JET-EFEM/athos/athosRT/Modules/LPs/UnloadFoupRoutine.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 athosRT.tool;
using athosRT.FSM;
using MECF.Framework.Common.Equipment;
using MECF.Framework.RT.EquipmentLibrary.HardwareUnits.LoadPorts.LoadPortBase;
using MECF.Framework.RT.EquipmentLibrary.HardwareUnits.Robots;
using MECF.Framework.RT.EquipmentLibrary.HardwareUnits.Robots.RobotBase;
using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Threading.Tasks;

namespace athosRT.Modules.LPs
{
    public class UnloadFoupRoutine : ModuleRoutineBase, FSM.IRoutine
    {
        int _timeout = -1;
        public ModuleName _chamber { get; set; }
        private RobotBaseDevice _robot = null;
        private LoadPortBaseDevice _device = (LoadPortBaseDevice)null;
        private string _reason = string.Empty;

        public UnloadFoupRoutine(ModuleName chamber, RobotBaseDevice robot) : base(chamber)
        {
            _chamber = chamber;
            _timeout = 3000;
            _robot = robot;
        }

        public void Abort()
        {

        }
        public RState Start(params object[] objs)
        {
            Reset();
            _device = DEVICE.GetDevice<LoadPortBaseDevice>(this._chamber.ToString());
            ModuleName chamber = this._chamber;
            string module = chamber.ToString();
            object[] objArray = new object[1];
            chamber = this._chamber;
            objArray[0] = (object)chamber.ToString();
            //EV.PostMessage<EventEnum>(module, EventEnum.UnloadFOUPStart, objArray);
            string reason = string.Empty;

            LogObject.Info(this._chamber.ToString(), "Check DockState");
            if (this._device.DockState == FoupDockState.Undocked)
            {
                LogObject.Warning(this._chamber.ToString(), $"lp is unload, can't do again");
                return RState.Failed;
            }
            LogObject.Info(this._chamber.ToString(), "Check LPRobotActionIntervene && CheckLoadportMotionInterlock");
            if (SC.GetValue<bool>("System.LPRobotActionIntervene") && !CheckLoadportMotionInterlock())
            {
                LogObject.Warning(this._chamber.ToString(), "LPRobotActionIntervene && CheckLoadportMotionInterlock");
                return RState.Failed;
            }

            LogObject.Info(this._chamber.ToString(), "Check Is Enable Unload");
            if (!this._device.IsEnableUnload(out reason))
            {
                LogObject.Warning(this._chamber.ToString(), "Is not Enable Unload");
                return RState.Failed;
            }
            LogObject.Info(this._chamber.ToString(), "Is going to Unloadfoup");
            return Runner.Start(Module, $"{Module}=>UnloadFoup");
        }

        public RState Monitor()
        {
            Runner.Run((int)UnloadFoupStep.Unload, Unload, WaitLoadportMotion, _timeout)
                .End((int)UnloadFoupStep.WaitLoadportMotion, NullFun, 500);
                //.End((int)UnloadFoupStep.WaitLoadportMotion, WaitLoadportMotion, _timeout);
            return Runner.Status;
        }

        public bool Unload() => _device.Unload(out _reason);

        protected bool WaitLoadportMotion()
        {
            LogObject.Info(Module.ToString(), "正在等待LoadportMotion");
            if (_device.CurrentState == LoadPortStateEnum.Error)
                return false;
            if (!_device.IsReady())
                return false;
            LogObject.Info(Module.ToString(), "等待Load port Motion完毕");
            return true;
        }
        public bool CheckLoadportMotionInterlock()
        {
            if (_robot.RobotState != RobotStateEnum.Idle)
            {
                LogObject.Info(Module.ToString(), "robot非空闲状态");
                return false;
            }
            if (_robot.IsReady())
            {
                LogObject.Info(Module.ToString(), "robot尚未准备好");
                return true;
            }
            return false;
        }
        public enum UnloadFoupStep {
            Unload,
            WaitLoadportMotion
        }
        
    }
}