internal MissionResult RunCarOut_Unloader(ChangeCarCmd cmd)
{
UnloaderStatus faultStatus;
//this.curStep= changeCarStep.CAR_IN;
//bool isLeft = (bool)arg;
if (cmd.isLeft)
{
faultStatus = UnloaderStatus.WORKING_LEFT;
}
else
{
faultStatus = UnloaderStatus.WORKING_RIGHT;
}
while (this._MissionManagerPartialCmd.GetStatus_Unloader() == faultStatus)
{
Thread.Sleep(800);
}
//TODO
this._AlarmManager.EnableRaster(cmd.isLeft, false, false);
this._AlarmManager.EnableWarningSign(cmd.isLeft, false, true);
this._ExernalAxisManager.EnableCarHolder_Unloader(cmd.isLeft, false);
//this.status = changeCarStatus.HOLDING;
return(MissionResult.FINISH);
}
internal MissionResult RunCarIn_Unloader(ChangeCarCmd cmd)
{
this._ExernalAxisManager.EnableCarHolder_Loader(cmd.isLeft, true);
//this.status = changeCarStatus.HOLDING;
return(MissionResult.FINISH);
}
public MissionResult Run_changeCar_Unloader(object arg)
{
ChangeCarCmd cmd = (ChangeCarCmd)arg;
MissionResult result;
this._CurStep = cmd.requestStep; //changeCarStep.CAR_IN;
switch (cmd.requestStep)
{
case ChangeCarStep.CAR_OUT:
result = this.RunCarOut_Unloader(cmd);
break;
case ChangeCarStep.CAR_IN:
result = this.RunCarIn_Unloader(cmd);
break;
case ChangeCarStep.CAR_IN_FINISH:
result = this.RunCarInFinish_Unloader(cmd);
this._CurStep = ChangeCarStep.HOLDING;
break;
default:
result = MissionResult.CMDERROR;
break;
}
this._Status = ChangeCarStatus.HOLDING;
//this.curStep =
return(result);
}
internal MissionResult RunCarInFinish_Unloader(ChangeCarCmd cmd)
{
//TODO
this._AlarmManager.EnableRaster(cmd.isLeft, false, true);
this._AlarmManager.EnableWarningSign(cmd.isLeft, false, false);
string barcodeId = "testBarcodeID";
int frameSize = -1;
bool isPass = this._SkidPlatformManager.GetBarcodeId_Unloader(cmd.isLeft, out barcodeId, out frameSize);
if (isPass)
{
this._MissionManagerPartialCmd.SetBarcodeByForce_Unloader(barcodeId, frameSize, cmd.isLeft);
}
return(MissionResult.FINISH);
}