FurnaceELK/Furnace/FurnaceRT/Equipments/PMs/Routines/PMPostTransferRoutine.cs

using System;
using Aitex.Core.RT.Routine;
using Aitex.Core.RT.SCCore;
using MECF.Framework.Common.Schedulers;

namespace FurnaceRT.Equipments.PMs.Routines
{
    public class PMPostTransferRoutine : ModuleRoutine, IRoutine
    {
        enum RoutineStep
        {
            CloseDoor,

            LiftPinDown,
        }

        private EnumTransferType _paramTransferType;

        private int _timeout;

        private PMModule _pm;

        public PMPostTransferRoutine(string module, PMModule pm)
        {
            Module = module.ToString();
            Name = "Post transfer";

            _pm = pm;
        }

        public Result Init(EnumTransferType type)
        {
            _paramTransferType = type;

            return Result.DONE;
        }

        public Result Start(params object[] objs)
        {
            Reset();

            _timeout = SC.GetValue<int>($"PM.PostTransferTimeout");

            Notify($"Start");

            return Result.RUN;
        }


        public Result Monitor()
        {
            try
            {
                CloseChamberDoor((int)RoutineStep.CloseDoor, _pm, _paramTransferType, _timeout);

                //放到process过程中，提高产能
                //if (_paramTransferType == EnumTransferType.Place)
                //{
                //    LiftPinDown((int)RoutineStep.LiftPinDown, _pm, _paramTransferType, _timeout);
                //}
            }
            catch (RoutineBreakException)
            {
                return Result.RUN;
            }
            catch (RoutineFaildException)
            {
                return Result.FAIL;
            }


            Notify("Finished");

            return Result.DONE;
        }

        public void Abort()
        {

        }

        public void CloseChamberDoor(int id, PMModule pm, EnumTransferType type, int timeout)
        {
            Tuple<bool, Result> ret = ExecuteAndWait(id, () =>
                {
                    Notify($"{pm.Name} close chamber door");

                    //if (!pm.ChamberDoor.Close(out string reason))
                    //{
                    //    Stop(reason);
                    //    return false;
                    //}
                    return true;
                }, () =>
                {
                    //检查到开始关闭，就离开，为了提高产能做的优化。正常需要判断是否关闭
                    return true/*!pm.ChamberDoor.OpenFeedback*/;

                }, timeout * 1000);

            if (ret.Item1)
            {
                if (ret.Item2 == Result.FAIL)
                {
                    throw (new RoutineFaildException());
                }
                else if (ret.Item2 == Result.TIMEOUT) //timeout
                {
                    Stop($"{pm.Name} close chamber door timeout, over {timeout} seconds");
                    throw (new RoutineFaildException());
                }
                else
                    throw (new RoutineBreakException());
            }
        }


        public void LiftPinDown(int id, PMModule pm, EnumTransferType type, int timeout)
        {
            Tuple<bool, Result> ret = ExecuteAndWait(id, () =>
            {
                Notify($"{pm.Name} lift pin down");

                //if (!pm.ChamberLiftPin.MoveDown(out string reason))
                //{
                //    Stop(reason);
                //    return false;
                //}
                return true;
            }, () =>
            {
                return true/*pm.ChamberLiftPin.IsDown*/;

            }, timeout * 1000);

            if (ret.Item1)
            {
                if (ret.Item2 == Result.FAIL)
                {
                    throw (new RoutineFaildException());
                }
                else if (ret.Item2 == Result.TIMEOUT) //timeout
                {
                    Stop($"{pm.Name} move down lift pin timeout, over {timeout} seconds");
                    throw (new RoutineFaildException());
                }
                else
                    throw (new RoutineBreakException());
            }
        }

    }
}