CyberX8/CyberX8_RT/Modules/PUF/PufWaferPickSubRoutine.cs

using Aitex.Core.RT.Device;
using Aitex.Core.RT.Routine;
using MECF.Framework.Common.Equipment;
using MECF.Framework.Common.Routine;
using MECF.Framework.Common.Utilities;
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.PUF
{
    public class PufWaferPickSubRoutine : RoutineBase, IRoutine
    {
        private enum PufWaferPickSubStep
        {
            RotationFlip,
            RotationFlipWait,
            FlipSideA,
            FlipSideAWait,
            End
        }
        #region 内部变量
        private JetAxisBase _flipAxis;
        private JetAxisBase _rotationAxis;
        private string _side = "";
        #endregion
        public PufWaferPickSubRoutine(string module) : base(module)
        {
            _flipAxis = DEVICE.GetDevice<JetAxisBase>($"{module}.Flip");
            _rotationAxis = DEVICE.GetDevice<JetAxisBase>($"{module}.Rotation");
        }

        public void Abort()
        {
            Runner.Stop("Manual Abort");
        }

        public RState Monitor()
        {
            Runner.Run(PufWaferPickSubStep.RotationFlip,()=> { return _rotationAxis.PositionStation("Flip"); }, NullFun, 100)
                .WaitWithStopCondition(PufWaferPickSubStep.RotationFlipWait, CheckRotationPositionStatus, CheckRotationPositionRunStop)
                .Run(PufWaferPickSubStep.FlipSideA, () => { return _flipAxis.PositionStation(_side); }, NullFun, 100)
                .WaitWithStopCondition(PufWaferPickSubStep.FlipSideAWait, CheckFlipPositionStatus, CheckFlipPositionRunStop)
                .End(PufWaferPickSubStep.End,NullFun);

            return Runner.Status; 
        }

        /// <summary>
        /// 检验Rotation移动状态
        /// </summary>
        /// <returns></returns>
        private bool CheckRotationPositionStatus()
        {
            return _rotationAxis.Status == RState.End;
        }
        /// <summary>
        /// 检验Rotation是否还在运动
        /// </summary>
        /// <returns></returns>
        private bool CheckRotationPositionRunStop()
        {
            return _rotationAxis.Status == RState.Failed;
        }
        /// <summary>
        /// 检验Flip移动状态
        /// </summary>
        /// <returns></returns>
        private bool CheckFlipPositionStatus()
        {
            return _flipAxis.Status == RState.End;
        }
        /// <summary>
        /// 检验Flip是否还在运动
        /// </summary>
        /// <returns></returns>
        private bool CheckFlipPositionRunStop()
        {
            return _flipAxis.Status == RState.Failed;
        }

        public RState Start(params object[] objs)
        {
            _side = objs[0].ToString();
            Runner.Start(Module, "WaferPickSubRoutine");
            return RState.Running;
        }
    }
}