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

using System;
using Aitex.Core.RT.Device;
using Aitex.Core.RT.Event;
using Aitex.Core.RT.Routine;
using Aitex.Core.RT.SCCore;
using EFEM.RT.Devices;
using MECF.Framework.Common.Equipment;
using MECF.Framework.RT.EquipmentLibrary.HardwareUnits.LoadPorts;
using MECF.Framework.RT.EquipmentLibrary.HardwareUnits.LoadPorts.LoadPortBase;

namespace EFEM.RT.Routines.LP
{
    internal class HomeRoutine : CommonRoutine, IRoutine
    {

        enum Home
        {
            Reset,
            Home,
            Wait,
        }

        private SCConfigItem _scHomeTimeout = null;
        private int _timeoutHome = 0;


        public ModuleName Chamber { get; set; }
        LoadPortBaseDevice _device = null;
        public HomeRoutine(string module, string name)
        {
            Module = module;
            Name = name;

        }


        public bool Initalize()
        {
            _scHomeTimeout = SC.GetConfigItem("LoadPort.TimeLimitLoadportLoad");
            return true;
        }

        public   Result Start(params object[] objs)
        {
            _timeoutHome = _scHomeTimeout.IntValue;
            Reset();
            _device = DEVICE.GetDevice<LoadPortBaseDevice>(Chamber.ToString());
            EV.PostMessage(Chamber.ToString(), EventEnum.HomeBegins, Chamber.ToString());
          
            string reason = string.Empty;
            if (SC.GetValue<bool>("System.LPRobotActionIntervene"))
            {
                if(!CheckLoadportMotionInterlock(Chamber, out reason))
                {
                    EV.PostMessage(Chamber.ToString(), EventEnum.HomeFailed, reason);
                    return Result.FAIL;
                }
            }
            if (Chamber == ModuleName.LP1)
            {
                if (DeviceModel.SensorRBNotExtendSIMF1 != null && DeviceModel.SensorRBNotExtendSIMF1.Value)
                {
                    EV.PostMessage(Chamber.ToString(), EventEnum.DefaultWarning, "robot Extend to LP1.");
                }
            }
            else
            {
                if (DeviceModel.SensorRBNotExtendSIMF2 != null && DeviceModel.SensorRBNotExtendSIMF2.Value)
                {
                    EV.PostMessage(Chamber.ToString(), EventEnum.DefaultWarning, "robot Extend to LP2.");
                }
            }

            return Result.RUN;
        }


        public Result Monitor()
        {
            try
            {
                LoadportReset((int)Home.Reset, _device, "reset", _timeoutHome, Notify, Stop);
                LoadportInit((int)Home.Home, _device, "home", Notify, Stop);
                WaitLoadportMotion((int)Home.Wait, _device, "homing...", _timeoutHome, 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("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);
        }
    }
}