ZZ-EFEM/Jet/Jet_001_2P_Jet/EfemRT/Routines/SetSpeedRoutine.cs

using System;
using Aitex.Core.RT.Event;
using Aitex.Core.RT.Routine;
using Aitex.Core.RT.SCCore;

using MECF.Framework.Common.Equipment;
using MECF.Framework.RT.EquipmentLibrary.HardwareUnits.Robot;
using MECF.Framework.RT.EquipmentLibrary.HardwareUnits.Robots;

namespace EFEM.RT.Routines
{
    public class SetSpeedRoutine : CommonRoutine, IRoutine
    {
        enum Set
        {
            H,             //No-wafer transfer speed,
            M,             //With-wafer transfer speed
            L,             //Low speed
            O,             //Home speed
            B,             //Speed in low-speed-area
        }


        public int Speed = 5;

        private SCConfigItem _scItemSpeed;
        private SCConfigItem _scItemTimeout;

        private int _timeout = 5;

        public SetSpeedRoutine(string module, string name) 
        {             
        }


        public bool Initalize()
        {
            _scItemTimeout = SC.GetConfigItem(SorterCommon.ScPathName.Robot_TimeLimitRobotHome);
            _scItemSpeed   = SC.GetConfigItem(SorterCommon.ScPathName.Robot_RobotSpeed); 

            return true;
        }

        public void Terminate()
        {
           
        }


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

            _timeout = _scItemTimeout.IntValue;

            EV.PostMessage(ModuleName.Robot.ToString(), EventEnum.GeneralInfo, string.Format("Set robot speed start.{0}",Speed));

            Speed = SC.GetValue<int>(SorterCommon.ScPathName.Robot_RobotSpeed);

            return Result.RUN;
        }
        

        public Result Monitor()
        {
            try
            {
                SetSpeed((int)Set.H, "Set No-wafer transfer speed", SpeedType.H, Speed, _timeout, Notify, Stop);
                SetSpeed((int)Set.M, "Set With-wafer transfer speed", SpeedType.M, Speed, _timeout, Notify, Stop);
                SetSpeed((int)Set.L, "Set Low speed", SpeedType.L, Speed, _timeout, Notify, Stop);
                SetSpeed((int)Set.O, "Set Home speed", SpeedType.O, Speed, _timeout, Notify, Stop);
                SetSpeed((int)Set.B, "Set Speed in low-speed-area", SpeedType.B, Speed, _timeout, Notify, Stop);
            }
            catch (RoutineBreakException)
            {
                return Result.RUN;
            }
            catch (RoutineFaildException)
            {
                return Result.FAIL;
            }

            EV.PostMessage(ModuleName.Robot.ToString(), EventEnum.GeneralInfo, "Set speed end");

            

            return Result.DONE;
        }

        public new void Abort()
        {

        }

        protected void SetSpeed(int id, string name,  SpeedType type, int speed, int time, Action<string> notify, Action<string> error)
        {
            Tuple<bool, Result> ret = ExecuteAndWait(id, () =>
            {
                notify(name);
                string reason = string.Empty;
                robot.SetSpeed(new object[] {type.ToString(),speed });
                return true;
            }, () =>
            {
                if (robot.RobotState == RobotStateEnum.Idle)
                {
                    return true;
                }
                return false;
            }, time * 1000);

            if (ret.Item1)
            {
                if (ret.Item2 == Result.FAIL)
                {
                    throw (new RoutineFaildException());
                }
                else if (ret.Item2 == Result.TIMEOUT) //timeout
                {
                    error(String.Format("set speed timeout, than {0} seconds", time)); 
                    throw (new RoutineFaildException());
                }
                else
                    throw (new RoutineBreakException());
            }
        }


        protected override void Notify(string message)
        {
            EV.PostMessage(Module, EventEnum.GeneralInfo, String.Format("Set Speed :{0}", message));
        }

        /// <summary>
        /// prepare process failed
        /// </summary>
        /// <param name="failReason"></param>
        /// <param name="reactor"></param>
        protected override void Stop(string failReason)
        {
            string reason = String.Empty;

            EV.PostMessage(Module, EventEnum.DefaultWarning, string.Format("Set speed failed:{0}", failReason));  
        }

    }
}