CyberX8/CyberX8_RT/Devices/Loader/LoaderRotationAxisInterLock.cs

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

namespace CyberX8_RT.Devices.Loader
{
    public class LoaderRotationAxisInterLock : IAxisInterLock
    {
        #region 内部变量
        private JetAxisBase _loadTransporterGantryAxis;
        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)
        {
            if (!_axis.IsHomed)
            {
                LOG.WriteLog(eEvent.ERR_LOADER, Module, "Rotation is not home, Cannot execute GotoSavedPosition");
                return false;
            }
            //if (!AxisManager.Instance.CheckModuleAxisSwitchOn(Module,Name))
            //{
            //    return false;
            //}
            //JetAxisBase shuttleAAxis = DEVICE.GetDevice<JetAxisBase>($"{Module}.ShuttleA");
            //if (shuttleAAxis.IsRun)
            //{
            //    LOG.WriteLog(eEvent.ERR_PUF, Module, "shuttleA is running, Cannot execute GotoSavedPosition");
            //    return false;
            //}
            //JetAxisBase shuttleBAxis = DEVICE.GetDevice<JetAxisBase>($"{Module}.ShuttleB");
            //if (shuttleBAxis.IsRun)
            //{
            //    LOG.WriteLog(eEvent.ERR_PUF, Module, "shuttleB is running, Cannot execute GotoSavedPosition");
            //    return false;
            //}
            //JetAxisBase tiltAAxis = DEVICE.GetDevice<JetAxisBase>($"{Module}.TiltA");
            //if (tiltAAxis.IsRun)
            //{
            //    LOG.WriteLog(eEvent.ERR_PUF, Module, "tiltA is running, Cannot execute GotoSavedPosition");
            //    return false;
            //}
            //JetAxisBase tiltBAxis = DEVICE.GetDevice<JetAxisBase>($"{Module}.TiltB");
            //if (tiltBAxis.IsRun)
            //{
            //    LOG.WriteLog(eEvent.ERR_PUF, Module, "tiltB is running, Cannot execute GotoSavedPosition");
            //    return false;
            //}
            //if (ModuleHelper.IsInstalled(ModuleName.PUF1))
            //{
            //    JetAxisBase puf1VerticalAxis = DEVICE.GetDevice<JetAxisBase>($"{ModuleName.PUF1}.Vertical");
            //    double puf1VerticalPosition = puf1VerticalAxis.MotionData.MotorPosition;
            //    if (!puf1VerticalAxis.CheckPositionIsInStation(puf1VerticalPosition, "Park"))
            //    {
            //        LOG.WriteLog(eEvent.ERR_LOADER, Module, $"PUF1 Vertical {puf1VerticalPosition} is not in Park station,Cannot execute GotoSavedPosition");
            //        return false;
            //    }
            //}
            //if (ModuleHelper.IsInstalled(ModuleName.PUF2))
            //{
            //    JetAxisBase puf2VerticalAxis = DEVICE.GetDevice<JetAxisBase>($"{ModuleName.PUF2}.Vertical");
            //    double puf2VerticalPosition=puf2VerticalAxis.MotionData.MotorPosition;
            //    if (!puf2VerticalAxis.CheckPositionIsInStation(puf2VerticalPosition, "Park") && 
            //        !puf2VerticalAxis.CheckPositionIsInStation(puf2VerticalPosition, "Robot"))
            //    {
            //        LOG.WriteLog(eEvent.ERR_LOADER, Module, $"PUF2 Vertical {puf2VerticalPosition} is not in Park and Robot station,Cannot execute GotoSavedPosition");
            //        return false;
            //    }
            //    JetAxisBase puf2RotationAxis = DEVICE.GetDevice<JetAxisBase>($"{ModuleName.PUF2}.Rotation");
            //    double puf2RotationPosition=puf2RotationAxis.MotionData.MotorPosition;
            //    if (!puf2RotationAxis.CheckPositionIsInStation(puf2RotationPosition, "Park") && 
            //        !puf2RotationAxis.CheckPositionIsInStation(puf2RotationPosition, "Robot"))
            //    {
            //        LOG.WriteLog(eEvent.ERR_LOADER, Module, $"PUF2 Rotation {puf2RotationPosition} is not in Park and Robot station,Cannot execute GotoSavedPosition");
            //        return false;
            //    }
            //}
            //JetAxisBase loaderShuttleAAxis = DEVICE.GetDevice<JetAxisBase>($"{ModuleName.Loader1}.ShuttleA");
            //double shuttleAPosition=loaderShuttleAAxis.MotionData.MotorPosition;
            //if (!loaderShuttleAAxis.CheckPositionIsInStation(shuttleAPosition, "CLOSED"))
            //{
            //    LOG.WriteLog(eEvent.ERR_LOADER, Module, $"Loader1 ShuttleA {shuttleAPosition} is not in CLOSED station,Cannot execute GotoSavedPosition");
            //    return false;
            //}
            //JetAxisBase loaderShuttleBAxis = DEVICE.GetDevice<JetAxisBase>($"{ModuleName.Loader1}.ShuttleB");
            //double shuttleBPosition = loaderShuttleBAxis.MotionData.MotorPosition;
            //if (!loaderShuttleBAxis.CheckPositionIsInStation(shuttleBPosition, "CLOSED"))
            //{
            //    LOG.WriteLog(eEvent.ERR_LOADER, Module, $"Loader1 ShuttleB {shuttleBPosition} is not in CLOSED station,Cannot execute GotoSavedPosition");
            //    return false;
            //}

            //bool loaderTransporterInstalled = ModuleHelper.IsInstalled(ModuleName.Transporter2);
            //if(loaderTransporterInstalled)
            //{
            //    _loadTransporterGantryAxis = DEVICE.GetDevice<JetAxisBase>($"{ModuleName.Transporter2}.Gantry");
            //    if (_loadTransporterGantryAxis!=null&&!_loadTransporterGantryAxis.JudgeCompareTargetStation("Loader","Right"))
            //    {
            //        LOG.WriteLog(eEvent.ERR_PUF, Module, "loader transporter axis is in loader station, Cannot execute GotoSavedPosition");
            //        return false;
            //    }
            //}
            return true;
        }
    }
}