Mars200VCE/FutureEfem/Aligners/AlignerAlignRoutine.cs

using System;
using Aitex.Core.RT.Device;
using Aitex.Core.RT.Routine;
using Aitex.Core.RT.SCCore;
using MECF.Framework.Common.Equipment;
using MECF.Framework.RT.EquipmentLibrary.HardwareUnits.Aligners;
using MECF.Framework.RT.ModuleLibrary.AlignerModules;

namespace FutureEfemLib.Aligners
{
    class AlignerAlignRoutine : ModuleRoutine, IRoutine
    {
        enum Align
        {
            Align,
        }
 
        private int _timeout = 0;
        private double _angle = 0.0;

        private AlignerBase _aligner;
 
        public AlignerAlignRoutine(AlignerModuleBase module)
        {
            Module = module.Module;
            Name = "Align";

            _aligner = DEVICE.GetDevice<AlignerBase>($"{ModuleName.Aligner}.{ModuleName.Aligner}");

            _angle = SC.GetValue<double>("EFEM.Aligner.DefaultNotchDegree");
        }

        public bool Initalize()
        {
            return true;
        }

        public void Init(double notch)
        {
            _angle = notch;
        }



        public Result Start(params object[] objs)
        {
            Reset();

            _timeout = SC.GetValue<int>("EFEM.Aligner.AlignTimeout");

            Notify($"Start align to {_angle} degree");
            //AlignersState.IsAligning = true;
            return Result.RUN;
        }


        public Result Monitor()
        {
            //AlignersState.IsAligning = true;
            try
            {
                AlignWafer((int)Align.Align, _angle, _timeout);               
            }
            catch (RoutineBreakException)
            {
                return Result.RUN;
            }
            catch (RoutineFaildException)
            {
                _stepName = "";
                return Result.FAIL;
            }

           Notify("Finished");
           // AlignersState.IsAligning = false;
            return Result.DONE;
        }


        public void AlignWafer(int id,  double angle, int timeout)
        {
            Tuple<bool, Result> ret = ExecuteAndWait(id, () =>
                {
                    //Notify($"Start align to {angle} degree");
                    string reason;

                    if (!_aligner.Align(angle, out reason))
                    {
                        Stop(reason);
                        return false;
                    }
                    return true;
                }, () =>
                {
                    if (_aligner.IsError)
                        return null;
                    if (_aligner.IsBusy)
                        return false;

                    return true;
                }, 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 Abort()
        {
            //AlignersState.IsAligning = false;
            Notify("Abort");
        }     
    }
}