CyberX8/CyberX8_RT/Devices/Loader/LoaderShuttleAxisInterLock.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 LoaderShuttleAxisInterLock : 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
        #region 内部变量
        private LoaderSideDevice _loaderSide = null;
        #endregion
        /// <summary>
        /// 构造函数
        /// </summary>
        /// <param name="Module"></param>
        /// <param name="name"></param>
        public LoaderShuttleAxisInterLock(JetAxisBase axis)
        {
            _axis = axis;
        }
        /// <summary>
        /// 加载LoaderSide对象
        /// </summary>
        private void GetLoaderSide()
        {
            if (_loaderSide == null)
            {
                switch (Name)
                {
                    case "ShuttleA":
                        _loaderSide = DEVICE.GetDevice<LoaderSideDevice>($"{Module}.SideA");
                        break;
                    default:
                        _loaderSide = DEVICE.GetDevice<LoaderSideDevice>($"{Module}.SideB");
                        break;
                }
            }
        }
        /// <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, $"{Name} is not home, Cannot execute GotoSavedPosition");
                return false;
            }
            return true;
            //GetLoaderSide();
            //JetAxisBase tiltAxis = null;
            //if(Name=="ShuttleA")
            //{
            //    tiltAxis = DEVICE.GetDevice<JetAxisBase>($"{Module}.TiltA");
            //}
            //else
            //{
            //    tiltAxis = DEVICE.GetDevice<JetAxisBase>($"{Module}.TiltB");
            //}
            //if (!tiltAxis.IsSwitchOn)
            //{
            //    LOG.WriteLog(eEvent.ERR_LOADER, Module, $"{tiltAxis.Module} is switch off");
            //    return false;
            //}
            //if (tiltAxis.IsRun)
            //{
            //    LOG.WriteLog(eEvent.ERR_LOADER, Module, "tilt is running,Cannot execute GotoSavedPosition");
            //    return false;
            //}
            //if (station.EndsWith("CLOSED"))
            //{
            //    double tiltPosition = tiltAxis.MotionData.MotorPosition;
            //    if(!tiltAxis.CheckPositionIsInStation(tiltPosition, "VERT"))
            //    {
            //        LOG.WriteLog(eEvent.ERR_LOADER, Module, $"{tiltAxis.Module} {tiltPosition} is not in VERT");
            //        return false;
            //    }
            //}
            ////Puf vertical is park
            //if (ModuleHelper.IsInstalled(ModuleName.PUF1))
            //{
            //    JetAxisBase puf1VerticalAxis = DEVICE.GetDevice<JetAxisBase>($"{ModuleName.PUF1}.Vertical");
            //    if (puf1VerticalAxis != null)
            //    {
            //        double puf1VertocalPosition = puf1VerticalAxis.MotionData.MotorPosition;
            //        if (!puf1VerticalAxis.CheckPositionIsInStation(puf1VertocalPosition, "Park"))
            //        {
            //            LOG.WriteLog(eEvent.ERR_LOADER, Module, $"{ModuleName.PUF1} Vertical {puf1VertocalPosition} is not in Park,  Cannot execute GotoSavedPosition");
            //            return false;
            //        }
            //    }
            //}
            //if (ModuleHelper.IsInstalled(ModuleName.PUF2))
            //{
            //    JetAxisBase puf2VerticalAxis = DEVICE.GetDevice<JetAxisBase>($"{ModuleName.PUF2}.Vertical");
            //    if (puf2VerticalAxis != null)
            //    {
            //        double puf2VerticalPosition=puf2VerticalAxis.MotionData.MotorPosition;
            //        if (!puf2VerticalAxis.CheckPositionIsInStation(puf2VerticalPosition, "Park"))
            //        {
            //            LOG.WriteLog(eEvent.ERR_LOADER, Module, $"{ModuleName.PUF2} Vertical {puf2VerticalPosition} is not in Park,  Cannot execute GotoSavedPosition");
            //            return false;
            //        }
            //    }
            //}

            ////Door 在Closed,无法从其他位置运动至Closed位置
            //if (_loaderSide.SideData.DoorLowerLocked||_loaderSide.SideData.DoorUpperLocked)
            //{
            //    if (station.EndsWith("CLOSED"))
            //    {
            //        LOG.WriteLog(eEvent.ERR_LOADER, Module, $"door locked, {Name} cannot goto CLOSED");
            //        return false;
            //    }
            //    else 
            //    {
            //        LOG.WriteLog(eEvent.ERR_LOADER, Module, $"door locked, {Name} cannot move to other stations");
            //        return false;
            //    }
            //}
            //JetAxisBase rotationAxis = DEVICE.GetDevice<JetAxisBase>($"{Module}.Rotation");
            //if (!rotationAxis.IsSwitchOn)
            //{
            //    LOG.WriteLog(eEvent.ERR_LOADER, Module, $"{rotationAxis.Module} is switch off");
            //    return false;
            //}
            //if (rotationAxis.IsRun)
            //{
            //    LOG.WriteLog(eEvent.ERR_LOADER, Module, $"rotation is running,Cannot execute GotoSavedPosition");
            //    return false;
            //}
            //double rotationPosition = rotationAxis.MotionData.MotorPosition;
            //if (rotationAxis.CheckPositionIsEmpty(rotationPosition))
            //{
            //    //LOG.WriteLog(eEvent.ERR_LOADER, Module, "loader rotation axis is empty, Cannot execute GotoSavedPosition");
            //    //return false;
            //    return true;
            //}
            //else
            //{
            //    if (rotationAxis.CheckPositionIsInStation(rotationPosition, "LOADA") || 
            //        rotationAxis.CheckPositionIsInStation(rotationPosition, "LOADB")|| 
            //        rotationAxis.CheckPositionIsInStation(rotationPosition, "SERVICEB"))
            //    {
            //        return true;
            //    }
            //    else if (rotationAxis.CheckPositionIsInStation(rotationPosition, "CAMERA"))
            //    {
            //        if (station.EndsWith("CAMERA"))
            //        {
            //            return true;
            //        }
            //        else
            //        {
            //            LOG.WriteLog(eEvent.ERR_LOADER, Module, $"loader rotation axis {rotationPosition} is in Camera, {Name} only goto Camera");
            //            return false;
            //        }
            //    }
            //    else
            //    {
            //        LOG.WriteLog(eEvent.ERR_LOADER, Module, $"loader rotation axis is in {rotationAxis.CurrentStation}, can not go to position");
            //        return false;
            //    }
            //}
        }
    }
}