Mars200/Mars/JetMainframe/JetMainframeDeviceManager.cs

using Aitex.Common.Util;
using Aitex.Core.RT.Device;
using Aitex.Core.RT.Device.Unit;
using Aitex.Core.RT.SCCore;
using Aitex.Core.Util;
using Aitex.Sorter.Common;
using MECF.Framework.Common.Equipment;
using MECF.Framework.Common.IOCore;
using MECF.Framework.RT.Core.IoProviders;
using MECF.Framework.RT.EquipmentLibrary.HardwareUnits.FFUs.AAF;
using MECF.Framework.RT.EquipmentLibrary.HardwareUnits.Robots.HongHu;
using MECF.Framework.RT.EquipmentLibrary.HardwareUnits.Robots.Rorze;
using MECF.Framework.RT.EquipmentLibrary.HardwareUnits.Robots.SUNWAY;
using static JetMainframe.TMs.TMModule;

namespace JetMainframe
{
    public class JetMainframeDeviceManager : Singleton<JetMainframeDeviceManager>
    {
        private DeviceController _controller;
        private DeviceManagerBase _device;

        public JetMainframeDeviceManager()
        {
            _controller = new DeviceController();
            _device = new DeviceManagerBase(true);
        }

        public void Initialize()
        {
            string ioProviderPathFile = PathManager.GetCfgDir() + "JetMainframe//IoProviderConfig.xml";
            IoProviderManager.Instance.Initialize(ioProviderPathFile, "System", "io");
            IoManager.Instance.Initialize(PathManager.GetCfgDir() + "JetMainframe//interlockMainFrame.xml");

            _device.Initialize(PathManager.GetCfgDir() + "JetMainframe//DeviceModelMainframe.xml", "JetMainframe", ModuleName.System,
                "System");
            if(SC.GetTMRobotType() == (int)TMRobotType.Rorze751)
            {
                _device.AddCustomDevice(new RorzeRobot751("TM", "TMRobot", "TM", null, null));
            }
            else if(SC.GetTMRobotType() == (int)TMRobotType.SUNWAYSPaceTRan)
            {
                _device.AddCustomDevice(new SPaceTRanRobot("TM", "TMRobot", "TM", null, null));
            }
            else
            {
                var ioSensors = new IoSensor[] { DEVICE.GetDevice<IoSensor>($"System.SensorTMRBReady"),
                                                 DEVICE.GetDevice<IoSensor>($"System.SensorLowArmHasWafer"),
                                                 DEVICE.GetDevice<IoSensor>($"System.SensorUpArmHasWafer") };
                _device.AddCustomDevice(new HHADRRobot21("TM", "TMRobot", "TM", ioSensors, null));
            }
            _device.AddCustomDevice(new FfuAAF("TM", "FFU", "TM"));


            _controller.Start(_device);
        }

        public void Reset()
        {
            _controller.Reset();
        }

        public void Terminate()
        {
            _controller.Terminate();
        }
    }


}