CyberX8/CyberX8_RT/Modules/Transporter/TransporterParkRoutine.cs

using Aitex.Core.RT.Device;
using Aitex.Core.RT.Log;
using Aitex.Core.RT.Routine;
using MECF.Framework.Common.Routine;
using MECF.Framework.Common.WaferHolder;
using CyberX8_Core;
using CyberX8_RT.Devices.AXIS;
using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Threading.Tasks;

namespace CyberX8_RT.Modules.Transporter
{
   
    public class TransporterParkRoutine : RoutineBase, IRoutine
    {
        private enum ParkStep
        {
            CheckStatus,
            ElevatorPark,
            ElevatorParkWait,
            GantryPark,
            GantryParkWait,
            End
        }

        #region 内部变量
        private JetAxisBase _gantryAxis;
        private JetAxisBase _elevatorAxis;
        private bool _hasWaferHolder = false;
        #endregion
        /// <summary>
        /// 构造函数
        /// </summary>
        /// <param name="module"></param>
        public TransporterParkRoutine(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(ParkStep.CheckStatus, CheckPreCondition, NullFun,_delay_1ms)
                //1.1 Elevator
                .Run(ParkStep.ElevatorPark, ElevatorPosition, _delay_1ms)
                .WaitWithStopCondition(ParkStep.ElevatorParkWait, CheckVerticalPositionStatus, CheckVerticalPositionRunStop)
                //1.2 Gantry 移动
                .Run(ParkStep.GantryPark, () => { return _gantryAxis.PositionStation("Park"); }, NullFun, _delay_1ms)
                .WaitWithStopCondition(ParkStep.GantryParkWait, CheckGantryPositionStatus, CheckGantryPositionRunStop)
                .End(ParkStep.End,NullFun,100);
            return Runner.Status;
        }
        /// <summary>
        /// 检验前置条件
        /// </summary>
        /// <returns></returns>
        private bool CheckPreCondition()
        {
            if(!_gantryAxis.IsSwitchOn)
            {
                LOG.WriteLog(eEvent.ERR_TRANSPORTER, Module, $"{Module} gantry axis is not switch on ");
                return false;
            }
            if (!_gantryAxis.IsHomed)
            {
                LOG.WriteLog(eEvent.ERR_TRANSPORTER, Module, $"{Module} gantry axis is not homed ");
                return false;
            }
            if (!_elevatorAxis.IsSwitchOn)
            {
                LOG.WriteLog(eEvent.ERR_TRANSPORTER, Module, $"{Module} elevator axis is not switch on ");
                return false;
            }
            if (!_elevatorAxis.IsHomed)
            {
                LOG.WriteLog(eEvent.ERR_TRANSPORTER, Module, $"{Module} elevator axis is not homed ");
                return false;
            }
            return true;
        }
        /// <summary>
        /// Elevator Position
        /// </summary>
        /// <returns></returns>
        private bool ElevatorPosition()
        {
            return _elevatorAxis.PositionStation("Up");
        }
        /// <summary>
        /// 检验Vertical移动状态
        /// </summary>
        /// <returns></returns>
        private bool CheckVerticalPositionStatus()
        {
            return _elevatorAxis.Status == RState.End;
        }
        /// <summary>
        /// 检验Vertical是否还在运动
        /// </summary>
        /// <returns></returns>
        private bool CheckVerticalPositionRunStop()
        {
            return _elevatorAxis.Status == RState.Failed;
        }
        /// <summary>
        /// 检验Gantry移动状态
        /// </summary>
        /// <returns></returns>
        private bool CheckGantryPositionStatus()
        {
            return _gantryAxis.Status == RState.End;
        }
        /// <summary>
        /// 检验Gantry是否还在运动
        /// </summary>
        /// <returns></returns>
        private bool CheckGantryPositionRunStop()
        {
            return _gantryAxis.Status == RState.Failed;
        }
        /// <summary>
        /// 启动
        /// </summary>
        /// <param name="objs"></param>
        /// <returns></returns>
        public RState Start(params object[] objs)
        {
            _elevatorAxis = DEVICE.GetDevice<JetAxisBase>($"{Module}.Elevator");
            _gantryAxis = DEVICE.GetDevice<JetAxisBase>($"{Module}.Gantry");
            _hasWaferHolder = WaferHolderManager.Instance.HasWaferHolder(Module);
            return Runner.Start(Module, "Park");
        }
    }
}