Mars200VCE/FutureEfem/Efems/EfemHomeAllRoutine.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.Core.Applications;
using MECF.Framework.RT.EquipmentLibrary.HardwareUnits.Efems;
using MECF.Framework.RT.EquipmentLibrary.HardwareUnits.Efems.Rorzes;
using MECF.Framework.RT.ModuleLibrary.AlignerModules;
using MECF.Framework.RT.ModuleLibrary.LPModules;
using MECF.Framework.RT.ModuleLibrary.SystemModules;

namespace FutureEfemLib.Efems
{
    class EfemHomeAllRoutine : ModuleRoutine, IRoutine
    {
        enum RoutineStep
        {
            HomeRobot,

            HomeOtherModules,
        }
 
        private IRoutine _homeRobotRoutine;

        private AlignerModuleBase _aligner;
        private LoadPortModuleBase _lp1;
        private LoadPortModuleBase _lp2;
        private LoadPortModuleBase _lp3;

        public EfemHomeAllRoutine(EfemModule module)
        {
            Module = ModuleName.EfemRobot.ToString();

            Name = "Home All";

            _homeRobotRoutine = new EfemHomeRoutine(module);

            _aligner = EquipmentManager.Modules[ModuleName.Aligner] as AlignerModuleBase;
            _lp1 = EquipmentManager.Modules[ModuleName.LP1] as LoadPortModuleBase;
            _lp2 = EquipmentManager.Modules[ModuleName.LP2] as LoadPortModuleBase;
            _lp3 = EquipmentManager.Modules[ModuleName.LP3] as LoadPortModuleBase;

            System.Diagnostics.Debug.Assert(_aligner!=null);
            System.Diagnostics.Debug.Assert(_lp1 != null);
            System.Diagnostics.Debug.Assert(_lp2 != null);
            System.Diagnostics.Debug.Assert(_lp3 != null);
        }



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

            return Result.RUN;
        }


        public Result Monitor()
        {
            try
            {
                ExecuteRoutine((int)RoutineStep.HomeRobot, _homeRobotRoutine);

                HomeOtherModules((int)RoutineStep.HomeOtherModules );
            }
            catch (RoutineBreakException)
            {
                return Result.RUN;
            }
            catch (RoutineFaildException)
            {
                return Result.FAIL;
            }

            Notify("Finished");
            return Result.DONE;
        }


        public void HomeOtherModules(int id )
        {
            Tuple<bool, Result> ret = ExecuteAndWait(id, () =>
            {
                Notify($"Start Home all EFEM modules");
                string reason;

                if (!_aligner.Home(out reason))
                {
                    Stop(reason);
                    return false;
                }
                if (!_lp1.Home(out reason))
                {
                    Stop(reason);
                    return false;
                }
                if (!_lp2.Home(out reason))
                {
                    Stop(reason);
                    return false;
                }
                if (!_lp3.Home(out reason))
                {
                    Stop(reason);
                    return false;
                }
                return true;
            }, () =>
                {
                    if (_aligner.IsError || _lp1.IsError || _lp2.IsError || _lp3.IsError)
                    {
                        return null;
                    }

                    if (!_aligner.IsReady || !_lp1.IsReady || !_lp2.IsReady || !_lp3.IsReady)
                        return false;

                    return true;
                } );

            if (ret.Item1)
            {
                if (ret.Item2 == Result.FAIL)
                {
                    Stop(string.Format("Home failed."));
                    throw (new RoutineFaildException());
                }
                else
                    throw (new RoutineBreakException());
            }
        }
 
        public void Abort()
        {
             
        }

    }
}