Virgo_Mask/VirgoRT/Modules/PMs/PMPostTransferRoutine.cs

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

namespace VirgoRT.Modules.PMs
{
    class PMPostTransferRoutine : PMRoutineBase, IRoutine
    {
        enum RoutineStep
        {
            PumpDown,
            SetPinDown,
            SetSlitDoor,
            SlitDoorDelay,
            kEnd
        }

        private int _timeout;
        private MovementPosition _liftPinPosition;

        public PMPostTransferRoutine(JetPM chamber) : base(chamber)
        {
            Name = "PostTransfer";
        }

        public Result Start(params object[] objs)
        {
            Reset();
            GetLiftPinSetting(objs);
            _timeout = SC.GetValue<int>($"{Module}.PrepareTransferTimeout");

            Notify("Start");
            return Result.RUN;
        }

        public Result Monitor()
        {
            try
            {
                SetLiftPinPos((int)RoutineStep.SetPinDown, _liftPinPosition, _timeout);
                SetSlitDoor((int)RoutineStep.SetSlitDoor, false, _timeout);

                End((int)RoutineStep.kEnd);
            }
            catch (RoutineBreakException)
            {
                return Result.RUN;
            }
            catch (RoutineFaildException)
            {
                Notify("Error");
                return Result.FAIL;
            }
            catch (Exception ex)
            {
                Stop(ex.Message);
                return Result.FAIL;
            }

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

        public override void Abort() { }

        private void GetLiftPinSetting(object[] objs)
        {
            _liftPinPosition = MovementPosition.Down;
            if (objs.Length >= 1 && (string)objs[0] != "Pick")
            {
                int pos = SC.GetValue<int>($"{Module}.LiftPinPositionAfterPlace");
                if (pos == 1)
                    _liftPinPosition = MovementPosition.Middle;
                else if (pos == 2)
                    _liftPinPosition = MovementPosition.Up;
            }
            
        }
    }
}