Mars200VCE/FutureEfem/LPs/LoadPortUndockRoutine.cs

using System;
using Aitex.Core.RT.Device;
using Aitex.Core.RT.Log;
using Aitex.Core.RT.Routine;
using Aitex.Core.RT.SCCore;
using MECF.Framework.RT.EquipmentLibrary.HardwareUnits.LoadPorts;

namespace FutureEfemLib.LPs
{
    class LoadPortUndockRoutine : ModuleRoutine, IRoutine
    {
        enum RoutineStep
        {
            Undock,
            QueryStatus,
        }

        private int _timeout = 0;

        LoadPort _lp = null;
        private LoadPortModule _lpModule;
        public LoadPortUndockRoutine(LoadPortModule lpModule)
        {
            _lpModule = lpModule;
            Module = lpModule.Module;

            Name = "Undock";

            _lp = DEVICE.GetDevice<LoadPort>($"{Module}");
        }


        public bool Initalize()
        {
               return true;
        }
 
        public Result Start(params object[] objs)
        {
            Reset();

            _timeout = SC.GetValue<int>("EFEM.LoadPort.MotionTimeout");

            Notify($"Start");

            return Result.RUN;
        }


        public Result Monitor()
        {
            try
            {
                Undock((int)RoutineStep.Undock, _lp, _timeout);
                QueryStatus((int)RoutineStep.QueryStatus, _lp, _timeout);
            }
            catch (RoutineBreakException)
            {
                return Result.RUN;
            }
            catch (RoutineFaildException  )
            {
                 return Result.FAIL;
            }
  
            Notify("Finished");
            return Result.DONE;
        }


        public void Undock(int id, LoadPort lp, int timeout)
        {
            Tuple<bool, Result> ret = ExecuteAndWait(id, () =>
            {
                Notify($"Start Undock {lp.Name}");
                string reason;

                if (!lp.Undock(out reason))
                {
                    Stop(reason);
                    return false;
                }
                return true;
            }, () =>
                {
                    if (_lp.Error)
                        return false;
                    if (_lp.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 QueryStatus(int id, LoadPort lp, int timeout)
        {
            Tuple<bool, Result> ret = ExecuteAndWait(id, () =>
                {
                    Notify($"Start query status {lp.Name}");
                    string reason;

                    if (!lp.QueryState(out reason))
                    {
                        Stop(reason);
                        return false;
                    }
                    return true;
                }, () =>
                {
                    if (_lp.Error)
                        return false;
                    if (_lp.IsBusy)
                        return false;
                    return true;
                }, timeout * 1000);

            if (ret.Item1)
            {
                if (ret.Item2 == Result.FAIL)
                {
                    Stop(string.Format("Query status 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()
        {
            
        }
 
    }
}