CyberX8/CyberX8_RT/Modules/Transporter/TransporterHomeRoutine.cs

using Aitex.Core.RT.Device;
using Aitex.Core.RT.Log;
using Aitex.Core.RT.Routine;
using Aitex.Core.Util;
using MECF.Framework.Common.Equipment;
using MECF.Framework.Common.Routine;
using MECF.Framework.Common.Utilities;
using CyberX8_Core;
using CyberX8_RT.Devices.AXIS;
using CyberX8_RT.Devices.Facilities;
using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Threading.Tasks;
using CyberX8_RT.Devices.Safety;

namespace CyberX8_RT.Modules.Transporter
{
    public class TransporterHomeRoutine : RoutineBase, IRoutine
    {
        private enum HomeAllStep
        {
            CheckSafety,
            CheckCDAWithN2,
            VerticalHome,
            VerticalHomeWait,
            VerticalLow,
            VerticalLowWait,
            GantryHome,
            GantryHomeWait,
            GantryPark,
            GantryParkWait,
            End
        }
        #region 内部变量
        private JetAxisBase _gantryAxis;
        private JetAxisBase _elevatorAxis;
        private SystemFacilities _facilities;
        private TransporterEntity _transporterEntity;
        #endregion

        public TransporterHomeRoutine(string module) : base(module)
        {
        }

        public void Abort()
        {
            Runner.Stop("Manual Abort");
        }

        public RState Monitor()
        {
            Runner.Run(HomeAllStep.CheckSafety,CheckSafety,_delay_1ms)
                .Run(HomeAllStep.CheckCDAWithN2, StartEnaleCDAndN2, CheckCDAWithN2, _delay_1s)
                .Run(HomeAllStep.VerticalHome, VerticalAxisHome, _delay_1ms)
                .WaitWithStopCondition(HomeAllStep.VerticalHomeWait, CheckVerticalPositionStatus, CheckVerticalPositionRunStop)
                .Run(HomeAllStep.VerticalLow, () => { return _elevatorAxis.PositionStation("LOW", true); },NullFun,100)
                .WaitWithStopCondition(HomeAllStep.VerticalLowWait,CheckVerticalPositionStatus, CheckVerticalPositionRunStop)
                .Run(HomeAllStep.GantryHome, GantryAxisHome, _delay_1ms)
                .WaitWithStopCondition(HomeAllStep.GantryHomeWait,CheckGantryPositionStatus,CheckGantryPositionRunStop)
                .Run(HomeAllStep.GantryPark, () => { return _gantryAxis.PositionStation("Park", true); }, NullFun, 100)
                .WaitWithStopCondition(HomeAllStep.GantryParkWait, CheckGantryPositionStatus, CheckGantryPositionRunStop)
                .End(HomeAllStep.End,NullFun);

            return Runner.Status; 
        }
        /// <summary>
        /// 检验Safety
        /// </summary>
        /// <returns></returns>
        private bool CheckSafety()
        {
            SafetyDevice safetyDevice = DEVICE.GetDevice<SafetyDevice>("Safety");
            if (safetyDevice == null)
            {
                LOG.WriteLog(eEvent.ERR_TRANSPORTER, Module.ToString(), "Safety device is null");
                return false;
            }
            if (safetyDevice.SafetyData.TwincatState != 8)
            {
                LOG.WriteLog(eEvent.ERR_TRANSPORTER, Module.ToString(), "Twincat Status is not OP status");
                return false;
            }
            if (safetyDevice.SafetyData.TransportCommErr)
            {
                LOG.WriteLog(eEvent.ERR_TRANSPORTER, Module.ToString(), "Twincat Transporter Communication status is error");
                return false;
            }
            if (safetyDevice.SafetyData.TransporterFunctionBlockErr)
            {
                LOG.WriteLog(eEvent.ERR_TRANSPORTER, Module.ToString(), "Twincat Transporter function block status is error");
                return false;
            }
            return true;
        }
        /// <summary>
        /// 检验前置条件
        /// </summary>
        /// <returns></returns>
        private bool CheckPreCondition()
        {
            //所有运动模块均已Initialized

            if(! _gantryAxis.IsSwitchOn)
            {
                LOG.WriteLog(eEvent.ERR_TRANSPORTER, Module.ToString(), "Gantry is switchoff");
                return false;
            }
            if(!_elevatorAxis.IsSwitchOn)
            {
                LOG.WriteLog(eEvent.ERR_TRANSPORTER, Module.ToString(), "Elevator is switchoff");
                return false;
            }

            if(_transporterEntity.WaferHolderInfo!=null)
            {
                LOG.WriteLog(eEvent.ERR_TRANSPORTER, Module.ToString(), "transporter exsit wafer Shuttle,can not home");
                return false;
            }

            if (Module == ModuleName.Transporter1.ToString())
            {
                TransporterEntity transporterEntity1 = Singleton<RouteManager>.Instance.GetModule<TransporterEntity>(ModuleName.Transporter2.ToString());
                if (!transporterEntity1.IsHomed)
                {
                    LOG.WriteLog(eEvent.ERR_TRANSPORTER, Module.ToString(), "Loader Transporter is not homed");
                    return false;
                }
            }

            return true;
        }
        /// <summary>
        /// 启动CDA和N2
        /// </summary>
        /// <returns></returns>
        private bool StartEnaleCDAndN2()
        {
            if(!_facilities.CDAEnable)
            {
                bool result= _facilities.N2EnableOperation("", true);
                if(!result)
                {
                    return false;
                }
            }
            if(!_facilities.N2Enable)
            {
                bool result = _facilities.CDAEnableOperation("", true);
                if(!result)
                {
                    return false;
                }
            }
            return true;
        }
        /// <summary>
        /// 检验CDA和N2 Enable
        /// </summary>
        /// <returns></returns>
        private bool CheckCDAWithN2()
        {
            return _facilities.CDAEnable && _facilities.N2Enable;
        }
        /// <summary>
        /// Vertical Home
        /// </summary>
        /// <returns></returns>
        private bool VerticalAxisHome()
        {
            return _elevatorAxis.Home();
        }
        /// <summary>
        /// 检验Vertical Home状态
        /// </summary>
        /// <returns></returns>
        private bool CheckVerticalHome()
        {
            return _elevatorAxis.IsHomed&&_elevatorAxis.Status==RState.End;
        }
        /// <summary>
        /// 检验Vertical移动状态
        /// </summary>
        /// <returns></returns>
        private bool CheckVerticalPositionStatus()
        {
            return _elevatorAxis.Status == RState.End;
        }
        /// <summary>
        /// 检验Vertical是否还在运动
        /// </summary>
        /// <returns></returns>
        private bool CheckVerticalPositionRunStop()
        {
            return _elevatorAxis.Status==RState.Failed;
        }
        /// <summary>
        /// Gantry Home
        /// </summary>
        /// <returns></returns>
        private bool GantryAxisHome()
        {
            return _gantryAxis.Home();
        }
        /// <summary>
        /// 检验Gantry Home状态
        /// </summary>
        /// <returns></returns>
        private bool CheckGantryHome()
        {
            return _gantryAxis.IsHomed && _gantryAxis.Status == RState.End;
        }
        /// <summary>
        /// 检验Gantry移动状态
        /// </summary>
        /// <returns></returns>
        private bool CheckGantryPositionStatus()
        {
            return _gantryAxis.Status == RState.End;
        }
        /// <summary>
        /// 检验Gantry是否还在运动
        /// </summary>
        /// <returns></returns>
        private bool CheckGantryPositionRunStop()
        {
            return _gantryAxis.Status == RState.Failed;
        }
        /// <summary>
        /// 启动
        /// </summary>
        /// <param name="objs"></param>
        /// <returns></returns>
        public RState Start(params object[] objs)
        {
            _transporterEntity = Singleton<RouteManager>.Instance.GetModule<TransporterEntity>(Module);
            _gantryAxis = DEVICE.GetDevice<JetAxisBase>($"{Module}.Gantry");
            _elevatorAxis = DEVICE.GetDevice<JetAxisBase>($"{Module}.Elevator");
            _facilities = DEVICE.GetDevice<SystemFacilities>("System.Facilities");
            if (!CheckPreCondition())
            {
                return RState.Failed;
            }
            return Runner.Start(Module, "Home");
        }
    }
}