Kepler-Release/Venus/Venus_RT/Modules/TM/MFHomeRoutine.cs

using Aitex.Core.RT.Routine;
using Aitex.Core.RT.SCCore;
using Venus_RT.Devices;
using MECF.Framework.Common.Routine;
using MECF.Framework.Common.Equipment;
using Venus_Core;
using Aitex.Core.RT.Log;
using Venus_RT.Modules.PMs;

namespace Venus_RT.Modules.TM
{
    class MFHomeRoutine : ModuleRoutineBase, IRoutine
    {
        private enum HomeStep
        {
            kLidDelay,
            kRobot,
            kRobotDelay,
            kSlitDoor,
            kSlitDoorDelay,
            kPump,
            kPumpDelay,
            kATMSwitch,
            kEnd,
        }

        private int _robotHomingTimeout = 120*1000;
        private int _slitDoorHomingTimeout = 20 * 1000;
        private int _pumpHomingTimeout = 120 * 1000;
        private int _pumpDownHomingTimeout = 600 * 1000;



        private readonly JetTM _JetTM;
        private readonly ITransferRobot _robot;
        private readonly MFPumpRoutine _pumpDownRoutine;

        public int currentStepNo;
        public MFHomeRoutine(JetTM jetTM, ITransferRobot robot, MFPumpRoutine pumpDownRoutine) : base(ModuleName.TM)
        {
            _JetTM = jetTM;
            _robot = robot;
            _pumpDownRoutine= pumpDownRoutine;
            Name = "TM Home";
        }

        public RState Start(params object[] objs)
        {
            currentStepNo = 0;
            if (!_JetTM.CheckLidClosed(Module))
            {
                Stop($"TM Lid Not Closed");
                return RState.Failed;
            }
            Reset();
            _robotHomingTimeout = SC.GetValue<int>($"{Module}.HomeTimeout") * 1000;
           
            return Runner.Start(Module, Name);
        }

        public RState Monitor()
        {
            Runner.Delay((int)HomeStep.kLidDelay,500)
                  .Run((int)HomeStep.kRobot,      HomeRobot,     CheckRobotReady,       _robotHomingTimeout)
                  .Delay((int)HomeStep.kRobotDelay,500)
                  .Run((int)HomeStep.kSlitDoor,   HomeSlitDoor,  CheckSlitDoorReady,    _slitDoorHomingTimeout)
                  .Delay((int)HomeStep.kSlitDoorDelay,500)
                  .Run((int)HomeStep.kPump,       HomePump,      CheckPumpReady,        _pumpHomingTimeout)
                  .Delay((int)HomeStep.kPumpDelay,500)
                  .Run((int)HomeStep.kATMSwitch,  HomePumpDown,  CheckATMSwitchReady,   _pumpDownHomingTimeout)
                  .End((int)HomeStep.kEnd,      NullFun,    _delay_50ms);

            return Runner.Status;
        }

        private bool HomeRobot()
        {
            currentStepNo = 1;
            if (_robot.Status == RState.End)
            {
                return true;
            }
            return _robot.Home();
        }

        private bool CheckRobotReady()
        {
            return _robot.Status == RState.End;
        }
        private bool HomeSlitDoor()
        {
            _JetTM.HomeSlitDoor();
            currentStepNo = 2;
          return  _JetTM.CloseAllSlitDoor();
        }

        private bool CheckSlitDoorReady()
        {
            if (_JetTM.AllPMSlitDoorClosed && _JetTM.IsLLASlitDoorClosed && _JetTM.IsLLBSlitDoorClosed)
            {
                return true;
            }
            else
            {
                return false;
            }
        }
        private bool HomePump()
        {
            if (RouteManager.IsATMMode)
                return true;

            currentStepNo = 3;
            if ((bool)_JetTM.TMPumpIsRunning)
            {
                return true;
            }
            return _JetTM.TurnTMPump(true);
        }

        private bool CheckPumpReady()
        {
            if (RouteManager.IsATMMode)
                return true;

            if ((bool)_JetTM.TMPumpIsRunning)
            {
                return true;
            }
            else
            {
                return false;
            }
        }
        private bool HomePumpDown()
        {
            if (RouteManager.IsATMMode)
                return true;

            currentStepNo = 4;
            return _pumpDownRoutine.Start() == RState.Running;
        }

        private bool CheckATMSwitchReady()
        {
            if (RouteManager.IsATMMode)
                return true;

            var status = _pumpDownRoutine.Monitor();
            if (_JetTM.IsTMVac && status == RState.End)
            {
                _JetTM.TurnSoftPumpValve(ModuleName.TM, false);
                _JetTM.TurnFastPumpValve(ModuleName.TM, false);
                return true;
            }
            else
            {
                //_pumpDownRoutine.Monitor();
                return false;
            }
        }
        public void Abort()
        {
        }
    }
}