Kepler-Release/Venus/Venus_RT/Modules/EFEM/EFEMAlignRoutine.cs

using Aitex.Core.Common;
using Aitex.Core.RT.Log;
using Aitex.Core.RT.Routine;
using Aitex.Sorter.Common;
using MECF.Framework.Common.Equipment;
using MECF.Framework.Common.Schedulers;
using MECF.Framework.Common.SubstrateTrackings;
using System;
using System.Collections.Generic;
using System.Diagnostics;
using System.Linq;
using System.Text;
using System.Threading.Tasks;
using Venus_Core;
using Venus_RT.Devices.EFEM;

namespace Venus_RT.Modules.EFEM
{
    public class EFEMAlignRoutine : ModuleRoutineBase, IRoutine
    {
        private enum AlignStep
        {
            WaitIdle,
            Rotate,
            End
        }

        private int _moveTimeout = 20 * 1000;
        EfemBase _efem;
        private double angle = 25;
        private WaferSize ws = WaferSize.WS12;

        public EFEMAlignRoutine(EfemBase efem) : base(ModuleName.Aligner1)
        {
            _efem = efem;
        }

        public RState Start(params object[] objs)
        {
            if (!_efem.IsHomed)
            {
                LOG.Write(eEvent.ERR_EFEM_COMMON_FAILED, Module, $"EFEM is not homed, please home it first");
                return RState.Failed;
            }

            if (objs.Length >= 3)
            {
                try
                {
                    angle = Convert.ToDouble(objs[2]);
                }
                catch (Exception ex)
                {
                    LOG.Write(eEvent.ERR_EFEM_COMMON_FAILED, Module, $"ALIAN PARAMETER IS ILLEGAL ");
                }
               
            }

            if (!WaferManager.Instance.CheckHasWafer(ModuleName.Aligner1, 0))
            {
                LOG.Write(eEvent.ERR_EFEM_ROBOT, Module, $"Efem PreAligner not have wafer, cannot do the align action");
                return RState.Failed;
            }
            else
            {
                Trace.WriteLine("开始Align");
                return Runner.Start(Module,$"PreAligner Start align");
            }
        }


        public RState Monitor()
        {
            Runner.Wait((int)AlignStep.WaitIdle,    WaitEFEMIdle,                0)
                .Run((int)AlignStep.Rotate,         fnalign     ,CheckAlignDone, _moveTimeout)
                .End((int)AlignStep.End,            ActionDone,                  0);
            return Runner.Status;
        }

        private bool fnalign()
        {
            return _efem.Align(Module,angle,0,ws);
        }

        private bool CheckAlignDone()
        {
            if (_efem.Status == RState.End)
            {

                return true;
            }
            else if (_efem.Status != RState.Running)
            {
                LOG.Write(eEvent.ERR_EFEM_COMMON_FAILED, Module, $"Efem PreAligner align failed: {_efem.Status}");
                return true;
            }

            return false;
        }

        private bool ActionDone()
        {
            return true;
        }

        private bool WaitEFEMIdle()
        {
            return _efem.Status == RState.End;
        }

        public void Abort()
        {
            throw new NotImplementedException();
        }

    }
}