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;
using Aitex.Core.Util;
using CyberX8_RT.Modules;
using CyberX8_RT.Modules.Transporter;
using CyberX8_RT.Modules.PUF;


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)
        {
            //Check Home
            if (!CheckHomeCondition())
            {
                return false;
            }

            //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.Status==CyberX8_Core.RState.Running)
            {
                LOG.WriteLog(eEvent.ERR_LOADER, Module, $"{Module} shuttleA status is running, Cannot execute GotoSavedPosition");
                return false;
            }
            //Loader ShuttleB
            JetAxisBase shuttleBAxis = DEVICE.GetDevice<JetAxisBase>($"{Module}.ShuttleB");
            if (shuttleBAxis == null)
            {
                LOG.WriteLog(eEvent.ERR_LOADER, Module, $"{Module} ShuttleB Axis is null");
                return false;
            }
            if (shuttleBAxis.Status== CyberX8_Core.RState.Running)
            {
                LOG.WriteLog(eEvent.ERR_LOADER, Module, $"{Module} shuttleB status is running, Cannot execute GotoSavedPosition");
                return false;
            }
            //Loader TiltA
            JetAxisBase tiltAAxis = DEVICE.GetDevice<JetAxisBase>($"{Module}.TiltA");
            if (tiltAAxis == null) 
            {
                LOG.WriteLog(eEvent.ERR_LOADER, Module, $"{Module} TiltA Axis is null");
                return false;
            }
            if (tiltAAxis.Status== CyberX8_Core.RState.Running)
            {
                LOG.WriteLog(eEvent.ERR_LOADER, Module, $"{Module} tiltA status is running, Cannot execute GotoSavedPosition");
                return false;
            }
            //Loader TiltB
            JetAxisBase tiltBAxis = DEVICE.GetDevice<JetAxisBase>($"{Module}.TiltB");      
            if(tiltBAxis == null)
            {
                LOG.WriteLog(eEvent.ERR_LOADER, Module, $"{Module} tiltB Axis is null");
                return false;
            }
            if (tiltBAxis.Status==CyberX8_Core.RState.Running)
            {
                LOG.WriteLog(eEvent.ERR_LOADER, Module, $"{Module} tiltB status 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, $"{Module} ShuttleB {shuttleBPosition} is not in MID, LS or IN station,Cannot execute GotoSavedPosition");
                return false;
            }
            bool loaderTransporterInstalled = ModuleHelper.IsInstalled(ModuleName.Transporter2);
            if (loaderTransporterInstalled)
            {
                JetAxisBase loadTransporterGantryAxis = DEVICE.GetDevice<JetAxisBase>($"{ModuleName.Transporter2}.Gantry");

                if (loadTransporterGantryAxis != null)
                {
                    double loaderGantryPosition = loadTransporterGantryAxis.MotionData.MotorPosition;
                    if (loadTransporterGantryAxis.CheckPositionIsInStation(loaderGantryPosition, "Loader"))
                    {
                        JetAxisBase loaderTransporterElevatorAxis = DEVICE.GetDevice<JetAxisBase>($"{ModuleName.Transporter2}.Elevator");
                        double loaderElevatorPosition = loaderTransporterElevatorAxis.MotionData.MotorPosition;
                        if (!loaderTransporterElevatorAxis.CheckPositionIsInStation(loaderElevatorPosition, "UP"))
                        {
                            LOG.WriteLog(eEvent.ERR_PUF, Module, $"loader transporter axis is in loader station and elevator {loaderElevatorPosition} is not in up, Cannot execute GotoSavedPosition");
                            return false;
                        }
                    }
                    else if (!loadTransporterGantryAxis.JudgeCompareTargetStation("Loader", "Right"))
                    {
                        LOG.WriteLog(eEvent.ERR_PUF, Module, "loader transporter axis is not in loader Right position, Cannot execute GotoSavedPosition");
                        return false;
                    }
                }
            }
            return true;
        }
        /// <summary>
        /// Check Home
        /// </summary>
        /// <returns></returns>
        private bool CheckHomeCondition()
        {
            //Efem Home
            if (ModuleHelper.IsInstalled(ModuleName.EFEM))
            {
                EfemEntity efemEntity = Singleton<RouteManager>.Instance.GetModule<EfemEntity>(ModuleName.EFEM.ToString());
                if (efemEntity == null)
                {
                    LOG.WriteLog(eEvent.ERR_EFEM_ROBOT, Module, $"{ModuleName.EFEM.ToString()} entity is null");
                    return false;
                }
                if (!efemEntity.IsHomed)
                {
                    LOG.WriteLog(eEvent.ERR_EFEM_ROBOT, Module, $"{ModuleName.EFEM.ToString()} is not home, Cannot execute GotoSavedPosition");
                    return false;
                }
            }
            //Transporter2 Home
            if (ModuleHelper.IsInstalled(ModuleName.Transporter2))
            {
                TransporterEntity loaderTransporterEntity = Singleton<RouteManager>.Instance.GetModule<TransporterEntity>(ModuleName.Transporter2.ToString());
                if (loaderTransporterEntity == null)
                {
                    LOG.WriteLog(eEvent.ERR_TRANSPORTER, Module, $"{ModuleName.Transporter2.ToString()} entity is null");
                    return false;
                }
                if (!loaderTransporterEntity.IsHomed)
                {
                    LOG.WriteLog(eEvent.ERR_TRANSPORTER, Module, $"{ModuleName.Transporter2.ToString()} is not home, Cannot execute GotoSavedPosition");
                    return false;
                }
            }
            //Puf1 Home
            if (ModuleHelper.IsInstalled(ModuleName.PUF1))
            {
                PUFEntity puf1Entity = Singleton<RouteManager>.Instance.GetModule<PUFEntity>(ModuleName.PUF1.ToString());
                if (puf1Entity == null)
                {
                    LOG.WriteLog(eEvent.ERR_PUF, Module, $"{ModuleName.PUF1.ToString()} entity is null");
                    return false;
                }
                if (!puf1Entity.IsHomed)
                {
                    LOG.WriteLog(eEvent.ERR_PUF, Module, $"{ModuleName.PUF1.ToString()} is not home, Cannot execute GotoSavedPosition");
                    return false;
                }
            }
            return true;
        }
    }
}