public void GetRobotAndCarrierSlotStatus()
{
LocalPackage.MainFlowHandler.UpdateLoadingAndCSTID();
var loadUnloadData = LocalPackage.MainFlowHandler.localData.LoadUnloadData;
OnUpdateRobotStatusEvent?.Invoke(this, new RobotStatus()
{
EnumRobotState = GetEnumRobotStateFrom(loadUnloadData),
IsHome = loadUnloadData.Loading
});
OnUpdateCarrierSlotStatusEvent?.Invoke(this, new CarrierSlotStatus()
{
CarrierId = loadUnloadData.CstID,
EnumCarrierSlotState = GetEnumCarrierSlotStateFrom(loadUnloadData),
ManualDeleteCST = string.IsNullOrEmpty(loadUnloadData.CstID.Trim())
});
}
public void DoRobotCommandFor(RobotCommand robotCommand)
{
Task.Run(() =>
{
if (robotCommand.GetTransferStepType() == EnumTransferStepType.Load)
{
RobotStatus = new RobotStatus()
{
EnumRobotState = EnumRobotState.Busy, IsHome = false
};
OnUpdateRobotStatusEvent?.Invoke(this, RobotStatus);
System.Threading.Thread.Sleep(2000);
CarrierSlotStatus = new CarrierSlotStatus()
{
CarrierId = robotCommand.CassetteId, EnumCarrierSlotState = EnumCarrierSlotState.Loading, SlotNumber = robotCommand.SlotNumber
};
OnUpdateCarrierSlotStatusEvent?.Invoke(this, CarrierSlotStatus);
System.Threading.Thread.Sleep(2000);
RobotStatus = new RobotStatus()
{
EnumRobotState = EnumRobotState.Idle, IsHome = true
};
OnUpdateRobotStatusEvent?.Invoke(this, RobotStatus);
OnRobotEndEvent?.Invoke(this, EnumRobotEndType.Finished);
}
else if (robotCommand.GetTransferStepType() == EnumTransferStepType.Unload)
{
RobotStatus = new RobotStatus()
{
EnumRobotState = EnumRobotState.Busy, IsHome = false
};
OnUpdateRobotStatusEvent?.Invoke(this, RobotStatus);
System.Threading.Thread.Sleep(2000);
CarrierSlotStatus = new CarrierSlotStatus()
{
CarrierId = "", EnumCarrierSlotState = EnumCarrierSlotState.Empty, SlotNumber = robotCommand.SlotNumber
};
OnUpdateCarrierSlotStatusEvent?.Invoke(this, CarrierSlotStatus);
System.Threading.Thread.Sleep(2000);
RobotStatus = new RobotStatus()
{
EnumRobotState = EnumRobotState.Idle, IsHome = true
};
OnUpdateRobotStatusEvent?.Invoke(this, RobotStatus);
OnRobotEndEvent?.Invoke(this, EnumRobotEndType.Finished);
}
});
}
public void SetCarrierSlotStatusTo(CarrierSlotStatus carrierSlotStatus)
{
CarrierSlotStatus = carrierSlotStatus;
OnUpdateCarrierSlotStatusEvent?.Invoke(this, CarrierSlotStatus);
}
public void GetRobotAndCarrierSlotStatus()
{
OnUpdateRobotStatusEvent?.Invoke(this, RobotStatus);
OnUpdateCarrierSlotStatusEvent?.Invoke(this, CarrierSlotStatus);
}
