Mars200/Mars/JetEfem/Aligners/AlignerLiftRoutine.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 AlignerLiftRoutine : ModuleRoutineBase, IStepRoutine
    {
        enum Lift
        {
            Lift,
            End,
        }

        private int _timeout = 0;
        private bool _isUp;

        private AlignerBase _aligner;

        public AlignerLiftRoutine(AlignerModuleBase module) : base(module.Module)
        {
            Name = "Lift";

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

             
        }

        public bool Initalize()
        {
            return true;
        }

        public void Init(bool isUp)
        {
            _isUp = isUp;
        }



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

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

            Notify($"Start Lift to {(_isUp?"Up":"Down")} ");
            //AlignersState.IsAligning = true;
            return Runner.Start(_aligner.Module, Name);
        }


        public RState Monitor()
        {
            Runner.Run(Lift.Lift, LiftWafer, CheckLiftWafer, _timeout * 1000)
                  .End(Lift.End,  NullFun,   _delay_50ms);
            return Runner.Status;
        }

        bool LiftWafer()
        {
            string reason;
            if (!_aligner.Lift(_isUp ? "UP" : "DOWN", out reason))
            {
                Stop(reason);
                return false;
            }
            return true;
        }

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

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