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

using Aitex.Core.RT.Device;
using Aitex.Core.RT.Routine;
using Aitex.Sorter.Common;
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.LoadPorts.TDK;
using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Threading.Tasks;

namespace athosRT.Modules.LPs
{
    class LoadFoupRoutine : ModuleRoutineBase, FSM.IRoutine
    {
        int _timeout = -1;//超时计数器
        private LoadPortBaseDevice _device = null;

        public ModuleName _chamber { get; set; }

        public LoadFoupRoutine(ModuleName chamber) : base(chamber)
        {
            _chamber = chamber;
            _timeout = 30000;
        }
        

        public void Abort()
        {
            
        }

        public RState Monitor()
        {
            Runner.Run(LoadFoupStep.MapLoadFoup, MapLoadFoup, WaitLoadportMotion, _timeout)
                .End(LoadFoupStep.End, NullFun,500);
            return Runner.Status;
        }

        public RState Start(params object[] objs)
        {
            Reset();
            _device = DEVICE.GetDevice<LoadPortBaseDevice>(_chamber.ToString());
            if (_device.DockState == FoupDockState.Docked) { 
                return RState.Failed;
            }
            return Runner.Start(Module,"Start LoadFoup");
        }

        protected bool MapLoadFoup() {
            string reason = string.Empty;
            //LogObject.Info(GetName.GetCurrentName(),"正在执行Map Load Foup");
            return this._device.Load(out reason);
        }

        protected bool CheckMapLoadFoup() {
            string reason = string.Empty;
            //LogObject.Info(GetName.GetCurrentName(), "正在检查Map Load Foup");
            return this._device.Load(out reason);
        }

        protected bool WaitLoadportMotion() {
            //LogObject.Info(GetName.GetCurrentName(), "正在等待LoadportMotion");
            if (_device.CurrentState == LoadPortStateEnum.Error)
                return false;
            if (!_device.IsReady())
                return false;
            //LogObject.Info(GetName.GetCurrentName(), "等待Load port Motion完毕");
            return true;
        }
        enum LoadFoupStep {
            MapLoadFoup,
            WaitLoadportMotion,
            End
        }

    }
}