HongHuTM.cs 10 KB

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  1. using Aitex.Core.Common.DeviceData;
  2. using Aitex.Core.RT.DataCenter;
  3. using Aitex.Core.RT.Device;
  4. using Aitex.Core.RT.Device.Unit;
  5. using Aitex.Core.RT.SCCore;
  6. using MECF.Framework.Common.Equipment;
  7. using MECF.Framework.RT.EquipmentLibrary.HardwareUnits.TMs;
  8. using System;
  9. using System.Collections.Generic;
  10. using System.Linq;
  11. using System.Text;
  12. using System.Threading.Tasks;
  13. using Venus_Core;
  14. namespace Venus_RT.Devices
  15. {
  16. public class HongHuTM : TM
  17. {
  18. /// <summary>
  19. /// 针对VenusSE设计
  20. /// </summary>
  21. #region io 信号抽象
  22. //控制阀信号
  23. private readonly IoValve _TMFastPumpValve;
  24. private readonly IoValve _TMSoftPumpValve;
  25. private readonly IoValve _VCESoftPumpValve;
  26. private readonly IoValve _VCEFastPumpValve;
  27. private readonly IoValve _TMFastVentValve;
  28. private readonly IoValve _TMSoftVentValve;
  29. private readonly IoValve _VCESoftVentValve;
  30. private readonly IoValve _VCEFastVentValve;
  31. //判断信号
  32. private readonly IoSensor _VCESlitDoorOpen;
  33. private readonly IoSensor _PMASlitDoorOpen;
  34. private readonly IoSensor _PMBSlitDoorOpen;
  35. private readonly IoSensor _PMCSlitDoorOpen;
  36. private readonly IoSensor _VCESlitDoorOpenEnable;
  37. private readonly IoSensor _PMASlitDoorOpenEnable;
  38. private readonly IoSensor _PMBSlitDoorOpenEnable;
  39. private readonly IoSensor _PMCSlitDoorOpenEnable;
  40. private readonly IoSensor _TMExtendVCEEnable;
  41. private readonly IoSensor _TMExtendPMAEnable;
  42. private readonly IoSensor _TMExtendPMBEnable;
  43. private readonly IoSensor _TMExtendPMCEnable;
  44. private readonly IoSensor _TMATMSensor;
  45. private readonly IoSensor _VCEATMSensor;
  46. //控制门信号
  47. private readonly IoCylinder _VCESlitDoor;
  48. private readonly IoCylinder _PMASlitDoor;
  49. private readonly IoCylinder _PMBSlitDoor;
  50. private readonly IoCylinder _PMCSlitDoor;
  51. //控压
  52. //安装的module
  53. private string _allInstalledModules { get { return SC.GetStringValue("System.InstalledModules").ToString(); } }
  54. #endregion
  55. #region 暴露变量
  56. //ATM VAC信号
  57. public bool IsTMATM => true;
  58. public bool IsVCEATM => true;
  59. //valve开关状态
  60. public bool IsTMFastPumpOpen => _TMFastPumpValve.Status;
  61. public bool IsTMSoftPumpOpen => _TMSoftPumpValve.Status;
  62. public bool IsTMFastVentOpen => _TMFastVentValve.Status;
  63. public bool IsTMSoftVentOpen => _TMSoftVentValve.Status;
  64. public bool IsVCEFastPumpOpen => _VCEFastPumpValve.Status;
  65. public bool IsVCESoftPumpOpen => _VCESoftPumpValve.Status;
  66. public bool IsVCEFastVentOpen => _VCEFastVentValve.Status;
  67. public bool IsVCESoftVentOpen => _VCESoftVentValve.Status;
  68. //SlitDoor
  69. public bool VCESlitDoorClosed => _VCESlitDoor.State == CylinderState.Close;
  70. public bool PMASlitDoorClosed
  71. {
  72. get
  73. {
  74. if (_allInstalledModules.Contains("PMA"))
  75. return _PMASlitDoor.State == CylinderState.Close;
  76. else
  77. return true;
  78. }
  79. }
  80. public bool PMBSlitDoorClosed
  81. {
  82. get
  83. {
  84. if (_allInstalledModules.Contains("PMB"))
  85. return _PMBSlitDoor.State == CylinderState.Close;
  86. else
  87. return true;
  88. }
  89. }
  90. public bool PMCSlitDoorClosed
  91. {
  92. get
  93. {
  94. if (_allInstalledModules.Contains("PMC"))
  95. return _PMCSlitDoor.State == CylinderState.Close;
  96. else
  97. return true;
  98. }
  99. }
  100. public bool AllPMSlitDoorClosed
  101. {
  102. get
  103. {
  104. if (PMASlitDoorClosed && PMBSlitDoorClosed && PMCSlitDoorClosed)
  105. return true;
  106. else
  107. return false;
  108. }
  109. }
  110. public bool VCESlitDoorOpenEnable => _VCESlitDoorOpenEnable.Value;
  111. public bool PMASlitDoorOpenEnable => _PMASlitDoorOpenEnable.Value;
  112. public bool PMBSlitDoorOpenEnable => _PMBSlitDoorOpenEnable.Value;
  113. public bool PMCSlitDoorOpenEnable => _PMCSlitDoorOpenEnable.Value;
  114. //Robot动作
  115. public bool TMExtendVCEEnable => _TMExtendVCEEnable.Value;
  116. public bool TMExtendPMAEnable => _TMExtendPMAEnable.Value;
  117. public bool TMExtendPMBEnable => _TMExtendPMBEnable.Value;
  118. public bool TMExtendPMCEnable => _TMExtendPMCEnable.Value;
  119. #endregion
  120. public HongHuTM() : base(ModuleName.SETM.ToString())
  121. {
  122. Module = ModuleName.SETM.ToString();
  123. _TMFastPumpValve = DEVICE.GetDevice<IoValve>($"{Module}.{VenusDevice.TMFastPumpValve}");
  124. _TMSoftPumpValve = DEVICE.GetDevice<IoValve>($"{Module}.{VenusDevice.TMSoftPumpValve}");
  125. _VCESoftPumpValve = DEVICE.GetDevice<IoValve>($"{Module}.{VenusDevice.VCESoftPumpValve}");
  126. _VCEFastPumpValve = DEVICE.GetDevice<IoValve>($"{Module}.{VenusDevice.VCEFastPumpValve}");
  127. _TMFastVentValve = DEVICE.GetDevice<IoValve>($"{Module}.{VenusDevice.TMFastVentValve}");
  128. _TMSoftVentValve = DEVICE.GetDevice<IoValve>($"{Module}.{VenusDevice.TMSoftVentValve}");
  129. _VCESoftVentValve = DEVICE.GetDevice<IoValve>($"{Module}.{VenusDevice.VCESoftVentValve}");
  130. _VCEFastVentValve = DEVICE.GetDevice<IoValve>($"{Module}.{VenusDevice.VCEFastVentValve}");
  131. _VCESlitDoorOpenEnable = DEVICE.GetDevice<IoSensor>($"{Module}.{VenusDevice.VCESlitDoorOpenEnable}");
  132. _PMASlitDoorOpenEnable = DEVICE.GetDevice<IoSensor>($"{Module}.{VenusDevice.PMASlitDoorOpenEnable}");
  133. _PMBSlitDoorOpenEnable = DEVICE.GetDevice<IoSensor>($"{Module}.{VenusDevice.PMBSlitDoorOpenEnable}");
  134. _PMCSlitDoorOpenEnable = DEVICE.GetDevice<IoSensor>($"{Module}.{VenusDevice.PMCSlitDoorOpenEnable}");
  135. _TMExtendVCEEnable = DEVICE.GetDevice<IoSensor>($"{Module}.{VenusDevice.TMExtendVCEEnable}");
  136. _TMExtendPMAEnable = DEVICE.GetDevice<IoSensor>($"{Module}.{VenusDevice.TMExtendPMAEnable}");
  137. _TMExtendPMBEnable = DEVICE.GetDevice<IoSensor>($"{Module}.{VenusDevice.TMExtendPMBEnable}");
  138. _TMExtendPMCEnable = DEVICE.GetDevice<IoSensor>($"{Module}.{VenusDevice.TMExtendPMCEnable}");
  139. _TMATMSensor = DEVICE.GetDevice<IoSensor>($"{Module}.{VenusDevice.TMATMSensor}");
  140. _VCEATMSensor = DEVICE.GetDevice<IoSensor>($"{Module}.{VenusDevice.VCEATMSensor}");
  141. _VCESlitDoor = DEVICE.GetDevice<IoCylinder>($"{Module}.{VenusDevice.VCESlitDoor}");
  142. _PMASlitDoor = DEVICE.GetDevice<IoCylinder>($"{Module}.{VenusDevice.PMASlitDoor}");
  143. _PMBSlitDoor = DEVICE.GetDevice<IoCylinder>($"{Module}.{VenusDevice.PMBSlitDoor}");
  144. _PMCSlitDoor = DEVICE.GetDevice<IoCylinder>($"{Module}.{VenusDevice.PMCSlitDoor}");
  145. DATA.Subscribe($"{Module}.VCESlitDoorClosed", ()=> VCESlitDoorClosed);
  146. DATA.Subscribe($"{Module}.PMASlitDoorClosed", ()=> PMASlitDoorClosed);
  147. DATA.Subscribe($"{Module}.PMBSlitDoorClosed", ()=> PMBSlitDoorClosed);
  148. DATA.Subscribe($"{Module}.PMCSlitDoorClosed", ()=> PMCSlitDoorClosed);
  149. }
  150. #region IO控制方法
  151. //slitdoor
  152. public void TurnSlitDoor(ModuleName mod, bool bOn)
  153. {
  154. switch(mod)
  155. {
  156. case ModuleName.VCE1:
  157. _VCESlitDoor.SetCylinder(bOn, out _);
  158. break;
  159. case ModuleName.PMA:
  160. _PMASlitDoor.SetCylinder(bOn, out _);
  161. break;
  162. case ModuleName.PMB:
  163. _PMBSlitDoor.SetCylinder(bOn, out _);
  164. break;
  165. case ModuleName.PMC:
  166. _PMCSlitDoor.SetCylinder(bOn, out _);
  167. break;
  168. }
  169. }
  170. //valve
  171. public void TurnFastPumpValve(ModuleName mod, bool bOn)
  172. {
  173. switch (mod)
  174. {
  175. case ModuleName.TM:
  176. _TMFastPumpValve.TurnValve(bOn, out string _);
  177. break;
  178. case ModuleName.VCE1:
  179. _VCEFastPumpValve.TurnValve(bOn, out string _);
  180. break;
  181. }
  182. }
  183. public void TurnSoftPumpValve(ModuleName mod, bool bOn)
  184. {
  185. switch (mod)
  186. {
  187. case ModuleName.TM:
  188. _TMSoftPumpValve.TurnValve(bOn, out string _);
  189. break;
  190. case ModuleName.VCE1:
  191. _VCESoftPumpValve.TurnValve(bOn, out string _);
  192. break;
  193. }
  194. }
  195. public void TurnFastVentValve(ModuleName mod, bool bOn)
  196. {
  197. switch (mod)
  198. {
  199. case ModuleName.TM:
  200. _TMFastVentValve.TurnValve(bOn, out string _);
  201. break;
  202. case ModuleName.VCE1:
  203. _VCEFastVentValve.TurnValve(bOn, out string _);
  204. break;
  205. }
  206. }
  207. public void TurnSoftVentValve(ModuleName mod, bool bOn)
  208. {
  209. switch (mod)
  210. {
  211. case ModuleName.TM:
  212. _TMSoftVentValve.TurnValve(bOn, out string _);
  213. break;
  214. case ModuleName.VCE1:
  215. _VCESoftVentValve.TurnValve(bOn, out string _);
  216. break;
  217. }
  218. }
  219. public bool CloseAllSlitDoor()
  220. {
  221. _VCESlitDoor.SetCylinder(false,out _);
  222. if (_allInstalledModules.Contains("PMA"))
  223. _PMASlitDoor.SetCylinder(false,out _);
  224. if(_allInstalledModules.Contains("PMB"))
  225. _PMBSlitDoor.SetCylinder(false,out _);
  226. if (_allInstalledModules.Contains("PMC"))
  227. _PMCSlitDoor.SetCylinder(false,out _);
  228. return true;
  229. }
  230. public void HomeVceSlitDoor()
  231. {
  232. //由SlitDoor的状态对其下发同样的指令
  233. if (VCESlitDoorClosed == true)
  234. _VCESlitDoor.SetCylinder(false, out _);
  235. else
  236. _VCESlitDoor.SetCylinder(true, out _);
  237. }
  238. #endregion
  239. }
  240. }