CyberX8/CyberX8_RT/Devices/Loader/LoaderSideWhBladderRoutine.cs

using Aitex.Core.RT.Device;
using Aitex.Core.RT.Routine;
using Aitex.Core.RT.SCCore;
using MECF.Framework.Common.Beckhoff.ModuleIO;
using MECF.Framework.Common.CommonData.PUF;
using MECF.Framework.Common.Equipment;
using MECF.Framework.Common.Routine;
using MECF.Framework.Common.TwinCat;
using CyberX8_Core;
using CyberX8_RT.Devices.Loader;
using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Threading.Tasks;
using MECF.Framework.Common.IOCore;

namespace CyberX8_RT.Devices.AXIS.CANOpen
{
   
    public class LoaderSideWhBladderRoutine : RoutineBase, IRoutine
    {
        private enum WhBladderStep
        {
            WriteWhBladder,
            WriteWSClamp,
            End
        }

        #region 常量 
        private const string WH_BLADDER = "WHBladder";
        private const string WS_CLAMP = "WaferHolderClamp";
        #endregion

        #region 内部变量
        private int _enableTimeout = 5000;
        private int _disableTimeout = 5000;
        private int _timeout = 5000;
        private LoaderSideDevice _loaderSide;
        private LoaderCommonDevice _loaderCommon;
        private bool _whBladder = false;
        private bool _writeWSClamp = false;
        #endregion
        /// <summary>
        /// 构造函数
        /// </summary>
        /// <param name="module"></param>
        public LoaderSideWhBladderRoutine(string module) : base(module)
        {
        }
        /// <summary>
        /// 中止
        /// </summary>
        public void Abort()
        {
            Runner.Stop("Manual Abort");
        }
        /// <summary>
        /// 监控
        /// </summary>
        /// <returns></returns>
        public RState Monitor()
        {
            Runner.Run(WhBladderStep.WriteWhBladder, WriteWhBladder, CheckWhBladder,_timeout)
                .Run(WhBladderStep.WriteWSClamp,WriteWSClamp,CheckWsClamp,_timeout)
                .End(WhBladderStep.End,NullFun,100);
            return Runner.Status;
        }
        /// <summary>
        /// 写入WH Bladder数值
        /// </summary>
        /// <returns></returns>
        private bool WriteWhBladder()
        {
            string ioName = BeckhoffModuleIOManager.Instance.GetIoNameByInnerModuleName($"{Module}.{WH_BLADDER}");
            return IOModuleManager.Instance.WriteIoValue(ioName, _whBladder);
        }
        /// <summary>
        /// 写入WS Clamp
        /// </summary>
        /// <returns></returns>
        private bool WriteWSClamp()
        {
            string ioName = BeckhoffModuleIOManager.Instance.GetIoNameByInnerModuleName($"{ModuleName.Loader1}.{WS_CLAMP}");
            if(_whBladder)//点击ON,WS Clamp状态为off时，写入WS Clamp
            {
                if (_loaderCommon != null)
                {
                    if (!_loaderCommon.CommonData.WaferHolderClamp)
                    {
                        _writeWSClamp = true;
                        return IOModuleManager.Instance.WriteIoValue(ioName, true);
                    }
                    else
                    {
                        return true;
                    }
                }
                else
                {
                    return false;
                }
            }
            else
            {
                return true;
            }
        }
        /// <summary>
        /// 检验Ws Clamp
        /// </summary>
        /// <returns></returns>
        private bool CheckWsClamp()
        {
            if(_writeWSClamp)
            {
                if (_loaderCommon == null)
                {
                    return false;
                }
                else
                {
                    return _loaderCommon.CommonData.WaferHolderClamp;
                }
            }
            else
            {
                return true;
            }
        }
        /// <summary>
        /// 检验WH Bladder状态
        /// </summary>
        /// <returns></returns>
        private bool CheckWhBladder()
        {
            return _loaderSide.SideData.WHBladder == _whBladder;
        }
        /// <summary>
        /// 启动
        /// </summary>
        /// <param name="objs"></param>
        /// <returns></returns>
        public RState Start(params object[] objs)
        {
            _loaderCommon = DEVICE.GetDevice<LoaderCommonDevice>($"{ModuleName.Loader1}.Common");
            _whBladder = (bool)objs[0];
            if(_whBladder)
            {
                _timeout = _enableTimeout;
            }
            else
            {
                _timeout = _disableTimeout;
            }
            if (SC.ContainsItem($"{ModuleName.Loader1}.WSBladderEnableTimeout"))
            {
                _enableTimeout = SC.GetValue<int>($"{ModuleName.Loader1}.WSBladderEnableTimeout");
            }

            if (SC.ContainsItem($"{ModuleName.Loader1}.WSBladderDisableTimeout"))
            {
                _disableTimeout = SC.GetValue<int>($"{ModuleName.Loader1}.WSBladderDisableTimeout");
            }
            _loaderSide = DEVICE.GetDevice<LoaderSideDevice>(Module);
            return Runner.Start(Module, "WS Bladder");
        }
    }
}