Mars200VCE/FutureEfem/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 FutureEfemLib.Efems
{
    class EfemRetractRoutine : ModuleRoutine, IRoutine
    {
        enum RoutineStep
        {
            CheckBeforeRetract,
            Retract,
            WaitCloseSlitValveInterlock,
            CloseSlitValve,
            PostTransfer
        }

        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)
        {
            Module = "EfemRobot";
            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  Result 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 Result.RUN;
        }

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


        public  Result Monitor()
        {
            try
            {

                RobotRetract((int)RoutineStep.Retract,_source, _sourceSlot, _blade, _timeout);
                //WaitSlitValveCloseInterlock((int)RoutineStep.WaitCloseSlitValveInterlock, TMDevice.GetSlitValve(_source), _timeout);

                //ExecuteRoutine((int)RoutineStep.CloseSlitValve, _closeSlitValveRoutine);
                if (ModuleHelper.IsPm(_source))
                {
                    PostTransfer((int)RoutineStep.PostTransfer, _target as PMModuleBase, EnumTransferType.Retract, _timeout);
                }
            }
            catch (RoutineBreakException)
            {
                return Result.RUN;
            }
            catch (RoutineFaildException)
            {
                return Result.FAIL;
            }

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

            return Result.DONE;
        }
       
        public void RobotRetract(int id, ModuleName chamber, int slot, Hand hand, int timeout)
        {
            Tuple<bool, Result> ret = ExecuteAndWait(id, () =>
            {
                Notify("robot execute goto command");

                //string reason;
              
                //if (!_robotModule.RobotDevice.GotoRE(chamber, hand, slot, postiontype, out reason))
                //{
                //    Stop(reason);
                //    return false;
                //}
                return true;
            }, () =>
            {
                if (_robotModule.RobotDevice.IsError)
                    return null;
                if (_robotModule.RobotDevice.IsIdle)
                    return true;

                return false;
            }, timeout * 1000);

            if (ret.Item1)
            {
                if (ret.Item2 == Result.FAIL)
                {
                    Stop(string.Format("failed."));
                    throw (new RoutineFaildException());
                }
                else if (ret.Item2 == Result.TIMEOUT) //timeout
                {
                    Stop(string.Format("timeout, can not complete in {0} seconds", timeout));
                    throw (new RoutineFaildException());
                }
                else
                    throw (new RoutineBreakException());
            }
        }
        public void PostTransfer(int id, PMModuleBase pm, EnumTransferType type, int timeout)
        {
            Tuple<bool, Result> ret = ExecuteAndWait(id, () =>
            {
                Notify($"{pm.Name} post transfer ");

                if (!pm.PostTransfer(ModuleName.EfemRobot, Hand.Blade1, 0, type, out string reason))
                {
                    Stop(reason);
                    return false;
                }

                return true;
            }, () =>
            {
                if (pm.IsError)
                {
                    return null;
                }

                return pm.IsReady;

            }, timeout * 1000);

            if (ret.Item1)
            {
                if (ret.Item2 == Result.FAIL)
                {
                    Stop($"{pm.Name} error");
                    throw (new RoutineFaildException());
                }
                else if (ret.Item2 == Result.TIMEOUT) //timeout
                {
                    Stop($"{pm.Name} post transfer timeout, over {timeout} seconds");
                    throw (new RoutineFaildException());
                }
                else
                    throw (new RoutineBreakException());
            }
        }
    }
}