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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.Routine;
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+using Aitex.Core.Util;
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+using MECF.Framework.Common.Routine;
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+using MECF.Framework.Common.ToolLayout;
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+using PunkHPX8_Core;
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+using PunkHPX8_RT.Devices.AXIS;
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+using PunkHPX8_RT.Devices.Facilities;
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+using PunkHPX8_RT.Devices.VpwCell;
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+using PunkHPX8_RT.Devices.VpwMain;
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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.Text;
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+using System.Threading.Tasks;
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+
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+namespace PunkHPX8_RT.Modules.VpwCelMain
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+{
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+ public class VpwSimpleHomeRoutine : RoutineBase, IRoutine
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+ {
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+ private enum VpwSimpleHomeStep
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+ {
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+ CheckPreCondition,
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+ ChamberUp,
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+ HomeAllRotation,
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+ CheckAllRotationHome,
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+ ChamberDown,
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+ End
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+ }
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+
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+ #region 常量
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+ #endregion
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+
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+ #region 内部变量
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+ /// <summary>
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+ /// Cell device集合
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+ /// </summary>
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+ private List<VpwCellDevice> _vpwCellDevices = new List<VpwCellDevice>();
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+ /// <summary>
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+ /// Main Device
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+ /// </summary>
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+ private VpwMainDevice _mainDevice;
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+ /// <summary>
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+ /// 用于处理没有被dissable的vpwcell
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+ /// </summary>
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+ private List<VpwCellDevice> _cellLst = new List<VpwCellDevice>();
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+ /// <summary>
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+ /// vpw cell rotation列表
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+ /// </summary>
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+ private List<JetAxisBase> _rotationAxis = new List<JetAxisBase>();
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+ #endregion
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+
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+ /// <summary>
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+ /// 构造函数
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+ /// </summary>
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+ /// <param name="module"></param>
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+ public VpwSimpleHomeRoutine(string module) : base(module)
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+ {
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+
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+ }
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+
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+ /// <summary>
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+ /// 中止
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+ /// </summary>
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+ public void Abort()
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+ {
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+ Runner.Stop("Vpw Simple Home abort");
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+ }
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+ /// <summary>
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+ /// 监控
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+ /// </summary>
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+ /// <returns></returns>
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+ public RState Monitor()
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+ {
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+ Runner.Run(VpwSimpleHomeStep.CheckPreCondition, CheckPreCondition, _delay_1ms)
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+ .Run(VpwSimpleHomeStep.ChamberUp, _mainDevice.ChamberUp, CheckChamberClosed, _delay_1s)
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+ .Run(VpwSimpleHomeStep.HomeAllRotation, HomeAllRotation,_delay_1s)
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+ .WaitWithStopCondition(VpwSimpleHomeStep.CheckAllRotationHome, CheckAllRotationHomed, CheckRotationHomeFailed)
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+ .Run(VpwSimpleHomeStep.ChamberDown, _mainDevice.ChamberDown, CheckChamberOpened, _delay_1s)
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+ .End(VpwSimpleHomeStep.End, NullFun, _delay_1ms);
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+ return Runner.Status;
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+ }
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+
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+ private bool CheckPreCondition()
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+ {
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+ //SystemFacilities systemFacility = DEVICE.GetDevice<SystemFacilities>("System.Facilities");
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+ //if (systemFacility == null)
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+ //{
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+ // LOG.WriteLog(eEvent.ERR_VPW, Module, "Facility is null");
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+ // return false;
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+ //}
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+ return true;
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+ }
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+ private bool HomeAllRotation()
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+ {
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+ bool result = true;
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+ foreach (var axis in _rotationAxis)
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+ {
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+ result &= axis.Home();
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+ if (result == false)
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+ {
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+ return result;
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+ }
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+ }
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+ return result;
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+ }
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+
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+ private bool CheckAllRotationHomed()
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+ {
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+ bool result = true;
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+ foreach (var axis in _rotationAxis)
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+ {
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+ bool condition = axis.IsHomed && axis.Status == RState.End;
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+ result &= condition;
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+ }
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+ return result;
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+ }
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+ private bool CheckRotationHomeFailed()
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+ {
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+ bool result = false;
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+ foreach (var axis in _rotationAxis)
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+ {
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+ bool condition = axis.Status == RState.Failed;
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+ result |= condition;
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+ }
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+ return result;
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+ }
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+ /// <summary>
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+ /// 检验Chamber关闭
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+ /// </summary>
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+ /// <returns></returns>
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+ private bool CheckChamberClosed()
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+ {
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+ return _mainDevice.CommonData.ChamberClosed && !_mainDevice.CommonData.ChamberOpened;
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+ }
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+ /// <summary>
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+ /// 检验Chamber打开
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+ /// </summary>
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+ /// <returns></returns>
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+ private bool CheckChamberOpened()
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+ {
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+ return !_mainDevice.CommonData.ChamberClosed && _mainDevice.CommonData.ChamberOpened;
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+ }
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+ /// <summary>
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+ /// 启动
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+ /// </summary>
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+ /// <param name="objs"></param>
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+ /// <returns></returns>
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+ public RState Start(params object[] objs)
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+ {
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+ _rotationAxis.Clear();
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+ _vpwCellDevices.Clear();
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+ _cellLst.Clear();
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+ VpwMainItem vpwMainItem = VpwMainItemManager.Instance.GetItem(Module.ToString());
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+ if (vpwMainItem == null || vpwMainItem.VpwCells == null)
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+ {
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+ return RState.Failed;
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+ }
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+ foreach (var item in vpwMainItem.VpwCells)
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+ {
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+ VpwCellDevice cellDevice = DEVICE.GetDevice<VpwCellDevice>(item.ModuleName);
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+ _vpwCellDevices.Add(cellDevice);
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+ }
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+
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+
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+ foreach (var device in _vpwCellDevices)
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+ {
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+ VpwCellEntity vpwCellEntity = Singleton<RouteManager>.Instance.GetModule<VpwCellEntity>(device.Module);
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+ if (vpwCellEntity.IsAuto || vpwCellEntity.IsManual)
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+ {
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+ _cellLst.Add(device);
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+
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+ JetAxisBase axis = DEVICE.GetDevice<JetAxisBase>($"{device.Module}.Rotation");
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+ _rotationAxis.Add(axis);
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+ }
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+ }
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+
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+ _mainDevice = DEVICE.GetDevice<VpwMainDevice>(Module.ToString());
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+ return Runner.Start(Module, "VPW Simple Home");
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+ }
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+
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+ }
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+}
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