Mars200/Mars/JetEfem/Buffers/BufferLiftRoutine.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.Buffers
{
    class BufferLiftRoutine : ModuleRoutineBase, IStepRoutine
    {
        enum Lift
        {
            Lift,
            End,
        }

        private int _timeout = 0;
        private bool _isUp;

        private AlignerBase _aligner;

        public BufferLiftRoutine(AlignerModuleBase module) : base(module.ToString())
        {
            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.GetValue<int>("EFEM.Aligner.LiftTimeout");

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


        public RState Monitor()
        {
            Runner.Run(Lift.Lift, LiftWafer, CheckLiftWafer, _timeout * 1000)
                .End(Lift.Lift,   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");
        }
    }
}