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

using Aitex.Core.RT.Routine;
using Aitex.Core.RT.SCCore;
using MECF.Framework.Common.Equipment;
using MECF.Framework.Common.Schedulers;
using FurnaceRT.Equipments.PMs;
using FurnaceRT.Equipments.PMs.Routines;
using System;

namespace FurnaceRT.Modules.PMs
{
    public class PMPrepareTransferRoutine : PMBaseRoutine
    {
        enum RoutineStep
        {
            Vent,
            MovePinUp,
            OpenDoor,
            Delay1,
            Delay2,
        }

        private EnumTransferType _paramTransferType;

        private int _timeout;

        private bool _needVent;

        public PMPrepareTransferRoutine(string module, PMModule pm) : base(ModuleHelper.Converter(module), pm)
        {
            Module = module;
            Name = "Prepare transfer";

        }

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

            return Result.DONE;
        }

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

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

            double basePressure = SC.GetValue<double>($"PM.AtmPressureBase");

            //_needVent = PMModule.ChamberDoor.IsClose &&
            //            PMModule.ChamberPressure < basePressure;

            Notify("Start");

            return Result.RUN;
        }


        public override Result Monitor()
        {
            try
            {             
                //先开门，再升pin，避免升起来之后，气流导致的偏移

                OpenDoor((int)RoutineStep.OpenDoor, PMModule, _paramTransferType, _timeout);
                
                Delay((int)RoutineStep.Delay1, 1);
                
                MovePinUp((int)RoutineStep.MovePinUp, PMModule, _paramTransferType, _timeout);
                //Delay((int)RoutineStep.Delay2, 2);
            }
            catch (RoutineBreakException)
            {
                return Result.RUN;
            }
            catch (RoutineFaildException)
            {
                return Result.FAIL;
            }


            Notify("Finished");

            return Result.DONE;
        }

        public override void Abort()
        {

        }

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

                    //if (!pm.ChamberLiftPin.MoveUp(out string reason))
                    //{
                    //    Stop(reason);
                    //    return false;
                    //}

                    return true;
                }, () =>
                {
                    return true/*pm.ChamberLiftPin.IsUp*/;

                }, timeout * 1000);

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


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

                //if (!pm.ChamberDoor.Open(out string reason))
                //{
                //    Stop(reason);
                //    return false;
                //}

                return true;
            }, () =>
            {
                return true/*pm.ChamberDoor.IsOpen*/;

            }, timeout * 1000);

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

    }
}