ZZ-EFEM/Jet/Jet_001_2P_Jet/EfemRT/Routines/FLP/FlipperHomeRoutine.cs

using Aitex.Core.RT.Event;
using Aitex.Core.RT.Log;
using Aitex.Core.RT.Routine;
using EFEM.RT.Devices.Flipper;
using MECF.Framework.Common.Equipment;
using System;

namespace EFEM.RT.Routines.FLP
{
    public class FlipperHomeRoutine : CommonRoutine, IRoutine
    {
        private FlipperBase _flipper;
        private ModuleName modulename;
        private int _waitTimeout;
        private int _ClampTimeout;
        private int _TurnTimeout;

        public FlipperHomeRoutine(ModuleName module, FlipperBase flipper)
        {
            modulename = module;
            _flipper = flipper;
            _waitTimeout = 60;
            _ClampTimeout = 60;
            _TurnTimeout = 60;
        }

        public Result Start(params object[] objs)
        {
            if (_flipper == null)
            {
                LOG.Error($"{Module.ToString()} Flipper is null. Cannot Start");
                return Result.FAIL;
            }
            Reset();
            return Result.RUN;
        }

        public Result Monitor()
        {
            try
            {
                FlipperReset((int)FlipperHomeStep.Reset, _flipper, "Flipper Reset", _waitTimeout, Notify, Stop);
                TimeDelay((int)FlipperHomeStep.DeviceWait1, 1000);
                FlipperClampClose((int)FlipperHomeStep.ClampClose, _flipper, "Flipper Clamp Close", _ClampTimeout, Notify, Stop);
                TimeDelay((int)FlipperHomeStep.DeviceWait2, 1000);
                FlipperTurnToHome((int)FlipperHomeStep.TurnToHome, _flipper, "Flipper Turn to Home", _TurnTimeout, Notify, Stop);

            }
            catch (RoutineBreakException)
            {
                return Result.RUN;
            }
            catch (RoutineFaildException)
            {
                return Result.FAIL;
            }

            EV.PostMessage(ModuleName.System.ToString(), EventEnum.HomeEnds, ModuleName.System.ToString());

            return Result.DONE;
            
        }

        protected override void Notify(string message)
        {
            EV.PostMessage(Module, EventEnum.GeneralInfo, String.Format("Flipper Home Sequence :{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.HomeFailed, failReason);
        }      

        enum FlipperHomeStep
        {
            Reset,
            DeviceWait1,
            ClampOpen,
            ClampClose,
            DeviceWait2,
            TurnToHome
        }
    }
}