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;

namespace Venus_RT.Modules.TM
{
    class MFHomeRoutine : ModuleRoutineBase, IRoutine
    {
        private enum HomeStep
        {
            kHoming,
            kEnd,
        }

        private int _homingTimeout = 30000;
        private readonly JetTM _JetTM;
        private readonly ITransferRobot _robot;
        public MFHomeRoutine(JetTM jetTM, ITransferRobot robot) : base(ModuleName.TM)
        {
            _JetTM = jetTM;
            _robot = robot;
            Name = "TM Home";
        }

        public RState Start(params object[] objs)
        {
            Reset();
            _homingTimeout = SC.GetValue<int>($"{Module}.HomeTimeout") * 1000;

            return Runner.Start(Module, Name);
        }

        public RState Monitor()
        {
            Runner.Run((int)HomeStep.kHoming,   HomeTM,     CheckHomeReady,     _homingTimeout)
                .End((int)HomeStep.kEnd,        NullFun,    _delay_50ms);

            return Runner.Status;
        }

        private bool HomeTM()
        {
            return _robot.Home();
        }

        private bool CheckHomeReady()
        {     
            return _robot.Status == RState.End;
        }

        public void Abort()
        {
        }
    }
}