Kepler-Release/Venus/Venus_RT/Modules/PMs/PMHomeRoutine.cs

using System;
using Aitex.Core.RT.Routine;
using Venus_RT.Devices;
using MECF.Framework.Common.Routine;
using Venus_Core;
namespace Venus_RT.Modules.PMs
{
    class PMHomeRoutine : PMRoutineBase, IRoutine
    {
        enum RoutineStep
        {
            Home,
            End,
        }
        public PMHomeRoutine(JetPM chamber) : base(chamber)
        {
            Name = "PM Home";
        }

        public RState  Init()
        {
            return RState.End;
        }

        public RState Start(params object[] objs)
        {
            return Runner.Start(Module, Name);
        }

        public RState Monitor()
        {
            Runner.Run((int)RoutineStep.Home, HOFs.WrapAction(_chamber.Home), IsHomed, 50000)
            .End((int)RoutineStep.End, () => { return true; });

            return Runner.Status;

        }

        public void Abort()
        {

        }

        private bool IsHomed()
        {
            return _chamber.IsSlitDoorClosed && _chamber.LiftPinPosition == Venus_Core.MovementPosition.Down;
        }
    }
}