56 lines
1.3 KiB
C#
56 lines
1.3 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.EFEMs.Routines.Base;
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namespace SicModules.EFEMs.Routines
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{
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public class TrayRobotHomeRoutine : EfemBaseRoutine
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{
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enum RoutineStep
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{
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Home,
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TimeDelay,
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WaitReady,
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}
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private int _homeTimeout;
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public TrayRobotHomeRoutine()
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{
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Name = "TrayRobotHome";
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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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_homeTimeout = SC.GetValue<int>("TrayRobot.HomeTimeout");
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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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RobotHomeExcute((int)RoutineStep.Home, TrayRobot, _homeTimeout);
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TimeDelay((int)RoutineStep.TimeDelay, 2);
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CheckRobotReady((int)RoutineStep.WaitReady, TrayRobot, _homeTimeout);
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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($"Finish");
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return Result.DONE;
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}
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}
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}
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