PunkHPX8/PunkHPX8_RT/Modules/PlatingCell/PlatingCellInterRinseRoutine.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.Beckhoff.Station;
using MECF.Framework.Common.RecipeCenter;
using MECF.Framework.Common.Routine;
using MECF.Framework.Common.ToolLayout;
using MECF.Framework.Common.Utilities;
using PunkHPX8_Core;
using PunkHPX8_RT.Devices.AXIS;
using PunkHPX8_RT.Devices.PlatingCell;
using PunkHPX8_RT.Modules.Reservoir;
using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Threading.Tasks;

namespace PunkHPX8_RT.Modules.PlatingCell
{
    public class PlatingCellInterRinseRoutine : RoutineBase, IRoutine
    {
        private enum RunRecipeStep
        {
            VerticalGotoRinse,
            CheckVerticalGotoRinse,
            OpenRinseValve,
            StartRotation,
            WaitRotation,
            CloseRinseValve,
            End
        }
        #region 常量
        /// <summary>
        /// ROTATION电机转速比例
        /// </summary>
        private const int SPEED_RATIO = 1;
        #endregion

        /// <summary>
        /// recipe
        /// </summary>
        private DepRecipe _recipe;
        /// <summary>
        /// Rotation axis
        /// </summary>
        private JetAxisBase _rotationAxis;
        /// <summary>
        /// Platingcell device
        /// </summary>
        private PlatingCellDevice _device;
        /// <summary>
        /// rotation运动的目的地
        /// </summary>
        private int _rotationgTargetPosition;
        /// <summary>
        /// vertical axis entity
        /// </summary>
        private PlatingCellVerticalEntity _verticalEntity;
        /// <summary>
        /// 构造函数
        /// </summary>
        /// <param name="module"></param>
        public PlatingCellInterRinseRoutine(string module) : base(module)
        {

        }
        /// <summary>
        /// 中止
        /// </summary>
        public void Abort()
        {
            Runner.Stop("Manual Abort");
        }
        /// <summary>
        /// 监控
        /// </summary>
        /// <returns></returns>
        public RState Monitor()
        {          
            Runner.Run(RunRecipeStep.VerticalGotoRinse,  () => { return StartVertical("Rinse", _recipe.IntervalRinseZoffset); }, _delay_1ms)
                .WaitWithStopCondition(RunRecipeStep.CheckVerticalGotoRinse, CheckVerticalEnd, CheckVerticalError)
                .Run(RunRecipeStep.OpenRinseValve, _device.RinseEnableAction, _delay_1ms)
                .Run(RunRecipeStep.StartRotation, () => { return StartRotation(_rotationgTargetPosition); }, _delay_1ms)
                .Delay(RunRecipeStep.WaitRotation, _recipe.IntervalRinseTime*1000)
                .Run(RunRecipeStep.CloseRinseValve, _device.RinseDisableAction, _delay_1ms)
                .End(RunRecipeStep.End, NullFun);
            return Runner.Status;
        }

        /// <summary>
        /// rotation开始旋转
        /// </summary>
        /// <param name="param"></param>
        /// <returns></returns>
        private bool StartRotation(int targetPosition)
        {
            bool result = _rotationAxis.ProfilePosition(targetPosition, _recipe.IntervalRinseSpeed * SPEED_RATIO * 6, 0, 0); //rpm->deg/s
            if (!result)
            {
                NotifyError(eEvent.ERR_PLATINGCELL, "Start Rotation is failed", 0);
                return false;
            }
            return true;
        }
        /// <summary>
        /// vertical 运行
        /// </summary>
        /// <param name="positionName"></param> 目标位置名称
        /// <param name="offset"></param> 偏移量
        /// <returns></returns>
        private bool StartVertical(string positionName, double offset)
        {
            return _verticalEntity.CheckToPostMessage<PlatingCellVerticalState, PlatingCellVerticalEntity.VerticalMsg>(Aitex.Core.RT.Log.eEvent.INFO_PLATINGCELL,
                    Module, (int)PlatingCellVerticalEntity.VerticalMsg.Position, positionName,  offset);
        }
        /// <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 = (DepRecipe)objs[0];
            _rotationgTargetPosition = (int)objs[1];
            _rotationAxis = DEVICE.GetDevice<JetAxisBase>($"{Module}.Rotation");
            _device = DEVICE.GetDevice<PlatingCellDevice>(Module);
            //获取vertical entity
            string vertical = ModuleMatcherManager.Instance.GetPlatingVerticalByCell(Module);
            _verticalEntity = Singleton<RouteManager>.Instance.GetModule<PlatingCellVerticalEntity>(vertical);
            return Runner.Start(Module, "start intervale rinse");
        }
    }
}