Kepler-Release/Venus/Venus_RT/Modules/VCE/LoadRoutine.cs

using Aitex.Core.RT.Device;
using Aitex.Core.RT.Log;
using Aitex.Core.RT.Routine;
using Aitex.Core.RT.SCCore;
using Aitex.Core.Util;
using MECF.Framework.Common.Equipment;
using MECF.Framework.RT.EquipmentLibrary.HardwareUnits.Robot;
using MECF.Framework.RT.ModuleLibrary.Commons;
using MECF.Framework.RT.ModuleLibrary.VceModules;
using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Threading.Tasks;
using Venus_Core;
using Venus_RT.Devices;
using Venus_RT.Devices.TM;
using Venus_RT.Devices.VCE;
using Venus_RT.Modules.TM.VenusEntity;

namespace Venus_RT.Modules.VCE
{
    public class LoadRoutine : ModuleRoutineBase, IRoutine
    {
        private enum LoadStep
        {
            CloseOutDoor,
            GotoLP,
            VcePumpDown,
            Mapping,
            ReadMap,
            OpenInnerDoor,
            NotifyOver
        }

        VCEModuleBase _vce;
        TMBase _tm;
        int _timeout;
        SEMFPumpRoutine pumpRoutine;
        bool _isATMMode = false;
        bool _NeedPump = true; //判定是否需要pump以及打开内门

        public LoadRoutine(ModuleName module, VCEModuleBase vce) : base(module)
        {
            _vce = vce;

            switch (RtInstance.ConfigType)
            {
                case ConfigType.VenusSE:
                    _tm = DEVICE.GetDevice<HongHuTM>("TM");
                    break;
                case ConfigType.VenusDE:
                    _tm = DEVICE.GetDevice<HongHuDETM>("TM");
                    break;
            }

            pumpRoutine = new SEMFPumpRoutine(_tm, module);
            _isATMMode = SC.GetValue<bool>("System.IsATMMode");
            _NeedPump = !SC.GetValue<bool>("System.IsPumpBeforeJob");
        }

        public RState Start(params object[] objs)
        {

            _timeout = SC.GetValue<int>($"{Module}.MotionTimeout") *1000;

            //if vce inner door not close cannot do it as it will pump

            if (!Singleton<RouteManager>.Instance.seTM.IsVCESlitDoorClosed(Module))
            {
                LOG.Write(eEvent.ERR_VCE_COMMON_Failed, Module, $"VCE Inner Door is open! Please close it First!");
                return RState.Failed;
            }
            Reset();
            return Runner.Start(Module,"Vce Load Routine");
        }

        public RState Monitor()
        {
            Runner.Run(LoadStep.CloseOutDoor,       CloseOutDoor,       CheckVceIdle,        _timeout)
                  .Run(LoadStep.GotoLP,             _vce.GotoLP,        CheckVceIdle,        _timeout)
                  .RunIf(LoadStep.VcePumpDown,      _NeedPump,          VCEPumpDown,         CheckPumpOver)
                  .Run(LoadStep.Mapping,            Mapping,            CheckVceIdle,        25 *1000)
                  .Run(LoadStep.ReadMap,            ReadMap,            CheckVceIdle,        _timeout)
                  .RunIf(LoadStep.OpenInnerDoor,    _NeedPump,          OpenInnerDoor,       CheckInnerDoorOpen)
                  .End(LoadStep.NotifyOver,         NullFun,            100);
            return Runner.Status;
        }

        private bool CheckInnerDoorOpen()
        {
            return !_tm.VCESlitDoorClosed(Module);
        }

        private bool OpenInnerDoor()
        {
            return _tm.TurnSlitDoor(Module,true);
        }

        //
        private bool CheckPumpOver()
        {
            RState ret = pumpRoutine.Monitor();
            if (ret == RState.Failed || ret == RState.Timeout)
            {
                Singleton<RouteManager>.Instance.GetVCE(Module).PostMsg(VceMSG.Error);
            }
            return ret == RState.End;
        }

        private bool VCEPumpDown()
        {
            return pumpRoutine.Start() == RState.Running;
        }

        private bool ReadMap()
        {
            return _vce.ReadMap();
        }
        private bool Mapping()
        {
            return _vce.Map();
        }

        private bool CloseOutDoor()
        {
            return _vce.CloseDoor();
        }

        private bool CheckVceIdle()
        {
            if (_vce.Status == RState.Failed || _vce.Status == RState.Timeout)
            {
                Singleton<RouteManager>.Instance.GetVCE(Module).PostMsg(VceMSG.Error);
                return false;
            }
            return _vce.Status == RState.End;
        }


        public void Abort()
        {
            pumpRoutine.Abort();
        }

    }
}