Mars200/Mars/JetEfem/Aligners/AlignerAlignRoutine.cs

using System;
using Aitex.Core.RT.Device;
using Aitex.Core.RT.Routine;
using Aitex.Core.RT.SCCore;
using MECF.Framework.Common.Equipment;
using MECF.Framework.RT.EquipmentLibrary.HardwareUnits.Aligners;
using MECF.Framework.RT.ModuleLibrary.AlignerModules;

namespace JetEfemLib.Aligners
{
    class AlignerAlignRoutine : ModuleRoutineBase, IStepRoutine
    {
        enum Align
        {
            Align,
            End,
        }

        private int _timeout = 0;
        private double _angle = 0.0;

        private AlignerBase _aligner;

        public AlignerAlignRoutine(AlignerModuleBase module) : base(module.Module)
        {
            Name = "Align";

            _aligner = DEVICE.GetDevice<AlignerBase>($"{Module}.{Module}");

            _angle = SC.GetValue<double>("EFEM.Aligner.DefaultNotchDegree");
        }

        public bool Initalize()
        {
            return true;
        }

        public void Init(double notch)
        {
            _angle = notch;
        }



        public RState Start(params object[] objs)
        {
            Reset();

            _timeout = SC.GetValue<int>("EFEM.Aligner.AlignTimeout");

            Notify($"Start align to {_angle} degree");
            //AlignersState.IsAligning = true;
            return Runner.Start(_aligner.Module, Name);
        }


        public RState Monitor()
        {
            Runner.Run(Align.Align, AlignWafer, CheckAlignDone, _timeout * 1000)
                  .End(Align.End,   NullFun,    _delay_50ms);
            return Runner.Status;
        }

        bool AlignWafer()
        {
            Notify($"Start align to {_angle} degree");
            string reason;

            if (!_aligner.Align(_angle, out reason))
            {
                Stop(reason);
                return false;
            }
            return true;
        }

        bool CheckAlignDone()
        {
            return !(_aligner.IsError || _aligner.IsBusy);
        }

        public void Abort()
        {
            //AlignersState.IsAligning = false;
            Notify("Abort");
        }
    }
}