84 lines
2.2 KiB
C#
84 lines
2.2 KiB
C#
using Aitex.Core.RT.SCCore;
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using System;
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using System.Collections.Generic;
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using System.Linq;
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using System.Text;
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using System.Threading.Tasks;
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using Aitex.Sorter.Common;
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using MECF.Framework.Common.Equipment;
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using Aitex.Core.RT.Device;
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namespace MECF.Framework.RT.EquipmentLibrary.HardwareUnits.Robot.SR100.AL
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{
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public class SR100AlignerHandlerFactory : IAlignerHandlerFactory
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{
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private TokenGenerator _tokener = new TokenGenerator("Aligner.AlignerCommunicationToken");
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private IDevice _device = null;
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public SR100AlignerHandlerFactory(IDevice device)
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{
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_device = device;
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}
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public IHandler Init()
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{
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return new handler<AlInitHandler>(_device, ref _tokener);
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}
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public IHandler Home()
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{
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return new handler<AlHomeHandler>(_device, ref _tokener);
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}
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public IHandler Event()
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{
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return new handler<ALEventHandler>(_device, ref _tokener, true);
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}
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public IHandler Grip(Hand hand)
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{
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return new handler<AlGripHandler>(_device, ref _tokener, hand, true);
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}
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public IHandler Release(Hand hand)
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{
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return new handler<AlGripHandler>(_device, ref _tokener, hand, false);
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}
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public IHandler QueryState()
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{
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return new handler<ALQueryStateHandler>(_device, ref _tokener);
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}
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public IHandler Clear()
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{
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return new handler<AlClearErrorHandler>(_device, ref _tokener);
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}
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public IHandler Stop()
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{
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return new handler<AlStopHandler>(_device, ref _tokener);
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}
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public IHandler Align(double angle)
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{
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return new handler<AlAlignHandler>(_device, ref _tokener, angle);
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}
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public IHandler LiftUp()
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{
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return new handler<ALLiftHandler>(_device, ref _tokener, true);
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}
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public IHandler LiftDown()
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{
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return new handler<ALLiftHandler>(_device, ref _tokener, false);
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}
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public IHandler MoveToReadyPostion()
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{
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throw new NotImplementedException();
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}
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}
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}
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