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@@ -2,19 +2,23 @@
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using Aitex.Core.RT.Device;
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using Aitex.Core.RT.Log;
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using Aitex.Core.RT.OperationCenter;
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+using Aitex.Core.RT.Routine;
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using Aitex.Core.RT.SCCore;
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using Aitex.Core.Util;
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+using MECF.Framework.Common.Algorithm;
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using MECF.Framework.Common.Beckhoff.ModuleIO;
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using MECF.Framework.Common.CommonData.Prewet;
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using MECF.Framework.Common.CommonData.Vpw;
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using MECF.Framework.Common.IOCore;
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using MECF.Framework.Common.Persistent.Prewet;
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using MECF.Framework.Common.Persistent.VpwMain;
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+using PunkHPX8_Core;
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using PunkHPX8_RT.Modules;
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using PunkHPX8_RT.Modules.VpwMain;
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using System;
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using System.Collections.Generic;
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using System.Linq;
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+using System.Net.NetworkInformation;
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using System.Reflection;
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using System.Text;
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using System.Threading.Tasks;
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@@ -50,6 +54,13 @@ namespace PunkHPX8_RT.Devices.VpwMain
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private const string DEGAS_PUMP_PRESSURE = "DegasPumpPressure";
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#endregion
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+ private enum VPWOperation
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+ {
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+ None,
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+ PumpEnable,
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+ PumpDisable
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+ }
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+
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#region 内部变量
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/// <summary>
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/// 变量是否初始化字典
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@@ -63,6 +74,15 @@ namespace PunkHPX8_RT.Devices.VpwMain
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/// 持久性数值
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/// </summary>
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private VpwMainPersistentValue _vpwMainPersistentValue;
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+
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+ /// <summary>
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+ /// Pump Enable routine
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+ /// </summary>
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+ private BoosterPumpEnableRoutine _boosterPumpEnableRoutine;
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+ /// <summary>
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+ /// Pump Disable routine
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+ /// </summary>
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+ private BoosterPumpDisableRoutine _boosterPumpDisableRoutine;
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/// <summary>
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/// 上一次Booster泵速
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/// </summary>
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@@ -71,8 +91,34 @@ namespace PunkHPX8_RT.Devices.VpwMain
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/// 定时器任务
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/// </summary>
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private PeriodicJob _periodicJob;
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-
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+ /// <summary>
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+ /// 是否数据完成初台化
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+ /// </summary>
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private bool _isDataInitialized;
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+ /// <summary>
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+ /// pdi控制中的p
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+ /// </summary>
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+ private double _pumpKp;
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+ /// <summary>
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+ /// pdi控制中的i
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+ /// </summary>
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+ private double _pumpKi;
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+ /// <summary>
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+ /// pdi控制中的d
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+ /// </summary>
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+ private double _pumpKd;
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+ /// <summary>
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+ /// 操作当前状态
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+ /// </summary>
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+ private RState _status;
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+ /// <summary>
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+ /// 当前操作
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+ /// </summary>
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+ private VPWOperation _currentOperation;
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+ /// <summary>
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+ /// 启动自动调泵速
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+ /// </summary>
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+ private bool _isStartAutoSpeed;
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#endregion
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#region 属性
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@@ -124,7 +170,8 @@ namespace PunkHPX8_RT.Devices.VpwMain
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/// </summary>
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private void InitializeRoutine()
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{
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-
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+ _boosterPumpEnableRoutine = new BoosterPumpEnableRoutine(Module, this);
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+ _boosterPumpDisableRoutine = new BoosterPumpDisableRoutine(Module, this);
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}
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/// <summary>
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/// 订阅
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@@ -218,19 +265,20 @@ namespace PunkHPX8_RT.Devices.VpwMain
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OP.Subscribe($"{Module}.VacuumPumpDisable", (cmd, para) => { return VacuumPumpDisable(); });
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OP.Subscribe($"{Module}.VacuumPumpSpeedEnable", (cmd, para) => { return VacuumSpeedEnable(); });
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OP.Subscribe($"{Module}.VacuumPumpSpeedDisable", (cmd, para) => { return VacuumSpeedDisable(); });
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- OP.Subscribe($"{Module}.VacuumPumpSpeed", (cmd, para) => { return BoosterPumpSpeedKeyDownOperation(cmd, para); });
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+ OP.Subscribe($"{Module}.VacuumPumpSpeed", (cmd, para) => { return WriteVacuumSpeedOperation(cmd, para); });
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OP.Subscribe($"{Module}.DegasPumpEnable", (cmd, para) => { return DegasPumpEnable(); });
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OP.Subscribe($"{Module}.DegasPumpDisable", (cmd, para) => { return DegasPumpDisable(); });
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OP.Subscribe($"{Module}.DegasAdjustOn", (cmd, para) => { return DegasAdjustOn(); });
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OP.Subscribe($"{Module}.DegasAdjustOff", (cmd, para) => { return DegasAdjustOff(); });
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OP.Subscribe($"{Module}.DiwDegasValveOn", (cmd, para) => { return DiwDegasValveOn(); });
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OP.Subscribe($"{Module}.DiwDegasValveOff", (cmd, para) => { return DiwDegasValveOff(); });
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- OP.Subscribe($"{Module}.BoosterPumpEnable", (cmd, para) => { return BoosterPumpEnable(); });
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- OP.Subscribe($"{Module}.BoosterPumpDisable", (cmd, para) => { return BoosterPumpDisable(); });
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- OP.Subscribe($"{Module}.BoosterPumpSpeed", (cmd, para) => {
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- short speed = short.Parse(para[0].ToString());
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- return BoosterPumpSpeed(speed);
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- });
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+ OP.Subscribe($"{Module}.DiwEnable", (cmd, para) => { return DiwEnable(); });
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+ OP.Subscribe($"{Module}.DiwDisable", (cmd, para) => { return DiwDisable(); });
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+ OP.Subscribe($"{Module}.DiwProcessOn", (cmd, para) => { return DiwProcessOn(); });
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+ OP.Subscribe($"{Module}.DiwProcessOff", (cmd, para) => { return DiwProcessOff(); });
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+ OP.Subscribe($"{Module}.BoosterPumpEnable", BoosterPumpEnableOperation);
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+ OP.Subscribe($"{Module}.BoosterPumpDisable", BoosterPumpDisableOperation);
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+ OP.Subscribe($"{Module}.BoosterPumpSpeed", BoosterPumpSpeedKeyDownOperation);
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OP.Subscribe($"{Module}.ChamberUp", (cmd, para) => { return ChamberUp(); });
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OP.Subscribe($"{Module}.ChamberDown", (cmd, para) => { return ChamberDown(); });
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@@ -298,6 +346,24 @@ namespace PunkHPX8_RT.Devices.VpwMain
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{
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return WriteVariableValue(VACUUM_PUMP_SPEED_ENABLE, false);
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}
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+
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+ /// <summary>
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+ /// 写入Vacuum速度
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+ /// </summary>
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+ /// <param name="speed"></param>
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+ /// <returns></returns>
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+ private bool WriteVacuumSpeedOperation(string cmd, object[] param)
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+ {
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+ if (short.TryParse(param[0].ToString(), out var speed))
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+ {
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+ return WriteVariableValue(VACUUM_PUMP_SPEED, speed);
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+ }
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+ else
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+ {
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+ LOG.WriteLog(eEvent.ERR_VPWMAIN, Module, $"Write VacuumSpeed {param[0]} is not short");
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+ return false;
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+ }
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+ }
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/// <summary>
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/// 写入速度
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/// </summary>
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@@ -362,6 +428,41 @@ namespace PunkHPX8_RT.Devices.VpwMain
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#region Booster Pump
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/// <summary>
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+ /// Pump Enable操作
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+ /// </summary>
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+ /// <param name="cmd"></param>
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+ /// <param name="param"></param>
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+ /// <returns></returns>
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+ public bool BoosterPumpEnableOperation(string cmd, object[] param)
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+ {
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+ if (_status == RState.Running)
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+ {
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+ LOG.WriteLog(eEvent.ERR_PREWET, Module.ToString(), $"{Module} current execute {_currentOperation},cannot Pump enable");
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+ return false;
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+ }
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+ _status = _boosterPumpEnableRoutine.Start();
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+ _currentOperation = VPWOperation.PumpEnable;
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+ return _status == RState.Running;
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+ }
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+ /// <summary>
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+ /// pump disable 操作
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+ /// </summary>
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+ /// <param name="cmd"></param>
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+ /// <param name="param"></param>
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+ /// <returns></returns>
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+ public bool BoosterPumpDisableOperation(string cmd, object[] param)
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+ {
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+ if (_status == RState.Running)
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+ {
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+ LOG.WriteLog(eEvent.ERR_PREWET, Module.ToString(), $"{Module} current execute {_currentOperation},cannot Pump disable");
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+ return false;
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+ }
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+ _status = _boosterPumpDisableRoutine.Start();
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+ _currentOperation = VPWOperation.PumpDisable;
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+ return _status == RState.Running;
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+ //return PumpDisable();
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+ }
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+ /// <summary>
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/// Booster Pump enable
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/// </summary>
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/// <returns></returns>
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@@ -382,9 +483,9 @@ namespace PunkHPX8_RT.Devices.VpwMain
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/// </summary>
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/// <param name="speed"></param>
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/// <returns></returns>
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- public bool BoosterPumpSpeed(short speed)
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+ public bool BoosterPumpSpeed(short speed=0)
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{
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- return WriteVariableValue(BOOSTER_PUMP_SPEED, speed);
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+ return WriteVariableValue(BOOSTER_PUMP_SPEED, speed == 0 ? _lastBoosterPumpSpeed : speed);
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}
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@@ -407,7 +508,7 @@ namespace PunkHPX8_RT.Devices.VpwMain
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{
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_vpwMainPersistentValue.Speed = speed;
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_lastBoosterPumpSpeed = speed;
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- PrewetPersistentManager.Instance.UpdatePersistentValue(Module);
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+ VpwMainPersistentManager.Instance.UpdatePersistentValue(Module);
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}
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return true;
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}
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@@ -575,6 +676,42 @@ namespace PunkHPX8_RT.Devices.VpwMain
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#endregion
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+ #region DIW
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+ /// <summary>
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+ /// DIW Enable
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+ /// </summary>
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+ /// <returns></returns>
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+ public bool DiwEnable()
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+ {
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+ return WriteVariableValue(DIW_ENABLE, true);
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+ }
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+ /// <summary>
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+ /// DIW Disable
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+ /// </summary>
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+ /// <returns></returns>
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+ public bool DiwDisable()
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+ {
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+ return WriteVariableValue(DIW_ENABLE, false);
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+ }
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+ /// <summary>
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+ /// DIW Process On
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+ /// </summary>
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+ /// <returns></returns>
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+ public bool DiwProcessOn()
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+ {
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+ return WriteVariableValue(DIW_PROCESS, true);
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+ }
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+
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+ /// <summary>
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+ /// DIW Process On
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+ /// </summary>
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+ /// <returns></returns>
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+ public bool DiwProcessOff()
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+ {
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+ return WriteVariableValue(DIW_PROCESS, false);
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+ }
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+ #endregion
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+
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/// <summary>
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/// 写变量
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/// </summary>
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@@ -600,8 +737,81 @@ namespace PunkHPX8_RT.Devices.VpwMain
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_commonData.BoosterPumpPressureData.MaxError = SC.GetValue<double>($"VPWMain.PumpPressure.Error_Max");
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_commonData.BoosterPumpPressureData.MaxWarning = SC.GetValue<double>($"VPWMain.PumpPressure.Warning_Max");
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_commonData.PressureTarget = SC.GetValue<double>($"VPWMain.PressureTarget");
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+ if (_status == RState.Running)
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+ {
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+ IRoutine routine = GetCurrentRoutine();
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+ if (routine != null)
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+ {
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+ RState rsState = routine.Monitor();
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+ if (rsState == RState.Failed || rsState == RState.Timeout)
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+ {
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+ _status = RState.Failed;
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+ _currentOperation = VPWOperation.None;
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+ LOG.WriteLog(eEvent.ERR_VPWMAIN, Module.ToString(), $"{_currentOperation} error");
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+ _isStartAutoSpeed = false;
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+ }
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+ else if (rsState == RState.End)
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+ {
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+ if (_currentOperation == VPWOperation.PumpEnable)
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+ {
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+ _isStartAutoSpeed = true;
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+ }
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+ else if (_currentOperation == VPWOperation.PumpDisable)
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+ {
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+ _isStartAutoSpeed = false;
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+ }
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+ _status = RState.End;
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+ _currentOperation = VPWOperation.None;
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+ }
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+ }
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+ }
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+ if (_isStartAutoSpeed)
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+ {
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+ AdjustPumpSpeed();
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+ }
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return true;
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}
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+ /// <summary>
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+ /// 调速
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+ /// </summary>
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+ public void AdjustPumpSpeed()
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+ {
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+ //Speed Auto模式同时pump enbled,根据kdi调整泵速
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+ if (_commonData.BoosterPumpSpeedAuto && _commonData.BoosterPumpEnable)
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+ {
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+ _pumpKp = SC.GetValue<double>($"VPWMain.PumpKp");
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+ _pumpKd = SC.GetValue<double>($"VPWMain.PumpKd");
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+ _pumpKi = SC.GetValue<double>($"VPWMain.PumpKi");
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+ double limit = SC.GetValue<double>("VPWMain.PrewetTargetLimit");
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+ double downLimit = SC.GetValue<double>("VPWMain.PrewetDownTargetLimit");
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+ double minSpeedDelta = SC.GetValue<double>("VPWMain.MinSpeedDelta");
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+ short speed = PdiAlgorithm.Instance.CalculateSpeed(_pumpKp, _pumpKi, _pumpKd, _commonData.PressureTarget,
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+ _commonData.BoosterPumpPressureData.Value, _lastBoosterPumpSpeed, limit, downLimit, minSpeedDelta);
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+ //short speed = PdiAlgorithm.Instance.CalculateSpeed(PrewetPumpData.PressureTarget, PrewetPumpData.PumpPressureData.Value,
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+ // _lastPumpSpeed, limit, downLimit);
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+ if (Math.Abs(speed - _lastBoosterPumpSpeed) >= 1)
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+ {
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+ _lastBoosterPumpSpeed = speed;
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+ BoosterPumpSpeed(speed);
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+ }
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+ }
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+ }
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+ /// <summary>
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+ /// 当前Routine;
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+ /// </summary>
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+ /// <returns></returns>
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+ private IRoutine GetCurrentRoutine()
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+ {
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+ switch (_currentOperation)
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+ {
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+ case VPWOperation.PumpEnable:
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+ return _boosterPumpEnableRoutine;
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+ case VPWOperation.PumpDisable:
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+ return _boosterPumpDisableRoutine;
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+ default:
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+ return null;
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+ }
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+ }
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/// <summary>
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/// 监控
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