Mars200/Mars/JetEfem/Efems/EfemRetractRoutine.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 EfemRetractRoutine : ModuleRoutineBase, IStepRoutine
    {
        enum RoutineStep
        {
            CheckBeforeRetract,
            Retract,
            WaitCloseSlitValveInterlock,
            CloseSlitValve,
            PostTransfer,
            End,
        }

        private ModuleName _source;
        private int _sourceSlot;
        private Hand _blade;
        private int _timeout;
        // private TMSlitValveRoutine _closeSlitValveRoutine = new TMSlitValveRoutine();
        private EfemModule _robotModule;
        //private RobotPostionEnum postiontype;
        private ITransferTarget _target;
        public EfemRetractRoutine(EfemModule robotModule) : base(ModuleName.EfemRobot.ToString())
        {
            Name = "Retract";

            _robotModule = robotModule;

        }
        private string _type;
        public void Init(ModuleName source, int sourceSlot, string blade,string type)
        {
            _source = source;
            _sourceSlot = sourceSlot;
            _blade = (Hand)Enum.Parse(typeof(Hand), blade);
            _type = type;

            //_closeSlitValveRoutine.Init(source.ToString(), false);
        }

        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 retract, {_source} not ready for transfer");
            //        return Result.FAIL;
            //    }
            //}

            if (ModuleHelper.IsPm(_source))
            {   
                if (_type=="Pick")
                {
                    //postiontype = RobotPostionEnum.PickRetracted;// _blade == Hand.Blade1 ?RobotPostionEnum.PickRetractLow: RobotPostionEnum.PickRetractUp;
                }
                else
                {
                    //postiontype = RobotPostionEnum.PlaceRetract;//_blade == Hand.Blade1 ? RobotPostionEnum.PlaceRetractLow : RobotPostionEnum.PlaceRetractUp;
                }
               // PMModuleBase pm = DEVICE.GetDevice<PMModule>(_source.ToString()+"."+ _source.ToString());

                _target = EquipmentManager.Modules[_source] as ITransferTarget;
                //if (!pm.CheckReadyForTransfer(ModuleName.EfemRobot, _blade, _sourceSlot, EnumTransferType.Retract, out _))
                //{
                //    EV.PostWarningLog(Module, $"can not retract, {_source} not ready for transfer");
                //    return Result.FAIL;
                //}
            }

            Notify($"Start, retract from {_source} slot {_sourceSlot + 1} with {_blade}");

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

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


        public RState Monitor()
        {
            Runner.Run(RoutineStep.Retract,      RobotRetract, CheckRobotRetract, _timeout * 1000)
                  .Run(RoutineStep.PostTransfer, PostTransfer, CheckPostTransfer, _timeout * 1000)
                  .End(RoutineStep.End,          NullFun,      _delay_50ms);

            if (Runner.Status == RState.End)
                Notify($"Finish, retract from {_source} slot {_sourceSlot + 1} with {_blade}");

            return Runner.Status;
        }

        bool RobotRetract()
        {
            Notify("robot execute goto command");

            //string reason;

            //if (!_robotModule.RobotDevice.GotoRE(chamber, hand, slot, postiontype, out reason))
            //{
            //    Stop(reason);
            //    return false;
            //}
            return true;
        }
        bool CheckRobotRetract()
        {
            return !_robotModule.RobotDevice.IsError && _robotModule.RobotDevice.IsIdle;
        }

        bool PostTransfer()
        {
            if (ModuleHelper.IsPm(_source))
            {
                var pm = _target as PMModuleBase;
                var type = EnumTransferType.Retract;

                Notify($"{pm.Name} post transfer ");

                if (!pm.PostTransfer(ModuleName.EfemRobot, _blade, new int[] { _sourceSlot }, type, out string reason))
                {
                    Stop(reason);
                    return false;
                }

                return true;
            }
            return true; 
        }
        bool CheckPostTransfer()
        {
            if (ModuleHelper.IsPm(_source))
            {
                var pm = _target as PMModuleBase;
                return !pm.IsError && pm.IsReady;
            }
            return true; 
        }
    }
}