Mars200/Mars/JetEfem/Aligners/AlignerHomeRoutine.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 AlignerHomeRoutine : ModuleRoutineBase, IStepRoutine
    {
        enum RoutineStep
        {
            ClearError,
            Home,
            QueryStatus,
            End,
        }

        private int _timeout = 0;

        AlignerBase _aligner = null;

        public AlignerHomeRoutine(AlignerModuleBase module) : base(module.Module)
        {
            Name = "Home";
        }


        public bool Initalize()
        {
            return true;
        }

        public RState Start(params object[] objs)
        {
            Reset();
            _aligner = DEVICE.GetDevice<AlignerBase>($"{Module}.{Module}");
            
            _timeout = SC.GetValue<int>("EFEM.Aligner.HomeTimeout");

            if (_aligner.Name == "Cooling1" || _aligner.Name == "Cooling2")
            {
                _timeout = SC.GetValue<int>("EFEM.Cooling.HomeTimeout");
            }

            return Runner.Start(_aligner.Module, Name);
        }


        public RState Monitor()
        {
            Runner.Run(RoutineStep.Home, Home,    CheckHome, _timeout * 1000)
                  .End(RoutineStep.End,  NullFun, _delay_50ms);
            return Runner.Status;
        }

        bool Home()
        {
            string reason;
            Notify($"Start home {_aligner.Name}");
            if (!_aligner.Home(out reason))
            {
                Stop(reason);
                return false;
            }
            return true;
        }

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

        public void Abort()
        {

        }

    }
}