CyberX8/CyberX8_RT/Devices/Loader/LoaderRotationAxisInterLock.cs

using Aitex.Core.RT.Device;
using Aitex.Core.RT.Log;
using MECF.Framework.Common.Equipment;
using CyberX8_RT.Devices.AXIS;
using System;


namespace CyberX8_RT.Devices.Loader
{
    public class LoaderRotationAxisInterLock : 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 LoaderRotationAxisInterLock(JetAxisBase axis) 
        {
            _axis = axis;
        }
        /// <summary>
        /// GotoPosition条件检验
        /// </summary>
        /// <param name="station"></param>
        /// <returns></returns>
        /// <exception cref="NotImplementedException"></exception>
        public bool CheckGotoPosition(string station)
        {
            //Rotation is homed
            if (!_axis.IsHomed)
            {
                LOG.WriteLog(eEvent.ERR_LOADER, Module, $"{Module} Rotation is not home, Cannot execute GotoSavedPosition");
                return false;
            }

            if (!AxisManager.Instance.CheckModuleAxisSwitchOn(Module, Name))
            {
                return false;
            }
            //Loader ShuttleA
            JetAxisBase shuttleAAxis = DEVICE.GetDevice<JetAxisBase>($"{Module}.ShuttleA");
            if(shuttleAAxis == null)
            {
                LOG.WriteLog(eEvent.ERR_LOADER, Module, $"{Module} ShuttleA Axis is null");
                return false;
            }
            if (shuttleAAxis.IsRun)
            {
                LOG.WriteLog(eEvent.ERR_LOADER, Module, $"{Module} shuttleA is running, Cannot execute GotoSavedPosition");
                return false;
            }
            //Loader ShuttleB
            JetAxisBase shuttleBAxis = DEVICE.GetDevice<JetAxisBase>($"{Module}.ShuttleB");
            if (shuttleBAxis == null)
            {
                LOG.WriteLog(eEvent.ERR_LOADER, Module, $"{Module} ShuttleB Axis is null");
                return false;
            }
            if (shuttleBAxis.IsRun)
            {
                LOG.WriteLog(eEvent.ERR_LOADER, Module, $"{Module} shuttleB is running, Cannot execute GotoSavedPosition");
                return false;
            }
            //Loader TiltA
            JetAxisBase tiltAAxis = DEVICE.GetDevice<JetAxisBase>($"{Module}.TiltA");
            if (tiltAAxis == null) 
            {
                LOG.WriteLog(eEvent.ERR_LOADER, Module, $"{Module} TiltA Axis is null");
                return false;
            }
            if (tiltAAxis.IsRun)
            {
                LOG.WriteLog(eEvent.ERR_LOADER, Module, $"{Module} tiltA is running, Cannot execute GotoSavedPosition");
                return false;
            }
            //Loader TiltB
            JetAxisBase tiltBAxis = DEVICE.GetDevice<JetAxisBase>($"{Module}.TiltB");      
            if(tiltBAxis == null)
            {
                LOG.WriteLog(eEvent.ERR_LOADER, Module, $"{Module} tiltB Axis is null");
                return false;
            }
            if (tiltBAxis.IsRun)
            {
                LOG.WriteLog(eEvent.ERR_LOADER, Module, $"{Module} tiltB is running, Cannot execute GotoSavedPosition");
                return false;
            }

            //PUF1 的 ROTATION 轴在‘HOME’、‘FLIP’或‘ROBOT’位
            if (ModuleHelper.IsInstalled(ModuleName.PUF1))
            {
                JetAxisBase puf1RotationAxis = DEVICE.GetDevice<JetAxisBase>($"{ModuleName.PUF1}.Rotation");
                if(puf1RotationAxis == null)
                {
                    LOG.WriteLog(eEvent.ERR_PUF, Module, "Puf1 Rotation Axis is null");
                    return false;
                }
                double puf1RotationPosition = puf1RotationAxis.MotionData.MotorPosition;
                if (!puf1RotationAxis.CheckPositionIsInStation(puf1RotationPosition, "Home")
                    && !puf1RotationAxis.CheckPositionIsInStation(puf1RotationPosition, "Flip")
                    && !puf1RotationAxis.CheckPositionIsInStation(puf1RotationPosition, "Robot"))
                {
                    LOG.WriteLog(eEvent.ERR_LOADER, Module, $"PUF1 Rotation {puf1RotationPosition} is not in Home, Flip or Robot station,Cannot execute GotoSavedPosition");
                    return false;
                }
            }
            //Loader 的 SHUTTLE A 轴在‘MID’、‘LS’或‘IN’位
            double shuttleAPosition = shuttleAAxis.MotionData.MotorPosition;
            if (!shuttleAAxis.CheckPositionIsInStation(shuttleAPosition, "MID")
                && !shuttleAAxis.CheckPositionIsInStation(shuttleAPosition, "LS")
                && !shuttleAAxis.CheckPositionIsInStation(shuttleAPosition, "IN"))
            {
                LOG.WriteLog(eEvent.ERR_LOADER, Module, $"{Module} ShuttleA {shuttleAPosition} is not in MID, LS or IN station,Cannot execute GotoSavedPosition");
                return false;
            }
            //Loader 的 SHUTTLE B 轴在‘MID’、‘LS’或‘IN’位
            double shuttleBPosition = shuttleBAxis.MotionData.MotorPosition;
            if (!shuttleBAxis.CheckPositionIsInStation(shuttleBPosition, "MID")
                && !shuttleBAxis.CheckPositionIsInStation(shuttleBPosition, "LS")
                && !shuttleBAxis.CheckPositionIsInStation(shuttleBPosition, "IN"))
            {
                LOG.WriteLog(eEvent.ERR_LOADER, Module, $"{Module} ShuttleB {shuttleBPosition} is not in MID, LS or IN station,Cannot execute GotoSavedPosition");
                return false;
            }
            //Loader transporter 的 ELEVATOR 在‘UP’位。
            bool loaderTransporterInstalled = ModuleHelper.IsInstalled(ModuleName.Transporter2);
            if (loaderTransporterInstalled)
            {
                JetAxisBase loaderTransporterElevatorAxis = DEVICE.GetDevice<JetAxisBase>($"{ModuleName.Transporter2}.Elevator");
                if(loaderTransporterElevatorAxis == null)
                {
                    LOG.WriteLog(eEvent.ERR_TRANSPORTER, Module, "Loader transporter elevator Axis is null");
                    return false;
                }
                double loaderTransporterPosition = loaderTransporterElevatorAxis.MotionData.MotorPosition;
                if (!loaderTransporterElevatorAxis.CheckPositionIsInStation(loaderTransporterPosition, "Up"))
                {
                    LOG.WriteLog(eEvent.ERR_TRANSPORTER, Module, $"Loader transporter elevator is not in Up station, Cannot execute GotoSavedPosition");
                    return false;
                }
            }
            return true;
        }
    }
}