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);
}
});
}
private void LoadUnloadControl_ForkCompleteEvent(object sender, EnumLoadUnloadComplete enumLoadUnloadComplete)
{
EnumRobotEndType robotEndType = GetEnumRobotEndTypeFrom(enumLoadUnloadComplete);
OnRobotEndEvent?.Invoke(this, robotEndType);
}