PunkHPX8/PunkHPX8_RT/Modules/EFEM/RobotCycleMoveRoutine.cs

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.Schedulers;
using MECF.Framework.Common.Utilities;
using PunkHPX8_Core;
using PunkHPX8_RT.Devices.EFEM;
using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Threading.Tasks;

namespace PunkHPX8_RT.Modules.EFEM
{
    public class RobotCycleMoveRoutine : RoutineBase, IRoutine
    {
        private enum CycleStep
        {
            LoopStart,
            LoopRun,
            LoopCheck,
            LoopEnd,
            End
        }

        private EfemPickRoutine _efemPickRoutine;
        private EfemPlaceRoutine _efemPlaceRoutine;
        private EFEMAlignRoutine _efemAlignRoutine;
        private IRoutine _currentRoutine;
        private List<EfemCycleAction> _moveActionQueue;
        /// <summary>
        /// 构建函数
        /// </summary>
        /// <param name="module"></param>
        public RobotCycleMoveRoutine(EfemBase efem) : base(ModuleName.EfemRobot.ToString())
        {
            _efemPickRoutine = new EfemPickRoutine(efem);
            _efemPlaceRoutine = new EfemPlaceRoutine(efem);
            _efemAlignRoutine = new EFEMAlignRoutine(efem);
        }
        /// <summary>
        /// 中止
        /// </summary>
        public void Abort()
        {
            Runner.Stop("Manual abort");
        }
        /// <summary>
        /// 中止
        /// </summary>
        /// <returns></returns>
        public RState Monitor()
        {
            Runner.LoopStart(CycleStep.LoopStart, "start efem cycle action", _moveActionQueue.Count, NullFun, _delay_1ms)
                .LoopRun(CycleStep.LoopRun, RunAction, _delay_1ms)
                .LoopRunWithStopStatus(CycleStep.LoopCheck, () => CommonFunction.CheckRoutineEndState(_currentRoutine),
                    () => CommonFunction.CheckRoutineStopState(_currentRoutine))
                .LoopEnd(CycleStep.LoopEnd, NullFun, _delay_1ms)
                .End(CycleStep.End, NullFun, _delay_1ms);
            return Runner.Status;
        }

        private bool RunAction()
        {
            EfemCycleAction action = _moveActionQueue[Runner.LoopCounter];
            if(Runner.LoopCounter + 1 <= _moveActionQueue.Count - 1)
            {
                UpdateCurrentStep(action, _moveActionQueue[Runner.LoopCounter + 1]);
            }
            switch (action.Action)
            {
                case "Pick":
                    Queue<MoveItem> moveItems = new Queue<MoveItem>();
                    moveItems.Enqueue((MoveItem)action.Parameter);
                    _currentRoutine = _efemPickRoutine;
                    return _efemPickRoutine.Start(moveItems) == RState.Running;
                case "Place":
                    Queue<MoveItem> placeMoveItems = new Queue<MoveItem>();
                    placeMoveItems.Enqueue((MoveItem)action.Parameter);
                    _currentRoutine= _efemPlaceRoutine;
                    return _efemPlaceRoutine.Start(placeMoveItems) == RState.Running;
                case "Align":
                    _currentRoutine = _efemAlignRoutine;
                    object[] alignerParamater = new object[4];//初始化Align参数
                    alignerParamater[0] = ModuleName.Aligner1;
                    alignerParamater[1] = 0;
                    alignerParamater[2] = action.Parameter;
                    alignerParamater[3] = SC.GetValue<int>("EFEM.Aligner1.AlignerPlatType");
                    return _efemAlignRoutine.Start(alignerParamater) ==RState.Running;
            }
            return false;
        }
        /// <summary>
        /// 更新当前执行到哪一步
        /// </summary>
        private void UpdateCurrentStep(EfemCycleAction action, EfemCycleAction nextAction)
        {
            EfemEntity efemEntity = Singleton<RouteManager>.Instance.GetModule<EfemEntity>("EFEM");
            string step = "";
            switch (action.Action)
            {
                case "Pick":
                    MoveItem moveItem1 = (MoveItem)action.Parameter;
                    MoveItem moveItem2 = (MoveItem)nextAction.Parameter;
                    step = $"{moveItem1.SourceModule} -> {moveItem2.DestinationModule}";
                    efemEntity.GetCurrentRobotCycleStep(step);
                    break;
            } 
        }
        /// <summary>
        /// 启动
        /// </summary>
        /// <param name="objs"></param>
        /// <returns></returns>
        public RState Start(params object[] objs)
        {
            _moveActionQueue = (List<EfemCycleAction>)objs[0];
            return Runner.Start(Module, "Robot Cycle move");
        }
    }
}