75 lines
1.7 KiB
C#
75 lines
1.7 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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namespace SicModules.TMs.Routines
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{
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public class TMHomeRoutine : TMBaseRoutine
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{
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enum RoutineStep
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{
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CloseV77,
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CloseV80,
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CloseV85,
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TMRobotHome
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}
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private int _homeTimeout;
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private TMRobotHomeRoutine _tmRobotHomeRoutine =
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new TMRobotHomeRoutine();
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public TMHomeRoutine()
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{
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Module = "TM";
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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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_homeTimeout = SC.GetValue<int>("TM.HomeTimeout");
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_tmRobotHomeRoutine = new TMRobotHomeRoutine();
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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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//关闭 V77， V78； 关闭 V85；关闭 V70-1， V70-2； Home Robot, Check Load
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CloseTMVent((int)RoutineStep.CloseV77);
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//没有V78
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SetTMLLBalanceValve((int)RoutineStep.CloseV85, TMDevice,false);
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//没有V70
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ExecuteRoutine((int)RoutineStep.TMRobotHome, _tmRobotHomeRoutine);
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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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