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;
using CyberX8_RT.Modules.EFEM;
using MECF.Framework.Common.Utilities;

namespace CyberX8_RT.Modules.LPs
{
    class LoadPortMapRoutine : ModuleRoutineBase, IRoutine
    {
        enum RoutineStep
        {
            Map,
            CheckMap,
            End,

        }

        private int _timeout = 0;

        private EfemRobotMapRoutine _robotMapRoutine;

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

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

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

            Notify($"Start Map");

            return Runner.Start(Module, Name);
        }

        public RState Monitor()
        {
            Runner.Run(RoutineStep.Map, StartMap, _delay_1ms)
                .WaitWithStopCondition(RoutineStep.CheckMap, () => CommonFunction.CheckRoutineEndState(_robotMapRoutine),
                    () => CommonFunction.CheckRoutineStopState(_robotMapRoutine))
                .End(RoutineStep.End, NullFun, _delay_1ms);

            return Runner.Status;
        }

        private bool StartMap()
        {
            return _robotMapRoutine.Start(Module)==RState.Running;
        }
        public void Abort()
        {
            Runner.Stop("Manual Abort");
        }
    }
}