CyberX8/CyberX8_RT/Devices/PUF/PufVerticalAxisInterLock.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.Runtime.InteropServices;
using System.Text;
using System.Threading.Tasks;

namespace CyberX8_RT.Devices.PUF
{
    public class PufVerticalAxisInterLock : 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
        /// <summary>
        /// 构造函数
        /// </summary>
        /// <param name="Module"></param>
        /// <param name="name"></param>
        public PufVerticalAxisInterLock(JetAxisBase axis) 
        {
            _axis = axis;
        }
        /// <summary>
        /// GotoPosition条件检验
        /// </summary>
        /// <param name="station"></param>
        /// <returns></returns>
        public bool CheckGotoPosition(string station)
        {
            if (!_axis.IsHomed)
            {
                LOG.WriteLog(eEvent.ERROR_PUF_NOT_HOME, $"{Module}.{Name}", "vertical is not home, Cannot execute GotoSavedPosition");
                return false;
            }
            if (!AxisManager.Instance.CheckModuleAxisSwitchOn(Module,Name))
            {
                return false;
            }
            JetAxisBase rotationAxis = DEVICE.GetDevice<JetAxisBase>($"{Module}.Rotation");
            double rotationCurrentPosition = rotationAxis.MotionData.MotorPosition;
            bool loaderInstalled = ModuleHelper.IsInstalled(ModuleName.Loader1);
            double loaderRotationCurrentPosition = 0;
            JetAxisBase loaderRotationAxis = DEVICE.GetDevice<JetAxisBase>($"{ModuleName.Loader1}.Rotation");
            if(loaderInstalled)
            {
                loaderRotationCurrentPosition=loaderRotationAxis.MotionData.MotorPosition;
            } 

            if (rotationAxis.CheckPositionIsInStation(rotationCurrentPosition, "Park"))//rotation轴在Park位置，Loader1 Rotation轴在TRNPA，Verical轴可以去Park和Robot位置
            {
                if (!loaderInstalled)
                {
                    return true;
                }
                else if (loaderRotationAxis.CheckPositionIsEmpty(loaderRotationCurrentPosition))
                {
                    //LOG.WriteLog(eEvent.ERR_PUF, Module, "loader rotation axis is empty, Cannot execute GotoSavedPosition");
                    //return false;
                    return true;
                }
                else if (loaderInstalled&&loaderRotationAxis.CheckPositionIsInStation(loaderRotationCurrentPosition, "TRNPA"))
                {
                    if (station.EndsWith("Park") || station.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 (loaderInstalled && loaderRotationAxis.CheckPositionIsInStation(loaderRotationCurrentPosition, "LOADA"))//rotation轴在Park位置，Loader1 Rotation轴在LOADA，Verical轴不可以去
                {
                    //PUF2 vertical可运动至Park
                    if((station.EndsWith("Park")||station.EndsWith("Robot"))&&Module==ModuleName.PUF2.ToString())
                    {
                        return true;
                    }
                    LOG.WriteLog(eEvent.ERROR_PUF_OTHER_AXIS_STATION, $"{Module}.{Name}", "Loader rotation in LOADA station,Cannot execute GotoSavedPosition");
                    return false;
                }
                else
                {
                    LOG.WriteLog(eEvent.ERROR_PUF_OTHER_AXIS_STATION, $"{Module}.{Name}", $"Loader rotation in {loaderRotationAxis.CurrentStation} station,Cannot execute GotoSavedPosition");
                    return false;
                }
            }
            else if (rotationAxis.CheckPositionIsInStation(rotationCurrentPosition, "Robot"))//rotation轴在Robot位置，Loader1 Rotation轴在LOADA，Verical轴不可以去
            {
                if (!loaderInstalled)
                {
                    return true;
                }
                else if (loaderRotationAxis.CheckPositionIsEmpty(loaderRotationCurrentPosition))
                {
                    //LOG.WriteLog(eEvent.ERR_PUF, Module, "loader rotation axis is empty, Cannot execute GotoSavedPosition");
                    //return false;
                    return true;
                }
                if (loaderInstalled&&loaderRotationAxis.CheckPositionIsInStation(loaderRotationCurrentPosition, "TRNPA"))
                {
                    return true;
                }
                else
                {
                    LOG.WriteLog(eEvent.ERROR_PUF_OTHER_AXIS_STATION, $"{Module}.{Name}", "loader rotation axis is not in TRNPA, Cannot execute GotoSavedPosition");
                    return false;
                }
            }
            else if (rotationAxis.CheckPositionIsEmpty(rotationCurrentPosition))
            {
                //LOG.WriteLog(eEvent.ERR_PUF, Module, "rotation axis is empty, Cannot execute GotoSavedPosition");
                //return false;
                return true;
            }
            else//除Park位置以外，Loader1 Rotation轴在LOADA且Loader Tilt轴在HORIZ,Vertical可以GotoSavedPosition
            {
                if (!loaderInstalled)
                {
                    return true;
                }
                else if (loaderInstalled&&loaderRotationAxis.CheckPositionIsInStation(loaderRotationCurrentPosition, "LOADA"))
                {
                    JetAxisBase loaderTiltAAxis = DEVICE.GetDevice<JetAxisBase>($"{ModuleName.Loader1}.TiltA");
                    JetAxisBase loaderTiltBAxis = DEVICE.GetDevice<JetAxisBase>($"{ModuleName.Loader1}.TiltB");
                    double loaderTiltAPosition = loaderTiltAAxis.MotionData.MotorPosition;
                    double loaderTiltBPosition=loaderTiltBAxis.MotionData.MotorPosition;
                    if (Module == ModuleName.PUF1.ToString())
                    {
                        if (loaderTiltAAxis.CheckPositionIsInStation(loaderTiltAPosition, "HORI"))
                        {
                            return true;
                        }
                        else
                        {
                            LOG.WriteLog(eEvent.ERR_AXIS, $"{Module}.{Name}", $"Loader TiltA {loaderTiltAPosition} is not in HORI,Cannot execute GotoSavedPosition");
                            return false;
                        }
                    }
                    else
                    {
                        if (loaderTiltBAxis.CheckPositionIsInStation(loaderTiltBPosition, "HORI"))
                        {
                            return true;
                        }
                        else
                        {
                            LOG.WriteLog(eEvent.ERR_AXIS, $"{Module}.{Name}", $"Loader TiltB {loaderTiltBPosition} is not in HORI,Cannot execute GotoSavedPosition");
                            return false;
                        }

                    }
                }
                else
                {
                    LOG.WriteLog(eEvent.ERROR_PUF_OTHER_AXIS_STATION, $"{Module}.{Name}", $"Loader Rotation {loaderRotationCurrentPosition} is not in LOADA,Cannot execute GotoSavedPosition");
                    return false;
                }
            }
        }
    }
}