CyberX8/CyberX8_RT/Devices/SRD/SrdCommonFlipperRoutine.cs

using Aitex.Core.Common;
using Aitex.Core.RT.Device;
using Aitex.Core.RT.Log;
using Aitex.Core.RT.Routine;
using Aitex.Core.UI.Control;
using CyberX8_Core;
using MECF.Framework.Common.Beckhoff.ModuleIO;
using MECF.Framework.Common.IOCore;
using MECF.Framework.Common.Routine;
using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Threading;
using System.Threading.Tasks;

namespace CyberX8_RT.Devices.SRD
{
    public class SrdCommonFlipperRoutine : RoutineBase, IRoutine
    {
        #region 常量 
        private const string FLIPPERS_IN_150 = "FlippersIn150";
        private const string FLIPPERS_IN_200 = "FlippersIn200";
        #endregion
        private enum FlipperStep
        {
            Flipper,
            Delay,
            CheckFlipperStatus,
            End
        }
        #region 内部变量
        private bool _flipperIn;
        private int _waferSize = 200;
        private SrdCommonDevice _srdCommon;
        private int _timeout = 3000;
        #endregion
        /// <summary>
        /// 构造函数
        /// </summary>
        /// <param name="module"></param>
        public SrdCommonFlipperRoutine(string module) : base(module)
        {

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

        public RState Monitor()
        {
            Runner.Run(FlipperStep.Flipper, FlipperPosition, _delay_1ms)
                .DelayIf(FlipperStep.Delay, !_flipperIn, 500)
                .Run(FlipperStep.CheckFlipperStatus, NullFun, CheckFlipperOutEndStatus, _timeout)
                .End(FlipperStep.End, NullFun, 100);
            return Runner.Status;
        }
        public RState Start(params object[] objs)
        {
            if (objs.Length < 2) return RState.Failed;
            _flipperIn = (bool)objs[0];
            _waferSize = (int)objs[1];
            _srdCommon = DEVICE.GetDevice<SrdCommonDevice>($"{Module}.Common");
            if (_flipperIn)
            {
                return Runner.Start(Module, "Flippers In");
            }
            else
            {
                return Runner.Start(Module, "Flippers Out");
            }
        }
        /// <summary>
        /// Flipper Position
        /// </summary>
        /// <returns></returns>
        private bool FlipperPosition()
        {
            string variableName;
            switch (_waferSize)
            {
                case 150:
                    variableName = FLIPPERS_IN_150;
                    break;
                case 200:
                    variableName = FLIPPERS_IN_200;
                    break;
                default:
                    NotifyError(eEvent.ERR_SRD, $"Wafer Size {_waferSize} is invalid", 0);
                    return false;
            }
            string ioName = BeckhoffModuleIOManager.Instance.GetIoNameByInnerModuleName($"{Module}.{variableName}");
            return IOModuleManager.Instance.WriteIoValue(ioName, _flipperIn);     
        }
        /// <summary>
        /// CheckFlipperOutStatus
        /// </summary>
        /// <returns></returns>
        private bool CheckFlipperOutEndStatus()
        {
            bool result = false;
            switch (_waferSize)
            {
                case 150:
                    result = _flipperIn ? (!_srdCommon.CommonData.Flipper1Out150Status && !_srdCommon.CommonData.Flipper2Out150Status && !_srdCommon.CommonData.Flipper3Out150Status)
                        : (_srdCommon.CommonData.Flipper1Out150Status && _srdCommon.CommonData.Flipper2Out150Status && _srdCommon.CommonData.Flipper3Out150Status);
                    break;
                case 200:
                    result = _flipperIn ? (!_srdCommon.CommonData.Flipper1Out200Status && !_srdCommon.CommonData.Flipper2Out200Status && !_srdCommon.CommonData.Flipper3Out200Status)
                        : (_srdCommon.CommonData.Flipper1Out200Status && _srdCommon.CommonData.Flipper2Out200Status && _srdCommon.CommonData.Flipper3Out200Status);
                    break;
                default:
                    NotifyError(eEvent.WARN_SRD, $"Wafer Size {_waferSize} is invalid", 0);
                    result = false;
                    break;
            }
            return result;
        }
}
    
}