PunkHPX8/PunkHPX8_RT/Modules/PlatingCell/DummyRinseRunRecipeRoutine.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.SubstrateTrackings;
using MECF.Framework.Common.ToolLayout;
using MECF.Framework.Common.Utilities;
using PunkHPX8_Core;
using PunkHPX8_RT.Devices.AXIS;
using PunkHPX8_RT.Devices.Facilities;
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 DummyRinseRunRecipeRoutine : RoutineBase, IRoutine
    {
        private enum RunRecipeStep
        {
            LoopStart,
            
            //interval rinse
            LoopCheckVerticalIntervalRinseStation,
            IntervalRinseOpenRinseValve,
            StartRotation,
            WaitRotation,
            IntervalRinseCloseRinseValve,
            //reclaim
            LoopCheckVerticalReclaimStation,
            ReclaimStartRotation,
            ReclaimChangeRotationSpeed,
            ReclaimRotationDelay,
            //rinse
            LoopCheckVerticalRinseStation,
            RinseOpenRinseValve,
            RinseChangeRotationSpeed,
            RinseRotationDelay,
            RinseCloseRinseValve,
            //Dry
            LoopCheckVerticalDryStation,
            DryChangeRotationSpeed,
            DryRotationDelay,
            RotationStop,
            CheckRotationStoped,

            LoopEnd,
            End
        }
        #region 常量 
        private const int ALL_DAY_MILLOSECONDS = 24 * 60 * 60 * 1000;
        /// <summary>
        /// ROTATION电机转速比例
        /// </summary>
        private const int SPEED_RATIO = 1;
        /// <summary>
        /// 电机以500rmp 运行12个小时的位置
        /// </summary>
        private const int LARGETARGETPOSITION = 12 * 60 * 60 * 500 * 6;
        #endregion

        #region 内部变量
        /// <summary>
        /// recipe
        /// </summary>
        private DqdrRecipe _recipe;
        /// <summary>
        /// 匹配的platingcell的dep recipe
        /// </summary>
        private DepRecipe _matchPlatingCellDepDeprecipe;
        /// <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;
        /// <summary>
        /// platingcell entity
        /// </summary>
        private PlatingCellEntity _platingCellEntity; 
        /// <summary>
        /// 另一边的platingcell entity
        /// </summary>
        private PlatingCellEntity _matchPlatingCellEntity; 
        /// <summary>
        /// 对应reservoir entity
        /// </summary>
        private ReservoirEntity _reservoirEntity;
        /// <summary>
        /// vertical axis entity
        /// </summary>
        private PlatingCellVerticalEntity _verticalEntity;
        /// <summary>
        /// run recipe 过程中电机会停的位置（需要根据recipe计算出来）
        /// </summary>


        #region 属性
        #endregion

        #endregion
        /// <summary>
        /// 构造函数
        /// </summary>
        /// <param name="module"></param>
        public DummyRinseRunRecipeRoutine(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.LoopStart(RunRecipeStep.LoopStart, "Loop Start Cycle Run DummyRinse Recipe Routine", _cycle, NullFun, _delay_1ms)
                //interval risne
                .LoopRunIfWithStopStatus(RunRecipeStep.LoopCheckVerticalIntervalRinseStation, _matchPlatingCellEntity.IsInRecipe && _recipe.RinseBeforeEntryEnable,
                () => CheckVerticalInStation("Rinse", _matchPlatingCellDepDeprecipe.IntervalRinseZoffset), () => { return _matchPlatingCellEntity.IsError; })
                .LoopRunIf(RunRecipeStep.IntervalRinseOpenRinseValve, _matchPlatingCellEntity.IsInRecipe && _recipe.RinseBeforeEntryEnable, _device.RinseEnableAction, _delay_1ms)
                .LoopRunIf(RunRecipeStep.StartRotation, _matchPlatingCellEntity.IsInRecipe && _recipe.RinseBeforeEntryEnable, () => { return StartRotation(LARGETARGETPOSITION); }, _delay_1ms)
                .LoopDelayIf(RunRecipeStep.WaitRotation, _matchPlatingCellEntity.IsInRecipe && _recipe.RinseBeforeEntryEnable, _recipe.IntervalRinseTime * 1000)
                .LoopRunIf(RunRecipeStep.IntervalRinseCloseRinseValve, _matchPlatingCellEntity.IsInRecipe && _recipe.RinseBeforeEntryEnable, _device.RinseDisableAction, _delay_1ms)

                //Reclaim
                .LoopRunIfWithStopStatus(RunRecipeStep.LoopCheckVerticalReclaimStation, _matchPlatingCellEntity.IsInRecipe,
                               () => CheckVerticalInStation("Reclaim", _matchPlatingCellDepDeprecipe.ReclaimZoffset), () => { return _matchPlatingCellEntity.IsError; })
                .LoopRunIf(RunRecipeStep.ReclaimStartRotation, _matchPlatingCellEntity.IsInRecipe && !_recipe.RinseBeforeEntryEnable, () => { return StartReclaimRotation(LARGETARGETPOSITION); }, _delay_1ms)
                .LoopRunIf(RunRecipeStep.ReclaimChangeRotationSpeed, _matchPlatingCellEntity.IsInRecipe && _recipe.RinseBeforeEntryEnable, () => { return ChangeRotationSpeed(_recipe.ReclaimSpeed); }, _delay_1ms)
                .LoopDelayIf(RunRecipeStep.ReclaimRotationDelay, _matchPlatingCellEntity.IsInRecipe , _recipe.ReclaimTime * 1000)

                 //Rinse
                .LoopRunIfWithStopStatus(RunRecipeStep.LoopCheckVerticalRinseStation, _matchPlatingCellEntity.IsInRecipe,
                               () => CheckVerticalInStation("Rinse", _matchPlatingCellDepDeprecipe.RinseZoffset), () => { return _matchPlatingCellEntity.IsError; })
                .LoopRunIf(RunRecipeStep.RinseOpenRinseValve, _matchPlatingCellEntity.IsInRecipe, _device.RinseEnableAction, _delay_1ms)
                .LoopRunIf(RunRecipeStep.RinseChangeRotationSpeed, _matchPlatingCellEntity.IsInRecipe, () => { return ChangeRotationSpeed(_recipe.RinseSpeed); }, _delay_1ms)
                .LoopDelayIf(RunRecipeStep.RinseRotationDelay, _matchPlatingCellEntity.IsInRecipe, _recipe.RinseTime * 1000)
                .LoopRunIf(RunRecipeStep.RinseCloseRinseValve, _matchPlatingCellEntity.IsInRecipe, _device.RinseDisableAction, _delay_1ms)

                //Dry
                .LoopRunIfWithStopStatus(RunRecipeStep.LoopCheckVerticalDryStation, _matchPlatingCellEntity.IsInRecipe && _matchPlatingCellDepDeprecipe.RinseZoffset != _matchPlatingCellDepDeprecipe.DryZoffset,
                               () => CheckVerticalInStation("Rinse", _matchPlatingCellDepDeprecipe.DryZoffset), () => { return _matchPlatingCellEntity.IsError; })
                .LoopRunIf(RunRecipeStep.DryChangeRotationSpeed, _matchPlatingCellEntity.IsInRecipe, () => { return ChangeRotationSpeed(_recipe.DrySpeed); }, _delay_1ms)
                .LoopDelayIf(RunRecipeStep.DryRotationDelay, _matchPlatingCellEntity.IsInRecipe, _recipe.DryTime * 1000)

                .LoopRun(RunRecipeStep.RotationStop, _rotationAxis.StopPositionOperation, _delay_1ms)
                .LoopRunWithStopStatus(RunRecipeStep.CheckRotationStoped,  CheckRotationPositionStatus, CheckRotationPositionRunStop)

                .LoopEnd(RunRecipeStep.LoopEnd, UpdateCycleCount, _delay_1ms)
                .End(RunRecipeStep.End, NullFun);
            return Runner.Status;
        }
        /// <summary>
        /// 查询vertical是否到达某个位置
        /// </summary>
        /// <returns></returns>
        private bool CheckVerticalInStation(string station,double offset)
        {
            return _verticalEntity.ChecVerticalInPosition(station, offset);
        }
        /// <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>
        /// rotation开始旋转以Reclaim时的转速
        /// </summary>
        /// <param name="param"></param>
        /// <returns></returns>
        private bool StartReclaimRotation(int targetPosition)
        {
            bool result = _rotationAxis.ProfilePosition(targetPosition, _recipe.ReclaimSpeed * SPEED_RATIO * 6, 0, 0); //rpm->deg/s
            if (!result)
            {
                NotifyError(eEvent.ERR_PLATINGCELL, "Start Rotation is failed", 0);
                return false;
            }
            return true;
        }
        /// <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>
        /// 检验Rotation移动状态
        /// </summary>
        /// <returns></returns>
        private bool CheckRotationPositionStatus()
        {
            return _rotationAxis.Status == RState.End;
        }
        /// <summary>
        /// 检验Rotation是否运动失败
        /// </summary>
        /// <returns></returns>
        private bool CheckRotationPositionRunStop()
        {
            return _rotationAxis.Status == RState.Failed || _rotationAxis.Status == RState.Timeout;
        }
        /// 统计完成的Cycle次数
        /// </summary>
        /// <returns></returns>
        private bool UpdateCycleCount()
        {
            _currentCycle += 1;
            return true;
        }
        /// <summary>
        /// 获取当前Cycle次数
        /// </summary>
        /// <returns></returns>
        public int GetCurrentCycle()
        {
            return _currentCycle;
        }
        /// <summary>
        /// 启动
        /// </summary>
        /// <param name="objs"></param>
        /// <returns></returns>
        public RState Start(params object[] objs)
        {
            _recipe = objs[0] as DqdrRecipe;
            if (_recipe == null)
            {
                LOG.WriteLog(eEvent.ERR_METAL, Module, "recipe is null");
                return RState.Failed;
            }
            if (objs.Length > 2)
            {
                _cycle = (int)objs[2];
            }
            _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;
            }
            //获取相匹配的platingcell 的 vertical entity
            string MatchModule = ModuleMatcherManager.Instance.GetMatcherByModule(Module);
            string vertical = ModuleMatcherManager.Instance.GetPlatingVerticalByCell(MatchModule);
            _verticalEntity = Singleton<RouteManager>.Instance.GetModule<PlatingCellVerticalEntity>(vertical);
            //获取platingcell eneity
            _platingCellEntity = Singleton<RouteManager>.Instance.GetModule<PlatingCellEntity>(Module);
            //获取match的platingcell的dep recipe
            _matchPlatingCellEntity = Singleton<RouteManager>.Instance.GetModule<PlatingCellEntity>(MatchModule);
            _matchPlatingCellDepDeprecipe = _matchPlatingCellEntity.CurrentRecipe;
            //获取对应reservoir eneity
            string reservoir = ReservoirItemManager.Instance.GetReservoirByPlatingCell(Module);
            _reservoirEntity = Singleton<RouteManager>.Instance.GetModule<ReservoirEntity>(reservoir);
            if (!CheckPreCondition())
            {
                return RState.Failed;
            }
            _currentCycle = 0;
            return Runner.Start(Module, "PlatingCell Run DummyRecipe 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 (!CheckAxisHome())
            {
                NotifyError(eEvent.ERR_PLATINGCELL, "Check Axis home error", 0);
                return false;
            }
            if (!CheckFacility())
            {
                NotifyError(eEvent.ERR_PLATINGCELL, "Check facility error", 0);
                return false;
            }
            if (!CheckModuleAndReservoir())
            {
                NotifyError(eEvent.ERR_PLATINGCELL, "Check ModuleAndReservoir error", 0);
                return false;
            }
            return true;
        }
        private bool CheckModuleAndReservoir()
        {
            if (!_platingCellEntity.IsIdle)
            {
                LOG.WriteLog(eEvent.ERR_PLATINGCELL, Module, $"{Module} is not initialized");
                return false;
            }
            if (!_reservoirEntity.IsIdle)
            {
                LOG.WriteLog(eEvent.ERR_PLATINGCELL, Module, $"Releated reseroivr is not initialized");
                return false;
            }
            if (!_reservoirEntity.TemperatureReached)
            {
                LOG.WriteLog(eEvent.ERR_PLATINGCELL, Module, $"Releated reseroivr temperature is not reached");
                return false;
            }
            if ("Manual".Equals(_reservoirEntity.PersistentValue.OperatingMode) && !WaferManager.Instance.CheckHasWafer(Module, 0))
            {
                LOG.WriteLog(eEvent.ERR_PLATINGCELL, Module, $"Run recipe in manual must has wafer!");
                return false;
            }
            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.AxisIsHome)
            {
                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()
        {
            SystemFacilities systemFacilities = DEVICE.GetDevice<SystemFacilities>("System.Facilities");
            if (systemFacilities == null)
            {
                LOG.WriteLog(eEvent.ERR_PLATINGCELL, Module, "Facility is null");
                return false;
            }
            if (!systemFacilities.CDAEnable)
            {
                LOG.WriteLog(eEvent.ERR_PLATINGCELL, Module, "Facility CDA is off");
                return false;
            }
            if (!systemFacilities.N2Enable)
            {
                LOG.WriteLog(eEvent.ERR_PLATINGCELL, Module, "Facility N2 is off");
                return false;
            }
            if (!systemFacilities.DIFillEnable)
            {
                LOG.WriteLog(eEvent.ERR_PLATINGCELL, Module, "Facility DIW is off");
                return false;
            }
            if (systemFacilities.FacilitiesDataDic["CDA1Pressure"].IsError || systemFacilities.FacilitiesDataDic["CDA2Pressure"].IsError)
            {
                LOG.WriteLog(eEvent.ERR_PLATINGCELL, Module, "Facility CDA Data is in error range");
                return false;
            }
            if (systemFacilities.FacilitiesDataDic["Nitrogen1APressure"].IsError ||
                systemFacilities.FacilitiesDataDic["Nitrogen1BPressure"].IsError ||
                systemFacilities.FacilitiesDataDic["Nitrogen2APressure"].IsError ||
                systemFacilities.FacilitiesDataDic["Nitrogen2BPressure"].IsError)
            {
                LOG.WriteLog(eEvent.ERR_PLATINGCELL, Module, "Facility N2 Data is in error range");
                return false;
            }
            if (systemFacilities.FacilitiesDataDic["DiWaterPressure"].IsError)
            {
                LOG.WriteLog(eEvent.ERR_PLATINGCELL, Module, "Facility Diw Pressure value is in error range");
                return false;
            }
            return true;
        }
    }
}