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

using Aitex.Core.RT.Routine;
using Aitex.Sorter.Common;
using MECF.Framework.Common.Equipment;
using MECF.Framework.Common.Schedulers;
using System.Collections.Generic;
using Venus_Core;
using Venus_RT.Devices;

namespace Venus_RT.Modules.TM
{
    internal class MFRotationRoutine : ModuleRoutineBase, IRoutine
    {
        private enum RotationStep
        {
            Rotation,
            End
        }
        private readonly JetTM _JetTM;
        private readonly ITransferRobot _robot;
        private ModuleName _targetModule;

        public MFRotationRoutine(JetTM tm, ITransferRobot robot) : base(ModuleName.TMRobot)
        {
            _JetTM = tm;
            _robot = robot;
        }
        public RState Start(params object[] objs)
        {
            var rotationItem = (Queue<MoveItem>)objs[0];
            _targetModule = rotationItem.Peek().DestinationModule;
            return Runner.Start(Module, $"Rotation to {_targetModule}");
        }
        public RState Monitor()
        {
            Runner.Run(RotationStep.Rotation,   Rotation ,  WaitRotationDone,  _timeout_20s)
                  .End(RotationStep.End,        NullFun,    _delay_50ms);
            return Runner.Status;
        }
        private bool Rotation()
        {
            return _robot.Goto(_targetModule, 0, Hand.Both);
        }
        private bool WaitRotationDone()
        {
          return  _robot.Status == RState.End;
        }
        public void Abort()
        {
            
        }
    }
}