102 lines
2.3 KiB
C#
102 lines
2.3 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.Aligners;
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namespace Mainframe.Buffers
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{
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class BufferHomeRoutine : ModuleRoutine, IRoutine
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{
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enum RoutineStep
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{
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ClearError,
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Home,
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QueryStatus,
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}
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private int _timeout = 0;
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private SicBuffer _buffer = null;
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public BufferHomeRoutine(ModuleName module) : base(module.ToString())
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{
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Name = "Home";
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_buffer = DEVICE.GetDevice<SicBuffer>($"{module}.{module}");
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}
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public bool Initalize()
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{
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return true;
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}
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public Result Start(params object[] objs)
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{
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Reset();
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Notify($"Start");
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return Result.RUN;
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}
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public Result Monitor()
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{
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try
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{
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Home((int)RoutineStep.Home, _buffer, 2);
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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 void Home(int id, SicBuffer buffer, 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($"Start home {buffer.Name}");
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return true;
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}, () =>
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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(string.Format("Home failed."));
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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(string.Format("Home timeout, can not complete in {0} seconds", timeout));
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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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public void Abort()
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{
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}
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}
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}
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