public static void UpdateNodesJob(string NodeName)
{
try
{
Form form = Application.OpenForms["FormWaferMapping"];
TextBox Mode;
if (form == null)
{
return;
}
Node node = NodeManagement.Get(NodeName);
//Mode.Text = node.Mode;
//if (node.IsMapping)
//{
for (int i = 1; i <= Tools.GetSlotCount(node.Type); i++)
{
UpdateSlot(node, i.ToString());
}
//}
}
catch
{
logger.Error("UpdateNodesJob: Update fail.");
}
}
public static void UpdateLoadPortMode(string PortName, string Mode)
{
try
{
Form form = Application.OpenForms["FormWaferMapping"];
Label Port_Mode;
if (form == null)
{
return;
}
Port_Mode = form.Controls.Find(PortName + "State_lb", true).FirstOrDefault() as Label;
if (Port_Mode == null)
{
return;
}
if (Port_Mode.InvokeRequired)
{
UpdatePort ph = new UpdatePort(UpdateLoadPortMode);
Port_Mode.BeginInvoke(ph, PortName, Mode);
}
else
{
NodeManagement.Get(PortName).Mode = Mode;
Port_Mode.Text = PortName + " [" + Mode + "]";
}
}
catch (Exception e)
{
logger.Error("UpdateLoadPortMode: Update fail:" + e.StackTrace);
}
}
private void UpdateCheckBox(object input)
{
FormMain.HostControl.Events.Load();
MonitoringUpdate.EventUpdate("MAPDT", FormMain.HostControl.Events.MAPDT);
MonitoringUpdate.EventUpdate("PORT", FormMain.HostControl.Events.PORT);
MonitoringUpdate.EventUpdate("PRS", FormMain.HostControl.Events.PRS);
MonitoringUpdate.EventUpdate("SYSTEM", FormMain.HostControl.Events.SYSTEM);
MonitoringUpdate.EventUpdate("TRANSREQ", FormMain.HostControl.Events.TRANSREQ);
MonitoringUpdate.EventUpdate("FFU", FormMain.HostControl.Events.FFU);
MonitoringUpdate.EventUpdate("BF1_BYPASS", FormMain.HostControl.Events.BF1_BYPASS);
NodeManagement.Get("BF1").ByPassCheck = FormMain.HostControl.Events.BF1_BYPASS;
MonitoringUpdate.EventUpdate("BF2_BYPASS", FormMain.HostControl.Events.BF2_BYPASS);
NodeManagement.Get("BF2").ByPassCheck = FormMain.HostControl.Events.BF2_BYPASS;
DIOUpdate.UpdateDIOStatus("RED", "False");
DIOUpdate.UpdateDIOStatus("ORANGE", "False");
DIOUpdate.UpdateDIOStatus("GREEN", "False");
DIOUpdate.UpdateDIOStatus("BLUE", "False");
DIOUpdate.UpdateDIOStatus("BUZZER1", "False");
DIOUpdate.UpdateDIOStatus("BUZZER2", "False");
foreach (Node node in NodeManagement.GetList())
{
MonitoringUpdate.EventUpdate(node.Name + "_Enable", node.Enable);
}
}
private void ChangeSpeed()
{
string sp = RunningSpeed_cb.Text.Replace("%", "");
if (sp.Equals("100"))
{
sp = "0";
}
foreach (Node node in NodeManagement.GetList())
{
string Message = "";
if (node.Type.Equals("ROBOT"))
{
Transaction txn = new Transaction();
txn.Method = Transaction.Command.RobotType.Speed;
txn.Value = sp;
txn.FormName = "Running";
node.SendCommand(txn, out Message);
}
else
if (node.Type.Equals("ALIGNER"))
{
Transaction txn = new Transaction();
txn.Method = Transaction.Command.AlignerType.Speed;
txn.Value = sp;
txn.FormName = "Running";
node.SendCommand(txn, out Message);
}
}
}
public LoadPortState(string name)
{
Node robot = NodeManagement.Get(name);
this.Name = name;
this.State = "".PadLeft(20);
}
private void CountDown(object obj)
{
while (true)
{
while (countDownSecs <= -1)
{
SpinWait.SpinUntil(() => countDownSecs > -1, 99999999);
}
CountDownUpdate(countDownSecs.ToString());
countDownSecs--;
if (countDownSecs == -1)
{//Reconnect all eqp
foreach (Node each in NodeManagement.GetList())
{
if (each.Enable)
{
each.GetController().Reconnect();
}
}
FormShow(false);
}
if (countDownSecs != -1)
{
SpinWait.SpinUntil(() => false, 1000);
}
}
}
private void FormWafer_Layout(object sender, LayoutEventArgs e)
{
WaferList_tv.Nodes.Clear();
Position_cb.Items.Clear();
foreach (Node node in NodeManagement.GetList())
{
if (!node.Type.Equals("OCR"))
{
TreeNode each = new TreeNode(node.Name);
Position_cb.Items.Add(node.Name);
List <Job> jobList = node.JobList.Values.ToList();
jobList.Sort((x, y) => { return(Convert.ToInt16(x.Slot).CompareTo(Convert.ToInt16(y.Slot))); });
foreach (Job j in jobList)
{
if (JobManagement.Get(j.Job_Id) != null)
{
each.Nodes.Add(j.Job_Id, j.Job_Id + "(Slot-" + j.Slot + ")");
}
}
WaferList_tv.Nodes.Add(each);
}
}
}
private void Node_Disable_Click(object sender, EventArgs e)
{
string NodeName = (sender as CheckBox).Name.Replace("_disable_ck", "");
Node node = NodeManagement.Get(NodeName);
node.SetEnable(!((sender as CheckBox).Checked));
}
/// <summary>
/// Helper function to build a NodePool object.
/// InitialNodeCount will default to 1.
/// MaximumNodesToScaleTo have to be greater than MinimumNodesToScaleTo, which defaults to 1.
/// </summary>
/// <param name="name">The name of the node pool.</param>
/// <param name="config">The config of the node pool.</param>
/// <param name="initialNodeCount">The number of nodes created in the pool initially.</param>
/// <param name="autoUpgrade">If true, nodes will have auto-upgrade enabled.</param>
/// <param name="minimumNodesToScaleTo">The maximum number of nodes to scale to.</param>
/// <param name="maximumNodesToScaleTo">
/// The minimum number of nodes to scale to. Defaults to 1.
/// </param>
/// <returns></returns>
protected NodePool BuildNodePool(string name, NodeConfig config, int?initialNodeCount, bool autoUpgrade,
int?minimumNodesToScaleTo, int?maximumNodesToScaleTo)
{
var nodePool = new NodePool()
{
Name = name,
InitialNodeCount = initialNodeCount ?? 1,
Config = config
};
if (maximumNodesToScaleTo != null)
{
nodePool.Autoscaling = BuildAutoscaling(maximumNodesToScaleTo, minimumNodesToScaleTo);
}
if (autoUpgrade)
{
var nodeManagement = new NodeManagement()
{
AutoUpgrade = true
};
nodePool.Management = nodeManagement;
}
return(nodePool);
}
public static void UpdateNodesJob(string NodeName)
{
try
{
Form form = Application.OpenForms["FormMonitoring"];
if (form == null)
{
return;
}
Node node = NodeManagement.Get(NodeName);
for (int i = 1; i <= Tools.GetSlotCount(node.Type); i++)
{
UpdateSlot(node, i.ToString());
}
}
catch
{
logger.Error("UpdateNodesJob: Update fail.");
}
}
private void Slot_Click(object sender, EventArgs e)
{
string[] ary = (sender as Label).Name.Split('_');
if (ary.Length == 3)
{
string Port = ary[0];
string Slot = ary[2];
Node p = NodeManagement.Get(Port);
if (p != null)
{
Job j;
if (p.JobList.TryGetValue(Slot, out j))
{
if (j.OCRImgPath.Equals("") && j.OCR_M12_ImgPath.Equals("") && j.OCR_T7_ImgPath.Equals(""))
{
MessageBox.Show("未找到OCR紀錄");
}
else
{
OCRResult form2 = new OCRResult(j);
form2.ShowDialog();
//// open image in default viewer
//System.Diagnostics.Process.Start(j.OCRImgPath);
}
}
else
{
MessageBox.Show("未找到Wafer");
}
}
}
}
public static void UpdateJobMove(string JobId)
{
try
{
Form form = Application.OpenForms["FormRunningScreen"];
CheckBox tb;
if (form == null)
{
return;
}
tb = form.Controls.Find("use_loadport01_ck", true).FirstOrDefault() as CheckBox;
if (tb == null)
{
return;
}
if (tb.InvokeRequired)
{
UpdatePresent ph = new UpdatePresent(UpdateJobMove);
tb.BeginInvoke(ph, JobId);
}
else
{
Job Job = JobManagement.Get(JobId);
if (Job != null)
{
Node LastNode = NodeManagement.Get(Job.LastNode);
Node CurrentNode = NodeManagement.Get(Job.Position);
if (LastNode != null)
{
Label present = form.Controls.Find(Job.LastNode + "_Slot_" + Job.LastSlot, true).FirstOrDefault() as Label;
if (present != null)
{
present.Text = "No wafer";
present.BackColor = Color.DimGray;
present.ForeColor = Color.White;
}
}
if (CurrentNode != null)
{
Label present = form.Controls.Find(Job.Position + "_Slot_" + Job.Slot, true).FirstOrDefault() as Label;
if (present != null)
{
present.Text = Job.Host_Job_Id;
present.BackColor = Color.Green;
present.ForeColor = Color.White;
}
}
}
}
}
catch
{
logger.Error("UpdateJobMove: Update fail.");
}
}
private void ResetAll_bt_Click(object sender, EventArgs e)
{
Transaction Txn;
foreach (AlarmInfo eachA in AlarmManagement.GetAll())
{
if (!eachA.NeedReset)
{
AlarmManagement.Remove(eachA);
}
}
//foreach (Node node in NodeManagement.GetList())
//{
// node.State = node.LastState;
//}
var NodeList = AlarmManagement.GetAll().GroupBy(t => t.NodeName);
foreach (var group in NodeList)
{
string Message = "";
Txn = new Transaction();
Txn.Method = Transaction.Command.RobotType.Reset;
Txn.TaskId = "";
//NodeManagement.Get(group.First().NodeName).State = "Alarm";
NodeManagement.Get(group.First().NodeName).SendCommand(Txn, out Message);
AlarmManagement.Remove(group.First().NodeName);
}
//NodeStatusUpdate.UpdateCurrentState("Idle");
AlarmUpdate.UpdateAlarmList(AlarmManagement.GetAll());
}
private static void ReAssign()
{
try
{
Form form = Application.OpenForms["FormOCR"];
TabControl tabControl1;
if (form == null)
{
return;
}
tabControl1 = form.Controls.Find("tabControl1", true).FirstOrDefault() as TabControl;
if (tabControl1 == null)
{
return;
}
if (tabControl1.InvokeRequired)
{
ReAssignUI ph = new ReAssignUI(ReAssign);
tabControl1.BeginInvoke(ph);
}
else
{
tabControl1.TabPages.Clear();
var ocrs = from ocr in NodeManagement.GetList()
where ocr.Type.Equals("OCR")
select ocr;
bool IsCognexInit = false;
System.Threading.Thread.Sleep(2000);
foreach (Node ocr in ocrs)
{
switch (ocr.Brand)
{
case "HST":
pCnt++;
Process p1 = Process.Start(new ProcessStartInfo("C:/Program Files (x86)/HST Vision/e-Reader8000/VB9BReaderForm.exe", ocr.AdrNo));
//ThreadPool.QueueUserWorkItem(new WaitCallback(LoadHST), ocr);
break;
case "COGNEX":
if (!IsCognexInit)
{
pCnt++;
IsCognexInit = true;
Process p2 = Process.Start(new ProcessStartInfo("C:/Program Files (x86)/Cognex/In-Sight/In-Sight Explorer Wafer 4.5.0/WaferID.exe"));
//ThreadPool.QueueUserWorkItem(new WaitCallback(LoadCOGNEX), ocr);
}
//ControllerManagement.Get(ocr.Controller).Connect();
break;
}
}
}
}
catch (Exception e)
{
logger.Error(e.StackTrace);
}
}
public void On_Node_Connection_Changed(string NodeName, string Status)
{
ConnectionStatusUpdate.UpdateControllerStatus(NodeName, Status);
Node node = NodeManagement.Get(NodeName);
logger.Debug("On_Node_Connection_Changed");
}
private void ResetAll_bt_Click(object sender, EventArgs e)
{
var NodeList = ((List <AlarmInfo>)AlarmList_gv.DataSource).ToList().GroupBy(t => t.NodeName);
foreach (var group in NodeList)
{
NodeManagement.Get(group.First().NodeName).SendCommand(new Transaction(new List <Job>(), "", "", Transaction.Command.RobotType.Reset, "", 300000));
}
}
private void OCR02ReadT7_Tb_MouseDoubleClick(object sender, MouseEventArgs e)
{
string Message = "";
Transaction t = new Transaction();
Node ocr2 = NodeManagement.Get("OCR02");
t.Method = Transaction.Command.OCRType.ReadConfig;
t.Value = "1";
ocr2.SendCommand(t, out Message);
}
private void Ocr1_lb_MouseDoubleClick(object sender, MouseEventArgs e)
{
string Message = "";
Transaction t = new Transaction();
Node ocr1 = NodeManagement.Get("OCR01");
t.Method = Transaction.Command.OCRType.Read;
ocr1.SendCommand(t, out Message);
}
private void ChangeNodeConnectionStatus(string status)
{
var Nodes = from each in NodeManagement.GetList()
where each.Controller.Equals(this.Name)
select each;
foreach (Node eachNode in Nodes)
{
eachNode.ConnectionStatus = status;
}
}
public void getStatus()
{
StateUtil.Init();
foreach (Node each in NodeManagement.GetList())
{
string Message = "";
try
{
IController Ctrl = ControllerManagement.Get(each.Controller);
//string ctrl_status = ControllerManagement.Get(each.Controller).Status;
string ctrl_status = ControllerManagement.Get(each.Controller) != null?ControllerManagement.Get(each.Controller).GetStatus() : "";
if (ctrl_status.Equals("Connected") && each.ByPass == false)
{
string seq = "";
Transaction txn = new Transaction();
if (each.Brand.ToUpper().Equals("KAWASAKI"))
{
seq = Ctrl.GetNextSeq();
}
else
{
seq = "";
}
switch (each.Type)
{
case "ROBOT":
txn.Method = Transaction.Command.RobotType.GetStatus;
break;
case "ALIGNER":
txn.Method = Transaction.Command.AlignerType.GetStatus;
break;
case "LOADPORT":
txn.Method = Transaction.Command.LoadPortType.ReadStatus;
break;
}
txn.FormName = "FormStatus";
txn.AdrNo = each.AdrNo;
txn.Seq = seq;
if (!txn.Method.Equals(""))
{
each.SendCommand(txn, out Message);
}
}
}
catch (Exception e)
{
logger.Error(e.StackTrace);
}
}
}
private void use_loadport_ck_CheckedChanged(object sender, EventArgs e)
{
string LoadportName = ((CheckBox)sender).Name.Replace("use_", "").Replace("_ck", "").ToUpper();
Node port = NodeManagement.Get(LoadportName);
if (((CheckBox)sender).Checked)
{
SelectLoadports.Add(port);
if (SelectLoadports.Count >= 2)
{
if (!use_loadport01_ck.Checked)
{
use_loadport01_ck.Enabled = false;
}
if (!use_loadport02_ck.Checked)
{
use_loadport02_ck.Enabled = false;
}
if (!use_loadport03_ck.Checked)
{
use_loadport03_ck.Enabled = false;
}
if (!use_loadport04_ck.Checked)
{
use_loadport04_ck.Enabled = false;
}
}
}
else
{
SelectLoadports.Remove(port);
if (SelectLoadports.Count < 2)
{
if (!use_loadport01_ck.Checked)
{
use_loadport01_ck.Enabled = true;
}
if (!use_loadport02_ck.Checked)
{
use_loadport02_ck.Enabled = true;
}
if (!use_loadport03_ck.Checked)
{
use_loadport03_ck.Enabled = true;
}
if (!use_loadport04_ck.Checked)
{
use_loadport04_ck.Enabled = true;
}
}
}
}
private void RefreshMap()
{
fromPort = "";
fromSlot = "";
toPort = "";
toSlot = "";
Form form = this;
foreach (Node p in NodeManagement.GetLoadPortList())//更新所有目的地slot被選的狀態
{
if (p.Enable && p.IsMapping)
{
foreach (Job eachSlot in p.JobList.Values)
{
if (!eachSlot.MapFlag && !eachSlot.ErrPosition)//找到空slot
{
Label present = form.Controls.Find(p.Name + "_Slot_" + eachSlot.Slot, true).FirstOrDefault() as Label;
if (present != null)
{
if (eachSlot.ReservePort.Equals("") && eachSlot.ReserveSlot.Equals(""))
{//沒被選
present.BackColor = Color.DimGray;
present.ForeColor = Color.White;
}
else
{//已被選
present.BackColor = Color.Brown;
present.ForeColor = Color.White;
}
}
}
if (eachSlot.MapFlag && !eachSlot.ErrPosition)//找到wafer
{
Label present = form.Controls.Find(p.Name + "_Slot_" + eachSlot.Slot, true).FirstOrDefault() as Label;
if (present != null)
{
if (!eachSlot.Destination.Equals("") && !eachSlot.DestinationSlot.Equals("") /*&& (!eachSlot.Destination.Equals(eachSlot.Position) && !eachSlot.DestinationSlot.Equals(eachSlot.Slot))*/)
{//已被選
present.BackColor = Color.Brown;
present.ForeColor = Color.White;
}
else
{//沒被選
present.BackColor = Color.Green;
present.ForeColor = Color.White;
}
}
}
}
}
}
}
public void Excute(object input)
{
TaskFlowManagement.CurrentProcessTask TaskJob = (TaskFlowManagement.CurrentProcessTask)input;
if (TaskJob.TaskName != TaskFlowManagement.Command.CCLINK_GET_IO && TaskJob.TaskName != TaskFlowManagement.Command.CCLINK_SET_IO)
{
logger.Debug("ITaskFlow:" + TaskJob.TaskName.ToString() + " Index:" + TaskJob.CurrentIndex.ToString());
}
if (TaskJob.CurrentIndex == 0 && TaskJob.TaskName.ToString().IndexOf("CCLINK") == -1)
{
_TaskReport.On_Message_Log("CMD", TaskJob.TaskName.ToString() + " " + (TaskJob.Params.ContainsKey("@Target") ? TaskJob.Params["@Target"] : "") + " Executing");
}
string Message = "";
Node Target = null;
Node Position = null;
string tmp = "";
string Value = "";
if (TaskJob.Params != null)
{
foreach (KeyValuePair <string, string> item in TaskJob.Params)
{
switch (item.Key)
{
case "@Target":
Target = NodeManagement.Get(item.Value);
break;
case "@Position":
Position = NodeManagement.Get(item.Value);
break;
case "@Value":
Value = item.Value;
break;
}
}
}
try
{
switch (TaskJob.TaskName)
{
}
}
catch (Exception e)
{
logger.Error("Excute fail Task Name:" + TaskJob.TaskName.ToString() + " " + (TaskJob.Params.ContainsKey("@Target") ? TaskJob.Params["@Target"] : "") + " exception: " + e.StackTrace);
AbortTask(TaskJob, NodeManagement.Get("SYSTEM"), e.StackTrace);
return;
}
return;
}
public AlignerState(string name)
{
Node aligner = NodeManagement.Get(name);
this.Name = name;
this.Status = aligner != null ? aligner.State : "N/A";
this.State = "".PadLeft(32);
this.Present = "";
this.Vacuum = "";
this.Speed = "";
this.Mode = "";
this.Error = "";
}
private void Unload_btn(object sender, EventArgs e)
{
string PortName = ((Button)sender).Name.Substring(0, ((Button)sender).Name.IndexOf("_"));
Node port = NodeManagement.Get(PortName);
if (port == null)
{
MessageBox.Show(PortName + " not found");
}
if (port.Enable)
{
FoupInfo foup = FoupInfo.Get(port.Name);
if (foup != null)
{
foup.SetAllUnloadTime(DateTime.Now);
}
else
{
foup = new Adam.FoupInfo(SystemConfig.Get().CurrentRecipe, Global.currentUser, port.FoupID);
foreach (Job j in port.JobList.Values)
{
if (j.MapFlag && !j.ErrPosition)
{
int slot = Convert.ToInt16(j.Slot);
foup.record[slot - 1] = new Adam.waferInfo(port.Name, port.FoupID, j.Slot, j.FromPort, j.FromFoupID, j.FromPortSlot, j.ToPort, j.ToFoupID, j.ToPortSlot);
foup.record[slot - 1].SetStartTime(j.StartTime);
foup.record[slot - 1].setM12(j.OCR_M12_Result);
foup.record[slot - 1].setT7(j.OCR_T7_Result);
foup.record[slot - 1].SetEndTime(j.EndTime);
foup.record[slot - 1].SetLoadTime(port.LoadTime);
foup.record[slot - 1].SetUnloadTime(DateTime.Now);
foup.record[slot - 1].setM12Score(j.OCR_M12_Score);
foup.record[slot - 1].setT7Score(j.OCR_T7_Score);
}
}
}
foup.Save();
((Button)sender).Enabled = false;
string TaskName = "LOADPORT_CLOSE_NOMAP";
string Message = "";
Dictionary <string, string> param1 = new Dictionary <string, string>();
param1.Add("@Target", port.Name);
TaskJobManagment.CurrentProceedTask tmpTask;
RouteControl.Instance.TaskJob.Excute(Guid.NewGuid().ToString() + "Unload_btn", out Message, out tmpTask, TaskName, param1);
}
else
{
MessageBox.Show(PortName + " is disabled");
}
}
private void UnAssignPort(object sender, EventArgs e)
{
if ((CurrentSelected as DataGridView).SelectedRows.Count == 0)
{
MessageBox.Show("請選擇來源Slot");
}
else if ((CurrentSelected as DataGridView).SelectedRows.Count == 1)
{
string waferId = (CurrentSelected as DataGridView).SelectedRows[0].Cells["Job_Id"].Value.ToString();
string OrgDest = (CurrentSelected as DataGridView).SelectedRows[0].Cells["Destination"].Value.ToString();
string OrgDestSlot = (CurrentSelected as DataGridView).SelectedRows[0].Cells["DestinationSlot"].Value.ToString();
Job wafer = JobManagement.Get(waferId);
if (wafer != null)
{
wafer.UnAssignPort();
wafer.NeedProcess = false;
//wafer.Position = PortName;
if (!OrgDest.Equals(""))
{
NodeManagement.Get(OrgDest).RemoveReserve(OrgDestSlot);
}
(CurrentSelected as DataGridView).Refresh();
}
else
{
MessageBox.Show("找不到此Wafer資料:" + wafer.Job_Id);
}
}
else if ((CurrentSelected as DataGridView).SelectedRows.Count > 1)
{
foreach (DataGridViewRow each in (CurrentSelected as DataGridView).SelectedRows)
{
string waferId = each.Cells["Job_Id"].Value.ToString();
string OrgDest = each.Cells["Destination"].Value.ToString();
string OrgDestSlot = each.Cells["DestinationSlot"].Value.ToString();
Job wafer = JobManagement.Get(waferId);
if (wafer != null)
{
wafer.UnAssignPort();
wafer.NeedProcess = false;
if (!OrgDest.Equals(""))
{
NodeManagement.Get(OrgDest).RemoveReserve(OrgDestSlot);
}
}
}
(CurrentSelected as DataGridView).Refresh();
MonitoringUpdate.UpdateNodesJob((CurrentSelected as DataGridView).Name.Replace("Assign_Gv", ""));
}
}
private Node SearchLoadport()
{
Node result = null;
var AvailableWafers = from job in JobManagement.GetJobList()
where job.NeedProcess
orderby job.AssignTime
select job;
if (AvailableWafers.Count() != 0)
{
result = NodeManagement.Get(AvailableWafers.First().Position);
}
return(result);
}
private void LoadPort_FoupID_TextChanged(object sender, EventArgs e)
{
string PortName = (sender as TextBox).Name.Replace("_FoupID", "");
Node port = NodeManagement.Get(PortName);
if (port != null)
{
port.FoupID = (sender as TextBox).Text;
}
else
{
MessageBox.Show("Port " + PortName + " not found.");
}
}
private void toolStripMenuItem5_Click(object sender, EventArgs e)
{
string strMsg = "Move to Home position. OK?";
if (MessageBox.Show(strMsg, "Org.Back", MessageBoxButtons.OKCancel, MessageBoxIcon.Exclamation, MessageBoxDefaultButton.Button1) == DialogResult.OK)
{
string Message = "";
Transaction txn = new Transaction();
txn.Method = Transaction.Command.RobotType.Home;
NodeManagement.Get("Robot01").SendCommand(txn, out Message);
txn = new Transaction();
txn.Method = Transaction.Command.RobotType.Home;
NodeManagement.Get("Robot02").SendCommand(txn, out Message);
}
}
public void SetReport(ICommandReport ReportTarget)
{
_ReportTarget = ReportTarget;
_Decoder = new CommandConvert.CommandDecoder(Vendor);
Encoder = new CommandEncoder(Vendor);
this.Name = DeviceName;
this.Status = "";
ThreadPool.QueueUserWorkItem(new WaitCallback(Start), NodeManagement.Get("CSTROBOT"));
}