fix abort manual transfer bug.

Venus/Venus_RT/Modules/AutoCycle.cs

@@ -72,8 +72,8 @@ namespace Venus_RT.Modules
         Dictionary<ModuleName, ModuleFlag> _vacModules          = new Dictionary<ModuleName, ModuleFlag>();
 
 
-        SchedulerTMRobot _tmRobot = new SchedulerTMRobot();
-        SchedulerEfemRobot _efemRobot = new SchedulerEfemRobot();
+        SchedulerTMRobot _tmRobot = (SchedulerTMRobot)Singleton<TransferModule>.Instance.GetScheduler(ModuleName.TMRobot);
+        SchedulerEfemRobot _efemRobot = (SchedulerEfemRobot)Singleton<TransferModule>.Instance.GetScheduler(ModuleName.EfemRobot);
 
         List<SlotItem>  _vacReadyOutSlots   = new List<SlotItem>();
         List<SlotItem>  _vacReadyInSlots    = new List<SlotItem>();

Venus/Venus_RT/Modules/ManualTransfer.cs

@@ -28,8 +28,8 @@ namespace Venus_RT.Modules
 {
     public class ManualTransfer : IRoutine
     {
-        SchedulerTMRobot _tmRobot = new SchedulerTMRobot();
-        SchedulerEfemRobot _efemRobot = new SchedulerEfemRobot();
+        SchedulerTMRobot _tmRobot = (SchedulerTMRobot)Singleton<TransferModule>.Instance.GetScheduler(ModuleName.TMRobot);
+        SchedulerEfemRobot _efemRobot = (SchedulerEfemRobot)Singleton<TransferModule>.Instance.GetScheduler(ModuleName.EfemRobot);
 
         private Queue<MoveItem> _moveTaskQueue = new Queue<MoveItem>();
         private MoveItem _move_item = new MoveItem(ModuleName.System, 0, ModuleName.System, 0, Hand.None);

Venus/Venus_RT/Modules/TM/MFHomeRoutine.cs

@@ -107,6 +107,9 @@ namespace Venus_RT.Modules.TM
         }
         private bool HomePump()
         {
+            if (RouteManager.IsATMMode)
+                return true;
+
             currentStepNo = 3;
             if ((bool)_JetTM.TMPumpIsRunning)
             {
@@ -117,6 +120,9 @@ namespace Venus_RT.Modules.TM
 
         private bool CheckPumpReady()
         {
+            if (RouteManager.IsATMMode)
+                return true;
+
             if ((bool)_JetTM.TMPumpIsRunning)
             {
                 return true;
@@ -128,12 +134,18 @@ namespace Venus_RT.Modules.TM
         }
         private bool HomePumpDown()
         {
+            if (RouteManager.IsATMMode)
+                return true;
+
             currentStepNo = 4;
             return _pumpDownRoutine.Start() == RState.Running;
         }
 
         private bool CheckATMSwitchReady()
         {
+            if (RouteManager.IsATMMode)
+                return true;
+
             var status = _pumpDownRoutine.Monitor();
             if (_JetTM.IsTMVac && status == RState.End)
             {

Venus/Venus_RT/Modules/TMCycle.cs

@@ -36,7 +36,7 @@ namespace Venus_RT.Modules
         ModuleName _destinationModule = ModuleName.LLB;
         int _sourceSlotNumber = 4;
         int _destinationSlotNumber = 4;
-        SchedulerTMRobot _TMRobot = new SchedulerTMRobot();
+        SchedulerTMRobot _TMRobot = (SchedulerTMRobot)Singleton<TransferModule>.Instance.GetScheduler(ModuleName.TMRobot);
         private readonly int INVALID_SLOT = -1;
 
         Dictionary<ModuleName, SchedulerModule> dictSchedulers = new Dictionary<ModuleName, SchedulerModule>();