CyberX8/CyberX8_RT/Devices/Loader/LoaderTiltAxisInterLock.cs

using Aitex.Core.RT.DataCenter;
using Aitex.Core.RT.Device;
using Aitex.Core.RT.Log;
using MECF.Framework.Common.Utilities;
using CyberX8_RT.Devices.AXIS;
using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Threading.Tasks;
using MECF.Framework.Common.Equipment;
using Aitex.Core.Util;
using CyberX8_RT.Modules;

namespace CyberX8_RT.Devices.Loader
{
    public class LoaderTiltAxisInterLock : 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 LoaderTiltAxisInterLock(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)
        {
            if (!_axis.IsHomed)
            {
                LOG.WriteLog(eEvent.ERR_LOADER, Module, $"{Name} is not home, Cannot execute GotoSavedPosition");
                return false;
            }
            if (!_axis.IsSwitchOn)
            {
                LOG.WriteLog(eEvent.ERR_LOADER, Module, $"{Name} is switch off, Cannot execute GotoSavedPosition");
                return false;
            }
            if (_axis.IsRun)
            {
                LOG.WriteLog(eEvent.ERR_LOADER, Module, $"{Name} is running, Cannot execute GotoSavedPosition");
                return false;
            }
            //判断puf的rotation是否在home/flip/robot位置上
            if (ModuleHelper.IsInstalled(ModuleName.PUF1))
            {
                JetAxisBase puf1RotationAxis = DEVICE.GetDevice<JetAxisBase>($"{ModuleName.PUF1}.Rotation");
                if (puf1RotationAxis != null)
                {

                    if (puf1RotationAxis.IsRun) //puf rotation正在运动返回false
                    {
                        LOG.WriteLog(eEvent.ERR_LOADER, Module, $"{ModuleName.PUF1} is running,  Cannot execute GotoSavedPosition");
                        return false;
                    }
                    double puf1RotationPosition = puf1RotationAxis.MotionData.MotorPosition;
                    if (puf1RotationAxis.CheckPositionIsInStation(puf1RotationPosition, "Home")
                        || puf1RotationAxis.CheckPositionIsInStation(puf1RotationPosition, "Flip")
                        || puf1RotationAxis.CheckPositionIsInStation(puf1RotationPosition, "Robot"))
                    {
                       //校验通过,不执行操作
                    }
                    else
                    {
                        LOG.WriteLog(eEvent.ERR_LOADER, Module, $"{ModuleName.PUF1} {puf1RotationPosition} is not in Home/flip/Robot station,  Cannot execute GotoSavedPosition");
                        return false;
                    }
                }  //puf rotation为空返回false
                else
                {
                    LOG.WriteLog(eEvent.ERR_LOADER, Module, $"{ModuleName.PUF1} is null,  Cannot execute GotoSavedPosition");
                    return false;
                }
            }
            //判断shuttle是否在out位上
            JetAxisBase shuttleAxis = null;
            double shuttleAxisPosition = 0;
            if (Name == "TiltA")
            {
                shuttleAxis = DEVICE.GetDevice<JetAxisBase>($"{Module}.ShuttleA");
                if (shuttleAxis != null) 
                {
                    if (shuttleAxis.IsRun) //shuttle正在运动返回false
                    {
                        LOG.WriteLog(eEvent.ERR_LOADER, Module, $"{Module}.ShuttleA is running,  Cannot execute GotoSavedPosition");
                        return false;
                    }
                    shuttleAxisPosition = shuttleAxis.MotionData.MotorPosition;
                    if (!shuttleAxis.CheckPositionIsInStation(shuttleAxisPosition, $"OUT{shuttleAxis.WaferSize.ToString()}"))
                    {
                        LOG.WriteLog(eEvent.ERR_LOADER, Module, $"{Module}.ShuttleA is not in out station,  Cannot execute GotoSavedPosition");
                        return false;
                    }
                }
                else //shuttle为空返回false
                {
                    LOG.WriteLog(eEvent.ERR_LOADER, Module, $"{Module}.ShuttleA is null,  Cannot execute GotoSavedPosition");
                    return false;
                }
                
            }
            else
            {
                shuttleAxis = DEVICE.GetDevice<JetAxisBase>($"{Module}.ShuttleB");
                if (shuttleAxis != null)
                {
                    if (shuttleAxis.IsRun) //shuttle正在运动返回false
                    {
                        LOG.WriteLog(eEvent.ERR_LOADER, Module, $"{Module}.ShuttleB is running,  Cannot execute GotoSavedPosition");
                        return false;
                    }
                    shuttleAxisPosition = shuttleAxis.MotionData.MotorPosition;
                    if (!shuttleAxis.CheckPositionIsInStation(shuttleAxisPosition, $"OUT{shuttleAxis.WaferSize.ToString()}"))
                    {
                        LOG.WriteLog(eEvent.ERR_LOADER, Module, $"{Module}.ShuttleB is not in out station,  Cannot execute GotoSavedPosition");
                        return false;
                    }
                }
                else  //shuttle为空返回false
                {
                    LOG.WriteLog(eEvent.ERR_LOADER, Module, $"{Module}.ShuttleB is null,  Cannot execute GotoSavedPosition");
                    return false;
                }
            }
            return true;
        }
       
    }
}