/HwinRobort/HwinRobotHandler.cs

@@ -824,7 +824,7 @@ namespace MECF.Framework.RT.EquipmentLibrary.HardwareUnits.Robots.HwinRobot
     public class HwinRobotBOPTPHandler : HwinRobotHandler
     {
         //打开夹爪
-        public HwinRobotBOPTPHandler(HwinRobotB device, int timeout = 60)
+        public HwinRobotBOPTPHandler(HwinRobot device, int timeout = 60)
             : base(device, $"OUTP 1 0")
         {
             AckTimeout = TimeSpan.FromSeconds(timeout);