117 lines
3.3 KiB
C#
117 lines
3.3 KiB
C#
using Aitex.Core.RT.Device;
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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 Aitex.Sorter.Common;
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using MECF.Framework.Common.Equipment;
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using MECF.Framework.Common.Schedulers;
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using MECF.Framework.RT.EquipmentLibrary.HardwareUnits.LoadLocks;
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using MECF.Framework.RT.EquipmentLibrary.HardwareUnits.PMs;
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using SicModules.TMs.Routines.Base;
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namespace SicModules.TMs.Routines
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{
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public class TMRobotRetractRoutine : TMBaseRoutine
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{
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enum RoutineStep
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{
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CheckBeforeRetract,
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Retract,
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WaitCloseSlitValveInterlock,
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CloseSlitValve,
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}
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private ModuleName _source;
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private int _sourceSlot;
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private Hand _blade;
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private int _timeout;
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private TMSlitValveRoutine _closeSlitValveRoutine = new TMSlitValveRoutine();
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public TMRobotRetractRoutine()
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{
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Module = "TMRobot";
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Name = "Retract";
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}
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public void Init(ModuleName source, int sourceSlot, Hand blade)
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{
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_source = source;
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_sourceSlot = sourceSlot;
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_blade = blade;
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_closeSlitValveRoutine.Init(source.ToString(), false);
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}
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public void Init(ModuleName source, int sourceSlot, int blade)
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{
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Init(source, sourceSlot, (Hand)blade);
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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>("TMRobot.RetractTimeout");
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if (ModuleHelper.IsLoadLock(_source))
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{
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LoadLock ll = DEVICE.GetDevice<LoadLock>($"{_source.ToString()}.{_source.ToString()}");
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if (!ll.CheckEnableTransfer(EnumTransferType.Extend))
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{
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EV.PostWarningLog(Module, $"can not retract, {_source} not ready for transfer");
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return Result.FAIL;
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}
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}
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if (ModuleHelper.IsPm(_source))
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{
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PM pm = DEVICE.GetDevice<PM>(_source.ToString());
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if (!pm.CheckEnableTransfer(EnumTransferType.Retract, out string reason))
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{
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EV.PostWarningLog(Module, $"can not retract, {_source} reason");
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return Result.FAIL;
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}
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}
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Notify($"Start, retract from {_source} slot {_sourceSlot + 1} with {_blade}");
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return Result.RUN;
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}
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public override void Abort()
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{
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Notify("Abort");
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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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// Retract((int)RoutineStep.Retract, RobotDevice, _source, _sourceSlot, _blade, _timeout);
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WaitSlitValveCloseInterlock((int)RoutineStep.WaitCloseSlitValveInterlock, TMDevice.GetSlitValve(_source), _timeout);
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ExecuteRoutine((int)RoutineStep.CloseSlitValve, _closeSlitValveRoutine);
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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($"Finish, retract from {_source} slot {_sourceSlot + 1} with {_blade}");
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return Result.DONE;
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}
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}
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}
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