PunkHPX8/PunkHPX8_RT/Modules/PlatingCell/PlatingCellRunRecipeRoutine.cs

using Aitex.Core.RT.Device;
using Aitex.Core.RT.Log;
using Aitex.Core.RT.Routine;
using Aitex.Core.Util;
using MECF.Framework.Common.Beckhoff.AxisProvider;
using MECF.Framework.Common.RecipeCenter;
using MECF.Framework.Common.Routine;
using MECF.Framework.Common.Utilities;
using PunkHPX8_Core;
using PunkHPX8_RT.Devices.AXIS;
using PunkHPX8_RT.Devices.PlatingCell;
using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Threading.Tasks;

namespace PunkHPX8_RT.Modules.PlatingCell
{
    public class PlatingCellRunRecipeRoutine : RoutineBase, IRoutine
    {
        private enum RunRecipeStep
        {
            Delay,
            InterRinse,
            CheckInterRinse,
            Vertical,
            CheckVertical,
            End
        }
        #region 常量 
        private const int ALL_DAY_MILLOSECONDS = 24 * 60 * 60 * 1000;
        #endregion

        #region 内部变量
        /// <summary>
        /// recipe
        /// </summary>
        private DepRecipe _recipe;
        /// <summary>
        /// Platingcell device
        /// </summary>
        private PlatingCellDevice _device;
        /// <summary>
        /// Rotation axis
        /// </summary>
        private JetAxisBase _rotationAxis;
        /// <summary>
        ///rotation Provider对象
        /// </summary>
        private BeckhoffProviderAxis _rotationProviderAxis;
        /// cycle次数
        /// </summary>
        private int _cycle;
        /// <summary>
        /// 当前完成的Cycle次数
        /// </summary>
        private int _currentCycle;




        private PlatingCellInterRinseRoutine _interRinseRoutine;
        private PlatingCellVerticalEntity _verticalEntity;
        #endregion
        /// <summary>
        /// 构造函数
        /// </summary>
        /// <param name="module"></param>
        public PlatingCellRunRecipeRoutine(string module) : base(module)
        {
            _interRinseRoutine = new PlatingCellInterRinseRoutine(module);
        }
        /// <summary>
        /// 中止
        /// </summary>
        public void Abort()
        {
            Runner.Stop("Manual Abort");
        }
        /// <summary>
        /// 监控
        /// </summary>
        /// <returns></returns>
        public RState Monitor()
        {
            Runner.Delay(RunRecipeStep.Delay, 5000)
                .Run(RunRecipeStep.InterRinse, () => { return _interRinseRoutine.Start() == RState.Running; })
                .WaitWithStopCondition(RunRecipeStep.CheckInterRinse, () => CommonFunction.CheckRoutineEndState(_interRinseRoutine),
                () => CommonFunction.CheckRoutineStopState(_interRinseRoutine))
                .Run(RunRecipeStep.Vertical, StartVertical)
                .WaitWithStopCondition(RunRecipeStep.CheckVertical, CheckVerticalEnd, CheckVerticalError)
                .End(RunRecipeStep.End, NullFun);
            return Runner.Status;
        }
        /// <summary>
        /// 垂直电机运行（仅示例只做参考）
        /// </summary>
        /// <returns></returns>
        private bool StartVertical()
        {
            double position = 101;
            return _verticalEntity.CheckToPostMessage<PlatingCellVerticalState, PlatingCellVerticalEntity.VerticalMsg>(Aitex.Core.RT.Log.eEvent.INFO_PLATINGCELL,
                Module, (int)PlatingCellVerticalEntity.VerticalMsg.Position, position);
        }
        /// <summary>
        /// 检验垂直电机是否运动完成
        /// </summary>
        /// <returns></returns>
        private bool CheckVerticalEnd()
        {
            return _verticalEntity.IsIdle;
        }
        /// <summary>
        /// 检验垂直是否出现错误
        /// </summary>
        /// <returns></returns>
        private bool CheckVerticalError()
        {
            return _verticalEntity.IsError;
        }
        /// <summary>
        /// 启动
        /// </summary>
        /// <param name="objs"></param>
        /// <returns></returns>
        public RState Start(params object[] objs)
        {
            _recipe = objs[0] as DepRecipe;
            if (_recipe == null)
            {
                LOG.WriteLog(eEvent.ERR_METAL, Module, "recipe is null");
                return RState.Failed;
            }
            if (objs.Length > 1)
            {
                _cycle = (int)objs[1];
            }
            _device = DEVICE.GetDevice<PlatingCellDevice>(Module);
            _rotationAxis = DEVICE.GetDevice<JetAxisBase>($"{Module}.Rotation");
            _rotationProviderAxis = BeckhoffAxisProviderManager.Instance.GetAxisProvider($"{Module}.Rotation");
            if (_rotationProviderAxis == null)
            {
                NotifyError(eEvent.ERR_PLATINGCELL, $"{Module}.Rotation Provider is not exist", 0);
                return RState.Failed;
            }
           
            string vertical = ModuleMatcherManager.Instance.GetPlatingVerticalByCell(Module);
            _verticalEntity = Singleton<RouteManager>.Instance.GetModule<PlatingCellVerticalEntity>(vertical);
            if (!CheckPreCondition())
            {
                return RState.Failed;
            }
            _currentCycle = 0;

 
            return Runner.Start(Module, "Run Recipe");
        }
        /// <summary>
        /// 检验前置条件
        /// </summary>
        /// <returns></returns>
        private bool CheckPreCondition()
        {
            if (_recipe == null)
            {
                LOG.WriteLog(eEvent.ERR_PLATINGCELL, Module, "Recipe is null");
                return false;
            }

            if (_recipe.DepSteps.Count == 0)
            {
                LOG.WriteLog(eEvent.ERR_PLATINGCELL, Module, "Recipe DepSteps count is 0");
                return false;
            }
            CheckAxisHome();
            CheckFacility();
            return true;
        }
        /// <summary>
        /// 检查马达是否上电且home
        /// </summary>
        /// <returns></returns>
        private bool CheckAxisHome()
        {
            if (!_rotationAxis.IsSwitchOn)
            {
                LOG.WriteLog(eEvent.ERR_PLATINGCELL, Module, "Rotation Axis is off");
                return false;
            }
            if (!_rotationAxis.IsHomed)
            {
                LOG.WriteLog(eEvent.ERR_PLATINGCELL, Module, "Rotation Axis is not home");
                return false;
            }
            if (!_verticalEntity.IsIdle)
            {
                LOG.WriteLog(eEvent.ERR_PLATINGCELL, Module, "Vertical Axis is not home");
                return false;
            }
            return true;
        }
        /// <summary>
        /// 检查facility
        /// </summary>
        /// <returns></returns>
        private bool CheckFacility()
        {
            return true;
        }
    }
}