Kepler-Release/Venus/Venus_RT/Devices/TM/HongHuTM.cs

using Aitex.Core.Common.DeviceData;
using Aitex.Core.RT.Device;
using Aitex.Core.RT.Device.Unit;
using Aitex.Core.RT.SCCore;
using MECF.Framework.Common.Equipment;
using MECF.Framework.RT.EquipmentLibrary.HardwareUnits.TMs;
using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Threading.Tasks;
using Venus_Core;

namespace Venus_RT.Devices
{
    public class HongHuTM : TM
    {
        /// <summary>
        /// 针对VenusSE设计
        /// </summary>
        #region io 信号抽象
        //控制阀信号
        private readonly IoValve _TMFastPumpValve;
        private readonly IoValve _TMSoftPumpValve;
        private readonly IoValve _VCESoftPumpValve;
        private readonly IoValve _VCEFastPumpValve;
        private readonly IoValve _TMFastVentValve;
        private readonly IoValve _TMSoftVentValve;
        private readonly IoValve _VCESoftVentValve;
        private readonly IoValve _VCEFastVentValve;

        //判断信号
        private readonly IoSensor _VCESlitDoorOpen;
        private readonly IoSensor _PMASlitDoorOpen;
        private readonly IoSensor _PMBSlitDoorOpen;
        private readonly IoSensor _PMCSlitDoorOpen;
        private readonly IoSensor _VCESlitDoorOpenEnable;
        private readonly IoSensor _PMASlitDoorOpenEnable;
        private readonly IoSensor _PMBSlitDoorOpenEnable;
        private readonly IoSensor _PMCSlitDoorOpenEnable;
        private readonly IoSensor _TMExtendVCEEnable;
        private readonly IoSensor _TMExtendPMAEnable;
        private readonly IoSensor _TMExtendPMBEnable;
        private readonly IoSensor _TMExtendPMCEnable;
        private readonly IoSensor _TMATMSensor;
        private readonly IoSensor _VCEATMSensor;

        //控制门信号
        private readonly IoCylinder _VCESlitDoor;
        private readonly IoCylinder _PMASlitDoor;
        private readonly IoCylinder _PMBSlitDoor;
        private readonly IoCylinder _PMCSlitDoor;

        //控压
        private readonly IoTMPressureCtrl _presureCtrl;

        //安装的module
        private string _allInstalledModules { get { return SC.GetStringValue("System.InstalledModules").ToString(); } }

        #endregion

        #region 暴露变量
        //ATM VAC信号
        public bool IsTMATM => _TMATMSensor.Value;
        public bool IsVCEATM => _VCEATMSensor.Value;
        //valve开关状态
        public bool IsTMFastPumpOpen => _TMFastPumpValve.Status;
        public bool IsTMSoftPumpOpen => _TMSoftPumpValve.Status;
        public bool IsTMFastVentOpen => _TMFastVentValve.Status;
        public bool IsTMSoftVentOpen => _TMSoftVentValve.Status;
        public bool IsVCEFastPumpOpen => _VCEFastPumpValve.Status;
        public bool IsVCESoftPumpOpen => _VCESoftPumpValve.Status;
        public bool IsVCEFastVentOpen => _VCEFastVentValve.Status;
        public bool IsVCESoftVentOpen => _VCESoftVentValve.Status;
        //SlitDoor
        public bool VCESlitDoorClosed => _VCESlitDoor.State == CylinderState.Close;
        public bool PMASlitDoorClosed
        {
            get
            {
                if (_allInstalledModules.Contains("PMA"))
                    return _PMASlitDoor.State == CylinderState.Close;
                else
                    return true;
            }
        }
        public bool PMBSlitDoorClosed
        {
            get
            {
                if (_allInstalledModules.Contains("PMB"))
                    return _PMBSlitDoor.State == CylinderState.Close;
                else
                    return true;
            }
        }
        public bool PMCSlitDoorClosed
        {
            get
            {
                if (_allInstalledModules.Contains("PMC"))
                    return _PMCSlitDoor.State == CylinderState.Close;
                else
                    return true;
            }
        }

        public bool AllPMSlitDoorClosed
        {
            get
            {
                if (PMASlitDoorClosed && PMBSlitDoorClosed && PMCSlitDoorClosed)
                    return true;
                else
                    return false;
            }
        }

        public bool VCESlitDoorOpenEnable => _VCESlitDoorOpenEnable.Value;
        public bool PMASlitDoorOpenEnable => _PMASlitDoorOpenEnable.Value;
        public bool PMBSlitDoorOpenEnable => _PMBSlitDoorOpenEnable.Value;
        public bool PMCSlitDoorOpenEnable => _PMCSlitDoorOpenEnable.Value;
        //Robot动作
        public bool TMExtendVCEEnable => _TMExtendVCEEnable.Value;
        public bool TMExtendPMAEnable => _TMExtendPMAEnable.Value;
        public bool TMExtendPMBEnable => _TMExtendPMBEnable.Value;
        public bool TMExtendPMCEnable => _TMExtendPMCEnable.Value;

        #endregion

        public HongHuTM(string module) : base(module)
        {
            _TMFastPumpValve       = DEVICE.GetDevice<IoValve>($"TM.{VenusDevice.TMFastPumpValve}");
            _TMSoftPumpValve       = DEVICE.GetDevice<IoValve>($"TM.{VenusDevice.TMSoftPumpValve}");
            _VCESoftPumpValve      = DEVICE.GetDevice<IoValve>($"TM.{VenusDevice.VCESoftPumpValve}");
            _VCEFastPumpValve      = DEVICE.GetDevice<IoValve>($"TM.{VenusDevice.VCEFastPumpValve}");
            _TMFastVentValve       = DEVICE.GetDevice<IoValve>($"TM.{VenusDevice.TMFastPumpValve}");
            _TMSoftVentValve       = DEVICE.GetDevice<IoValve>($"TM.{VenusDevice.TMSoftVentValve}");
            _VCESoftVentValve      = DEVICE.GetDevice<IoValve>($"TM.{VenusDevice.VCESoftVentValve}");
            _VCEFastVentValve      = DEVICE.GetDevice<IoValve>($"TM.{VenusDevice.VCEFastVentValve}");
            _VCESlitDoorOpenEnable = DEVICE.GetDevice<IoSensor>($"TM.{VenusDevice.VCESlitDoorOpenEnable}");
            _PMASlitDoorOpenEnable = DEVICE.GetDevice<IoSensor>($"TM.{VenusDevice.PMASlitDoorOpenEnable}");
            _PMBSlitDoorOpenEnable = DEVICE.GetDevice<IoSensor>($"TM.{VenusDevice.PMBSlitDoorOpenEnable}");
            _PMCSlitDoorOpenEnable = DEVICE.GetDevice<IoSensor>($"TM.{VenusDevice.PMCSlitDoorOpenEnable}");
            _TMExtendVCEEnable     = DEVICE.GetDevice<IoSensor>($"TM.{VenusDevice.TMExtendVCEEnable}");
            _TMExtendPMAEnable     = DEVICE.GetDevice<IoSensor>($"TM.{VenusDevice.TMExtendPMAEnable}");
            _TMExtendPMBEnable     = DEVICE.GetDevice<IoSensor>($"TM.{VenusDevice.TMExtendPMBEnable}");
            _TMExtendPMCEnable     = DEVICE.GetDevice<IoSensor>($"TM.{VenusDevice.TMExtendPMCEnable}");
            _TMATMSensor           = DEVICE.GetDevice<IoSensor>($"TM.{VenusDevice.TMATMSensor}");
            _VCEATMSensor          = DEVICE.GetDevice<IoSensor>($"TM.{VenusDevice.VCEATMSensor}");
            _VCESlitDoor           = DEVICE.GetDevice<IoCylinder>($"TM.{VenusDevice.VCESlitDoor}");
            _PMASlitDoor           = DEVICE.GetDevice<IoCylinder>($"TM.{VenusDevice.PMASlitDoor}");
            _PMBSlitDoor           = DEVICE.GetDevice<IoCylinder>($"TM.{VenusDevice.PMBSlitDoor}");
            _PMCSlitDoor           = DEVICE.GetDevice<IoCylinder>($"TM.{VenusDevice.PMCSlitDoor}");
        }

        #region IO控制方法


        //slitdoor
        public void TurnSlitDoor(ModuleName mod, bool bOn)
        {
            switch(mod) 
            {
                case ModuleName.VCE1: 
                    _VCESlitDoor.SetCylinder(bOn, out _); 
                    break;
                case ModuleName.PMA: 
                    _PMASlitDoor.SetCylinder(bOn, out _);  
                    break;
                case ModuleName.PMB: 
                    _PMBSlitDoor.SetCylinder(bOn, out _);  
                    break;
                case ModuleName.PMC: 
                    _PMCSlitDoor.SetCylinder(bOn, out _);  
                    break;
            }
        }

        //valve
        public void TurnFastPumpValve(ModuleName mod, bool bOn)
        {
            switch (mod) 
            {
                case ModuleName.TM:
                    _TMFastPumpValve.TurnValve(bOn, out string _);
                    break;
                case ModuleName.VCE1:
                    _VCEFastPumpValve.TurnValve(bOn, out string _);
                    break;
            }
        }

        public void TurnSoftPumpValve(ModuleName mod, bool bOn)
        {
            switch (mod)
            {
                case ModuleName.TM:
                    _TMSoftPumpValve.TurnValve(bOn, out string _);
                    break;
                case ModuleName.VCE1:
                    _VCESoftPumpValve.TurnValve(bOn, out string _);
                    break;
            }
        }

        public void TurnFastVentValve(ModuleName mod, bool bOn)
        {
            switch (mod)
            {
                case ModuleName.TM:
                    _TMFastVentValve.TurnValve(bOn, out string _);
                    break;
                case ModuleName.VCE1:
                    _VCEFastVentValve.TurnValve(bOn, out string _);
                    break;
            }
        }

        public void TurnSoftVentValve(ModuleName mod, bool bOn)
        {
            switch (mod)
            {
                case ModuleName.TM:
                    _TMSoftVentValve.TurnValve(bOn, out string _);
                    break;
                case ModuleName.VCE1:
                    _VCESoftVentValve.TurnValve(bOn, out string _);
                    break;
            }
        }
        public bool CloseAllSlitDoor()
        {
            _VCESlitDoor.SetCylinder(false,out _);
            if (_allInstalledModules.Contains("PMA"))
                _PMASlitDoor.SetCylinder(false,out _);
            if(_allInstalledModules.Contains("PMB"))
                _PMBSlitDoor.SetCylinder(false,out _);
            if (_allInstalledModules.Contains("PMC"))
                _PMCSlitDoor.SetCylinder(false,out _);
            return true;
        }
        public void HomeVceSlitDoor()
        {
            //由SlitDoor的状态对其下发同样的指令
            if (VCESlitDoorClosed == true)
                _VCESlitDoor.SetCylinder(false, out _);
            else
                _VCESlitDoor.SetCylinder(true, out _);


        }
        #endregion

    }
}