CyberX8/CyberX8_RT/Modules/PUF/PufPlaceVacuumCheckRoutine.cs

using Aitex.Core.RT.Device;
using Aitex.Core.RT.Routine;
using Aitex.Core.RT.SCCore;
using MECF.Framework.Common.Routine;
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;

namespace CyberX8_RT.Modules.PUF
{
    public class PufPlaceVacuumCheckRoutine : RoutineBase, IRoutine
    {
        private enum PlaceVacuumStep
        {
            VerticalGotoLoaderPlaceDown,
            VerticalGotoLoaderPlaceDownWait,
            VacuumOff,
            StickDistance,
            StickDistanceWait,
            VacuumOn,
            Delay,
            VacuumCheck,
            End
        }

        #region 常量 
        private const string SideA = "SideA";
        private const string SideB = "SideB";
        private const string WAFER_ABSENT = "WaferAbsent";
        #endregion

        #region 内部变量
        private JetAxisBase _verticalAxis;
        private PufDistanceSensor _distanceSensor;
        private PufVacuum _vacuum;
        private string _side = "SideA";
        /// <summary>
        /// 是否显示Routine错误
        /// </summary>
        private bool _showError = true;
        /// <summary>
        /// 第几次
        /// </summary>
        private int _times=1;
        /// <summary>
        /// 延迟时间
        /// </summary>
        private int _chuckValveSwitchingTimeDelayInMilliSeconds = 100;
        /// <summary>
        /// 是否处于模拟器
        /// </summary>
        private bool _isSimulator = false;
        #endregion

        /// <summary>
        /// 构造函数
        /// </summary>
        /// <param name="module"></param>
        public PufPlaceVacuumCheckRoutine(string module) : base(module)
        {
            _isSimulator = SC.GetValue<bool>("System.IsSimulatorMode");
        }

        /// <summary>
        /// 中止
        /// </summary>
        public void Abort()
        {
            Runner.Stop("Manual abort");
        }
        /// <summary>
        ///  监控
        /// </summary>
        /// <returns></returns>
        public RState Monitor()
        {
            Runner.Run(PlaceVacuumStep.VerticalGotoLoaderPlaceDown, () => _verticalAxis.PositionStation("LoaderPutDown"), _delay_1ms)
                .WaitWithStopCondition(PlaceVacuumStep.VerticalGotoLoaderPlaceDownWait, CheckVerticalPositionStatus, CheckVerticalPositionRunStop)
                .Run(PlaceVacuumStep.VacuumOff, VacuumOff, _delay_1ms)
                .Run(PlaceVacuumStep.StickDistance, StickDistance, 100)
                .WaitWithStopCondition(PlaceVacuumStep.StickDistanceWait, CheckVerticalPositionStatus, CheckVerticalPositionRunStop)
                .Run(PlaceVacuumStep.VacuumOn, VacuumOn, _delay_1ms)
                .Delay(PlaceVacuumStep.Delay, _chuckValveSwitchingTimeDelayInMilliSeconds)
                .Run(PlaceVacuumStep.VacuumCheck, CheckWaferPresent,NullFun, _delay_1ms,_showError)
                .End(PlaceVacuumStep.End, NullFun, _delay_1ms);
            return Runner.Status;                 
        }

        /// <summary>
        /// Stick Distance
        /// </summary>
        /// <returns></returns>
        private bool StickDistance()
        {
            return _distanceSensor.GotoStickDistance();
        }

        /// <summary>
        /// 检验Vertical移动状态
        /// </summary>
        /// <returns></returns>
        private bool CheckVerticalPositionStatus()
        {
            return _verticalAxis.Status == RState.End;
        }
        /// <summary>
        /// 检验Vertical是否还在运动
        /// </summary>
        /// <returns></returns>
        private bool CheckVerticalPositionRunStop()
        {
            return _verticalAxis.Status == RState.Failed;
        }
        /// <summary>
        /// 关闭Vacuum
        /// </summary>
        /// <returns></returns>
        private bool VacuumOff()
        {
            if (_side == SideA)
            {
                return _vacuum.VacuumAOff();
            }
            else if (_side == SideB)
            {
                return _vacuum.VacuumBOff();
            }
            return false;
        }
        /// <summary>
        /// 打开Vacuum
        /// </summary>
        /// <returns></returns>
        private bool VacuumOn()
        {
            if (_side == SideA)
            {
                return _vacuum.VacuumAOn();
            }
            else if (_side == SideB)
            {
                return _vacuum.VacuumBOn();
            }
            return false;
        }

        /// <summary>
        /// 检验存在Wafer
        /// </summary>
        /// <returns></returns>
        private bool CheckWaferPresent()
        {
            if(_isSimulator)
            {
                return true;
            }
            if (_side == SideA)
            {
                return _vacuum.ChuckAVacuumStatus == WAFER_ABSENT;
            }
            else if (_side == SideB)
            {
                return _vacuum.ChuckBVacuumStatus == WAFER_ABSENT;
            }
            else
            {
                return false;
            }
        }
        /// <summary>
        /// 启动
        /// </summary>
        /// <param name="objs"></param>
        /// <returns></returns>
        public RState Start(params object[] objs)
        {
            _side = objs[0].ToString();
            _showError = objs.Length > 1 ? (bool)objs[1] : true;
            _times = objs.Length > 2 ? (int)objs[2] : 1;
            _verticalAxis = DEVICE.GetDevice<JetAxisBase>($"{Module}.Vertical");
            _vacuum = DEVICE.GetDevice<PufVacuum>($"{Module}.Vacuum");
            _distanceSensor = DEVICE.GetDevice<PufDistanceSensor>($"{Module}.DistanceSensor");
            _chuckValveSwitchingTimeDelayInMilliSeconds = SC.GetValue<int>($"{Module}.ChuckValveSwitchingTimeDelayInMilliSeconds");
            return Runner.Start(Module, $"Start {_times} Place Vacuum Check");
        }
    }
}