using Aitex.Core.RT.Device;
using Aitex.Core.RT.Routine;
using MECF.Framework.Common.Routine;
using CyberX8_Core;
using CyberX8_RT.Devices.AXIS;
using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Threading.Tasks;
using Aitex.Core.RT.Log;
using System.Windows.Media.Animation;
using MECF.Framework.Common.Utilities;
using MECF.Framework.Common.Equipment;
using CyberX8_RT.Devices.PUF;
namespace CyberX8_RT.Modules.PUF
{
public class PufBackToParkRoutine : RoutineBase, IRoutine
{
private enum BackToParkStep
{
ChuckIn,
WaitChuck,
RotationHomeStation,
WaitRotationHomeStation,
FlipSideA,
WaitFlipSideA,
End
}
#region 内部变量
private JetAxisBase _flipAxis;
private JetAxisBase _rotationAxis;
private PufVacuum _pufVacuum;
private PufChuckRoutine _chuckRoutine;
#endregion
///
/// 构造函数
///
///
public PufBackToParkRoutine(string module) : base(module)
{
_chuckRoutine=new PufChuckRoutine(module);
_pufVacuum = DEVICE.GetDevice($"{Module}.Vacuum");
}
///
/// 中止
///
public void Abort()
{
Runner.Stop("manual abort");
}
///
/// 监控
///
///
public RState Monitor()
{
Runner.Run(BackToParkStep.ChuckIn, () => _chuckRoutine.Start(false)==RState.Running, _delay_1ms)
.WaitWithStopCondition(BackToParkStep.WaitChuck, ()=>CommonFunction.CheckRoutineEndState(_chuckRoutine),
CheckChuckStopStatus)
.Run(BackToParkStep.RotationHomeStation, () => AxisGotoPosition(_rotationAxis, "Home", 0), _delay_1ms)
.WaitWithStopCondition(BackToParkStep.WaitRotationHomeStation, CheckRotationPositionStatus, CheckRotationStopStatus)
.RunIf(BackToParkStep.FlipSideA,Module==ModuleName.PUF1.ToString(),() => AxisGotoPosition(_flipAxis,"SideA", 0), _delay_1ms)
.WaitWithStopConditionIf(BackToParkStep.WaitFlipSideA, Module == ModuleName.PUF1.ToString(), CheckFlipPositionStatus, CheckFlipStopStatus)
.End(BackToParkStep.End, NullFun, _delay_1ms);
return Runner.Status;
}
///
/// 检验chuck routine停止状态
///
///
private bool CheckChuckStopStatus()
{
bool result=CommonFunction.CheckRoutineStopState(_chuckRoutine);
if (result)
{
NotifyError(eEvent.ERR_PUF, _chuckRoutine.ErrorMsg, 0);
}
return result;
}
///
/// 检验Rotation移动状态
///
///
private bool CheckRotationPositionStatus()
{
return _rotationAxis.Status == RState.End;
}
///
/// 检验Flip移动状态
///
///
private bool CheckFlipPositionStatus()
{
return _flipAxis.Status == RState.End;
}
///
/// 检验Flip异常状态
///
///
private bool CheckFlipStopStatus()
{
bool result = _flipAxis.Status == RState.Failed || _flipAxis.Status == RState.Timeout;
if (result)
{
NotifyError(eEvent.ERR_PUF, "flip motion failed", 0);
}
return result;
}
///
/// 检验Rotation异常状态
///
///
private bool CheckRotationStopStatus()
{
bool result = _rotationAxis.Status == RState.Failed || _rotationAxis.Status == RState.Timeout;
if (result)
{
NotifyError(eEvent.ERR_PUF, "rotation motion failed", 0);
}
return result;
}
///
/// Axis goto position
///
///
///
///
///
private bool AxisGotoPosition(JetAxisBase axis, string position, int index)
{
bool result = axis.PositionStation(position);
if (!result)
{
NotifyError(eEvent.ERR_PUF, $"{axis.Module} goto {position} failed", index);
}
return result;
}
///
/// 启动
///
///
///
public RState Start(params object[] objs)
{
InitializeParameters();
return Runner.Start(Module, "start back to park station");
}
///
/// 初始化参数
///
private void InitializeParameters()
{
_flipAxis = DEVICE.GetDevice($"{Module}.Flip");
_rotationAxis = DEVICE.GetDevice($"{Module}.Rotation");
}
///
/// 重试
///
///
public RState Retry(int step)
{
InitializeParameters();
List preStepIds = new List();
return Runner.Retry(BackToParkStep.ChuckIn, preStepIds, Module, "Back to park Retry");
}
///
/// 检验完成情况
///
///
public bool CheckCompleteCondition()
{
double rotationPosition = _rotationAxis.MotionData.MotorPosition;
if (!_rotationAxis.CheckPositionIsInStation(rotationPosition, "Home"))
{
NotifyError(eEvent.ERR_PUF, $"rotation {rotationPosition} not in Home", 0);
return false;
}
double flipPosition = _flipAxis.MotionData.MotorPosition;
if (!_flipAxis.CheckPositionIsInStation(flipPosition, "SideA"))
{
NotifyError(eEvent.ERR_PUF, $"flip {flipPosition} not in SideA", 0);
return false;
}
if (!_pufVacuum.CheckChuckIn())
{
NotifyError(eEvent.ERR_PUF, $"Chuck status is not chuck in", 0);
return false;
}
return true;
}
}
}