116 lines
2.8 KiB
C#
116 lines
2.8 KiB
C#
using System;
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using Aitex.Core.RT.Device;
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using Aitex.Core.RT.Device.Unit;
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using Aitex.Core.RT.Event;
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using Aitex.Core.RT.Routine;
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using Aitex.Core.RT.SCCore;
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using MECF.Framework.Common.Equipment;
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using MECF.Framework.RT.EquipmentLibrary.HardwareUnits.LoadLocks;
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using MECF.Framework.RT.EquipmentLibrary.HardwareUnits.Robot.MAG7;
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using MECF.Framework.RT.EquipmentLibrary.HardwareUnits.TMs;
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namespace Mainframe.LLs
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{
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public class LoadLockCoolingRoutine : ModuleRoutine, IRoutine
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{
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enum RoutineStep
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{
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LiftMove,
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Cooling,
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}
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private LoadLock _ll = null;
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private int _timeout;
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private int _paramCoolingTime;
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public LoadLockCoolingRoutine(ModuleName module)
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{
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Module = module.ToString();
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Name = "Cooling";
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_ll = DEVICE.GetDevice<LoadLock>($"{module.ToString()}.{module.ToString()}");
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}
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public void Init(int coolingTime)
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{
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_paramCoolingTime = coolingTime;
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}
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public Result Start(params object[] objs)
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{
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Reset();
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_timeout = SC.GetValue<int>("LoadLock.LiftMoveTimeout");
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Notify("Start");
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return Result.RUN;
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}
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public Result Monitor()
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{
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try
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{
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LiftMove((int)RoutineStep.LiftMove, 1, _timeout);
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TimeDelay((int)RoutineStep.Cooling, _paramCoolingTime);
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}
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catch (RoutineBreakException)
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{
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return Result.RUN;
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}
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catch (RoutineFaildException)
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{
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return Result.FAIL;
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}
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Notify("Finished");
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return Result.DONE;
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}
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public void Abort()
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{
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}
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protected void LiftMove(int id, int slot, int timeout)
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{
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Tuple<bool, Result> ret = ExecuteAndWait(id, () =>
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{
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Notify($"Move {Module} Lift to {slot + 1}");
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if (!_ll.SetLift(slot, out string reason))
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{
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Stop(reason);
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return false;
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}
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return true;
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}, () =>
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{
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return _ll.CheckLift(slot);
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}, timeout * 1000);
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if (ret.Item1)
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{
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if (ret.Item2 == Result.FAIL)
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{
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throw (new RoutineFaildException());
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}
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else if (ret.Item2 == Result.TIMEOUT) //timeout
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{
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Stop($"Timeout, over {timeout} seconds");
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throw (new RoutineFaildException());
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}
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else
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throw (new RoutineBreakException());
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}
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}
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}
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}
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