81 lines
2.1 KiB
C#
81 lines
2.1 KiB
C#
using Aitex.Core.RT.Fsm;
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using SicRT.Scheduler;
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using SicRT.Equipments;
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using SicRT.Equipments.Systems;
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using Aitex.Core.RT.Device;
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using SicModules.Aligners;
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namespace SicRT.Modules.Schedulers
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{
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public class SchedulerAligner : SchedulerModule
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{
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public override bool IsAvailable
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{
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get { return _aliger.IsIdle && _aliger.IsOnline && CheckTaskDone(); }
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}
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public override bool IsOnline
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{
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get { return _aliger.IsOnline; }
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}
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public override bool IsError
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{
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get { return _aliger.IsError; }
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}
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private AlignerModuleBase _aliger = null;
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private int _entityTaskToken = (int)FSM_MSG.NONE;
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public SchedulerAligner(ModuleName module) : base(module.ToString())
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{
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_module = module.ToString();
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_aliger = Singleton<EquipmentManager>.Instance.Modules[module] as AlignerModule;
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}
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public bool Monitor()
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{
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return true;
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}
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public override bool Aligning()
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{
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_task = TaskType.Align;
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_entityTaskToken = _aliger.InvokeAligner();
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LogTaskStart(_task, $"{Module} Aligning");
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return _entityTaskToken != (int)FSM_MSG.NONE;
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}
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public bool CheckTaskDone()
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{
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var taskSucceed = false;
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switch (_task)
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{
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case TaskType.None:
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taskSucceed = true;
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break;
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case TaskType.Align:
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taskSucceed = _aliger.CheckAcked(_entityTaskToken);
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break;
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case TaskType.TransferTarget:
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taskSucceed = _aliger.CheckAcked(_entityTaskToken);
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break;
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}
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return SuperCheckTaskDone(taskSucceed, _aliger.IsIdle | _aliger.IsError);
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}
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public override bool IsReadyForPick(ModuleName robot, int slot)
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{
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return true;
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}
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public override bool IsReadyForPlace(ModuleName robot, int slot)
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{
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return true;
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}
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}
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} |