CyberX8/CyberX8_RT/Devices/PUF/PufFlipAxisInterLock.cs

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

namespace CyberX8_RT.Devices.PUF
{
    public class PufFlipAxisInterLock : 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

        /// <summary>
        /// 构造函数
        /// </summary>
        /// <param name="Module"></param>
        /// <param name="name"></param>
        public PufFlipAxisInterLock(JetAxisBase axis)
        {
            _axis=axis;
        }
        /// <summary>
        /// Positon前校验inter lock
        /// </summary>
        /// <param name="station"></param>
        /// <returns></returns>
        public bool CheckGotoPosition(string station)
        {
            if (!_axis.IsHomed)
            {
                LOG.WriteLog(eEvent.ERROR_PUF_NOT_HOME, $"{Module}.{Name}", "axis is not homed, Cannot execute GotoSavedPosition");
                return false;
            }
            if (!AxisManager.Instance.CheckModuleAxisSwitchOn(Module,Name))
            {
                return false;
            }
            PufVacuum _pufVacuum = DEVICE.GetDevice<PufVacuum>($"{Module}.Vacuum");
            bool chuckAWaferPresent = _pufVacuum.ChuckAWaferPresent;
            bool chuckBWaferPresent = _pufVacuum.ChuckBWaferPresent;
            JetAxisBase rotationAxis = DEVICE.GetDevice<JetAxisBase>($"{Module}.Rotation");
            if(rotationAxis.IsRun)
            {
                LOG.WriteLog(eEvent.ERROR_PUF_OTHERAXIS_RUNNING, $"{Module}.{Name}", "rotation is running, Cannot execute GotoSavedPosition");
                return false;
            }
            JetAxisBase verticalAxis = DEVICE.GetDevice<JetAxisBase>($"{Module}.Vertical");
            if (verticalAxis.IsRun)
            {
                LOG.WriteLog(eEvent.ERROR_PUF_OTHERAXIS_RUNNING, $"{Module}.{Name}", "vertical is running, Cannot execute GotoSavedPosition");
                return false;
            }
            double rotationPosition = rotationAxis.MotionData.MotorPosition;
            double verticalPosition= verticalAxis.MotionData.MotorPosition;
            //A面存在Wafer同时A面Vacuum is released
            if(WaferManager.Instance.CheckHasWafer(Module,0)&&_pufVacuum.IsChuckAReleased)
            {
                LOG.WriteLog(eEvent.ERROR_PUF_HAS_WAFER, $"{Module}.{Name}", "Side A Has Wafer,Vacuum is Off");
                return false;
            }
            //B面存在Wafer同时B面Vacuum is released
            if (WaferManager.Instance.CheckHasWafer(Module, 1) && _pufVacuum.ISChuckBReleased)
            {
                LOG.WriteLog(eEvent.ERROR_PUF_HAS_WAFER, $"{Module}.{Name}", "Side B Has Wafer,Vacuum is Off");
                return false;
            }
            if (chuckAWaferPresent || chuckBWaferPresent)//Wafer Present,
            {
                if (verticalAxis.CheckPositionIsEmpty(verticalPosition))
                {
                    LOG.WriteLog(eEvent.ERROR_PUF_OTHER_AXIS_EMPTY, $"{Module}.{Name}", $"vertical axis {verticalPosition} is empty, Cannot execute GotoSavedPosition");
                    return false;
                }
                else if (rotationAxis.CheckPositionIsEmpty(rotationPosition))
                {
                    LOG.WriteLog(eEvent.ERROR_PUF_OTHER_AXIS_EMPTY, $"{Module}.{Name}", $"rotation axis {rotationPosition} is empty, Cannot execute GotoSavedPosition");
                    return false;
                }
                else if (rotationAxis.CheckPositionIsInStation(rotationPosition, "Flip") && 
                    verticalAxis.CheckPositionIsInStation(verticalPosition, "Flip"))//rotation轴和vertical轴同时在Flip，可以使用GotoSavedPosition
                {
                    return true;
                }
                else
                {
                    LOG.WriteLog(eEvent.ERROR_PUF_OTHER_AXIS_STATION, $"{Module}.{Name}", $"rotation station {rotationPosition} and vertical station {verticalPosition} not both in Flip Station,Cannot execute GotoSavedPosition");
                    return false;
                }
            }
            else//Wafer Absent
            {
                if (verticalAxis.CheckPositionIsEmpty(verticalPosition))
                {
                    LOG.WriteLog(eEvent.ERROR_PUF_OTHER_AXIS_EMPTY, $"{Module}.{Name}", $"vertical {verticalPosition} is empty, Cannot execute GotoSavedPosition");
                    return false;
                }
                else if (verticalAxis.CheckPositionIsInStation(verticalPosition, "Park") ||
                    verticalAxis.CheckPositionIsInStation(verticalPosition, "Flip")) //vertical轴在Flip或Park，可以使用GotoSavedPosition
                {
                    return true;
                }
                else
                {
                    LOG.WriteLog(eEvent.ERROR_PUF_OTHER_AXIS_STATION, $"{Module}.{Name}", $"wafer absent,vertical station {verticalPosition} not in Park or Flip, Cannot execute GotoSavedPosition");
                    return false;
                }
            }
        }
    }
}