CyberX8/CyberX8_RT/Devices/PUF/PufRotationAxisInterLock.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.Loader;
using CyberX8_RT.Devices.TransPorter;
using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Threading.Tasks;

namespace CyberX8_RT.Devices.PUF
{
    public class PufRotationAxisInterLock : IAxisInterLock
    {
        #region 常量
        private const string IS_DOOR_OPENED = "IsDoorOpened";
        #endregion

        #region 内部变量
        private JetAxisBase _loaderTransporterGantryAxis;
        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 PufRotationAxisInterLock(JetAxisBase axis)
        {
            _axis = axis;
        }
        /// <summary>
        /// 加载LoaderTransporter Gantry轴
        /// </summary>
        private void GetLoaderTransporterGantryAxis()
        {
            if(_loaderTransporterGantryAxis==null)
            {
                _loaderTransporterGantryAxis = DEVICE.GetDevice<JetAxisBase>($"{ModuleName.Transporter2}.Gantry");
            }
        }
        /// <summary>
        /// GotoPosition检验条件
        /// </summary>
        /// <param name="station"></param>
        /// <returns></returns>
        /// <exception cref="NotImplementedException"></exception>
        public bool CheckGotoPosition(string station)
        {
            if (!_axis.IsHomed)
            {
                LOG.WriteLog(eEvent.ERROR_PUF_NOT_HOME, $"{Module}.{Name}", "axis is not homed, Cannot execute GotoSavedPosition");
                return false;
            }
            if (!AxisManager.Instance.CheckModuleAxisSwitchOn(Module, Name))
            {
                return false;
            }
            JetAxisBase flipAxis = DEVICE.GetDevice<JetAxisBase>($"{Module}.Flip");
            if (flipAxis.IsRun)
            {
                LOG.WriteLog(eEvent.ERROR_PUF_OTHERAXIS_RUNNING, $"{Module}.{Name}", "flip is running, Cannot execute GotoSavedPosition");
                return false;
            }
            JetAxisBase verticalAxis = DEVICE.GetDevice<JetAxisBase>($"{Module}.Vertical");
            if (verticalAxis.IsRun)
            {
                LOG.WriteLog(eEvent.ERROR_PUF_OTHERAXIS_RUNNING, $"{Module}.{Name}", "vertical is running, Cannot execute GotoSavedPosition");
                return false;
            }
            double verticalPosition = verticalAxis.MotionData.MotorPosition;
            bool loaderInstalled = ModuleHelper.IsInstalled(ModuleName.Loader1);
            JetAxisBase loaderRotationAxis = DEVICE.GetDevice<JetAxisBase>($"{ModuleName.Loader1}.Rotation");

            double loaderRotationPosition = loaderInstalled?loaderRotationAxis.MotionData.MotorPosition:0;
            bool loaderTransporterInstalled = ModuleHelper.IsInstalled(ModuleName.Transporter2);
            if(loaderTransporterInstalled)
            {
                GetLoaderTransporterGantryAxis();
            }
            if (verticalAxis.CheckPositionIsInStation(verticalPosition, "Park"))//vertical轴在Park位置,Loader transporter在Loader右侧，Rotation轴可以GotoSavedPosition
            {
                if (loaderTransporterInstalled&&_loaderTransporterGantryAxis.JudgeCompareTargetStation("Loader","Right"))//LoaderTransPorter在Loader的右侧(位置不在Loader),Rotation轴可以GotoSavedPosition
                {
                    return true;
                }
                else if (!loaderTransporterInstalled)
                {
                    return true;
                }
                else
                {
                    LOG.WriteLog(eEvent.ERROR_PUF_OTHER_AXIS_STATION, $"{Module}.{Name}", "loader transporter axis is in loader station, Cannot execute GotoSavedPosition");
                    return false;
                }
            }
            else if (verticalAxis.CheckPositionIsEmpty(verticalPosition))
            {
                LOG.WriteLog(eEvent.ERROR_PUF_OTHER_AXIS_EMPTY, $"{Module}.{Name}", $"vertical axis {verticalPosition} is empty, Cannot execute GotoSavedPosition");
                return false;
            }
            else//Vertical轴在Park以外的位置
            {
                if (!loaderInstalled)
                {
                    return true;
                }
                else if (loaderRotationAxis == null || loaderRotationAxis.CheckPositionIsEmpty(loaderRotationPosition))
                {
                    LOG.WriteLog(eEvent.ERROR_PUF_OTHER_AXIS_EMPTY, $"{Module}.{Name}", $"loader rotation axis {loaderRotationPosition} is empty, Cannot execute GotoSavedPosition");
                    return false;
                }
                else if (loaderRotationAxis.CheckPositionIsInStation(loaderRotationPosition, "TRNPA"))//loader1 rotation轴在TRNPA,Rotation轴只可以在Robot和Park位置
                {
                    string selectedItem = station;
                    if (selectedItem.EndsWith("Park") || selectedItem.EndsWith("Robot"))
                    {
                        return true;
                    }
                    else
                    {
                        LOG.WriteLog(eEvent.ERROR_PUF_OTHER_AXIS_STATION, $"{Module}.{Name}", "vertical can only goto Park or Robot station");
                        return false;
                    }
                }
                else if (loaderRotationAxis.CheckPositionIsInStation(loaderRotationPosition,"LOADA"))//loader1 rotation轴在LOADA,同时Loader1 门已经打开，Rotation轴不可以去Park和Robot位置
                {
                    string selectedItem = station;
                    LoaderSideDevice loaderSideDevice = LoadLoaderSideDevice();
                    if(loaderSideDevice==null)
                    {
                        return true;
                    }
                    
                    if (loaderSideDevice.SideData.DoorLowerUnlocked||loaderSideDevice.SideData.DoorUpperUnlocked)
                    {
                        if (selectedItem.EndsWith("Park") || selectedItem.EndsWith("Robot"))
                        {
                            LOG.WriteLog(eEvent.ERROR_PUF_OTHER_AXIS_STATION, $"{Module}.{Name}", "loader door open,rotation cannot goto Park or Robot station");
                            return false;
                        }
                        else
                        {
                            return true;
                        }
                    }
                    else
                    {
                        return true;
                    }
                }
                else
                {
                    return true;
                }
            }
        }
        /// <summary>
        /// 获取Loader Side设备
        /// </summary>
        /// <returns></returns>
        private LoaderSideDevice LoadLoaderSideDevice()
        {
            if(Module==ModuleName.PUF1.ToString())
            {
                return DEVICE.GetDevice<LoaderSideDevice>($"{ModuleName.Loader1}.SideA");
            }
            else
            {
                return DEVICE.GetDevice<LoaderSideDevice>($"{ModuleName.Loader1}.SideB");
            }
        }
    }
}