CyberX8/CyberX8_RT/Devices/Loader/LoaderPreTransferUnclampRoutine.cs

using Aitex.Core.RT.Device;
using Aitex.Core.RT.Routine;
using MECF.Framework.Common.Equipment;
using MECF.Framework.Common.Routine;
using MECF.Framework.Common.Utilities;
using CyberX8_Core;
using CyberX8_RT.Devices.AXIS.CANOpen;
using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Threading.Tasks;

namespace CyberX8_RT.Devices.Loader
{
    public class LoaderPreTransferUnclampRoutine : RoutineBase, IRoutine
    {
        private enum UnclampStep
        {
            WaferHolderUnClamp,
            SideUnClamp,
            SideUnClampWait,
            FlowUnClamp,
            End
        }
        #region 内部变量
        private LoaderCommonDevice _commonDevice;
        private LoaderCommonWaferHolderSideClampRoutine _sideClampRoutine;
        #endregion
        /// <summary>
        /// 构造函数
        /// </summary>
        /// <param name="module"></param>
        public LoaderPreTransferUnclampRoutine(string module) : base(module)
        {
        }

        /// <summary>
        /// 中止
        /// </summary>
        public void Abort()
        {
            Runner.Stop("Manual Abort");
        }
        /// <summary>
        /// 监控
        /// </summary>
        /// <returns></returns>
        public RState Monitor()
        {
            Runner.Run(UnclampStep.WaferHolderUnClamp, _commonDevice.WaferHolderClampOffAction, _delay_1ms)
                .Run(UnclampStep.SideUnClamp, () => _sideClampRoutine.Start(false) == RState.Running, _delay_1ms)
                .WaitWithStopCondition(UnclampStep.SideUnClampWait, () => CommonFunction.CheckRoutineEndState(_sideClampRoutine),
                () => CommonFunction.CheckRoutineStopState(_sideClampRoutine))
                .Run(UnclampStep.FlowUnClamp, _commonDevice.LeakFlowClampOffAction, _delay_1ms)
                .End(UnclampStep.End, NullFun, _delay_1ms);
            return Runner.Status;
        }
        /// <summary>
        /// 启动
        /// </summary>
        /// <param name="objs"></param>
        /// <returns></returns>
        public RState Start(params object[] objs)
        {
            _sideClampRoutine = new LoaderCommonWaferHolderSideClampRoutine(Module);
            _commonDevice = DEVICE.GetDevice<LoaderCommonDevice>($"{ModuleName.Loader1}.Common");
            return Runner.Start(Module,"Start PreTransfer Unclamp");
        }
    }
}