Mars200/Mars/JetEfem/Efems/EfemExtendRoutine.cs

using System;
using Aitex.Core.RT.Routine;
using Aitex.Core.RT.SCCore;
using Aitex.Core.Util;
using Aitex.Sorter.Common;
using MECF.Framework.Common.Equipment;
using MECF.Framework.Common.Schedulers;
using MECF.Framework.RT.EquipmentLibrary.HardwareUnits.Robots;
using MECF.Framework.RT.EquipmentLibrary.LogicUnits;
using MECF.Framework.RT.ModuleLibrary.PMModules;
using MECF.Framework.RT.ModuleLibrary.SystemModules;

namespace JetEfemLib.Efems
{
    class EfemExtendRoutine : ModuleRoutineBase, IStepRoutine
    {
        enum RoutineStep
        {
            WaitOpenSlitValveInterlock,
            OpenSlitValve,
            CheckBeforeExtend,
            Extend,
            PrepareTransfer,
            End,
        }

        private ModuleName _source;
        private int _sourceSlot;
        private Hand _hand;
        private int _timeout;
        //private TMSlitValveRoutine _openSlitValveRoutine = new TMSlitValveRoutine();
        private ITransferTarget _target;
        private EfemModule _robotModule;
        //private RobotPostionEnum postiontype;
        public EfemExtendRoutine(EfemModule robotModule) : base("Efem")
        {
            Name = "Extend";
            _robotModule = robotModule;
        }
        private string _type;
        public void Init(ModuleName source, int sourceSlot, string blade,string type)
        {
            _source = source;
            _sourceSlot = sourceSlot;
            _hand = (Hand)Enum.Parse(typeof(Hand), blade);
            _type = type;
            // _openSlitValveRoutine.Init(source.ToString(), true);

        }

        public void Init(ModuleName source, int sourceSlot, int blade)
        {
            Init(source, sourceSlot, blade);
        }


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

            _timeout =  SC.GetValue<int>("EFEM.EfemRobot.PickTimeout"); 

            //if (ModuleHelper.IsLoadLock(_source))
            //{
            //    LoadLock ll = DEVICE.GetDevice<LoadLock>(_source.ToString());
            //    if (!ll.CheckEnableTransfer(EnumTransferType.Extend))
            //    {
            //        EV.PostWarningLog(Module, $"can not extend, {_source} not ready for transfer");
            //        return Result.FAIL;
            //    }
            //}

            if (ModuleHelper.IsPm(_source))
            {
                if (_type=="Place")
                {
                    //postiontype = RobotPostionEnum.PlaceExtendUp;//_hand == Hand.Blade1 ? RobotPostionEnum.PlaceExtendDown : RobotPostionEnum.PlaceExtendUp;
                }
                else
                {
                    //postiontype = RobotPostionEnum.PickExtendLow;//_hand == Hand.Blade1 ? RobotPostionEnum.PickExtendLow : RobotPostionEnum.PickExtendUp;
                }
                _target = EquipmentManager.Modules[_source] as ITransferTarget;
                //if (!pm.CheckReadyForTransfer(ModuleName.EfemRobot,_hand, _sourceSlot, EnumTransferType.Extend, out _))
                //{
                //    EV.PostWarningLog(Module, $"can not extend, {_source} not ready for transfer");
                //    return Result.FAIL;
                //}
            }

            Notify($"Start, extend to {_source} slot {_sourceSlot + 1} with {_hand}");

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

        public void Abort()
        {
            Notify("Abort");
        }


        public RState Monitor()
        {
            Runner.Run(RoutineStep.Extend, RobotExtend, CheckRobotExtend, _timeout * 1000)
                  .End(RoutineStep.End,    NullFun,     _delay_50ms);
            if(Runner.Status == RState.End)
                Notify($"Finish, extend to {_source} slot {_sourceSlot + 1} with {_hand}");
            return Runner.Status;
        }

        public bool RobotExtend()
        {
            Notify("robot execute extend command");
            //string reason;
            //if (!_robotModule.RobotDevice.GotoRE(chamber, hand, slot,postiontype, out reason))
            //{
            //    Stop(reason);
            //    return false;
            //}
            return true;
        }

        bool CheckRobotExtend()
        {
            return !_robotModule.RobotDevice.IsError && _robotModule.RobotDevice.IsIdle;
        }

    }
}