FurnaceELK/Furnace/FurnaceRT/Equipments/LPs/LoadPortHome.cs

using Aitex.Core.RT.Device;
using Aitex.Core.RT.Event;
using Aitex.Core.RT.Routine;
using Aitex.Core.RT.SCCore;
using Aitex.Sorter.Common;
using MECF.Framework.Common.Device.Bases;
using MECF.Framework.Common.Equipment;
using MECF.Framework.Common.SubstrateTrackings;
using MECF.Framework.RT.EquipmentLibrary.HardwareUnits.Robot;
using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Threading.Tasks;
using FurnaceRT.Equipments.Systems;

namespace FurnaceRT.Equipments.LPs
{
    public class LoadPortHome : ModuleRoutine, IRoutine
    {
        enum RoutineStep
        {
            Home, 
        }

        private LoadPortModule _lpModule;
        private int _timeout = 0;

        public LoadPortHome(LoadPortModule smifModule)
        {
            _lpModule = smifModule;
            Module = smifModule.Module;

            Name = "Home";
        }

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

            _timeout = SC.GetValue<int>($"LoadPort.{Module}.HomeTimeout");
            //_smifDevice = DEVICE.GetDevice<IoSmif>($"System.{Module}");
            _lpModule.HomeFailAlarm.RetryMessage = (int)LoadPortModule.MSG.Home;
            _lpModule.HomeTimeoutAlarm.RetryMessage = (int)LoadPortModule.MSG.Home;
            //if (!_lpModule.SMIFDevice.IsIdle)
            //{
            //    //_lpModule.SMIFNotReadyWarning.Description = $"{Module} is not ready, home failed";
            //    _lpModule.SMIFNotReadyWarning.Set($"{Module} is not ready, home failed");
            //    return Result.FAIL;
            //}

            Notify($"{Module} home start");

            return Result.RUN;
        }
        public void Abort()
        {
            _lpModule.Stop();
        }

        public override Result Monitor()
        {
            try
            {
                Home((int)RoutineStep.Home, _timeout);
            }
            catch (RoutineBreakException)
            {
                return Result.RUN;
            }
            catch (RoutineFaildException ex)
            {
                return Result.FAIL;
            }

            _lpModule.LPDevice.IsInitCompleted = true;
            _lpModule.LPDevice.IsLoadCompleted = true;
            Notify($"{Name} home finished");
            return Result.DONE;
        }

        private void Home(int id, int timeout)
        {
            Tuple<bool, Result> ret = ExecuteAndWait(id, () =>
            {
                Notify($"{Module} home");
                if (!_lpModule.HomeLoadPort(out string reason))
                {
                    Stop(reason);
                    return false;
                }
                return true;
            }, () =>
            {
                return _lpModule.IsHomed;
            }, timeout * 1000);

            if (ret.Item1)
            {
                if (ret.Item2 == Result.FAIL)
                {
                    throw (new RoutineFaildException());
                }
                else if (ret.Item2 == Result.TIMEOUT) //timeout
                {
                    //_lpModule.HomeTimeoutAlarm.Description = $"home timeout, can not complete in {timeout} seconds";
                    _lpModule.HomeTimeoutAlarm.Set($"home timeout, can not complete in {timeout} seconds");
                    throw (new RoutineFaildException());
                }
                else
                    throw (new RoutineBreakException());
            }
        }
    }
}