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@@ -260,11 +260,14 @@ namespace Venus_RT.Modules
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//AnyStateTransition(FSM_MSG.TIMER, fnMonitor, FSM_STATE.SAME);
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- AnyStateTransition(MSG.Error, fnError, STATE.Error);
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- AnyStateTransition(MSG.Online, fnOnline, FSM_STATE.SAME);
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- AnyStateTransition(MSG.Offline, fnOffline, FSM_STATE.SAME);
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- AnyStateTransition(MSG.Home, fnHome, STATE.Initializing);
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+ AnyStateTransition(MSG.Error, fnError, STATE.Error);
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+ AnyStateTransition(MSG.Online, fnOnline, FSM_STATE.SAME);
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+ AnyStateTransition(MSG.Offline,fnOffline, FSM_STATE.SAME);
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+ //AnyStateTransition(MSG.Home, fnHome, STATE.Initializing);
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+ Transition(STATE.Init, MSG.Home, fnHome, STATE.Initializing);
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+ Transition(STATE.Error, MSG.Home, fnHome, STATE.Initializing);
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+ Transition(STATE.Idle, MSG.Home, fnHome, STATE.Initializing);
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// Home
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Transition(STATE.Initializing, FSM_MSG.TIMER, fnHoming, STATE.Idle);
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@@ -278,27 +281,27 @@ namespace Venus_RT.Modules
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//Transition(STATE.Init, FSM_MSG.TIMER, fnMonitor, STATE.Init);
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// Vent sequence
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- Transition(STATE.Idle, MSG.Vent, FnStartVent, STATE.Venting);
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+ Transition(STATE.Idle, MSG.Vent, FnStartVent, STATE.Venting);
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Transition(STATE.Venting, FSM_MSG.TIMER, FnVentTimeout, STATE.Idle);
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- Transition(STATE.Venting, MSG.Abort, FnAbortVent, STATE.Idle);
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+ Transition(STATE.Venting, MSG.Abort, FnAbortVent, STATE.Idle);
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// Pump sequence
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- Transition(STATE.Idle, MSG.Pump, FnStartPump, STATE.Pumping);
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+ Transition(STATE.Idle, MSG.Pump, FnStartPump, STATE.Pumping);
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Transition(STATE.Pumping, FSM_MSG.TIMER, FnPumpTimeout, STATE.Idle);
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- Transition(STATE.Pumping, MSG.Abort, FnAbortPump, STATE.Idle);
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+ Transition(STATE.Pumping, MSG.Abort, FnAbortPump, STATE.Idle);
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// Purge sequence
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- Transition(STATE.Idle, MSG.Purge, FnStartPurge, STATE.Purging);
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+ Transition(STATE.Idle, MSG.Purge, FnStartPurge, STATE.Purging);
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Transition(STATE.Purging, FSM_MSG.TIMER, FnPurgeTimeout, STATE.Idle);
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Transition(STATE.Purging, MSG.Abort, FnAbortPurge, STATE.Idle);
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// Leak check sequence
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- Transition(STATE.Idle, MSG.LeakCheck, FnStartLeakCheck, STATE.Leakchecking);
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+ Transition(STATE.Idle, MSG.LeakCheck, FnStartLeakCheck, STATE.Leakchecking);
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Transition(STATE.Leakchecking, FSM_MSG.TIMER, FnLeakCheckTimeout, STATE.Idle);
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Transition(STATE.Leakchecking, MSG.Abort, FnAbortLeakCheck, STATE.Idle);
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// Pick wafer from LL sequence
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- Transition(STATE.Idle, MSG.Pick, FnStartPick, STATE.Picking);
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+ Transition(STATE.Idle, MSG.Pick, FnStartPick, STATE.Picking);
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Transition(STATE.Picking, FSM_MSG.TIMER, FnPickTimeout, STATE.Idle);
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Transition(STATE.Picking, MSG.Abort, FnAbortPick, STATE.Idle);
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@@ -308,7 +311,7 @@ namespace Venus_RT.Modules
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Transition(STATE.Placing, MSG.Abort, FnAbortPlace, STATE.Idle);
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// Swap wafer with LL sequence
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- Transition(STATE.Idle, MSG.Swap, FnStartSwap, STATE.Swaping);
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+ Transition(STATE.Idle, MSG.Swap, FnStartSwap, STATE.Swaping);
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Transition(STATE.Swaping, FSM_MSG.TIMER, FnSwapTimeout, STATE.Idle);
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Transition(STATE.Swaping, MSG.Abort, FnAbortSwap, STATE.Idle);
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