Mars200VCE/JetVirgoPM/PMs/Routines/PMHomeRoutine.cs

using System;
using Aitex.Core.RT.Routine;
using Aitex.Core.RT.SCCore;
using JetVirgoPM.Devices;

namespace JetVirgoPM.PMs.Routines
{
    class PMHomeRoutine : PMRoutineBase, IStepRoutine
    {
        enum RoutineStep
        {
            ResetPin,
            PinSearch,
            Home,
            End,
        }

        private bool IsPlus;

        public PMHomeRoutine(JetDualPM chamber) : base(chamber)
        {
            IsPlus = SC.GetValue<bool>($"{_chamber.Module.ToString()}.IsPlus");
            Name = "Homing";
        }

        public Result Init()
        {
            return Result.DONE;
        }

        public RState Start(params object[] objs)
        {
            Reset();
            return Runner.Start(_chamber.Module.ToString(), Name);
        }

        public RState Monitor()
        {
            if (_chamber != null && _chamber.IsInstalled)
            {
                Runner.Run(RoutineStep.ResetPin, ResetPin, CancelPin, _delay_10s)
                      .Run(RoutineStep.PinSearch, SearchOrigin, WaitOrigin, _delay_60s)
                      .Run(RoutineStep.Home, Home,    NullFun, _delay_10s)
                      .End(RoutineStep.End,  NullFun, _delay_1s);
            }
            else
                Runner.Run(RoutineStep.Home, Home, NullFun, _delay_10s)
                    .End(RoutineStep.End, NullFun, _delay_1s);

            return Runner.Status;
        }

        public bool CancelPin()
        {
            if (IsPlus)
            {
                return _chamber.CancelPin();
            }

            return true;
        }

        public bool ResetPin()
        {
            if (IsPlus)
            {
                return _chamber.ResetPin();
            }

            return true;
        }

        public bool SearchOrigin()
        {
            if (IsPlus)
            {
                if(!_chamber.HasPinOrigin())
                    return _chamber.SearchPinOrigin();
            }

            return true;
        }

        public bool WaitOrigin()
        {
            if (IsPlus)
            {
                return _chamber.HasPinOrigin();
            }

            return true;
        }

        public override void Abort()
        {
        }

        public bool Home()
        {
            Notify($"Run {_chamber.Name} home");

            _chamber.Home();

            return true;
        }
    }
}