Kepler-Release/Venus/Venus_RT/Modules/LPs/LoadPortHomeRoutine.cs

using System;
using Aitex.Core.RT.Device;
using Aitex.Core.RT.Log;
using Aitex.Core.RT.Routine;
using Aitex.Core.RT.SCCore;
using MECF.Framework.Common.Equipment;
using Venus_Core;

namespace Venus_RT.Modules.LPs
{
    class LoadPortHomeRoutine :  ModuleRoutineBase, IRoutine
    {
        enum RoutineStep
        {
            WaitEFEMIdle,
            Home,
            End,
             
        }

        private int _timeout = 0;
 
        private LoadPortModule _lpModule;

        public LoadPortHomeRoutine(LoadPortModule lpModule) : base(ModuleHelper.Converter( lpModule.Module))
        {
            _lpModule = lpModule;

            Name = "Home";
 
        }
 
        public RState Start(params object[] objs)
        {
            Reset();

            _timeout = SC.GetValue<int>("EFEM.LoadPort.HomeTimeout");

            Notify($"Start");

            return Runner.Start(Module, Name);
        }


        public RState Monitor()
        {
            Runner.Wait(RoutineStep.WaitEFEMIdle,   () => _lpModule.IsRobotIdle,        _delay_60s)
                .Run(RoutineStep.Home,              Home,               CheckDevice,    _timeout * 1000)
                .End(RoutineStep.End,               NullFun,            _delay_1s);

            return Runner.Status;
        }
 
        public bool Home()
        {
            Notify($"Start home {_lpModule.Name}");

            _lpModule.LPDevice.Home();

            return true;
        }

        bool CheckDevice()
        {
            if (_lpModule.LPDevice.IsError)
                return false;

            if (_lpModule.LPDevice.IsBusy)
                return false;

            return true;
        }

 
        public void Abort()
        {

        }

    }
}