Kepler-Release/Venus/Venus_RT/Modules/TM/VenusEntity/SEMFHomeRoutine.cs

using Aitex.Core.RT.Routine;
using Aitex.Core.RT.SCCore;
using Aitex.Sorter.Common;
using MECF.Framework.Common.Equipment;
using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Threading.Tasks;
using Venus_Core;
using Venus_RT.Devices;
using Venus_RT.Devices.PreAligner;

namespace Venus_RT.Modules.TM.VenusEntity
{
    public class SEMFHomeRoutine : ModuleRoutineBase, IRoutine
    {
        private enum HomeStep
        {
            seRobotHome,
            seRobotBlade1CheckLoad,
            seRobotBlade2CheckLoad,
            QueryARMA,
            QueryARMB,
            seRobotDelay,
            seSlitDoor,
            seSlitDoorDelay,
            seVPAHome,
            seEnd,
        }

        private int _robotHomingTimeout = 120 * 1000;
        private int _slitDoorHomingTimeout = 20 * 1000;
        private int _vpaHomingTimeout = 20 * 1000;
        private bool _TMHomeRBFlag = false; //是否仅仅home robot

        private readonly HongHuTM _HongHuTM;
        private readonly ITransferRobot _robot;
        private readonly IPreAlign _vpa;

        public int currentStepNo;

        public SEMFHomeRoutine(HongHuTM HongHuTM, ITransferRobot robot,IPreAlign vpa) : base(ModuleName.SETM)
        {
            _HongHuTM = HongHuTM;
            _robot = robot;
            _vpa = vpa;
            Name = "SE TM Home";
        }


        public RState Start(params object[] objs)
        {
            if (objs.Length > 0 && objs[0].ToString() == "TMRobot")
                _TMHomeRBFlag = true;
            currentStepNo = 0;
            //没有Lid传感 检查
            Reset();
            _robotHomingTimeout = SC.GetValue<int>($"{Module}.HomeTimeout") * 1000;

            return Runner.Start(Module, Name);
        }

        //模式 指令名称 执行命令 检查结束命令 超时时长
        public RState Monitor()
        {
            if(!_TMHomeRBFlag)
                Runner.Run(HomeStep.seRobotHome, HomeRobot, CheckRobotReady, _robotHomingTimeout)
                      .Run(HomeStep.seRobotBlade1CheckLoad, Blade1CheckLoad, CheckRobotReady, _robotHomingTimeout)
                      .Run(HomeStep.seRobotBlade2CheckLoad, Blade2CheckLoad, CheckRobotReady, _robotHomingTimeout)
                      .Run(HomeStep.QueryARMA, ReQueryLoadA, CheckRobotReady, _robotHomingTimeout)
                      .Run(HomeStep.QueryARMB, ReQueryLoadB, CheckRobotReady, _robotHomingTimeout)
                      .Delay(HomeStep.seRobotDelay, 500)
                      .Run(HomeStep.seSlitDoor, HomeSlitDoor, CheckSlitDoorReady, _slitDoorHomingTimeout)
                      .Delay(HomeStep.seSlitDoorDelay, 500)
                      .Run(HomeStep.seVPAHome, HomeVPA, CheckVPAReady, _vpaHomingTimeout)
                      .End(HomeStep.seEnd, NullFun, _delay_50ms);
            else
                Runner.Run(HomeStep.seRobotHome, HomeRobot, CheckRobotReady, _robotHomingTimeout)
                      .End(HomeStep.seEnd, NullFun, _delay_50ms);
            return Runner.Status;
        }

        private bool CheckVPAReady()
        {
            //vpa 检查
            return _vpa.Status == RState.End;
            //return true;
        }
        private bool ReQueryLoadA()
        {
            return _robot.ReQueryLoadA();
        }
        private bool ReQueryLoadB()
        {
            return _robot.ReQueryLoadB();
        }
        private bool HomeVPA()
        {
            //vpa home
            //11.3 直接跳过vpa
            return _vpa.Home();
            //return true;
        }

        private bool CheckSlitDoorReady()
        {
            //检查门状态
            if (_HongHuTM.AllPMSlitDoorClosed && _HongHuTM.VCESlitDoorClosed)
                return true;
            else
                return false;
        }

        private bool HomeSlitDoor()
        {
            _HongHuTM.HomeVceSlitDoor();
            currentStepNo = 2;
            return _HongHuTM.CloseAllSlitDoor();
        }

        private bool CheckRobotReady()
        {
            //robot状态结束
            return _robot.Status == RState.End;
        }
        private bool Blade1CheckLoad()
        {
            return _robot.CheckLoad(Hand.Blade1);
        }

        private bool Blade2CheckLoad()
        {
            return _robot.CheckLoad(Hand.Blade2);
        }
        private bool HomeRobot()
        {
            //robot开始Home
            currentStepNo = 1;
            return _robot.Home();
        }

        public void Abort()
        {

        }
    }
}