77 lines
1.8 KiB
C#
77 lines
1.8 KiB
C#
using System;
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using Aitex.Core.RT.Device;
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using Aitex.Core.RT.Routine;
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using MECF.Framework.Common.Equipment;
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namespace SicModules.Buffers.Routines
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{
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class BufferHomeRoutine : ModuleRoutine, IRoutine
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{
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enum RoutineStep
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{
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ClearError,
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Home,
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QueryStatus,
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}
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private int _timeout = 0;
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private SicBuffer _buffer = null;
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public BufferHomeRoutine(ModuleName module) : base(module.ToString())
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{
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Name = "Home";
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_buffer = DEVICE.GetDevice<SicBuffer>($"{module}.{module}");
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}
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public bool Initalize()
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{
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return true;
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}
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protected override void MonitorBody()
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{
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Home((int)RoutineStep.Home, _buffer, 2);
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}
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public void Home(int id, SicBuffer buffer, int timeout)
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{
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Tuple<bool, Result> ret = ExecuteAndWait(id, () =>
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{
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Notify($"Start home {buffer.Name}");
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return true;
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}, () =>
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{
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return true;
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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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Stop(string.Format("Home failed."));
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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(string.Format("Home timeout, can not complete in {0} seconds", timeout));
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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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public override void Abort()
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{
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}
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}
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}
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