using Aitex.Core.RT.Device; using Aitex.Core.RT.Device.Unit; using Aitex.Core.RT.Event; using Aitex.Core.RT.Routine; using Aitex.Core.RT.SCCore; using Aitex.Core.Util; using Aitex.Sorter.Common; using MECF.Framework.Common.Alarms; using MECF.Framework.Common.Device.Bases; using MECF.Framework.Common.Equipment; using MECF.Framework.Common.SubstrateTrackings; using MECF.Framework.RT.EquipmentLibrary.HardwareUnits.Robot; using System; using System.Collections.Generic; using System.Linq; using System.Text; using System.Threading.Tasks; using FurnaceRT.Equipments.Systems; using static Aitex.Core.RT.Device.Unit.IoBoat; using FurnaceRT.Devices; namespace FurnaceRT.Equipments.Boats { public class BoatZAxisManualMove : ModuleRoutine, IRoutine { enum RoutineStep { AutoShutterOpen, AutoShutterClose, AutoShutterUp, AutoShutterDown, SetBoatSpeed, BoatZAxisMove, CheckPrepareMove, } private BoatPosition _targetPosition; private float _speed; private BoatModule _boatModule; private int _timeout = 0; private int _shutterTimeout = 0; private IoSensor _sensorBEHumanInterlock; private IoSensor _sensorR5ArmNotExtendToBE; private IoSensor _sensorASOpenStatus; private IoSensor _sensorASTiltStatus; public BoatZAxisManualMove(BoatModule boatModule) { _boatModule = boatModule; Module = boatModule.Module; Name = "ZAxis Manual Move"; } public void Init(string targetPosition, string speed) { _targetPosition = (BoatPosition)Enum.Parse(typeof(BoatPosition), targetPosition); float.TryParse(speed, out _speed); var para = new List { _targetPosition, _speed }; _boatModule.BoatZAxisMoveFailedForInterlock.RetryMessage = (int)BoatModule.MSG.ZAxisManualMoveRetry; _boatModule.BoatZAxisMoveFailedForInterlock.RetryMessageParas = para.ToArray(); _boatModule.BoatZAxisMoveTimeOut.RetryMessage = (int)BoatModule.MSG.ZAxisManualMoveRetry; _boatModule.BoatZAxisMoveTimeOut.RetryMessageParas = para.ToArray(); } public Result Start(params object[] objs) { Reset(); string reason = string.Empty; if (_targetPosition == BoatPosition.None) return Result.DONE; _timeout = SC.GetValue($"{Module}.MotionTimeout"); _shutterTimeout = SC.GetValue($"{Module}.AutoShutter.MotionTimeout"); if (!_boatModule.CheckPrepareMove(out reason, false)) { _boatModule.BoatZAxisMoveFailedForInterlock.Set(reason); return Result.FAIL; } Notify($"Start"); return Result.RUN; } public void Abort() { _boatModule.BoatZAxisStop(); } public override Result Monitor() { try { PauseRountine(_boatModule.RAxisDevice.IsPause); if (_boatModule.RAxisDevice.IsPause) return Result.RUN; if (_boatModule.ZAxisDevice.IsError) return Result.FAIL; AutoShutterOpen((int)RoutineStep.AutoShutterOpen, true, _shutterTimeout); CheckPrepareMove((int)RoutineStep.CheckPrepareMove, 2); SetBoatZAxisMove((int)RoutineStep.BoatZAxisMove, _targetPosition, _speed, _timeout); } catch (RoutineBreakException) { return Result.RUN; } catch (RoutineFaildException ex) { return Result.FAIL; } Notify("Finished"); return Result.DONE; } private void AutoShutterOpen(int id, bool isOpen, int timeout) { Tuple ret = ExecuteAndWait(id, () => { Notify($"shutter {(isOpen ? "open" : "close")}"); string reason; if (!_boatModule.ShutterDevice.SetOpen(isOpen, out reason)) { _boatModule.ShutterDevice.AutoShutterMoveFailedForInterlock.Set(); return false; } return true; }, () => { return isOpen ? _boatModule.ShutterDevice.OpenCloseStatus == DeviceStatus.Open : _boatModule.ShutterDevice.OpenCloseStatus == DeviceStatus.Close; }, timeout * 1000); if (ret.Item1) { if (ret.Item2 == Result.FAIL) { throw (new RoutineFaildException()); } else if (ret.Item2 == Result.TIMEOUT) //timeout { if (isOpen) { _boatModule.ShutterDevice.AutoShutterOpenTimeOut.Set($"can not complete in {timeout} seconds"); } else { _boatModule.ShutterDevice.AutoShutterCloseTimeOut.Set($"can not complete in {timeout} seconds"); } throw (new RoutineFaildException()); } else throw (new RoutineBreakException()); } } private void CheckPrepareMove(int id, int timeout) { var reason = ""; Tuple ret = ExecuteAndWait(id, () => { Notify($"Check boat move enable"); return true; }, () => { return _boatModule.CheckPrepareMove(out reason); }, timeout * 2 * 1000); if (ret.Item1) { if (ret.Item2 == Result.FAIL) { throw (new RoutineFaildException()); } else if (ret.Item2 == Result.TIMEOUT) //timeout { _boatModule.BoatZAxisMoveFailedForInterlock.Set($"{reason} is not OK, can not complete in {timeout} seconds"); throw (new RoutineFaildException()); } else throw (new RoutineBreakException()); } } private void SetBoatZAxisMove(int id, BoatPosition position, float speed, int timeout) { Tuple ret = ExecuteAndWait(id, () => { Notify($"Boat ZAxis movet to {position}"); string reason; if (!_boatModule.ZAxisDevice.SetServoMoveTo(position.ToString(), out reason, speed)) { //_boatModule.BoatDevice.BoatRAxisMoveFailedForInterlock.Description = reason; _boatModule.BoatZAxisMoveFailedForInterlock.Set(reason); } return true; }, () => { if (_boatModule.ZAxisDevice.IsError) return null; return _boatModule.ZAxisDevice.CheckServoAtPosition(position.ToString()); }, timeout * 2 * 1000); if (ret.Item1) { if (ret.Item2 == Result.FAIL) { _boatModule.ZAxisDevice.ServoStop(); throw (new RoutineFaildException()); } else if (ret.Item2 == Result.TIMEOUT) //timeout { _boatModule.ZAxisDevice.ServoStop(); _boatModule.BoatZAxisMoveTimeOut.Set($"can not complete in {timeout} seconds"); throw (new RoutineFaildException()); } else throw (new RoutineBreakException()); } } } }