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

using Aitex.Core.RT.Routine;
using Aitex.Core.RT.SCCore;
using Aitex.Sorter.Common;
using Venus_RT.Devices;
using MECF.Framework.Common.Routine;
using MECF.Framework.Common.Equipment;
using MECF.Framework.Common.SubstrateTrackings;
using Venus_Core;
using Aitex.Core.RT.Log;
using Aitex.Core.Util;
using MECF.Framework.Common.Schedulers;
using System.Collections.Generic;
using Venus_RT.Devices.EFEM;

namespace Venus_RT.Modules.EFEM
{
    class EfemHomeRoutine : ModuleRoutineBase, IRoutine
    {
        private enum HomeStep
        {
            ClearError,
            InitRobot,
            HomeAllAxes,
            CheckWaferPresence,
            End,
        }

        private enum HomeModuleStep
        {
            Home,
            End,
        }

        private int _homeTimeout = 30 * 1000;
        ModuleName _targetModule;
        EfemBase _efem;

        public EfemHomeRoutine(EfemBase efem) : base(ModuleName.EfemRobot)
        {
            _efem = efem;
        }

        public RState Start(params object[] objs)
        {

            _targetModule = (ModuleName)objs[0];

            _homeTimeout = SC.GetValue<int>($"EFEM.HomeTimeout") * 1000;
            return Runner.Start(Module, $"Home {_targetModule}");
        }

        public RState Monitor()
        {

            if(_targetModule == ModuleName.System)
            {
                Runner.Run((int)HomeStep.ClearError,            ClearError,             IsStepComplete,     _homeTimeout)
                    .Run((int)HomeStep.InitRobot,               HomeAll,                IsStepComplete,     _homeTimeout)
                    .Run((int)HomeStep.HomeAllAxes,             HomeAllAxes,            IsStepComplete,     _homeTimeout)
                    .Run((int)HomeStep.CheckWaferPresence,      CheckWaferPresence,     IsStepComplete,     _homeTimeout)
                    .End((int)HomeStep.End,                     NullFun,                _delay_50ms);
            }
            else
            {
                Runner.Run((int)HomeModuleStep.Home,    HomeModule,     IsStepComplete,     _homeTimeout)
                    .End((int)HomeModuleStep.End,       NullFun,        _delay_50ms);
            }


            return Runner.Status;
        }

        public void Abort()
        {
        }

        private bool IsStepComplete()
        {
            if (_efem.Status == RState.End)
            {
                return true;
            }
            else if (_efem.Status != RState.Running)
            {
                LOG.Write(eEvent.ERR_EFEM_ROBOT, Module, $"Efem home failed: {_efem.Status}");
                return true;
            }
            else
                return false;
        }

        private bool ClearError()
        {
            return _efem.ClearError();
        }

        private bool HomeAll()
        {
            return _efem.HomeAll();
        }

        private bool HomeModule()
        {
            return _efem.Home(_targetModule);
        }

        private bool HomeAllAxes()
        {
            return true;
        }

        private bool CheckWaferPresence()
        {
            return true;
        }

    }
}