CyberX8/CyberX8_RT/Modules/LPs/LoadPortMapRoutine.cs

using Aitex.Core.RT.Routine;
using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Threading.Tasks;
using Aitex.Core.RT.Log;
using MECF.Framework.Common.Equipment;
using Aitex.Core.RT.SCCore;
using CyberX8_Core;
using System.Windows.Controls;

namespace CyberX8_RT.Modules.LPs
{
    class LoadPortMapRoutine : ModuleRoutineBase, IRoutine
    {
        enum RoutineStep
        {
            GotoMapWaitIdle,
            GotoMap,
            WaitEFEMIdle,
            Map,
            RequestMapWaitIdle, 
            RequestMap,
            BackWaitIdle,
            Back,
            End,

        }

        private int _timeout = 0;

        private LoadPortModule _lpModule;

        public LoadPortMapRoutine(LoadPortModule lpModule) : base(ModuleHelper.Converter(lpModule.Module))
        {
            _lpModule = lpModule;
            Name = "Map";
        }

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

            _timeout = SC.GetValue<int>("EFEM.LoadPort.MotionTimeout");

            Notify($"Start");

            return Runner.Start(Module, Name);
        }

        public RState Monitor()
        {
            Runner.Wait(RoutineStep.GotoMapWaitIdle, () => _lpModule.IsRobotIdle)
                .Run(RoutineStep.GotoMap,GotoMap,CheckDevice,_timeout*1000)
                .Wait(RoutineStep.WaitEFEMIdle,()=> _lpModule.IsRobotIdle)
                .Run(RoutineStep.Map, Map, CheckDevice, _timeout * 1000)
                .Wait(RoutineStep.RequestMapWaitIdle,()=> _lpModule.IsRobotIdle)
                .Run(RoutineStep.RequestMap,RequestMap,CheckDevice,_timeout*1000)
                .Wait(RoutineStep.BackWaitIdle,()=> _lpModule.IsRobotIdle)
                .Run(RoutineStep.Back,Back,CheckDevice,_timeout*1000)
                .End(RoutineStep.End, NullFun, _delay_1s);

            return Runner.Status;
        }
        private bool GotoMap()
        {
            return _lpModule.JetEfem.GotoMap(Module, Aitex.Sorter.Common.Hand.Blade1);
        }
        private bool Map()
        {
            Notify($"Start Map {_lpModule.LPDevice.Module}");
            _lpModule.LPDevice.Map();
            return true;
        }

        private bool Back()
        {
            return _lpModule.JetEfem.GotoMap(Module, Aitex.Sorter.Common.Hand.Blade1,"RE");
        }

        private bool RequestMap()
        {
            return _lpModule.JetEfem.RequestMapResult(Module);
        }

        bool CheckDevice()
        {
            if (_lpModule.LPDevice.IsError)
                return false;

            if (_lpModule.LPDevice.IsBusy)
                return false;

            return true;
        }

        public void Abort()
        {
            Runner.Stop("Manual Abort");
        }
    }
}