PunkHPX8/PunkHPX8_RT/Modules/PlatingCell/PlatingCellVerticalPositionRoutine.cs

using Aitex.Core.Common;
using Aitex.Core.RT.Device;
using Aitex.Core.RT.Log;
using Aitex.Core.RT.Routine;
using Aitex.Core.RT.SCCore;
using Aitex.Core.Util;
using MECF.Framework.Common.Equipment;
using MECF.Framework.Common.Routine;
using MECF.Framework.Common.SubstrateTrackings;
using PunkHPX8_Core;
using PunkHPX8_RT.Devices.AXIS;
using System;
using System.Collections.Generic;
using System.Diagnostics.Eventing.Reader;
using System.Linq;
using System.Text;
using System.Threading.Tasks;
using System.Windows.Media.Imaging;

namespace PunkHPX8_RT.Modules.PlatingCell
{
    public class PlatingCellVerticalPositionRoutine : RoutineBase, IRoutine
    {
        private enum PositionStep
        {
            WaitMatcher,
            GotoPosition,
            GoToPositionCheck,
            End
        }

        #region 内部变量
        /// <summary>
        /// vertical axis
        /// </summary>
        private JetAxisBase _verticalAxis;
        /// <summary>
        ///  matcher集合
        /// </summary>
        private List<string> _matcher = new List<string>();
        /// <summary>
        /// cell集合
        /// </summary>
        private List<PlatingCellEntity> _cellEntities=new List<PlatingCellEntity>();
        /// <summary>
        /// 位置 
        /// </summary>
        private string _station;
        /// <summary>
        /// 偏移量
        /// </summary>
        private double _offset;
        /// <summary>
        /// 移动速度
        /// </summary>
        private int _speed;
        /// <summary>
        /// 加速度
        /// </summary>
        private int _accelerate;
        #endregion

        /// <summary>
        /// 构造函数
        /// </summary>
        /// <param name="module"></param>
        public PlatingCellVerticalPositionRoutine(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.Wait(PositionStep.WaitMatcher,CheckMatcher,_delay_60s)
                .Run(PositionStep.GotoPosition, VerticalGotoPosition, 100)
                .WaitWithStopCondition(PositionStep.GoToPositionCheck, CheckVerticalPositionStatus, CheckVerticalPositionRunStop)
                .End(PositionStep.End, NullFun, _delay_1ms);
            return Runner.Status;
        }
        /// <summary>
        /// 检验匹配
        /// </summary>
        /// <returns></returns>
        private bool CheckMatcher()
        {
            if (_cellEntities.Count<=1)
            {
                return true;
            }
            int count = 0;
            foreach (PlatingCellEntity item in _cellEntities)
            {
                if (WaferManager.Instance.CheckHasWafer(item.Module, 0))
                {
                    count++;
                }
            }
            if (count == 1)
            {
                return true;
            }

            WaferInfo firstWafer = WaferManager.Instance.GetWafer(_cellEntities[0].Module, 0);
            WaferInfo secondWafer = WaferManager.Instance.GetWafer(_cellEntities[1].Module, 0);
            if (firstWafer == null || secondWafer == null || firstWafer.IsEmpty || secondWafer.IsEmpty)
            {
                return false;
            }

            string firstCurrentStep = _cellEntities[0].CurrentStepState;
            string secondCurrentStep = _cellEntities[1].CurrentStepState;
            if(firstWafer.WaferType==WaferType.Assit || secondWafer.WaferType==WaferType.Assit)
            {
                //其中一个是dummy recipe，直接返回true
                return true;
            }
            bool hasDoubleProductionWafer = firstWafer.WaferType == secondWafer.WaferType;
            if (hasDoubleProductionWafer)
            {
                return firstCurrentStep == secondCurrentStep;
            }
            return true;
        }
        /// <summary>
        /// vertical 运动到位置
        /// </summary>
        /// <returns></returns>
        private bool VerticalGotoPosition()
        {
            if(_verticalAxis != null )
            {
                if (!_verticalAxis.IsSwitchOn)
                {
                    LOG.WriteLog(eEvent.ERR_PLATINGCELL, Module, "Vertical is not Power On");
                    return false;
                }
                else if (!_verticalAxis.IsHomed)
                {
                    LOG.WriteLog(eEvent.ERR_PLATINGCELL, Module, "Vertical is not Home,Home vertical first");
                    return false;
                }
                return _verticalAxis.PositionStation(_station,_offset,false,_speed,_accelerate);

            }
            else
            {
                LOG.WriteLog(eEvent.ERR_PLATINGCELL, Module, "vertical axis is null");
                return false;
            }   
        }
        /// <summary>
        /// 检验Vertical移动状态
        /// </summary>
        /// <returns></returns>
        private bool CheckVerticalPositionStatus()
        {
            return _verticalAxis.Status == RState.End;
        }
        /// <summary>
        /// 检验Vertical是否还在运动
        /// </summary>
        /// <returns></returns>
        private bool CheckVerticalPositionRunStop()
        {
            return _verticalAxis.Status == RState.Failed;
        }
        /// <summary>
        /// 启动
        /// </summary>
        /// <param name="objs"></param>
        /// <returns></returns>
        public RState Start(params object[] objs)
        {
            _station=objs[0].ToString();
            _offset = (double)objs[1];
            if(objs.Length > 2)
            {
                _speed = (int)objs[2];
            }
            if (objs.Length > 3)
            {
                _accelerate = (int)objs[3];
            }
            _matcher = ModuleMatcherManager.Instance.GetMatcherListByVertical(Module); //获取电机所在的platingcell 列表
            _cellEntities.Clear();
            foreach (string str in _matcher) 
            {
                if(!Enum.TryParse(str, out ModuleName moduleName))
                {
                    continue;
                }
                if (!ModuleHelper.IsInstalled(moduleName))
                {
                    continue;
                }
                PlatingCellEntity cellEntity = Singleton<RouteManager>.Instance.GetModule<PlatingCellEntity>(str);
                if (cellEntity.IsDisable)
                {
                    continue;
                }
                if (cellEntity.IsError)
                {
                    continue;
                }
                _cellEntities.Add(cellEntity);
            }
            _verticalAxis = DEVICE.GetDevice<JetAxisBase>($"{Module}.Vertical");
            return Runner.Start(Module, "Start PlatingCell Vertical Position");
        }
    }
}