Mars200/JetVirgoPM/PMs/Routines/PMTransferHandoffRoutine.cs

using System;
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;

namespace JetVirgoPM.PMs.Routines
{
    class PMTransferHandoffRoutine : PMRoutineBase, IStepRoutine
    {
        enum RoutineStep
        {
            SetPin,
            kEnd
        }

        private int _timeout;

        private EnumTransferType _TransferType;
        private EnumDualPM _pos;

        public PMTransferHandoffRoutine(JetDualPM chamber) : base(chamber)
        {
            Name = "TransferHandoff";
        }

        public RState Init(EnumTransferType type, int[] slot)
        {
            _TransferType = type;
            _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()
        {
            var isUp = false;
            var pos = EnumDualPM.None;

            if (_TransferType == EnumTransferType.Pick || _TransferType == EnumTransferType.Place)
            {
                isUp = _TransferType == EnumTransferType.Pick ? false : true;
                pos = _pos;
            }
    
            Runner.Run(RoutineStep.SetPin, HOFs.Apply(SetLiftPinUpDown, pos, isUp), HOFs.Apply(ChecktLiftPinUpDown, pos, isUp), _timeout * 1000)
                  .End(RoutineStep.kEnd,   EndFunc,                                 _delay_0s);
            return Runner.Status;
        }

        public override void Abort() { }
    }
}