/// <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();
}
/// <summary>多路徑移動</summary>
/// <param name="instance"></param>
/// <param name="path">路徑檔名稱的集合</param>
public static void Move(this MacHalBoxTransfer instance, List <string> paths)
{
instance.RobotMoving(true);
foreach (var path in paths)
{
instance.ExePathMove(path);
}
instance.RobotMoving(false);
}
public static int GetCameraLightValue(this MacHalBoxTransfer instance, EnumMacMaskBoxType boxType)
{
if (boxType == EnumMacMaskBoxType.IronBox)
{
return(5);
}
else if (boxType == EnumMacMaskBoxType.CrystalBox)
{
return(100);
}
else
{
return(200);
}
}
/// <summary></summary>
/// <param name="instance"></param>
/// <param name="picName"></param>
/// <param name="lightValue"></param>
public static string CameraShot(this MacHalBoxTransfer instance, string pathName, string picType, int lightValue = 200)
{
string rtnV = "";
try
{
// 開啟 光源
instance.TurnOnCameraLight(lightValue);
// 照相
instance.Camera_CapToSave(pathName, picType);
rtnV = "Boxtransfer camera shot [OK]";
}
catch (Exception ex)
{
rtnV = "Boxtransfer camera shot error:" + ex.Message + ", lightValue=" + lightValue;
}
finally
{
instance.TurnOffCameraLight();
}
return(rtnV);
}
public static void TurnOffCameraLight(this MacHalBoxTransfer instance)
{
instance.LightForGripperSetValue(0);
}
public static void TurnOnCameraLight(this MacHalBoxTransfer instance, int lightValue = 200)
{
instance.LightForGripperSetValue(lightValue);
}
/// <summary>單一路徑移動</summary>
/// <param name="instance"></param>
/// <param name="path">路徑檔名稱</param>
public static void Move(this MacHalBoxTransfer instance, string path)
{
instance.Move((new string[] { path }).ToList());
}
