85 lines
2.2 KiB
C#
85 lines
2.2 KiB
C#
using Aitex.Core.RT.Log;
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using Aitex.Core.RT.Routine;
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using Aitex.Core.RT.SCCore;
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using SicModules.LLs.Routines.Base;
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namespace SicModules.LLs.Routines
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{
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public class LoadRotationHomeRoutine : LoadLockBaseRoutine
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{
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enum RoutineStep
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{
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ResetRotationServo,
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RotationServoOn,
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MoveRelativeHome,
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WaitMoveDone,
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MoveHomeOffset,
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TimeDelay2,
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WaitMoveDone2,
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}
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private float _homeOffset;
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private int _homeTimeout;
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public LoadRotationHomeRoutine()
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{
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Name = "Home";
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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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_homeOffset = (float)SC.GetConfigItem($"LoadLock.LoadRotation.HomeOffset").DoubleValue;
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_homeTimeout = SC.GetValue<int>("LoadLock.HomeTimeout");
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Notify("Start");
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return Result.RUN;
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}
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public override Result Monitor()
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{
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try
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{
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if (SC.GetValue<bool>($"System.IsSimulatorMode"))
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{
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return Result.DONE;
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}
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ResetRotationServo((int)RoutineStep.ResetRotationServo, 3);
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RotationServoOn((int)RoutineStep.RotationServoOn, 3);
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MoveRelativeHome((int)RoutineStep.MoveRelativeHome, _homeTimeout);
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//TimeDelay((int)RoutineStep.TimeDelay2, 3);
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//WaitLoadRotationDone((int)RoutineStep.WaitMoveDone, 60);
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//取消Offset
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//MoveLoadRotationHomeOffset((int)RoutineStep.MoveHomeOffset, _homeOffset, 10);
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//TimeDelay((int)RoutineStep.TimeDelay2, 1);
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//WaitLoadRotationDone((int)RoutineStep.WaitMoveDone2, 60);
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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 ex)
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{
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LOG.Error(ex.ToString());
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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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base.Abort();
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}
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}
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}
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