CyberX8/CyberX8_RT/Devices/Loader/LoaderSwingAxisInterLock.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 LoaderSwingAxisInterLock : IAxisInterLock
    {
        #region 内部变量
        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
        #region 内部变量
        private LoaderSideDevice _loaderSide = null;
        #endregion
        /// <summary>
        /// 构造函数
        /// </summary>
        /// <param name="Module"></param>
        /// <param name="name"></param>
        public LoaderSwingAxisInterLock(JetAxisBase axis)
        {
            _axis = axis;
        }
        /// <summary>
        /// 加载LoaderSide对象
        /// </summary>
        private void GetLoaderSide()
        {
            if (_loaderSide == null)
            {
                switch (Name)
                {
                    case "SwingA":
                        _loaderSide = DEVICE.GetDevice<LoaderSideDevice>($"{Module}.SideA");
                        break;
                    default:
                        _loaderSide = DEVICE.GetDevice<LoaderSideDevice>($"{Module}.SideB");
                        break;
                }
            }
        }
        /// <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, $"{Name} is not home, Cannot execute GotoSavedPosition");
                return false;
            }
            GetLoaderSide();
            JetAxisBase tiltAxis = null;
            if(Name=="SwingA")
            {
                tiltAxis = DEVICE.GetDevice<JetAxisBase>($"{Module}.TiltA");
            }
            else
            {
                tiltAxis = DEVICE.GetDevice<JetAxisBase>($"{Module}.TiltB");
            }
            if (!tiltAxis.IsSwitchOn)
            {
                LOG.WriteLog(eEvent.ERR_LOADER, Module, $"{tiltAxis.Module} is switch off");
                return false;
            }
            if (tiltAxis.IsRun)
            {
                LOG.WriteLog(eEvent.ERR_LOADER, Module, "tilt is running,Cannot execute GotoSavedPosition");
                return false;
            }
            if (station.EndsWith("CLOSED"))
            {
                double tiltPosition = tiltAxis.MotionData.MotorPosition;
                if(!tiltAxis.CheckPositionIsInStation(tiltPosition, "VERT"))
                {
                    LOG.WriteLog(eEvent.ERR_LOADER, Module, $"{tiltAxis.Module} {tiltPosition} is not in VERT");
                    return false;
                }
            }
            //Puf vertical is park
            if (ModuleHelper.IsInstalled(ModuleName.PUF1))
            {
                JetAxisBase puf1VerticalAxis = DEVICE.GetDevice<JetAxisBase>($"{ModuleName.PUF1}.Vertical");
                if (puf1VerticalAxis != null)
                {
                    double puf1VertocalPosition = puf1VerticalAxis.MotionData.MotorPosition;
                    if (!puf1VerticalAxis.CheckPositionIsInStation(puf1VertocalPosition, "Park"))
                    {
                        LOG.WriteLog(eEvent.ERR_LOADER, Module, $"{ModuleName.PUF1} Vertical {puf1VertocalPosition} is not in Park,  Cannot execute GotoSavedPosition");
                        return false;
                    }
                }
            }
            if (ModuleHelper.IsInstalled(ModuleName.PUF2))
            {
                JetAxisBase puf2VerticalAxis = DEVICE.GetDevice<JetAxisBase>($"{ModuleName.PUF2}.Vertical");
                if (puf2VerticalAxis != null)
                {
                    double puf2VerticalPosition=puf2VerticalAxis.MotionData.MotorPosition;
                    if (!puf2VerticalAxis.CheckPositionIsInStation(puf2VerticalPosition, "Park"))
                    {
                        LOG.WriteLog(eEvent.ERR_LOADER, Module, $"{ModuleName.PUF2} Vertical {puf2VerticalPosition} is not in Park,  Cannot execute GotoSavedPosition");
                        return false;
                    }
                }
            }

            //Door 在Closed,无法从其他位置运动至Closed位置
            if (_loaderSide.SideData.DoorLowerLocked||_loaderSide.SideData.DoorUpperLocked)
            {
                if (station.EndsWith("CLOSED"))
                {
                    LOG.WriteLog(eEvent.ERR_LOADER, Module, $"door locked, {Name} cannot goto CLOSED");
                    return false;
                }
                else 
                {
                    LOG.WriteLog(eEvent.ERR_LOADER, Module, $"door locked, {Name} cannot move to other stations");
                    return false;
                }
            }
            JetAxisBase rotationAxis = DEVICE.GetDevice<JetAxisBase>($"{Module}.Rotation");
            if (!rotationAxis.IsSwitchOn)
            {
                LOG.WriteLog(eEvent.ERR_LOADER, Module, $"{rotationAxis.Module} is switch off");
                return false;
            }
            if (rotationAxis.IsRun)
            {
                LOG.WriteLog(eEvent.ERR_LOADER, Module, $"rotation is running,Cannot execute GotoSavedPosition");
                return false;
            }
            double rotationPosition = rotationAxis.MotionData.MotorPosition;
            if (rotationAxis.CheckPositionIsEmpty(rotationPosition))
            {
                //LOG.WriteLog(eEvent.ERR_LOADER, Module, "loader rotation axis is empty, Cannot execute GotoSavedPosition");
                //return false;
                return true;
            }
            else
            {
                if (rotationAxis.CheckPositionIsInStation(rotationPosition, "LOADA300") || 
                    rotationAxis.CheckPositionIsInStation(rotationPosition, "LOADB300")|| 
                    rotationAxis.CheckPositionIsInStation(rotationPosition, "SERVICEB"))
                {
                    return true;
                }
                else if (rotationAxis.CheckPositionIsInStation(rotationPosition, "CAMERA"))
                {
                    if (station.EndsWith("CAMERA"))
                    {
                        return true;
                    }
                    else
                    {
                        LOG.WriteLog(eEvent.ERR_LOADER, Module, $"loader rotation axis {rotationPosition} is in Camera, {Name} only goto Camera");
                        return false;
                    }
                }
                else
                {
                    LOG.WriteLog(eEvent.ERR_LOADER, Module, $"loader rotation axis is in {rotationAxis.CurrentStation}, can not go to position");
                    return false;
                }
            }
        }
    }
}