public void Sucker(FixtureId Fixture, VacuumState state, VacuumArea area = VacuumArea.Circle, bool checkVacuum = true)
{
switch (state)
{
case VacuumState.On:
if (area == VacuumArea.Circle)
{
_mc.VacuumOn(Fixtures[(int)Fixture].VaccumOutputCircle, Fixtures[(int)Fixture].VaccumInputCircle, checkVacuum);
}
else
{
_mc.VacuumOn(Fixtures[(int)Fixture].VaccumOutputCenter, Fixtures[(int)Fixture].VaccumInputCenter, checkVacuum);
}
break;
case VacuumState.Off:
if (area == VacuumArea.Circle)
{
_mc.VacuumOff(Fixtures[(int)Fixture].VaccumOutputCircle, Fixtures[(int)Fixture].VaccumInputCircle, checkVacuum);
}
else
{
_mc.VacuumOff(Fixtures[(int)Fixture].VaccumOutputCenter, Fixtures[(int)Fixture].VaccumInputCenter, checkVacuum);
}
break;
default:
break;
}
}
public void Sucker(VacuumState state, ActionType procedure)
{
try
{
switch (procedure)
{
case ActionType.None:
break;
case ActionType.Load:
_mc.VLoadVacuum(state, true);
//_mc.VLoadVacuum(state , CheckVacuumValue);
break;
case ActionType.Unload:
_mc.VUnloadVacuum(state, true);
//_mc.VUnloadVacuum(state, CheckVacuumValue);
break;
default:
break;
}
}
catch (Exception)
{
throw new SuckerException()
{
Type = procedure
};
}
}
public void Sucker(VacuumState state)
{
try
{
_mc.LLoadVacuum(state, true);
}
catch (Exception)
{
throw new SuckerException()
{
CaptureId = CaptureId.LTrayPickTop,
};
}
}
/// <summary>
/// Convert a vacuum state to a output state to drive output action.
/// </summary>
/// <param name="state"></param>
/// <returns></returns>
public static OutputState ConvertToOutputState(VacuumState state)
{
switch (state)
{
case VacuumState.Off:
return(OutputState.Off);
case VacuumState.On:
return(OutputState.On);
default:
throw new NotImplementedException();
}
}
public void LLoadVacuum(VacuumState state, bool checkVacuum = true)
{
switch (state)
{
case VacuumState.On:
VacuumOn(Output.VaccumLLoad, Input.VaccumLLoad, checkVacuum);
break;
case VacuumState.Off:
VacuumOff(Output.VaccumLLoad, Input.VaccumLLoad, checkVacuum);
break;
default:
break;
}
}
public void Vacuum(VacuumState state, Output output, Input input,
bool checkVacuum = true, int delayMs = 500, int timeoutMs = 3000)
{
SetOutput(output, Helper.ConvertToOutputState(state));
bool expectedState = Convert.ToBoolean(state);
bool inputState = false;
var stopwatch = new Stopwatch();
stopwatch.Start();
do
{
if (stopwatch.ElapsedMilliseconds > timeoutMs)
{
throw new Exception("Vacuum timeout: " + output);
}
inputState = checkVacuum ? GetInput(input) : inputState;
} while (inputState != expectedState);
Delay(delayMs);
}
public void Sucker(VacuumState state, int retryTimes, ActionType action)
{
throw new NotImplementedException();
}
public void Sucker(FixtureId id, VacuumState state, VacuumArea area)
{
_table.Sucker(id, state, area, CheckVacuumValue);
}
public void Sucker(VacuumState state)
{
throw new NotImplementedException();
}
