Mars200/Mars/JetMainframe/TMs/TMMapRoutine.cs

using System;
using Aitex.Core.RT.Routine;
using Aitex.Core.RT.SCCore;
using MECF.Framework.Common.Equipment;

namespace JetMainframe.TMs
{
    public class TMMapRoutine : ModuleRoutineBase, IStepRoutine
    {
        enum RoutineStep
        {
            CheckTargetEnableMap,
            Map,
            End,
        }

        private int _mapTimeout;
        private ModuleName _target;
        private int _thicknessIndex;
        //private Hand _hand;
        //private bool _autoHand;

        private TMModule _tmModule;

        public TMMapRoutine(TMModule tmModule) : base(ModuleName.TM.ToString())
        {
            Name = "Map";

            _tmModule = tmModule;
        }

        public RState Start(params object[] objs)
        {
            _mapTimeout = SC.GetValue<int>("TM.MapTimeout");

            Reset();

            _thicknessIndex = 0;

            Notify($"Start map {_target}");

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

        public void Init(ModuleName source)
        {
            //_autoHand = true;

            _target = source;

        }

        public void Abort()
        {
            Notify($"Abort map {_target}");
        }


        public RState Monitor()
        {
            Runner.Wait(RoutineStep.CheckTargetEnableMap, CheckTargetEnableMap)
                  .Run(RoutineStep.Map,                   Map,     CheckMap, _mapTimeout * 1000)
                  .End(RoutineStep.End,                   NullFun, _delay_1s);

            if (Runner.Status ==  RState.End)
                Notify($"Complete map {_target}");

            return Runner.Status;
        }

        bool CheckTargetEnableMap()
        {
            Notify($"Check {_target} enable map");

            if (!ModuleHelper.IsLoadPort(_target))
            {
                Stop($"Can not map {_target}, only LP supported");
                return false;
            }

            //LoadPortModuleBase lp = EquipmentManager.Modules[target] as LoadPortModuleBase;
            //if (!lp.CheckReadyForMap(ModuleName.EfemRobot, Hand.Blade1, out string reason))
            //{
            //    Stop(reason);
            //    return false;
            //}

            return true;
        }

        bool Map()
        {
            //ModuleName target, int thicknessIndex
            Notify($"Robot start map {_target}");
            //string reason;


            //if (!_efemModule.RobotDevice.Map(_target, _thicknessIndex, out reason))
            //{
            //    Stop(reason);
            //    return false;
            //}
            return true;
        }
        bool CheckMap()
        {
            return !_tmModule.RobotDevice.IsError && _tmModule.RobotDevice.IsIdle;
        }
    }
}