add loader tilt interlock

CyberX8_RT/Devices/AXIS/JetAxisBase.cs

@@ -323,6 +323,10 @@ namespace CyberX8_RT.Devices.AXIS
         /// 所有io变量是否初始化
         /// </summary>
         public bool IOInitialized { get { return AllIoVariableInitialized(); } }
+        /// <summary>
+        /// WaferSize
+        /// </summary>
+        public int WaferSize { get { return _waferSize; }  set { _waferSize = value; } }
         #endregion
         /// <summary>
         /// 构造函数

CyberX8_RT/Devices/Loader/LoaderTiltAxisInterLock.cs

@@ -51,109 +51,97 @@ namespace CyberX8_RT.Devices.Loader
                 LOG.WriteLog(eEvent.ERR_LOADER, Module, $"{Name} is not home, Cannot execute GotoSavedPosition");
                 return false;
             }
+            if (!_axis.IsSwitchOn)
+            {
+                LOG.WriteLog(eEvent.ERR_LOADER, Module, $"{Name} is switch off, Cannot execute GotoSavedPosition");
+                return false;
+            }
+            if (_axis.IsRun)
+            {
+                LOG.WriteLog(eEvent.ERR_LOADER, Module, $"{Name} is running, Cannot execute GotoSavedPosition");
+                return false;
+            }
+            //判断puf的rotation是否在home/flip/robot位置上
+            if (ModuleHelper.IsInstalled(ModuleName.PUF1))
+            {
+                JetAxisBase puf1RotationAxis = DEVICE.GetDevice<JetAxisBase>($"{ModuleName.PUF1}.Rotation");
+                if (puf1RotationAxis != null)
+                {
 
-            ////Puf vertical is park
-            //if (ModuleHelper.IsInstalled(ModuleName.PUF1))
-            //{
-            //    JetAxisBase puf1VerticalAxis = DEVICE.GetDevice<JetAxisBase>($"{ModuleName.PUF1}.Vertical");
-            //    if (puf1VerticalAxis != null)
-            //    {
-            //        double puf1VerticalPosition = puf1VerticalAxis.MotionData.MotorPosition;
-            //        if (!puf1VerticalAxis.CheckPositionIsInStation(puf1VerticalPosition, "Park"))
-            //        {
-            //            LOG.WriteLog(eEvent.ERR_LOADER, Module, $"{ModuleName.PUF1} {puf1VerticalPosition} is not in Park,  Cannot execute GotoSavedPosition");
-            //            return false;
-            //        }
-            //    }
-            //}
-            //if (ModuleHelper.IsInstalled(ModuleName.PUF2))
-            //{
-            //    JetAxisBase puf2VerticalAxis = DEVICE.GetDevice<JetAxisBase>($"{ModuleName.PUF2}.Vertical");
-            //    if (puf2VerticalAxis != null)
-            //    {
-            //        double puf2VerticalPosition = puf2VerticalAxis.MotionData.MotorPosition;
-            //        if (!puf2VerticalAxis.CheckPositionIsInStation(puf2VerticalPosition, "Park"))
-            //        {
-            //            LOG.WriteLog(eEvent.ERR_LOADER, Module, $"{ModuleName.PUF2} {puf2VerticalPosition} is not in Park,  Cannot execute GotoSavedPosition");
-            //            return false;
-            //        }
-            //    }
-            //}
-            //JetAxisBase swingAxis = null;
-            //double swingPosition = 0;
-            //if (Name == "TiltA")
-            //{
-            //    swingAxis = DEVICE.GetDevice<JetAxisBase>($"{Module}.SwingA");
-            //    swingPosition=swingAxis.MotionData.MotorPosition;
-            //    if (!swingAxis.IsSwitchOn)
-            //    {
-            //        LOG.WriteLog(eEvent.ERR_LOADER, Module, $"SwingA is switch off");
-            //        return false;
-            //    }
-            //    if (swingAxis.IsRun)
-            //    {
-            //        LOG.WriteLog(eEvent.ERR_LOADER, Module, $"SwingA is running,Cannot execute GotoSavedPosition");
-            //        return false;
-            //    }
-            //}
-            //else
-            //{
-            //    swingAxis = DEVICE.GetDevice<JetAxisBase>($"{Module}.SwingB");
-            //    swingPosition=swingAxis.MotionData.MotorPosition;
-
-            //    if (!swingAxis.IsSwitchOn)
-            //    {
-            //        LOG.WriteLog(eEvent.ERR_LOADER, Module, $"SwingB is switch off");
-            //        return false;
-            //    }
-
-            //    if (swingAxis.IsRun)
-            //    {
-            //        LOG.WriteLog(eEvent.ERR_LOADER, Module, $"SwingB is running,Cannot execute GotoSavedPosition");
-            //        return false;
-            //    }
-            //}
-            //JetAxisBase rotationAxis = DEVICE.GetDevice<JetAxisBase>($"{Module}.Rotation");
-            //if (!rotationAxis.IsSwitchOn)
-            //{
-            //    LOG.WriteLog(eEvent.ERR_LOADER, Module, $"rotation is switch off");
-            //    return false;
-            //}
-            //if (rotationAxis.IsRun)
-            //{
-            //    LOG.WriteLog(eEvent.ERR_LOADER, Module, $"rotation is running,Cannot execute GotoSavedPosition");
-            //    return false;
-            //}
-            //if(swingAxis.CheckPositionIsEmpty(swingPosition))
-            //{
-            //    return true;
-            //}
-            ////Swing在CLOSED，不可以去某一Station
-            //if (swingAxis.CheckPositionIsInStation(swingPosition, "CLOSED"))
-            //{
-            //    //LOG.WriteLog(eEvent.ERR_LOADER, Module, "Swing is CLOSED, Cannot execute GotoSavedPosition");
-            //    //return false;
-            //    return true;
-            //}
-            ////Swing在OPEN/OPENB，除了FLIP外其他位置都可以去
-            //if (swingAxis.CheckPositionIsInStation(swingPosition, "OPEN")||
-            //    swingAxis.CheckPositionIsInStation(swingPosition,"OPENB"))
-            //{
-            //    if(station.EndsWith("FLIP"))
-            //    {
-            //        LOG.WriteLog(eEvent.ERR_LOADER, Module, $"Swing {swingPosition} is OPEN/OPENB, Cannot Goto Flip");
-            //        return false;
-            //    }
-            //    else
-            //    {
-            //        return true;
-            //    }
-            //}
-            ////Swing在Clean
-            //if(swingAxis.CheckPositionIsInStation(swingPosition,"CLEAN"))
-            //{
-            //    return true;
-            //}
+                    if (puf1RotationAxis.IsRun) //puf rotation正在运动返回false
+                    {
+                        LOG.WriteLog(eEvent.ERR_LOADER, Module, $"{ModuleName.PUF1} is running,  Cannot execute GotoSavedPosition");
+                        return false;
+                    }
+                    double puf1RotationPosition = puf1RotationAxis.MotionData.MotorPosition;
+                    if (puf1RotationAxis.CheckPositionIsInStation(puf1RotationPosition, "Home")
+                        || puf1RotationAxis.CheckPositionIsInStation(puf1RotationPosition, "Flip")
+                        || puf1RotationAxis.CheckPositionIsInStation(puf1RotationPosition, "Robot"))
+                    {
+                       //校验通过,不执行操作
+                    }
+                    else
+                    {
+                        LOG.WriteLog(eEvent.ERR_LOADER, Module, $"{ModuleName.PUF1} {puf1RotationPosition} is not in Home/flip/Robot station,  Cannot execute GotoSavedPosition");
+                        return false;
+                    }
+                }  //puf rotation为空返回false
+                else
+                {
+                    LOG.WriteLog(eEvent.ERR_LOADER, Module, $"{ModuleName.PUF1} is null,  Cannot execute GotoSavedPosition");
+                    return false;
+                }
+            }
+            //判断shuttle是否在out位上
+            JetAxisBase shuttleAxis = null;
+            double shuttleAxisPosition = 0;
+            if (Name == "TiltA")
+            {
+                shuttleAxis = DEVICE.GetDevice<JetAxisBase>($"{Module}.ShuttleA");
+                if (shuttleAxis != null) 
+                {
+                    if (shuttleAxis.IsRun) //shuttle正在运动返回false
+                    {
+                        LOG.WriteLog(eEvent.ERR_LOADER, Module, $"{Module}.ShuttleA is running,  Cannot execute GotoSavedPosition");
+                        return false;
+                    }
+                    shuttleAxisPosition = shuttleAxis.MotionData.MotorPosition;
+                    if (!shuttleAxis.CheckPositionIsInStation(shuttleAxisPosition, $"OUT{shuttleAxis.WaferSize.ToString()}"))
+                    {
+                        LOG.WriteLog(eEvent.ERR_LOADER, Module, $"{Module}.ShuttleA is not in out station,  Cannot execute GotoSavedPosition");
+                        return false;
+                    }
+                }
+                else //shuttle为空返回false
+                {
+                    LOG.WriteLog(eEvent.ERR_LOADER, Module, $"{Module}.ShuttleA is null,  Cannot execute GotoSavedPosition");
+                    return false;
+                }
+                
+            }
+            else
+            {
+                shuttleAxis = DEVICE.GetDevice<JetAxisBase>($"{Module}.ShuttleB");
+                if (shuttleAxis != null)
+                {
+                    if (shuttleAxis.IsRun) //shuttle正在运动返回false
+                    {
+                        LOG.WriteLog(eEvent.ERR_LOADER, Module, $"{Module}.ShuttleB is running,  Cannot execute GotoSavedPosition");
+                        return false;
+                    }
+                    shuttleAxisPosition = shuttleAxis.MotionData.MotorPosition;
+                    if (!shuttleAxis.CheckPositionIsInStation(shuttleAxisPosition, $"OUT{shuttleAxis.WaferSize.ToString()}"))
+                    {
+                        LOG.WriteLog(eEvent.ERR_LOADER, Module, $"{Module}.ShuttleB is not in out station,  Cannot execute GotoSavedPosition");
+                        return false;
+                    }
+                }
+                else  //shuttle为空返回false
+                {
+                    LOG.WriteLog(eEvent.ERR_LOADER, Module, $"{Module}.ShuttleB is null,  Cannot execute GotoSavedPosition");
+                    return false;
+                }
+            }
             return true;
         }
        

CyberX8_Simulator/Config/UILayout.xml

@@ -8,6 +8,7 @@
   </Navigation>
 
 	<Navigation Id="Wago" Name="Wago" >
+		<SubView Id="Wago1" Name="Wago1" ViewClass="CyberX8_Simulator.Views.WagoView" Assembly="CyberX8_Simulator" Port ="550"/>
 		<SubView Id="Wago0" Name="Wago0" ViewClass="CyberX8_Simulator.Views.WagoView" Assembly="CyberX8_Simulator" Port ="501"/>
 	</Navigation>