110 lines
2.5 KiB
C#
110 lines
2.5 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 Aitex.Core.RT.SCCore;
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using MECF.Framework.Common.Equipment;
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using MECF.Framework.RT.EquipmentLibrary.HardwareUnits.PMs;
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namespace SicPM.Routines
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{
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public class PMHomeRoutine : PMBaseRoutine
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{
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enum RoutineStep
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{
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Home,
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}
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private int _timeout;
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public PMHomeRoutine(ModuleName module, PMModule pm) : base(module, pm)
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{
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Module = module.ToString();
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Name = "Home";
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}
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public Result Init( )
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{
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return Result.DONE;
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}
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public override Result Start(params object[] objs)
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{
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Reset();
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_timeout = SC.GetValue<int>("PM.HomeTimeout");
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Notify("Start");
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return Result.RUN;
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}
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public override Result Monitor()
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{
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try
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{
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if (PMDevice != null && PMDevice.IsInstalled)
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{
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Home((int)RoutineStep.Home, PMDevice, _timeout);
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}
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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 override void Abort()
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{
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}
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public void Home(int id, PMModuleBase pm, 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($"Run {pm.Name} home");
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//pm.Home();
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return true;
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}, () =>
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{
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if (pm.IsError)
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{
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return null;
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}
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return true;
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}, timeout * 1000);
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if (ret.Item1)
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{
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if (ret.Item2 == Result.FAIL)
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{
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Stop($"{pm.Name} error");
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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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