FurnaceELK/Furnace/FurnaceRT/Equipments/LPs/LoadPortAutoUnload.cs

using Aitex.Core.RT.Device;
using Aitex.Core.RT.Event;
using Aitex.Core.RT.Routine;
using Aitex.Core.RT.SCCore;
using Aitex.Sorter.Common;
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.Diagnostics;
using System.Linq;
using System.Text;
using System.Threading.Tasks;
using FurnaceRT.Equipments.Systems;

namespace FurnaceRT.Equipments.LPs
{
    public class LoadPortAutoUnload : ModuleRoutine, IRoutine
    {
        enum RoutineStep
        {
            Unload,
            BuzzerOn,
            BuzzerOff,
            CheckAccessSwitch1,
            CheckAccessSwitch2,
        }

        private LoadPortModule _lpModule;
        private int _timeout = 0;
        private int _accessSwitchTimeout = 0;
        private int _carrierInOrOutDelayTime = 0;
        private bool _buzzerOn;
        private bool _accessSwitchPressedBeforeCarrierOut;
        private bool _accessSwitchPressedAfterCarrierOut;
        private bool _isBypassAccessSwitchPressedTimeout;
        private RoutineStep _routineStep;
        public LoadPortAutoUnload(LoadPortModule lpModule)
        {
            _lpModule = lpModule;
            Module = lpModule.Module;
            Name = "Unload";
        }
        public void Init(bool isHasAlarm)
        {
            _isHasAlarm = isHasAlarm;
        }
        public Result Start(params object[] objs)
        {
            if (!_isHasAlarm)
            {
                Reset();
            }
            else
            {
                List<int> stepLst = new List<int>(Steps.ToArray());
                stepLst.Remove((int)_routineStep);
                Steps = new Stack<int>(stepLst);
                _isHasAlarm = false;
                ResetState();
            }

            _timeout = SC.GetValue<int>($"LoadPort.{Module}.MotionTimeout");
            if (_lpModule.IsClamp)
            {
                EV.PostInfoLog(Module, $"{Module} already at clamp position");
                return Result.DONE;
            }
            _buzzerOn = SC.GetValue<bool>("LoadPort.BuzzerSetting.BuzzerOnWhenUnloading");
            _accessSwitchPressedBeforeCarrierOut = SC.GetValue<bool>("LoadPort.LoadPortSwitch.AccessSwitchPressedBeforeCarrierOut");
            _accessSwitchPressedAfterCarrierOut = SC.GetValue<bool>("LoadPort.LoadPortSwitch.AccessSwitchPressedAfterCarrierOut");
            _isBypassAccessSwitchPressedTimeout = SC.GetStringValue("LoadPort.LoadPortSwitch.OperationSwitchPressedAfterCarrierOut") == "Continue";
            _accessSwitchTimeout = SC.GetValue<int>("LoadPort.LoadPortSwitch.AccessSwitchTimeout");
            _carrierInOrOutDelayTime = SC.GetValue<int>("LoadPort.LoadPortSwitch.CarrierInOrOutDelayTime");
            _lpModule.UnloadFailAlarm.RetryMessage = (int)LoadPortModule.MSG.AutoUnloadRetry;
            _lpModule.UnloadTimeoutAlarm.RetryMessage = (int)LoadPortModule.MSG.AutoUnloadRetry;
            var para = new List<object> { true };
            _lpModule.UnloadFailAlarm.RetryMessageParas = para.ToArray();
            _lpModule.UnloadTimeoutAlarm.RetryMessageParas = para.ToArray();

            Notify($"{Module} unload start");

            return Result.RUN;
        }
        public void Abort()
        {
            _lpModule.Stop();
        }

        public override Result Monitor()
        {
            try
            {
                //_accessSwitchPressedBeforeCarrierOut
                //等待Access Switch按键按下
                if (_accessSwitchPressedBeforeCarrierOut)
                    CheckAccessSwitch((int)RoutineStep.CheckAccessSwitch1, _accessSwitchTimeout);
                else
                    Delay((int)RoutineStep.CheckAccessSwitch1, _carrierInOrOutDelayTime);

                Unload((int)RoutineStep.Unload, _timeout);

                if(_buzzerOn)                
                    BuzzerOn((int)RoutineStep.BuzzerOn, true);

                //_accessSwitchPressedAfterCarrierOut
                //等待Access Switch按键按下
                if (_accessSwitchPressedAfterCarrierOut)
                    CheckAccessSwitch((int)RoutineStep.CheckAccessSwitch2, _accessSwitchTimeout);

                if (_buzzerOn)
                    BuzzerOn((int)RoutineStep.BuzzerOff, false);
            }
            catch (RoutineBreakException)
            {
                return Result.RUN;
            }
            catch (RoutineFaildException ex)
            {
                return Result.FAIL;
            }

            Notify($"{Name} finished");
            return Result.DONE;
        }
        private void CheckAccessSwitch(int id, int timeout)
        {
            Tuple<bool, Result> ret = ExecuteAndWait(id, () =>
            {
                Notify($"{Module} check access switch");

                return true;
            }, () =>
            {
                return _lpModule.IsClamp;
            }, timeout * 1000);

            if (ret.Item1)
            {
                if (ret.Item2 == Result.FAIL)
                {
                    throw (new RoutineFaildException());
                }
                else if (ret.Item2 == Result.TIMEOUT) //timeout
                {
                    if(_isBypassAccessSwitchPressedTimeout)
                    {
                        throw (new RoutineBreakException());
                    }
                    else
                    {
                        _lpModule.UnloadTimeoutAlarm.Set($"unload timeout, can not complete in {timeout} seconds");
                        throw (new RoutineFaildException());
                    }
                }
                else
                    throw (new RoutineBreakException());
            }
        }
        private void Unload(int id, int timeout)
        {
            _routineStep = (RoutineStep)Enum.Parse(typeof(RoutineStep), id.ToString());
            Tuple<bool, Result> ret = ExecuteAndWait(id, () =>
            {
                Notify($"{Module} unload");
                if (!_lpModule.UnloadLoadPort(out string reason))
                {
                    _lpModule.UnloadFailAlarm.Set(reason);
                    return false;
                }
                return true;
            }, () =>
            {
                return  _lpModule.IsClamp;
            }, timeout * 1000);

            if (ret.Item1)
            {
                if (ret.Item2 == Result.FAIL)
                {
                    throw (new RoutineFaildException());
                }
                else if (ret.Item2 == Result.TIMEOUT) //timeout
                {
                    _lpModule.UnloadTimeoutAlarm.Set($"unload timeout, can not complete in {timeout} seconds");
                    throw (new RoutineFaildException());
                }
                else
                    throw (new RoutineBreakException());
            }
        }
        private void BuzzerOn(int id, bool isOn)
        {
            Tuple<bool, Result> ret = Execute(id, () =>
            {
                Notify($"Buzzer {(isOn ? "on" : "off")}");

                DEVICE.GetDevice<FurnaceSignalTower>($"{ModuleName.System}.{ModuleName.SignalTower}").IsAutoSetLight = !isOn;
                DEVICE.GetDevice<FurnaceSignalTower>($"{ModuleName.System}.{ModuleName.SignalTower}").SetLight(LightType.Buzzer1, isOn ? TowerLightStatus.On : TowerLightStatus.Off);

                return true;
            });

            if (ret.Item1)
            {
                if (ret.Item2 == Result.FAIL)
                {
                    throw new RoutineFaildException();
                }
                else
                    throw new RoutineBreakException();
            }
        }
    }
}