Transfer align angel from sequence to system configure and enable angle increasement by wafer.

Venus/Venus_RT/Config/SequenceFormat.xml

@@ -51,8 +51,6 @@
       <Item Name="PMBRecipe" DisplayName="PMB Recipe" InputType="RecipeSelection" Parameter="PMB"    Min="0" Max="999999"  />
       <Item Name="PMCRecipe" DisplayName="PMC Recipe" InputType="RecipeSelection" Parameter="PMC"    Min="0" Max="999999"  />
       <Item Name="PMDRecipe" DisplayName="PMD Recipe" InputType="RecipeSelection" Parameter="PMD"    Min="0" Max="999999"  />
-
-      <Item Name="AlignAngle" DisplayName="Align Angle" InputType="NumInput"   Min="0" Max="359"  />
 		
       <Item Name="WTWClean" DisplayName="WTW Clean" InputType="RecipeSelection"     Min="0" Max="999999"  />
 

Venus/Venus_RT/Config/System.sccfg

@@ -107,6 +107,10 @@
 			<config default="false" name="EnableScanner" nameView="Enable Scanner Reader" description="是否打开扫码枪功能" max="0" min="0" paramter="" tag="" unit="" type="Bool" />
 
 		</configs>
+		<configs name="Aligner" nameView="Aligner">
+			<config default ="0" name="AlignAngle" nameView="Align Angle" description="Align Angle" max="360" min="0" parameter="" tag="" unit="" type="Integer" />
+			<config default ="0" name="IncreasingAngle" nameView="Increasing Angle" description="Increasing Angle by Wafer"  max="360" min="0" parameter="" tag="" unit="" type="Integer" />
+		</configs>
 	</configs>
 
 	<!--TM-->

Venus/Venus_RT/Modules/AutoCycle.cs

@@ -2239,22 +2239,10 @@ namespace Venus_RT.Modules
                                 WaferInfo wafer = WaferManager.Instance.GetWafer(align.Key, 0);
                                 if (!wafer.IsEmpty)
                                 {
-                                    int step = wafer.NextSequenceStep;
-                                    if (step >= wafer.ProcessJob.Sequence.Steps.Count || !wafer.ProcessJob.Sequence.Steps[wafer.NextSequenceStep].StepModules.Contains(align.Key))
+                                    if (_efemRobot.Align(0))
                                     {
-                                        step = wafer.NextSequenceStep - 1;
-                                    }
-
-                                    string attr = "AlignAngle";
-                                    if (wafer.ProcessJob.Sequence.Steps[step].StepParameter.ContainsKey(attr))
-                                    {
-                                        string angle;
-                                        angle = (string)wafer.ProcessJob.Sequence.Steps[step].StepParameter[attr];
-                                        if (_efemRobot.Align(float.Parse(angle)))
-                                        {
-                                            align.Value.MovingStatus = MovingStatus.StartAlign;
-                                            return;
-                                        }
+                                        align.Value.MovingStatus = MovingStatus.StartAlign;
+                                        return;
                                     }
                                 }
 

Venus/Venus_RT/Modules/EFEM/EFEMAlignRoutine.cs

@@ -79,6 +79,7 @@ namespace Venus_RT.Modules.EFEM
 
         private bool fnalign()
         {
+            LOG.Write(eEvent.EV_EFEM_ROBOT, ModuleName.EfemRobot, $"Wafer Align: {angle}");
             return _efem.Align(Module,angle,0,ws);
         }
 

Venus/Venus_RT/Modules/Schedulers/SchedulerEfemRobot.cs

@@ -6,6 +6,7 @@ using System.Threading.Tasks;
 using Aitex.Core.RT.Fsm;
 using Aitex.Core.RT.Log;
 using Aitex.Core.Util;
+using Aitex.Core.RT.SCCore;
 using Aitex.Sorter.Common;
 using MECF.Framework.Common.Schedulers;
 using MECF.Framework.Common.Equipment;
@@ -57,6 +58,8 @@ namespace Venus_RT.Scheduler
 
         private SchedulerItem _currentScheduler = null;
         private int _entityTaskToken = (int)FSM_MSG.NONE;
+        private int _alignAngle = 0;
+        private int _increasingAngle = 0;
 
 
         public ModuleName PreviousTarget { get; set; }
@@ -65,6 +68,9 @@ namespace Venus_RT.Scheduler
         {
             _entity = Singleton<RouteManager>.Instance.EFEM;
             PreviousTarget = ModuleName.System;
+
+            _alignAngle = SC.GetValue<int>($"EFEM.Aligner.AlignAngle");
+            _increasingAngle = SC.GetValue<int>($"EFEM.Aligner.IncreasingAngle");
         }
 
         public bool Goto(ModuleName target, int slot )
@@ -224,7 +230,8 @@ namespace Venus_RT.Scheduler
 
             LogTaskStart(_task, $"Aligning");
 
-            _entityTaskToken = _entity.InvokeAlign(ModuleName.Aligner1.ToString(),0, angle);
+            _alignAngle = _alignAngle + _increasingAngle;
+            _entityTaskToken = _entity.InvokeAlign(ModuleName.Aligner1.ToString(),0, _alignAngle);
 
             return _entityTaskToken == (int)EfemEntity.MSG.Align;
         }