public Result DoPrime(Valve valve) { if (Machine.Instance.Robot.IsSimulation) { return(Result.OK); } SvValve svValve = (SvValve)valve; //排胶 Result result = Machine.Instance.Robot.MoveToLocAndReply(Machine.Instance.Robot.SystemLocations.PrimeLoc); if (result == Result.FAILED) { return(result); } valve.Spraying(); Thread.Sleep(svValve.Prm.PrimeTime); valve.SprayOff(); return(Machine.Instance.Robot.MoveSafeZAndReply()); }