JET-EFEM/athos/athosRT/Modules/LPs/HomeRoutine.cs

using Aitex.Core.RT.Device;
using Aitex.Core.RT.Event;
using Aitex.Core.RT.Routine;
using Aitex.Core.RT.SCCore;
using athosRT.Devices;
using athosRT.FSM;
using athosRT.tool;
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 MECF.Framework.RT.EquipmentLibrary.LogicUnits;
using System;
using System.Collections.Generic;
using System.Diagnostics;
using System.Linq;
using System.Text;
using System.Threading.Tasks;

namespace athosRT.Modules.LPs
{
    public class HomeRoutine : ModuleRoutineBase, FSM.IRoutine
    {
        int _timeout = -1;
        protected readonly ModuleName _chamber;
        private RobotBaseDevice _robot;
        private LoadPortBaseDevice _device = null;
        private string _reason = string.Empty;
        public HomeRoutine(ModuleName chamber, RobotBaseDevice robot) : base(chamber)
        {
            _chamber = chamber;
            _robot = robot;
            _timeout = 3000;
        }
        public void Abort()
        {

        }

        public RState Monitor()
        {
            Runner.Run(HomeStep.LoadportReset, LoadportReset, WaitLoadportReset, _timeout)
                  .End(HomeStep.LoadportInit, LoadportInit, LoadportMotion, _timeout);
                  //.Wait((int)HomeStep.LoadportMotion, LoadportMotion, _timeout)
                  //.End((int)HomeStep.WaitLoadportMotion, WaitLoadportMotion, _timeout);
            return Runner.Status;
        }

        //private bool test1()
        //{
        //    Trace.WriteLine("ceshi");
        //    return true;
        //}

        public RState Start(params object[] objs)
        {
            Trace.WriteLine("执行home start");
            
            _device = DEVICE.GetDevice<LoadPortBaseDevice>(this._chamber.ToString());
            string reason = string.Empty;
            if (SC.GetValue<bool>("System.LPRobotActionIntervene") && !this.CheckLoadportMotionInterlock())
            {
                //EV.PostMessage<EventEnum>(this._chamber.ToString(), EventEnum.HomeFailed, (object)reason);
                return RState.Failed;
            }
            if (_chamber == ModuleName.LP1)
            {
                if (DeviceModel.SensorRBNotExtendSIMF1 != null && DeviceModel.SensorRBNotExtendSIMF1.Value)
                    LogObject.Info(GetName.GetCurrentName(), "robot Extend to LP1.");
                //EV.PostMessage<EventEnum>(this._chamber.ToString(), EventEnum.DefaultWarning, (object)"robot Extend to LP1.");
            }
            else if (DeviceModel.SensorRBNotExtendSIMF2 != null && DeviceModel.SensorRBNotExtendSIMF2.Value)
                LogObject.Info(GetName.GetCurrentName(), "robot Extend to LP2.");
            //EV.PostMessage<EventEnum>(this._chamber.ToString(), EventEnum.DefaultWarning, (object)"robot Extend to LP2.");
            Trace.WriteLine("执行home start结束");
            return Runner.Start(ModuleName.LP1, "LP1");
        }

        public bool LoadportReset(){
            LogObject.Info("LP Home", "LoadportReset");
            LogObject.Info("LP",$"{_device.Name} clear error");
            bool flag = _device.LoadportReset(out _);
            Trace.WriteLine($"执行Home{flag}");
            return flag;
        }
        public bool LoadportInit() => _device.Home(out _reason);

        public bool LoadportMotion()
        {
            Trace.WriteLine("LoadportMotion");
            if (_device.CurrentState == LoadPortStateEnum.Error || !_device.IsReady())
            {
                Trace.WriteLine("1" + Runner.Status + " 2" + _device.CurrentState + " 3" + _device.IsReady());
                return false;
            }
            return true;
        }
        public bool WaitLoadportMotion() {
            Trace.WriteLine("WaitLoadportMotion");
            return true;
        }
        public bool WaitLoadportReset() => _device.IsReady();

        public enum HomeStep
        {
            LoadportReset,
            WaitLoadportReset,
            LoadportInit,
            LoadportMotion,
            WaitLoadportMotion
        }

        public bool CheckLoadportMotionInterlock()
        {
            if (_robot.RobotState != RobotStateEnum.Idle)
            {
                LogObject.Info("LP and robot", "robot非空闲状态");
                return false;
            }
            if (_robot.IsReady())
            {
                LogObject.Info("LP and robot", "robot准备好");
                return true;
            }
            return false;
            //return true;
        }
    }
}