Mars200/Mars/JetEfem/Efems/EfemHomeAllRoutine.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.Core.Applications;
using MECF.Framework.RT.EquipmentLibrary.HardwareUnits.Efems;
using MECF.Framework.RT.EquipmentLibrary.HardwareUnits.Efems.Rorzes;
using MECF.Framework.RT.ModuleLibrary.AlignerModules;
using MECF.Framework.RT.ModuleLibrary.LPModules;
using MECF.Framework.RT.ModuleLibrary.SystemModules;

namespace JetEfemLib.Efems
{
    class EfemHomeAllRoutine : ModuleRoutineBase, IStepRoutine
    {
        enum RoutineStep
        {
            HomeRobot,
            HomeAligner1,
            HomeAligner2,

            HomeOtherModules,
            End,
        }

        private IStepRoutine _homeRobotRoutine;

        private AlignerModuleBase _aligner1;
        private AlignerModuleBase _aligner2;
        private LoadPortModuleBase _lp1;
        private LoadPortModuleBase _lp2;

        private bool _aligner1Installed;
        private bool _aligner2Installed;
        public EfemHomeAllRoutine(EfemModule module) : base(ModuleName.EfemRobot.ToString())
        {
            Name = "Home All";

            _homeRobotRoutine = new EfemHomeRoutine(module);

            _aligner1 = EquipmentManager.Modules[ModuleName.Aligner1] as AlignerModuleBase;
            _aligner2 = EquipmentManager.Modules[ModuleName.Aligner2] as AlignerModuleBase;
            _lp1 = EquipmentManager.Modules[ModuleName.LP1] as LoadPortModuleBase;
            _lp2 = EquipmentManager.Modules[ModuleName.LP2] as LoadPortModuleBase;

            System.Diagnostics.Debug.Assert(_aligner1 != null);
            System.Diagnostics.Debug.Assert(_aligner2 != null);
            System.Diagnostics.Debug.Assert(_lp1 != null);
            System.Diagnostics.Debug.Assert(_lp2 != null);
            _aligner1Installed = SC.GetValueOrDefault<bool>("System.SetUp.Aligner1.IsInstalled");
            _aligner2Installed = SC.GetValueOrDefault<bool>("System.SetUp.Aligner2.IsInstalled");
        }



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

            return Runner.Start(ModuleName.EfemRobot.ToString(), Name);
        }


        public RState Monitor()
        {
            Runner.Run(RoutineStep.HomeRobot,    HomeRobot,    CheckHomeRobot)
                  .Run(RoutineStep.HomeAligner1, HomeAligner1, CheckHomeAligner1)
                  .Run(RoutineStep.HomeAligner2, HomeAligner2, CheckHomeAligner2)
                  .End(RoutineStep.End,          NullFun,      _delay_50ms);
            return Runner.Status;
        }

        public bool HomeRobot()
        {
            return _homeRobotRoutine.Start() == RState.Running;
        }
        bool CheckHomeRobot()
        {
            var status = _homeRobotRoutine.Monitor();
            if (status == RState.End)
            {
                return true;
            }
            else if (status == RState.Failed || status == RState.Timeout)
            {
                Runner.Stop($"Home failed.");
                return true;
            }

            return false;
        }

        public bool HomeAligner1()
        {
            if(_aligner1Installed)
            {
                Notify($"Start Home Aligner1");
                string reason;

                if (!_aligner1.Home(out reason))
                {
                    Stop(reason);
                    return false;
                }
            }

            return true;
        }

        bool CheckHomeAligner1()
        {
            return _aligner1Installed ? !(_aligner1.IsError || !_aligner1.IsReady) : true;
        }

        public bool HomeAligner2()
        {
            if (_aligner2Installed)
            {
                Notify($"Start Home Aligner2");
                string reason;

                if (!_aligner2.Home(out reason))
                {
                    Stop(reason);
                    return false;
                }
            }

            return true;
        }

        bool CheckHomeAligner2()
        {
            return _aligner2Installed ? !(_aligner2.IsError || !_aligner2.IsReady) : true;
        }

        public void Abort()
        {

        }

    }
}