FurnaceELK/Furnace/FurnaceRT/Equipments/LPs/LoadPortLoad.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 LoadPortLoad : ModuleRoutine, IRoutine
    {
        enum RoutineStep
        {
            Load,
        }

        private LoadPortModule _lpModule;
        private int _timeout = 0;
        private RoutineStep _routineStep;
        public LoadPortLoad(LoadPortModule lpModule)
        {
            _lpModule = lpModule;
            Module = lpModule.Module;
            Name = "Load";
        }
        public void Init(bool isHasAlarm)
        {
            _isHasAlarm = isHasAlarm;
        }
        public Result Start(params object[] objs)
        {
            if (!_isHasAlarm)
            {
                Reset();
            }
            else
            {
                List<int> stepLst = new List<int>(Steps.ToArray());
                stepLst.Remove((int)_routineStep);
                Steps = new Stack<int>(stepLst);
                _isHasAlarm = false;
                ResetState();
            }

            _timeout = SC.GetValue<int>($"LoadPort.{Module}.MotionTimeout");
            if (_lpModule.IsReleased)
            {
                EV.PostInfoLog(Module, $"{Module} already at release position");
                return Result.DONE;
            }

            _lpModule.LoadFailAlarm.RetryMessage = (int)LoadPortModule.MSG.LoadRetry;
            _lpModule.LoadTimeoutAlarm.RetryMessage = (int)LoadPortModule.MSG.LoadRetry;
            var para = new List<object> { true };
            _lpModule.LoadFailAlarm.RetryMessageParas = para.ToArray();
            _lpModule.LoadTimeoutAlarm.RetryMessageParas = para.ToArray();

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

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

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

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

        private void Load(int id, int timeout)
        {
            _routineStep = (RoutineStep)Enum.Parse(typeof(RoutineStep), id.ToString());
            Tuple<bool, Result> ret = ExecuteAndWait(id, () =>
            {
                Notify($"{Module} load");
                if (!_lpModule.LoadLoadPort(out string reason))
                {
                    _lpModule.LoadFailAlarm.Set(reason);
                    return false;
                }
                return true;
            }, () =>
            {
                return _lpModule.IsReleased;
            }, timeout * 1000);

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