Mars200/Mars/JetEfem/Buffers/BufferHomeRoutine.cs

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

namespace JetEfemLib.Buffers
{
    class BufferHomeRoutine : ModuleRoutineBase, IStepRoutine
    {
        enum RoutineStep
        {
            ClearError,
            Home,
            QueryStatus,
            End,
        }

        private int _timeout = 0;
        FutureBuffer _buffer = null;

        public BufferHomeRoutine(ModuleName module) : base(module.ToString())
        {
            Name = "Home";
            
        }


        public bool Initalize()
        {
            return true;
        }
 
        public RState Start(params object[] objs)
        {
            Reset();

            _timeout = SC.GetValue<int>("EFEM.Aligner.HomeTimeout");
            _buffer = DEVICE.GetDevice<FutureBuffer>($"{Module}");
            return Runner.Start(Module, Name);
        }


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

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

        public void Abort()
        {
            
        }
 
    }
}