CyberX8/CyberX8_RT/Modules/PUF/PufHomeAllRoutine.cs

using Aitex.Core.RT.Device;
using Aitex.Core.RT.Routine;
using MECF.Framework.Common.Equipment;
using MECF.Framework.Common.Utilities;
using CyberX8_Core;
using CyberX8_RT.Devices.AXIS;
using CyberX8_RT.Devices.PUF;
using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Threading.Tasks;
using CyberX8_RT.Devices.Safety;
using Aitex.Core.RT.Log;

namespace CyberX8_RT.Modules.PUF
{
    public class PufHomeAllRoutine : ModuleRoutineBase, IRoutine
    {
        private enum PufHomeAllStep
        {
            CheckWafer,
            ChuckIn,
            WaitChuck,
            RotationHome,
            CheckRotationHome,
            RotationHomeStation,
            RotationHomeStationWait,
            FlipHome,
            CheckFlipHome,
            FlipSideA,
            FlipSideAWait,
            End
        }
        #region 内部变量
        private JetAxisBase _flipAxis;
        private JetAxisBase _rotationAxis;
        private PUFEntity _pufEntity;
        private PufChuckRoutine _chuckRoutine;
        #endregion
        public PufHomeAllRoutine(ModuleName module,PUFEntity pufEntity) : base(module)
        {
            _flipAxis = DEVICE.GetDevice<JetAxisBase>($"{module}.Flip");
            _rotationAxis = DEVICE.GetDevice<JetAxisBase>($"{module}.Rotation");
            _chuckRoutine = new PufChuckRoutine(module.ToString());
            _pufEntity = pufEntity;
            Name = "Home";
        }

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

        public RState Monitor()
        {
            Runner.Run(PufHomeAllStep.CheckWafer, () => { return !_pufEntity.SideAWaferPresent && !_pufEntity.SideBWaferPresent; },NullFun,100)
                .Run(PufHomeAllStep.ChuckIn, () => _chuckRoutine.Start(false) == RState.Running, _delay_1ms)
                .WaitWithStopCondition(PufHomeAllStep.WaitChuck, () => CommonFunction.CheckRoutineEndState(_chuckRoutine),
                    CheckChuckStopStatus)
                .Run(PufHomeAllStep.RotationHome, RotationAxisHome, _delay_1ms)
                .WaitWithStopCondition(PufHomeAllStep.CheckRotationHome, CheckRotationPositionStatus, CheckRotationPositionRunStop)
                .Run(PufHomeAllStep.RotationHomeStation, () => { return _rotationAxis.PositionStation("Home",true); }, NullFun, 100)
                .WaitWithStopCondition(PufHomeAllStep.RotationHomeStationWait, CheckRotationPositionStatus, CheckRotationPositionRunStop)
                .Run(PufHomeAllStep.FlipHome, FlipAxisHome, _delay_1ms)
                .WaitWithStopCondition(PufHomeAllStep.CheckFlipHome, CheckFlipPositionStatus, CheckFlipPositionRunStop)
                .Run(PufHomeAllStep.FlipSideA, () => { return _flipAxis.PositionStation("SideA", true); }, NullFun, 100)
                .WaitWithStopCondition(PufHomeAllStep.FlipSideAWait, CheckFlipPositionStatus, CheckFlipPositionRunStop)
                .End(PufHomeAllStep.End,NullFun);

            return Runner.Status; 
        }
        /// <summary>
        /// 检验chuck routine停止状态
        /// </summary>
        /// <returns></returns>
        private bool CheckChuckStopStatus()
        {
            bool result = CommonFunction.CheckRoutineStopState(_chuckRoutine);
            if (result)
            {
                LOG.WriteLog(eEvent.ERR_PUF,Module.ToString(), _chuckRoutine.ErrorMsg);
            }
            return result;
        }
        /// <summary>
        /// Flip Home
        /// </summary>
        /// <returns></returns>
        private bool FlipAxisHome()
        {
            return _flipAxis.Home();
        }
        /// <summary>
        /// 检验Flip home状态
        /// </summary>
        /// <returns></returns>
        private bool CheckFlipHome()
        {
            return _flipAxis.IsHomed && _flipAxis.Status == RState.End;
        }
        /// <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;
        }
        /// <summary>
        /// rotation home
        /// </summary>
        /// <returns></returns>
        private bool RotationAxisHome()
        {
            return _rotationAxis.Home();
        }
        /// <summary>
        /// rotation Home状态
        /// </summary>
        /// <returns></returns>
        private bool CheckRotationHome()
        {
            return _rotationAxis.IsHomed&&_rotationAxis.Status==RState.End;
        }
        /// <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>
        /// 启动
        /// </summary>
        /// <param name="objs"></param>
        /// <returns></returns>
        public RState Start(params object[] objs)
        {
            Runner.Start(Module, Name);
            return RState.Running;
        }
    }
}