Add TMHome abort

Venus/Venus_RT/Modules/TM/TMEntity.cs

@@ -233,12 +233,12 @@ namespace Venus_RT.Modules
 
             // Home
             Transition(STATE.Initializing,      FSM_MSG.TIMER,      fnHoming,           STATE.Idle);
-            Transition(STATE.Initializing,      MSG.Abort,          FnAbortExtend,      STATE.Idle);
+            Transition(STATE.Initializing,      MSG.Abort,          FnAbortHome,      STATE.Idle);
 
             // Robot Home
             Transition(STATE.Idle,              MSG.RobotHome,      fnHome,             STATE.InitializingRB);
             Transition(STATE.InitializingRB,    FSM_MSG.TIMER,      fnHoming,           STATE.Idle);
-            Transition(STATE.InitializingRB,    MSG.Abort,          FnAbortExtend,      STATE.Idle);
+            Transition(STATE.InitializingRB,    MSG.Abort,          FnAbortHome,      STATE.Idle);
             //Transition(STATE.Idle,              FSM_MSG.TIMER,      fnMonitor,          STATE.Idle);
             //Transition(STATE.Init,              FSM_MSG.TIMER,      fnMonitor,          STATE.Init);
 
@@ -638,6 +638,19 @@ namespace Venus_RT.Modules
 
             return ret == RState.End;
         }
+
+        private bool FnAbortHome(object[] param)
+        {
+            _homeRoutine.Abort();
+            return true;
+        }
+
+        private bool FnAbortHomeRB(object[] param)
+        {
+            _homeRoutine.Abort();
+            return true;
+        }
+
         private bool FnAbortExtend(object[] param)
         {
             _pmExtendRoutine.Abort();