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- using Aitex.Core.Common.DeviceData;
- using Aitex.Core.RT.DataCenter;
- 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
- //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 => true;
- public bool IsVCEATM => true;
- //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() : base(ModuleName.SETM.ToString())
- {
- Module = ModuleName.SETM.ToString();
- _TMFastPumpValve = DEVICE.GetDevice<IoValve>($"{Module}.{VenusDevice.TMFastPumpValve}");
- _TMSoftPumpValve = DEVICE.GetDevice<IoValve>($"{Module}.{VenusDevice.TMSoftPumpValve}");
- _VCESoftPumpValve = DEVICE.GetDevice<IoValve>($"{Module}.{VenusDevice.VCESoftPumpValve}");
- _VCEFastPumpValve = DEVICE.GetDevice<IoValve>($"{Module}.{VenusDevice.VCEFastPumpValve}");
- _TMFastVentValve = DEVICE.GetDevice<IoValve>($"{Module}.{VenusDevice.TMFastVentValve}");
- _TMSoftVentValve = DEVICE.GetDevice<IoValve>($"{Module}.{VenusDevice.TMSoftVentValve}");
- _VCESoftVentValve = DEVICE.GetDevice<IoValve>($"{Module}.{VenusDevice.VCESoftVentValve}");
- _VCEFastVentValve = DEVICE.GetDevice<IoValve>($"{Module}.{VenusDevice.VCEFastVentValve}");
- _VCESlitDoorOpenEnable = DEVICE.GetDevice<IoSensor>($"{Module}.{VenusDevice.VCESlitDoorOpenEnable}");
- _PMASlitDoorOpenEnable = DEVICE.GetDevice<IoSensor>($"{Module}.{VenusDevice.PMASlitDoorOpenEnable}");
- _PMBSlitDoorOpenEnable = DEVICE.GetDevice<IoSensor>($"{Module}.{VenusDevice.PMBSlitDoorOpenEnable}");
- _PMCSlitDoorOpenEnable = DEVICE.GetDevice<IoSensor>($"{Module}.{VenusDevice.PMCSlitDoorOpenEnable}");
- _TMExtendVCEEnable = DEVICE.GetDevice<IoSensor>($"{Module}.{VenusDevice.TMExtendVCEEnable}");
- _TMExtendPMAEnable = DEVICE.GetDevice<IoSensor>($"{Module}.{VenusDevice.TMExtendPMAEnable}");
- _TMExtendPMBEnable = DEVICE.GetDevice<IoSensor>($"{Module}.{VenusDevice.TMExtendPMBEnable}");
- _TMExtendPMCEnable = DEVICE.GetDevice<IoSensor>($"{Module}.{VenusDevice.TMExtendPMCEnable}");
- _TMATMSensor = DEVICE.GetDevice<IoSensor>($"{Module}.{VenusDevice.TMATMSensor}");
- _VCEATMSensor = DEVICE.GetDevice<IoSensor>($"{Module}.{VenusDevice.VCEATMSensor}");
- _VCESlitDoor = DEVICE.GetDevice<IoCylinder>($"{Module}.{VenusDevice.VCESlitDoor}");
- _PMASlitDoor = DEVICE.GetDevice<IoCylinder>($"{Module}.{VenusDevice.PMASlitDoor}");
- _PMBSlitDoor = DEVICE.GetDevice<IoCylinder>($"{Module}.{VenusDevice.PMBSlitDoor}");
- _PMCSlitDoor = DEVICE.GetDevice<IoCylinder>($"{Module}.{VenusDevice.PMCSlitDoor}");
- DATA.Subscribe($"{Module}.VCESlitDoorClosed", ()=> VCESlitDoorClosed);
- DATA.Subscribe($"{Module}.PMASlitDoorClosed", ()=> PMASlitDoorClosed);
- DATA.Subscribe($"{Module}.PMBSlitDoorClosed", ()=> PMBSlitDoorClosed);
- DATA.Subscribe($"{Module}.PMCSlitDoorClosed", ()=> PMCSlitDoorClosed);
- }
- #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
- }
- }
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