Mars200/Mars/EfemDualSchedulerLib/HomeAll.cs

using System.Collections.Generic;
using System.Linq;
using Aitex.Core.RT.Device;
using Aitex.Core.RT.Routine;
using Aitex.Core.RT.SCCore;
using Aitex.Core.Util;
using MECF.Framework.Common.Equipment;
using MECF.Framework.RT.ModuleLibrary.SystemModules;

namespace EfemDualSchedulerLib
{
    public class HomeAll:IRoutine
    {
        List<List<IModuleDevice>> _lstModules = new List<List<IModuleDevice>>();
        List<IModuleDevice> _homingModules = new List<IModuleDevice>();

        public HomeAll()
        {

        }

        public Result Start(params object[] objs)
        {
            _lstModules.Clear();

            _lstModules.Add(new List<IModuleDevice>()
            {
                EquipmentManager.Modules[ModuleName.EFEM] as IModuleDevice,
                EquipmentManager.Modules[ModuleName.TM] as IModuleDevice,
            });

            var lstModules = new List<IModuleDevice>()
            {
                EquipmentManager.Modules[ModuleName.PMA] as IModuleDevice,
                EquipmentManager.Modules[ModuleName.PMB] as IModuleDevice,
                EquipmentManager.Modules[ModuleName.LLA] as IModuleDevice,
                EquipmentManager.Modules[ModuleName.LLB] as IModuleDevice,
                EquipmentManager.Modules[ModuleName.Aligner1] as IModuleDevice,
                EquipmentManager.Modules[ModuleName.Aligner2] as IModuleDevice,
                EquipmentManager.Modules[ModuleName.Cooling1] as IModuleDevice,
                EquipmentManager.Modules[ModuleName.Cooling2] as IModuleDevice,
                EquipmentManager.Modules[ModuleName.LP1] as IModuleDevice,
                EquipmentManager.Modules[ModuleName.LP2] as IModuleDevice,
                EquipmentManager.Modules[ModuleName.LP3] as IModuleDevice,
            };

            _lstModules.Add(lstModules);

            _homingModules.Clear();

            return Result.RUN;
        }

        public bool GetIsInstalled(string ModuleName)
        {
            return SC.GetValue<bool>($"System.SetUp.{ModuleName}.IsInstalled");
        }

        public Result Monitor( )
        {
            if (_homingModules.Count == 0 && _lstModules.Count == 0)
                return Result.DONE;

            if (_homingModules.Count > 0)
            {
                if(_homingModules.Any(p=>p.IsError))  return Result.FAIL;
                foreach (var module in _homingModules)
                {
                    if (module.IsError)
                        return Result.FAIL;

                    if (!module.IsReady)
                        return Result.RUN;
                }

                _homingModules.Clear();
                if (_lstModules.Count == 0)
                    return Result.DONE;
            }

            if (_homingModules.Count == 0)
            {
                foreach (var moduleEntity in _lstModules[0])
                {
                    if(moduleEntity.Name!="TM" && moduleEntity.Name != "EFEM")
                    {
                        if (!GetIsInstalled(moduleEntity.Name))
                        {
                            continue;
                        }
                    }
                    

                    if (!moduleEntity.Home(out string reason))
                        return Result.FAIL;
                    _homingModules.Add(moduleEntity);
                }

                _lstModules.RemoveAt(0);
            }


            return Result.RUN;
        }


        public void Abort()
        {

            Clear();
        }

        public void Clear()
        {
            _lstModules.Clear();
            _homingModules.Clear();
        }


    }
}