Virgo_ST/VirgoRT/Modules/HomeAll.cs

using System.Collections.Generic;
using Aitex.Core.RT.Fsm;
using Aitex.Core.RT.Routine;
using Aitex.Core.RT.SCCore;
using Aitex.Core.Util;

namespace VirgoRT.Modules
{
    public class HomeAll
    {
        private List<List<IModuleEntity>> _lstModules = new List<List<IModuleEntity>>();
        private Dictionary<IModuleEntity, int> _homeToken = new Dictionary<IModuleEntity, int>();

        public HomeAll()
        {
        }

        public Result Start(params object[] objs)
        {
            var pms = new List<IModuleEntity>();

            if (SC.GetValue<bool>("System.PMAIsInstalled"))
                pms.Add(Singleton<RouteManager>.Instance.PMA);
            if (SC.GetValue<bool>("System.PMBIsInstalled"))
                pms.Add(Singleton<RouteManager>.Instance.PMB);

            _lstModules.Clear();

            _lstModules.Add(new List<IModuleEntity>() { Singleton<RouteManager>.Instance.EFEM });

            _lstModules.Add(pms);

            return Result.RUN;
        }

        public Result Monitor(params object[] objs)
        {
            if (_homeToken.Count == 0 && _lstModules.Count == 0)
                return Result.DONE;

            if (_homeToken.Count > 0)
            {
                foreach (var moduleToken in _homeToken)
                {
                    IModuleEntity module = moduleToken.Key;

                    if (module.IsError)
                        return Result.FAIL;

                    if (!module.CheckAcked(moduleToken.Value) || module.IsBusy || module.IsInit)
                        return Result.RUN;
                }

                _homeToken.Clear();
                if (_lstModules.Count == 0)
                    return Result.DONE;
            }

            if (_homeToken.Count == 0)
            {
                foreach (var moduleEntity in _lstModules[0])
                {
                    _homeToken[moduleEntity] = moduleEntity.Invoke("Home");
                }

                _lstModules.RemoveAt(0);
            }

            return Result.RUN;
        }

        public void Clear()
        {
            _lstModules.Clear();
            _homeToken.Clear();
        }
    }
}