ELK/Furnace/FurnaceRT/Equipments/FIMSs/FIMSHomeRoutine.cs

using Aitex.Core.RT.Routine;
using Aitex.Core.RT.SCCore;
using MECF.Framework.Common.Equipment;
using MECF.Framework.Common.SubstrateTrackings;
using System;

namespace FurnaceRT.Equipments.FIMSs
{
    public class FIMSHomeRoutine : ModuleRoutine, IRoutine
    {
        enum RoutineStep
        {
            Home,
            Delay,
            CheckHomeFinish,
        }

        private int _timeout;
        private FIMSModule _fimsModule;

        public FIMSHomeRoutine(FIMSModule fimsModule)
        {
            Module = fimsModule.Module.ToString();
            _fimsModule = fimsModule;
            Name = "Home";
        }

        public Result Init()
        {
            return Result.DONE;
        }

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

            _timeout = SC.GetValue<int>($"FIMS.{Module}.HomeTimeout");

            if (!_fimsModule.SensorWaferRobotEX1AxisHomePosition.Value)
            {
                _fimsModule.HomeFailAlarm.Set($"wafer robot EX1 axis not at home position");
                return Result.FAIL;
            }

            if (!_fimsModule.SensorWaferRobotEX2AxisHomePosition.Value)
            {
                _fimsModule.HomeFailAlarm.Set($"wafer robot EX2 axis not at home position");
                return Result.FAIL;
            }

            //if (_fimsModule.FIMSDevice.DoorOpenCloseStatus == Devices.DeviceStatus.Open && _fimsModule.IsWaferOnRobot)
            //{
            //    _fimsModule.HomeFailAlarm.Set($"wafer robot inside {Module}");
            //    return Result.FAIL;
            //}

            Notify($"{_fimsModule.Name} {Name} start");

            return Result.RUN;
        }

        public override Result Monitor()
        {
            try
            {
                PauseRountine(_fimsModule.FIMSDevice.IsPause);
                if (_fimsModule.FIMSDevice.IsPause)
                    return Result.RUN;

                Home((int)RoutineStep.Home, _timeout);

                Delay((int)RoutineStep.Delay, 3);

                CheckHomeFinish((int)RoutineStep.CheckHomeFinish, _timeout);
            }
            catch (RoutineBreakException)
            {
                return Result.RUN;
            }
            catch (RoutineFaildException)
            {
                _fimsModule.Stop();
                return Result.FAIL;
            }

            _fimsModule.FIMSDevice.IsInitCompleted = true;
            _fimsModule.FIMSDevice.IsLoadCompleted = false;
            _fimsModule.FIMSDevice.IsUnloadCompleted = true;
            _fimsModule.Stop();
            Notify($"{_fimsModule.Name} {Name} finished");

            return Result.DONE;
        }

        public void Abort()
        {
            _fimsModule.Stop();
        }
        private void Home(int id, int timeout)
        {
            Tuple<bool, Result> ret = ExecuteAndWait(id, () =>
            {
                Notify($"{Module} home");
                if (!_fimsModule.FIMSDevice.Init(out string reason))
                {
                    Stop(reason);
                    return false;
                }
                return true;
            }, () =>
            {
                return true;
            }, timeout * 1000);

            if (ret.Item1)
            {
                if (ret.Item2 == Result.FAIL)
                {
                    throw (new RoutineFaildException());
                }
                else if (ret.Item2 == Result.TIMEOUT) //timeout
                {
                    _fimsModule.HomeTimeoutAlarm.Set($"home timeout, can not complete in {timeout} seconds");
                    throw (new RoutineFaildException());
                }
                else
                    throw (new RoutineBreakException());
            }
        }
        private void CheckHomeFinish(int id, int timeout)
        {
            Tuple<bool, Result> ret = ExecuteAndWait(id, () =>
            {
                Notify($"Check {Module} home finish");
                return true;
            }, () =>
            {
                return _fimsModule.FIMSDevice.IsPLCInitCompleted && !_fimsModule.FIMSDevice.IsRunning;
            }, timeout * 1000);

            if (ret.Item1)
            {
                if (ret.Item2 == Result.FAIL)
                {
                    throw (new RoutineFaildException());
                }
                else if (ret.Item2 == Result.TIMEOUT) //timeout
                {
                    _fimsModule.HomeTimeoutAlarm.Set($"home timeout, can not complete in {timeout} seconds");
                    throw (new RoutineFaildException());
                }
                else
                    throw (new RoutineBreakException());
            }
        }
    }
}