SicMultiplate/Modules/Mainframe/LLs/Routines/LoadLockTrayLoadAngleRoutine.cs

using Aitex.Core.RT.Log;
using Aitex.Core.RT.Routine;
using Aitex.Core.RT.SCCore;
using MECF.Framework.Common.Equipment;
using SicModules.LLs.Routines.Base;
using System;
using System.Collections.Generic;
using System.Linq;
using System.Reflection;
using System.Text;
using System.Threading.Tasks;

namespace SicModules.LLs.Routines
{
    /// <summary>
    /// Tray盘在Load腔中，根据感应器找上料角度
    /// </summary>
    public class LoadLockTrayLoadAngleRoutine : LoadLockBaseRoutine
    {
        private enum RoutineStep
        {
            TimeDelay1,
            TrayClamp,
            TrayUnClamp,
            ResetRotationServo,
            RotationServoOn,
            MoveTrayHome,
            WaitMoveDone,

            TimeDelay2,
        }

        private int _homeTimeout;

        private LoadLockTrayClawRoutine _trayClamp = new LoadLockTrayClawRoutine();
        private LoadLockTrayClawRoutine _trayUnClamp = new LoadLockTrayClawRoutine();


        public LoadLockTrayLoadAngleRoutine(ModuleName module)
        {
            Module = module.ToString();
            Name = "Tray Load Angle";
        }

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

            _trayClamp.Init(true);
            _trayUnClamp.Init(false);
            _homeTimeout = SC.GetValue<int>("LoadLock.HomeTimeout");

            Notify("Start");

            return Result.RUN;
        }

        public override Result Monitor()
        {
            try
            {
                if (SC.GetValue<bool>($"System.IsSimulatorMode"))
                {
                    return Result.DONE;
                }

                //对中
                ExecuteRoutine((int)RoutineStep.TrayClamp, _trayClamp);        //夹爪关闭
                TimeDelay((int)RoutineStep.TimeDelay1, 1);//延迟1s
                ExecuteRoutine((int)RoutineStep.TrayUnClamp, _trayUnClamp);      //夹爪打开

                //伺服 开启TrayHome信号
                ResetRotationServo((int)RoutineStep.ResetRotationServo, 3);
                RotationServoOn((int)RoutineStep.RotationServoOn, 3);
                MoveTrayHome((int)RoutineStep.MoveTrayHome, _homeTimeout);
                TimeDelay((int)RoutineStep.TimeDelay2, 3);

                //等待感应器定位Tray盘对位
                WaitLoadRotationDone((int)RoutineStep.WaitMoveDone, _homeTimeout);
            }
            catch (RoutineBreakException)
            {
                return Result.RUN;
            }
            catch (RoutineFaildException ex)
            {
                LOG.Error(ex.ToString());
                return Result.FAIL;
            }

            Notify("Finished");

            return Result.DONE;
        }

    }
}