WcsFramework/WCS.WorkEngineering/Systems/机械臂cs.cs

using System.ComponentModel;
using WCS.Core;
using WCS.WorkEngineering.Protocol.Robot;
using WCS.WorkEngineering.Worlds;
using DeviceFlags = WCS.WorkEngineering.Extensions.DeviceFlags;

namespace WCS.WorkEngineering.Systems
{
    /// <summary>
    ///   机械臂
    /// </summary>
    [BelongTo(typeof(MainWorld))]
    [Description("机械臂")]
    public class 机械臂 : DeviceSystem<Device<IRobot520, IRobot521, IRobot522>>
    {
        protected override bool ParallelDo => true;

        protected override bool SaveLogsToFile => true;

        public override void Do(Device<IRobot520, IRobot521, IRobot522> obj)
        {
            //if (obj.Data2.RobotMode != RobotMode.Automatic) return;
            //if (obj.Data2.RunStatus != RobotRunStatus.Idle) return;
            //obj.Data.TaskNumber1 = 11;
            //obj.Data.SLine1 = 442;
            //obj.Data.ELine1 = 1;
            //obj.Data.ECol1 = 2;
            //obj.Data.ELayer1 = 2;
            //obj.Data.TaskNumber2 = 12;
            //obj.Data.ELine2 = 2;
            //obj.Data.ECol2 = 2;
            //obj.Data.ELayer2 = 2;
            ////obj.Data.SLine1 = 443
            //obj.Data.TaskSum = 2;
            //obj.Data.VoucherNo++;
        }

        public override bool Select(Device dev)
        {
            return dev.HasFlag(DeviceFlags.Robot);
        }
    }
}