PunkHPX8/PunkHPX8_RT/Modules/PlatingCell/PlatingCellRinseRoutine.cs

using Aitex.Core.RT.Device;
using Aitex.Core.RT.Routine;
using Aitex.Core.RT.SCCore;
using Aitex.Core.Util;
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.Reflection;
using System.Text;
using System.Threading.Tasks;

namespace PunkHPX8_RT.Modules.PlatingCell
{
    public class PlatingCellRinseRoutine : RoutineBase, IRoutine
    {
        private enum RunRecipeStep
        {
            VerticalGotoRinse,
            CheckVerticalGotoRinse,
            OpenRinseValve,
            ChangeRotation,
            RotationDelay,
            CloseRinseValve,
            End
        }
        #region 常量
        #endregion

        /// <summary>
        /// recipe
        /// </summary>
        private DepRecipe _recipe;
        /// <summary>
        /// Rotation axis
        /// </summary>
        private JetAxisBase _rotationAxis;
        /// <summary>
        /// Platingcell device
        /// </summary>
        private PlatingCellDevice _device;
        /// <summary>
        /// vertical axis entity
        /// </summary>
        private PlatingCellVerticalEntity _verticalEntity;
        /// <summary>
        /// 构造函数
        /// </summary>
        /// <param name="module"></param>
        public PlatingCellRinseRoutine(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, () => StartVertical("Rinse", _recipe.RinseZoffset, 0, 0), _delay_1ms)
                  .WaitWithStopCondition(RunRecipeStep.CheckVerticalGotoRinse, CheckVerticalEnd, CheckVerticalError)
                  .Run(RunRecipeStep.OpenRinseValve, () => _device.RinseEnableAction(),_delay_1ms)
                  .Run(RunRecipeStep.ChangeRotation, () => ChangeRotationSpeed(_recipe.RinseSpeed), _delay_1ms)
                  .Delay(RunRecipeStep.RotationDelay,  _recipe.RinseTime*1000)
                  .Run(RunRecipeStep.CloseRinseValve, () => _device.RinseDisableAction(),_delay_1ms)
                  .End(RunRecipeStep.End, NullFun);
            return Runner.Status;
        }
        
        /// <summary>
        /// rotation改变速度
        /// </summary>
        /// <param name="speed"></param>
        /// <returns></returns>
        private bool ChangeRotationSpeed(int speed)
        {
            double _scale = _rotationAxis.ScaleFactor;
            speed = (int)Math.Round(_scale * BeckhoffVelocityUtil.ConvertVelocityToDegPerSecondByRPM(speed), 0);
            return _rotationAxis.ChangeSpeed(speed);
        }
        /// <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, int speed, int accelerate)
        {
            return _verticalEntity.CheckToPostMessage<PlatingCellVerticalState, PlatingCellVerticalEntity.VerticalMsg>(Aitex.Core.RT.Log.eEvent.INFO_PLATINGCELL,
                    Module, (int)PlatingCellVerticalEntity.VerticalMsg.Position, positionName, offset, speed, accelerate);
        }
        /// <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];
            
            _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 rinse routine");
        }
    }
}