Virgo_Mask/VirgoRT/Modules/PMs/PMHomeRoutine.cs

using System;
using Aitex.Core.RT.Routine;
using VirgoRT.Devices;
using VirgoCommon;
using Aitex.Core.RT.Event;

namespace VirgoRT.Modules.PMs
{
    class PMHomeRoutine : PMRoutineBase, IRoutine
    {
        enum RoutineStep
        {
            LiftPinOrig,
            ResetPlcSignal,
            ResetPlcSignalDelay,
            Home,
        }

        public PMHomeRoutine(JetPM chamber) : base(chamber)
        {
            Name = "Homing";
        }

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

        public Result Start(params object[] objs)
        {
            Reset();
            if(_chamber.CheckLiftPinBusy())
            {
                EV.PostAlarmLog(Module, $"[{Name}] routine failed, the servo lift pin is busy now");
                return Result.FAIL;
            }
            Notify("Start");
            return Result.RUN;
        }

        public Result Monitor()
        {
            try
            {
                if (_chamber != null && _chamber.IsInstalled)
                {
                    ResetPlcSignal((int)RoutineStep.ResetPlcSignal, 10);
                    TimeDelay((int)RoutineStep.ResetPlcSignalDelay, 6);
                    SetLiftPinPos((int)RoutineStep.LiftPinOrig,     MovementPosition.Origin,    200);
                    Home((int)RoutineStep.Home,                     20);
                }
            }
            catch (RoutineBreakException)
            {
                return Result.RUN;
            }
            catch (RoutineFaildException)
            {
                Stop("Error");
                return Result.FAIL;
            }
            catch (Exception ex)
            {
                Stop(ex.Message);
                return Result.FAIL;
            }

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

        public override void Abort()
        {
        }
        public void ResetPlcSignal(int id, int timeout)
        {
            Tuple<bool, Result> ret = ExecuteAndWait(id, () =>
            {
                Notify($"Run {_chamber.Name} ResetPlcSignal");

                _chamber.ResetPlcSignal();

                return true;
            }, () => true, timeout * 1000);

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

        public void Home(int id, int timeout)
        {
            Tuple<bool, Result> ret = ExecuteAndWait(id, () =>
            {
                Notify($"Run {_chamber.Name} home");

                _chamber.Home();

                return true;
            }, ()=> true, timeout * 1000);

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