Mars200/JetVirgoPM/PMs/Routines/PMPostTransferRoutine.cs

using System;
using Aitex.Core.RT.DataCenter;
using Aitex.Core.RT.Routine;
using Aitex.Core.RT.SCCore;
using JetVirgoPM.Devices;
using MECF.Framework.Common.Routine;
using MECF.Framework.Common.Schedulers;
using MECF.Framework.RT.EquipmentLibrary.HardwareUnits.PMs;
using MECF.Framework.RT.ModuleLibrary.SystemModules;

namespace JetVirgoPM.PMs.Routines
{
    class PMPostTransferRoutine : PMRoutineBase, IStepRoutine
    {
        enum RoutineStep
        {
            PumpDown,
            SetLiftPin,
            WaitNotExtendToPMON,
            SetSlitDoor,
            SlitDoorDelay,
            kEnd
        }

        private int _timeout;

        private EnumDualPM _pos;

        public PMPostTransferRoutine(JetDualPM chamber) : base(chamber)
        {
            Name = "PostTransfer";
        }

        public RState Init(EnumTransferType type, int[] slot)
        {
            
            _pos = (slot.Length > 1) ? EnumDualPM.Both : (slot[0] == 0) ? EnumDualPM.Left : EnumDualPM.Right;
            if (SC.IsDoubleFork) _pos = EnumDualPM.Both;
            return RState.End;
        }

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

            return Runner.Start(_chamber.Module.ToString(), Name);
        }

        public RState Monitor()
        {
            //只在TMCycle中降pin，其余在Recipe中控制
            if (DATA.Poll("Rt", "Status").ToString() == RtState.TMCycling.ToString())
            {
                Runner.Run(RoutineStep.SetLiftPin,          HOFs.Apply(SetLiftPinUpDown, _pos, false), HOFs.Apply(ChecktLiftPinUpDown, _pos, false))
                      .Run(RoutineStep.WaitNotExtendToPMON, WaitNotExtendToPMON,                       CheckWaitNotExtendToPMON,               _timeout * 1000)
                      .Run(RoutineStep.SetSlitDoor,         HOFs.Apply(SetSlitDoor, _pos, false),      HOFs.Apply(CheckSlitDoor, _pos, false), _timeout * 1000)
                      .End(RoutineStep.kEnd,                EndFunc, _delay_0s);
            }
            else
            {
                Runner.Run(RoutineStep.WaitNotExtendToPMON, WaitNotExtendToPMON,                       CheckWaitNotExtendToPMON,               _timeout * 1000)
                      .Run(RoutineStep.SetSlitDoor,         HOFs.Apply(SetSlitDoor, _pos, false),      HOFs.Apply(CheckSlitDoor, _pos, false), _timeout * 1000)
                      .End(RoutineStep.kEnd,                EndFunc, _delay_0s);
            }

            return Runner.Status;
        }

        public override void Abort() { }

        bool WaitNotExtendToPMON()
        {
            Func<bool> notifyFunc = () => { Notify($"等待 Not Extend To PM 信号ON"); return true; };
            return ((_pos != EnumDualPM.Left || _chamber.IsTMRobotNotExtendToPM1) || notifyFunc()) &&
                   ((_pos != EnumDualPM.Right || _chamber.IsTMRobotNotExtendToPM2) || notifyFunc());
        }

        private bool CheckWaitNotExtendToPMON()
        {
            return ((_pos != EnumDualPM.Left) || _chamber.IsTMRobotNotExtendToPM1) && ((_pos != EnumDualPM.Right) || _chamber.IsTMRobotNotExtendToPM2);
        }
    }
}