Mars200/Mars/JetEfem/LPs/LoadPortCloseDoorRoutine.cs

using System;
using Aitex.Core.RT.Device;
using Aitex.Core.RT.Log;
using Aitex.Core.RT.Routine;
using Aitex.Core.RT.SCCore;
using MECF.Framework.RT.EquipmentLibrary.HardwareUnits.LoadPorts;

namespace JetEfemLib.LPs
{
    class LoadPortCloseDoorRoutine : ModuleRoutineBase, IStepRoutine
    {
        enum RoutineStep
        {
            CloseDoor,
            QueryStatus,
            End,
        }

        private int _timeout = 0;

        private LoadPortModule _lpModule;
        public LoadPortCloseDoorRoutine(LoadPortModule lpModule) : base(lpModule.Module)
        {
            _lpModule = lpModule;

            Name = "CloseDoor";

        }


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

            _timeout = SC.GetValue<int>("EFEM.LoadPort.MotionTimeout");

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


        public RState Monitor()
        {
            Runner.Run(RoutineStep.CloseDoor,  CloseDoor,    CheckDevice, _timeout * 1000)
                .End(RoutineStep.QueryStatus,  QueryStatus,  CheckDevice, _timeout * 1000);
            return Runner.Status;
        }

        bool CloseDoor()
        {
            Notify($"Start Close Door {_lpModule.LPDevice.Name}");
            string reason;
            if (!_lpModule.LPDevice.CloseDoor(out reason))
            {
                Stop(reason);
                return false;
            }
            return true;
        }

        bool CheckDevice()
        {
            return !(_lpModule.LPDevice.IsError || _lpModule.LPDevice.IsBusy);
        }

        bool QueryStatus()
        {
            Notify($"Start query status {_lpModule.LPDevice.Name}");
            string reason;
            if (!_lpModule.LPDevice.QueryState(out reason))
            {
                Stop(reason);
                return false;
            }
            return true;
        }

        public void Abort()
        {
            
        }
 
    }
}