CyberX8/CyberX8_RT/Devices/Loader/LoaderRotationAxisInterLock.cs

using Aitex.Core.RT.DataCenter;
using Aitex.Core.RT.Device;
using Aitex.Core.RT.Log;
using MECF.Framework.Common.Equipment;
using MECF.Framework.Common.Utilities;
using CyberX8_RT.Devices.AXIS;
using CyberX8_RT.Devices.AXIS.Yaskawa;
using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Threading.Tasks;

namespace CyberX8_RT.Devices.Loader
{
    public class LoaderRotationAxisInterLock : IAxisInterLock
    {
        #region 内部变量
        private JetAxisBase _loadTransporterGantryAxis;
        private JetAxisBase _axis;
        #endregion
        #region 属性
        /// <summary>
        /// 模块名称
        /// </summary>
        public string Module { get { return _axis.Module; } }
        /// <summary>
        /// 子模块名称
        /// </summary>
        public string Name { get { return _axis.Name; } }
        #endregion
        /// <summary>
        /// 构造函数
        /// </summary>
        /// <param name="Module"></param>
        /// <param name="name"></param>
        public LoaderRotationAxisInterLock(JetAxisBase axis) 
        {
            _axis = axis;
        }
        /// <summary>
        /// GotoPosition条件检验
        /// </summary>
        /// <param name="station"></param>
        /// <returns></returns>
        /// <exception cref="NotImplementedException"></exception>
        public bool CheckGotoPosition(string station)
        {
            if (!_axis.IsHomed)
            {
                LOG.WriteLog(eEvent.ERR_LOADER, Module, "Rotation is not home, Cannot execute GotoSavedPosition");
                return false;
            }
            if (!AxisManager.Instance.CheckModuleAxisSwitchOn(Module,Name))
            {
                return false;
            }
            JetAxisBase swingAAxis = DEVICE.GetDevice<JetAxisBase>($"{Module}.SwingA");
            if (swingAAxis.IsRun)
            {
                LOG.WriteLog(eEvent.ERR_PUF, Module, "swingA is running, Cannot execute GotoSavedPosition");
                return false;
            }
            JetAxisBase swingBAxis = DEVICE.GetDevice<JetAxisBase>($"{Module}.SwingB");
            if (swingBAxis.IsRun)
            {
                LOG.WriteLog(eEvent.ERR_PUF, Module, "swingB is running, Cannot execute GotoSavedPosition");
                return false;
            }
            JetAxisBase tiltAAxis = DEVICE.GetDevice<JetAxisBase>($"{Module}.TiltA");
            if (tiltAAxis.IsRun)
            {
                LOG.WriteLog(eEvent.ERR_PUF, Module, "tiltA is running, Cannot execute GotoSavedPosition");
                return false;
            }
            JetAxisBase tiltBAxis = DEVICE.GetDevice<JetAxisBase>($"{Module}.TiltB");
            if (tiltBAxis.IsRun)
            {
                LOG.WriteLog(eEvent.ERR_PUF, Module, "tiltB is running, Cannot execute GotoSavedPosition");
                return false;
            }
            if (ModuleHelper.IsInstalled(ModuleName.PUF1))
            {
                JetAxisBase puf1VerticalAxis = DEVICE.GetDevice<JetAxisBase>($"{ModuleName.PUF1}.Vertical");
                double puf1VerticalPosition = puf1VerticalAxis.MotionData.MotorPosition;
                if (!puf1VerticalAxis.CheckPositionIsInStation(puf1VerticalPosition, "Park"))
                {
                    LOG.WriteLog(eEvent.ERR_LOADER, Module, $"PUF1 Vertical {puf1VerticalPosition} is not in Park station,Cannot execute GotoSavedPosition");
                    return false;
                }
            }
            if (ModuleHelper.IsInstalled(ModuleName.PUF2))
            {
                JetAxisBase puf2VerticalAxis = DEVICE.GetDevice<JetAxisBase>($"{ModuleName.PUF2}.Vertical");
                double puf2VerticalPosition=puf2VerticalAxis.MotionData.MotorPosition;
                if (!puf2VerticalAxis.CheckPositionIsInStation(puf2VerticalPosition, "Park") && 
                    !puf2VerticalAxis.CheckPositionIsInStation(puf2VerticalPosition, "Robot"))
                {
                    LOG.WriteLog(eEvent.ERR_LOADER, Module, $"PUF2 Vertical {puf2VerticalPosition} is not in Park and Robot station,Cannot execute GotoSavedPosition");
                    return false;
                }
                JetAxisBase puf2RotationAxis = DEVICE.GetDevice<JetAxisBase>($"{ModuleName.PUF2}.Rotation");
                double puf2RotationPosition=puf2RotationAxis.MotionData.MotorPosition;
                if (!puf2RotationAxis.CheckPositionIsInStation(puf2RotationPosition, "Park") && 
                    !puf2RotationAxis.CheckPositionIsInStation(puf2RotationPosition, "Robot"))
                {
                    LOG.WriteLog(eEvent.ERR_LOADER, Module, $"PUF2 Rotation {puf2RotationPosition} is not in Park and Robot station,Cannot execute GotoSavedPosition");
                    return false;
                }
            }
            JetAxisBase loaderSwingAAxis = DEVICE.GetDevice<JetAxisBase>($"{ModuleName.Loader1}.SwingA");
            double swingAPosition=loaderSwingAAxis.MotionData.MotorPosition;
            if (!loaderSwingAAxis.CheckPositionIsInStation(swingAPosition, "CLOSED"))
            {
                LOG.WriteLog(eEvent.ERR_LOADER, Module, $"Loader1 SwingA {swingAPosition} is not in CLOSED station,Cannot execute GotoSavedPosition");
                return false;
            }
            JetAxisBase loaderSwingBAxis = DEVICE.GetDevice<JetAxisBase>($"{ModuleName.Loader1}.SwingB");
            double swingBPosition = loaderSwingBAxis.MotionData.MotorPosition;
            if (!loaderSwingBAxis.CheckPositionIsInStation(swingBPosition, "CLOSED"))
            {
                LOG.WriteLog(eEvent.ERR_LOADER, Module, $"Loader1 SwingB {swingBPosition} is not in CLOSED station,Cannot execute GotoSavedPosition");
                return false;
            }

            bool loaderTransporterInstalled = ModuleHelper.IsInstalled(ModuleName.Transporter2);
            if(loaderTransporterInstalled)
            {
                _loadTransporterGantryAxis = DEVICE.GetDevice<JetAxisBase>($"{ModuleName.Transporter2}.Gantry");
                if (_loadTransporterGantryAxis!=null&&!_loadTransporterGantryAxis.JudgeCompareTargetStation("Loader","Right"))
                {
                    LOG.WriteLog(eEvent.ERR_PUF, Module, "loader transporter axis is in loader station, Cannot execute GotoSavedPosition");
                    return false;
                }
            }
            return true;
        }
    }
}