/// <summary> 回到 CB1 HOME</summary>
/// <param name="instance"></param>
public static void TurnToCB2Home(this MacHalBoxTransfer instance)
{
var pathFileObj = new BoxrobotTransferPathFile(PositionInstance.BTR_Path);
string path = pathFileObj.Cabinet02HomePathFile();
instance.Move(path);
}
public Ut001_002_004_005()
{
try
{
DrawerKeys = HalDrawerExtends.DrawerKeys;
DrawerLocations = HalDrawerExtends.DrawerLocations;
PositionInstance.Load(); // 在這裏載入所有(Boxtransfer 及 Masktransfer)的路徑點位資料
pathFileObj = new BoxrobotTransferPathFile(PositionInstance.BTR_Path);
HalContext = MacHalContextExtends.Create_MacHalContext_Instance();
HalUniversal = HalContext.GetUniversalAssembly();
HalOpenStage = HalContext.GetOpenStageAssembly();
HalBoxTransfer = HalContext.GetBoxTransferAssembly();
HalUniversal.HalConnect();
HalOpenStage.HalConnect();
HalBoxTransfer.HalConnect();
// Initial
// HalOpenStage.ReadRobotIntrude(false, false);
HalOpenStage.Initial();
HalBoxTransfer.Initial();
HalBoxTransfer.TurnOffCameraLight();
}
catch (Exception ex)
{
InitialError = true;
InitialErrorMessage = ex.Message;
}
// HalBoxTransfer.TurnToCB1Home();
}
BoxrobotTransferPathFile pathFileObj;//= new BoxrobotTransferPathFile(PositionInstance.BTR_Path);
public Ut001_BT()
{
DrawerKeys = HalDrawerExtends.DrawerKeys;
DrawerLocations = HalDrawerExtends.DrawerLocations;
PositionInstance.Load(); // 在這裏載入所有(Boxtransfer 及 Masktransfer)的路徑點位資料
pathFileObj = new BoxrobotTransferPathFile(PositionInstance.BTR_Path);
}
public void TestFilePath()
{
PositionInstance.Load(); // 在這裏載入所有(Boxtransfer 及 Masktransfer)的路徑點位資料
pathFileObj = new BoxrobotTransferPathFile(PositionInstance.BTR_Path);
var path00 = pathFileObj.GetFromCabinetHomeToDrawerGetPath(BoxrobotTransferLocation.Drawer_01_01);
var path01 = pathFileObj.GetFromCabinetHomeToDrawerPutPath(BoxrobotTransferLocation.Drawer_01_01);
var path02 = pathFileObj.GetFromCabinetHomeToDrawerGetPath(BoxrobotTransferLocation.Drawer_04_01);
var path03 = pathFileObj.GetFromCabinetHomeToDrawerPutPath(BoxrobotTransferLocation.Drawer_04_01);
//pathFileObj = new BoxrobotTransferPathFile(PositionInstance.BTR_Path);
var path04 = pathFileObj.GetFromDrawerToCabitnetHomeGetPath(BoxrobotTransferLocation.Drawer_01_01);
var path05 = pathFileObj.GetFromDrawerToCabitnetHomePutPath(BoxrobotTransferLocation.Drawer_01_01);
var path06 = pathFileObj.GetFromDrawerToCabitnetHomeGetPath(BoxrobotTransferLocation.Drawer_04_01);
var path07 = pathFileObj.GetFromDrawerToCabitnetHomePutPath(BoxrobotTransferLocation.Drawer_04_01);
}
public static string GetFromCabinetHomeToDrawerPutPath(this BoxrobotTransferPathFile instance, BoxrobotTransferLocation drawerLocation)
{
var drawerHome = drawerLocation.GetCabinetHomeCode();
if (drawerHome.Item1 == false)
{
return("");
}
if (drawerHome.Item2 == BoxrobotTransferLocation.Cabinet_01_Home)
{
var path = instance.FromCabinet01HomeToDrawer_PUT_PathFile(drawerLocation);
return(path);
}
else// if(drawerHome.Item2 == BoxrobotTransferLocation.Cabinet_02_Home)
{
var path = instance.FromCabinet02HomeToDrawer_PUT_PathFile(drawerLocation);
return(path);
}
}
BoxrobotTransferPathFile pathFileObj;//= new BoxrobotTransferPathFile(PositionInstance.BTR_Path);
public Ut023_OS()
{
PositionInstance.Load(); // 在這裏載入所有(Boxtransfer 及 Masktransfer)的路徑點位資料
pathFileObj = new BoxrobotTransferPathFile(PositionInstance.BTR_Path);
}
