CyberX8/CyberX8_RT/Modules/Reservoir/CAPumpOnRoutine.cs

using Aitex.Core.RT.Device;
using Aitex.Core.RT.Log;
using Aitex.Core.RT.Routine;
using Aitex.Core.RT.SCCore;
using MECF.Framework.Common.Beckhoff.ModuleIO;
using MECF.Framework.Common.Routine;
using MECF.Framework.Common.ToolLayout;
using MECF.Framework.Common.TwinCat;
using CyberX8_Core;
using CyberX8_RT.Devices.Metal;
using CyberX8_RT.Devices.Reservoir;
using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Threading.Tasks;
using MECF.Framework.Common.IOCore;

namespace CyberX8_RT.Modules.Reservoir
{
    public class CAPumpOnRoutine : RoutineBase, IRoutine
    {
        private enum CAPumpStep
        {
            PumpSpeed,
            PumpEnable,
            Delay,
            CheckRunning,
            CAByPass,
            CellsFlowValve,
            FlowDelay,
            CheckFlow,
            End
        }
        #region 常量
        private const string CA_PUMP_SPEED = "CAPumpSpeed";
        private const string CA_PUMP_RUNNING = "CAPumpRunning";
        private const string CA_HED_FLOW = "CAHedFlow";
        private const string CA_PUMP_ENABLE = "CAPumpEnable";
        private const string CA_BY_PASS = "CAByPass";
        #endregion

        #region 内部变量
        private double _caPumpSpeed = 5000;
        private int _flowFaultHoldOffTime = 10000;
        private double _caMainFlowFaultLow = 5.0;
        private double _caHedFlowLowLimit = 3.0;
        private CompactMembranReservoirDevice _device;
        private int _caOpenValveCount = 0;
        #endregion

        /// <summary>
        /// 构造函数
        /// </summary>
        /// <param name="module"></param>
        public CAPumpOnRoutine(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(CAPumpStep.PumpSpeed, () => { return CAPumpSpeed(_caPumpSpeed); }, _delay_2s)
                .Run(CAPumpStep.PumpEnable, CAPumpEnable, _delay_1ms)
                .Delay(CAPumpStep.Delay, 500)
                .Run(CAPumpStep.CheckRunning, CheckCAPumpRunning, _delay_1ms)
                .Run(CAPumpStep.CAByPass,CAByPass,_delay_1ms)
                .Run(CAPumpStep.CellsFlowValve,OpenAllCellsFlowValve,_delay_1ms)
                .Delay(CAPumpStep.FlowDelay, _flowFaultHoldOffTime)
                .Run(CAPumpStep.CheckFlow, CheckAllFlow, _delay_1ms)
                .End(CAPumpStep.End, NullFun, _delay_1ms);
            return Runner.Status;
        }
        /// <summary>
        /// Pump Speed
        /// </summary>
        /// <param name="speed"></param>
        /// <returns></returns>
        private bool CAPumpSpeed(double speed)
        {
            string ioName = BeckhoffModuleIOManager.Instance.GetIoNameByInnerModuleName($"{Module}.{CA_PUMP_SPEED}");
            return IOModuleManager.Instance.WriteIoValue(ioName, speed);
        }
        /// <summary>
        /// Pump Enable
        /// </summary>
        /// <param name="speed"></param>
        /// <returns></returns>
        private bool CAPumpEnable()
        {
            string ioName = BeckhoffModuleIOManager.Instance.GetIoNameByInnerModuleName($"{Module}.{CA_PUMP_ENABLE}");
            return IOModuleManager.Instance.WriteIoValue(ioName, true);
        }
        /// <summary>
        /// Pump disable
        /// </summary>
        /// <returns></returns>
        private bool CAPumpDisable()
        {
            string ioName = BeckhoffModuleIOManager.Instance.GetIoNameByInnerModuleName($"{Module}.{CA_PUMP_ENABLE}");
            return IOModuleManager.Instance.WriteIoValue(ioName, false);
        }
        /// <summary>
        /// 检验CA Running Sensor
        /// </summary>
        /// <returns></returns>
        private bool CheckCAPumpRunning()
        {
            if(!_device.ReservoirData.CAPumpRunning)
            {
                LOG.WriteLog(eEvent.ERR_RESERVOIR, Module, "CA Pump Running Sensor is false");
                return false;
            }
            return true;
        }
        /// <summary>
        /// CA Bypass
        /// </summary>
        /// <param name="speed"></param>
        /// <returns></returns>
        private bool CAByPass()
        {
            string ioName = BeckhoffModuleIOManager.Instance.GetIoNameByInnerModuleName($"{Module}.{CA_BY_PASS}");
            return IOModuleManager.Instance.WriteIoValue(ioName, true);
        }
        /// <summary>
        /// 检验所有流量
        /// </summary>
        /// <returns></returns>
        private bool OpenAllCellsFlowValve()
        {
            bool result = false;
            ReservoirItem reservoirItem = ReservoirItemManager.Instance.GetReservoirItem(Module.ToString());
            if (reservoirItem != null)
            {
                List<MetalItem> metalItems = reservoirItem.MetalCells;
                if (metalItems != null && metalItems.Count > 0)
                {
                    foreach (MetalItem metalItem in metalItems)
                    {
                        if (metalItem.Installed)
                        {
                            CompactMembranMetalDevice metalDevice = DEVICE.GetDevice<CompactMembranMetalDevice>(metalItem.ModuleName);
                            if (metalDevice != null&&metalDevice.IsAuto)
                            {
                                result= metalDevice.CellFlowValveOn("", null);
                                if(!result)
                                {
                                    return false;
                                }
                                _caOpenValveCount++;
                            }
                        }
                    }
                }
            }
            return true;
        }
        /// <summary>
        /// 关闭所有Cell的Flow Valve
        /// </summary>
        /// <returns></returns>
        private bool CloseAllCellsFlowValve()
        {
            ReservoirItem reservoirItem = ReservoirItemManager.Instance.GetReservoirItem(Module.ToString());
            if (reservoirItem != null)
            {
                List<MetalItem> metalItems = reservoirItem.MetalCells;
                if (metalItems != null && metalItems.Count > 0)
                {
                    foreach (MetalItem metalItem in metalItems)
                    {
                        if (metalItem.Installed)
                        {
                            CompactMembranMetalDevice metalDevice = DEVICE.GetDevice<CompactMembranMetalDevice>(metalItem.ModuleName);
                            if (metalDevice != null&&metalDevice.IsAuto)
                            {
                                metalDevice.CellFlowValveOff("", null);
                            }
                        }
                    }
                }
            }
            return true;
        }
        /// <summary>
        /// 检验所有流量
        /// </summary>
        /// <returns></returns>
        private bool CheckAllFlow()
        {
            if (_caOpenValveCount == 0)
            {
                return true;
            }
            double flow = 0.0;
            ReservoirItem reservoirItem = ReservoirItemManager.Instance.GetReservoirItem(Module.ToString());
            if (reservoirItem != null)
            {
                List<MetalItem> metalItems = reservoirItem.MetalCells;
                if (metalItems != null && metalItems.Count > 0)
                {
                    foreach (MetalItem metalItem in metalItems)
                    {
                        if (metalItem.Installed)
                        {
                            CompactMembranMetalDevice metalDevice = DEVICE.GetDevice<CompactMembranMetalDevice>(metalItem.ModuleName);
                            if (metalDevice != null)
                            {
                                flow += metalDevice.MetalDeviceData.CellFlow;
                            }
                        }
                    }
                }
            }

            if(flow<=_caMainFlowFaultLow)
            {
                CloseAllCellsFlowValve();
                CAPumpDisable();
                LOG.WriteLog(eEvent.ERR_RESERVOIR, Module, $"total flow {flow} is not over {_caMainFlowFaultLow}");
                return false;
            }
            else
            {
                LOG.WriteLog(eEvent.INFO_RESERVOIR, Module, $"total flow {flow} is over {_caMainFlowFaultLow}");
            }

            if(!CheckHedFlow())
            {
                return false;
            }
            return true;
        }
        /// <summary>
        /// 检验HED流量 
        /// </summary>
        /// <returns></returns>
        private bool CheckHedFlow()
        {
            double hedFlow = _device.ReservoirData.CAHedFlow;
            if(hedFlow<=_caHedFlowLowLimit)
            {
                CloseAllCellsFlowValve();
                CAPumpDisable();
                LOG.WriteLog(eEvent.ERR_RESERVOIR, Module, $"CA Hed Flow {hedFlow} is less than {_caHedFlowLowLimit}");
                return false;
            }
            else
            {
                LOG.WriteLog(eEvent.INFO_RESERVOIR, Module, $"CA Hed Flow {hedFlow} is over than {_caHedFlowLowLimit}");
            }
            return true;
        }
        /// <summary>
        /// 启动
        /// </summary>
        /// <param name="objs"></param>
        /// <returns></returns>
        public RState Start(params object[] objs)
        {
            _device = DEVICE.GetDevice<CompactMembranReservoirDevice>(Module);
            _caPumpSpeed = SC.GetValue<double>("Reservoir.CADefaultPumpSpeed");
            _flowFaultHoldOffTime = SC.GetValue<int>($"Reservoir.{Module}.FlowFaultHoldOffTime");
            _caMainFlowFaultLow = SC.GetValue<double>($"Reservoir.{Module}.CAMainFlowFaultLow");
            _caHedFlowLowLimit = SC.GetValue<double>($"Reservoir.{Module}.HEDFlowLowLimit");
            _caOpenValveCount = 0;
            return Runner.Start(Module, "CA Pump On");
        }
    }
}