JET-EFEM/athos/athosRT/Modules/Robot/SetSpeedRoutine.cs


using Aitex.Core.RT.Device;
using Aitex.Core.RT.Routine;
using Aitex.Core.RT.SCCore;
using athosRT.FSM;
using athosRT.tool;
using MECF.Framework.Common.Equipment;
using MECF.Framework.RT.EquipmentLibrary.HardwareUnits.Robot;
using MECF.Framework.RT.EquipmentLibrary.HardwareUnits.Robots;
using MECF.Framework.RT.EquipmentLibrary.HardwareUnits.Robots.RobotBase;
using System;
using System.Collections.Generic;
using System.Diagnostics;
using System.Linq;
using System.Text;
using System.Threading;
using System.Threading.Tasks;
using static MECF.Framework.RT.EquipmentLibrary.HardwareUnits.Robots.RobotBase.RobotBaseDevice;

namespace athosRT.Modules.Robot
{
    public class SetSpeedRoutine : ModuleRoutineBase, FSM.IRoutine
    {
        public int Speed = 5;
        private SCConfigItem _scItemSpeed;
        private SCConfigItem _scItemTimeout;
        private int _timeout = 5;
        private RobotBaseDevice robot;
        public SetSpeedRoutine(ModuleName chamber):base(chamber)
        {
            robot = DEVICE.GetDevice<RobotBaseDevice>("Robot");
            _scItemTimeout = SC.GetConfigItem("Robot.TimeLimitRobotHome");
            _scItemSpeed = SC.GetConfigItem("Robot.Robot.SpeedLevel");
        }


        public void Terminate()
        {
        }

        public RState Start(params object[] objs)
        {
            Reset();
            _timeout = _scItemTimeout.IntValue;
            //_timeout = _scItemTimeout;
            //EV.PostMessage<EventEnum>(ModuleName.Robot.ToString(), EventEnum.GeneralInfo, (object)string.Format("Set robot speed start.{0}", Speed));
            Speed = SC.GetValue<int>("Robot.Robot.SpeedLevel");
            return Runner.Start(ModuleName.Robot,"SetSpeed");
        }

        public RState Monitor()
        {
            LogObject.Info("robot", "home speed set");
            Runner
                //.Run((int)SetSpeedStep.NoWaferSpeed,NoWaferSpeed, CheckRobotState, _timeout)
                //.Wait((int)SetSpeedStep.WaitSetOver, CheckRobotState, _delay_1s)
               //.Run((int)SetSpeedStep.WithWaferSpeed,WithWaferSpeed, CheckRobotState, _timeout)
                //.Wait((int)SetSpeedStep.WaitSetOver, CheckRobotState, _delay_1s)
               // .Run((int)SetSpeedStep.LowSpeed,LowSpeed, CheckRobotState, _timeout)
                //.Wait((int)SetSpeedStep.WaitSetOver, CheckRobotState, _delay_1s)
                .Run(SetSpeedStep.HomeSpeed,HomeSpeed, CheckRobotState, _timeout)
                //.Wait((int)SetSpeedStep.WaitSetOver, CheckRobotState, _delay_1s)
                .Run(SetSpeedStep.LowSpeedAreaSpeed, LowSpeedAreaSpeed, CheckRobotState, _timeout)
                .End(SetSpeedStep.WaitSetOver, NullFun, CheckRobotState, _delay_1s)
                ;
            return Runner.Status;
        }

        private bool CheckRobotState()
        {
            Trace.WriteLine("Comfirm robot status:"+robot.RobotState);
            return robot.IsReady();
        }

        private bool LowSpeedAreaSpeed() => SetSpeed(SpeedType.B, Speed);

        //private bool HomeSpeed() => SetSpeed(SpeedType.O, Speed);
        private bool HomeSpeed() => SetRobotSpeed( Speed);
        private bool LowSpeed() => SetSpeed(SpeedType.L, Speed);

        private bool WithWaferSpeed() => SetSpeed(SpeedType.M, Speed);

        private bool NoWaferSpeed() => SetSpeed(SpeedType.H, Speed);


        public bool SetSpeed(SpeedType speedtype, int spd)
        {
            Trace.WriteLine("Comfirm robot status is busy:" + robot.IsBusy);
            
            Trace.WriteLine("Comfirm robot status:" + robot.RobotState);
            //robot.PostMsg((int)RobotMsg.SetParameters);
            //设置速度
            bool flag=robot.SetSpeed(new object[1]
            {
            
              spd
            });
            if (flag)
            {
                LogObject.Info("robot", "setspeedRoutine成功");
                Trace.WriteLine("Comfirm robot status:" + robot.IsBusy);
                robot.PostMsg((int)RobotMsg.SetParametersComplete);
                return true;
            }
            else
            {
                LogObject.Error("robot", "setspeedRoutine失败");
                robot.PostMsg((int)RobotMsg.ERROR);
                return false;
            }
        }
        public bool SetRobotSpeed(int spd)
        {
          //  robot.IsBusy = false;
            //设置速度
            bool flag = robot.SetSpeed(new object[1]
            {

              spd
            });
            if (flag)
            {
                LogObject.Info("robot", "setspeedRoutine成功");
                Trace.WriteLine("Comfirm robot status:" + robot.IsBusy);
                robot.PostMsg((int)RobotMsg.SetParametersComplete);
                return true;
            }
            else
            {
                LogObject.Error("robot", "setspeedRoutine失败");
                robot.PostMsg((int)RobotMsg.ERROR);
                return false;
            }
        }

        public void Abort()
        {
            
        }

        public enum SetSpeedStep
        {
            NoWaferSpeed,
            WithWaferSpeed,
            LowSpeed,
            HomeSpeed,
            LowSpeedAreaSpeed,
            WaitSetOver
        }

    }
}