ZZ-EFEM/Jet/Jet_001_2P_Jet/EfemRT/Routines/LP/UnloadFoupRoutine.cs

using System;
using Aitex.Core.RT.Device;
using Aitex.Core.RT.Event;
using Aitex.Core.RT.Log;
using Aitex.Core.RT.Routine;
using Aitex.Core.RT.SCCore;
using Aitex.Sorter.Common;
using MECF.Framework.Common.Equipment;
using MECF.Framework.RT.EquipmentLibrary.HardwareUnits.LoadPorts;
using MECF.Framework.RT.EquipmentLibrary.HardwareUnits.LoadPorts.LoadPortBase;
using MECF.Framework.RT.EquipmentLibrary.HardwareUnits.LoadPorts.TDK;

namespace EFEM.RT.Routines.LP
{
    internal class UnloadFoupRoutine : CommonRoutine, IRoutine
    {
        public enum UnloadFoupStep
        { 
           UNLOAD,
           WaitUnload,
           UnladoLight,
        }

        public ModuleName Chamber { get; set; }

        private SCConfigItem _scLoadTimeout = null;
        private int _timeoutUnload = 0;

        LoadPortBaseDevice _device = null;
        public UnloadFoupRoutine() 
        {             
            Name = "Unload";
            _scLoadTimeout = SC.GetConfigItem("LoadPort.TimeLimitLoadportUnload");
        }

        public bool Initalize()
        {
            IsStopped = true;
            return true;
        }    

        public   Result Start(params object[] objs)
        {
            _timeoutUnload = _scLoadTimeout.IntValue;
            Reset();
            _device = DEVICE.GetDevice<LoadPortBaseDevice>(Chamber.ToString());
            EV.PostMessage(Chamber.ToString(), EventEnum.UnloadFOUPStart, Chamber.ToString());

            string reason = string.Empty;
            if (_device.DockState == FoupDockState.Undocked)
            {
                EV.PostMessage(Chamber.ToString(), EventEnum.DefaultWarning, string.Format("{0} is unload, can't do again", Chamber.ToString()));
                return Result.FAIL;
            }
            if (SC.GetValue<bool>("System.LPRobotActionIntervene"))
            {
                if(!CheckLoadportMotionInterlock(Chamber, out reason))
                {
                    EV.PostMessage(Chamber.ToString(), EventEnum.UnloadFOUPFailed, reason);
                    return Result.FAIL;
                }
            }
            if (!_device.IsEnableUnload(out reason))
            {
                EV.PostMessage(Chamber.ToString(), EventEnum.DefaultWarning, reason);
                return Result.FAIL;
            }
            IsStopped = false;
            return Result.RUN;
        }        

        public Result Monitor()
        {
            if (IsStopped) return Result.DONE;
            try
            {
                Unload((int)UnloadFoupStep.UNLOAD, "Unload", _timeoutUnload, Notify, Stop);
                WaitLoadportMotion((int)UnloadFoupStep.WaitUnload, _device, "Wait Unload...", _timeoutUnload, Notify, Stop);
                                
            }
            catch (RoutineBreakException)
            {
                return Result.RUN;
            }
            catch (RoutineFaildException)
            {
                IsStopped = true;
                return Result.FAIL;
            }

            IsStopped = true;
            EV.PostMessage(Chamber.ToString(), EventEnum.UnloadFOUPEnd, Chamber.ToString());                    
            return Result.DONE;
        }

        public new void Abort()
        {
        }
               

        protected void Unload(int id, string name, int time, Action<string> notify, Action<string> error)
        {
            Tuple<bool, Result> ret = Execute(id, () =>
            {
                notify(String.Format("{0} Home", _device.Name));
                string reason = string.Empty;
                return _device.Unload(out reason);
            });

            if (ret.Item1)
            {
                if (ret.Item2 == Result.FAIL)
                {
                    throw (new RoutineFaildException());
                }
            }
        }

        public void UnloadLight(int id, LoadPort device, string name, int time, Action<string> notify, Action<string> error)
        {
            Tuple<bool, Result> ret = ExecuteAndWait(id, () =>
            {
                notify(String.Format("{0} unload light", device.Name));
                string reason = string.Empty;
                return device.SetIndicator(Indicator.UNLOAD, IndicatorState.OFF, out reason);
            }, () =>
            {
                if (device.IsBusy == false)
                {
                    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("{0} timeout, than {1} seconds", name, time));
                    throw (new RoutineFaildException());
                }
                else
                    throw (new RoutineBreakException());
            }
        }


        protected override void Notify(string message)
        {
            EV.PostMessage(Module, EventEnum.GeneralInfo, String.Format("Unload :{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.UnloadFOUPFailed, failReason);  
        }

    }
}