PunkHPX8/PunkHPX8_RT/Devices/Safety/SafetyAllOnRoutine.cs

using Aitex.Core.RT.Device;
using Aitex.Core.RT.Log;
using Aitex.Core.RT.Routine;
using Aitex.Core.Util;
using PunkHPX8_Core;
using PunkHPX8_RT.Modules;
using PunkHPX8_RT.Modules.SRD;
using PunkHPX8_RT.Modules.Transporter;
using MECF.Framework.Common.Beckhoff.ModuleIO;
using MECF.Framework.Common.Equipment;
using MECF.Framework.Common.Routine;
using MECF.Framework.Common.Utilities;
using System.Runtime.InteropServices;
using PunkHPX8_RT.Devices.AXIS;

namespace PunkHPX8_RT.Devices.Safety
{
    internal class SafetyAllOnRoutine : RoutineBase, IRoutine
    {
        private enum SafetyAllOnStep
        {
            VpwCell1SwitchOn,
            WaitSwitchOnVpwCell1,
            VpwCell2SwitchOn,
            WaitSwitchOnVpwCell2,
            PlatingCell1RotationSwitchOn,
            WaitSwitchOnPlatingCell1Rotation,
            PlatingCell2RotationSwitchOn,
            WaitSwitchOnPlatingCell2Rotation,
            PlatingCell3RotationSwitchOn,
            WaitSwitchOnPlatingCell3Rotation,
            PlatingCell4RotationSwitchOn,
            WaitSwitchOnPlatingCell4Rotation,
            PlatingCell12VerticalSwitchOn,
            WaitSwitchOnPlatingCell12Vertical,
            PlatingCell34VerticalSwitchOn,
            WaitSwitchOnPlatingCell34Vertical,
            SwitchOnSRD1,
            WaitSwitchOnSRD1,
            SwitchOnSRD2,
            WaitSwitchOnSRD2,
            End
        }
        #region 内部变量
        private SafetyDevice _device;
        private JetAxisBase _vpwCell1Rotation;
        private JetAxisBase _vpwCell2Rotation;
        private JetAxisBase _platingCell1Rotation;
        private JetAxisBase _platingCell2Rotation;
        private JetAxisBase _platingCell3Rotation;
        private JetAxisBase _platingCell4Rotation;
        private JetAxisBase _platingCell1_2Vertical;
        private JetAxisBase _platingCell3_4Vertical;
        private JetAxisBase _srd1Rotation;
        private JetAxisBase _srd2Rotation;
        #endregion
        /// <summary>
        /// 构造函数
        /// </summary>
        /// <param name="module"></param>
        public SafetyAllOnRoutine(string module) : base(module)
        {
            
        }
        /// <summary>
        /// 中止
        /// </summary>
        public void Abort()
        {
            Runner.Stop($"Safety All On Abort");
        }
        /// <summary>
        /// 监控
        /// </summary>
        /// <returns></returns>
        public RState Monitor()
        {
            Runner.RunIf(SafetyAllOnStep.VpwCell1SwitchOn,ModuleHelper.IsInstalled(ModuleName.VPW1),()=>SwitchOnAxis(_vpwCell1Rotation),_delay_1ms)
                .WaitWithStopConditionIf(SafetyAllOnStep.WaitSwitchOnVpwCell1, ModuleHelper.IsInstalled(ModuleName.VPW1),
                    ()=>CheckSwitchOn(_vpwCell1Rotation),()=>CheckSwitchOnStopStatus(_vpwCell1Rotation))
                
                .RunIf(SafetyAllOnStep.VpwCell2SwitchOn, ModuleHelper.IsInstalled(ModuleName.VPW2), () => SwitchOnAxis(_vpwCell2Rotation), _delay_1ms)
                .WaitWithStopConditionIf(SafetyAllOnStep.WaitSwitchOnVpwCell2, ModuleHelper.IsInstalled(ModuleName.VPW2),
                    () => CheckSwitchOn(_vpwCell2Rotation), () => CheckSwitchOnStopStatus(_vpwCell2Rotation))
                
                .RunIf(SafetyAllOnStep.PlatingCell12VerticalSwitchOn, ModuleHelper.IsInstalled(ModuleName.PlatingCell1), () => SwitchOnAxis(_platingCell1_2Vertical), _delay_1ms)
                .WaitWithStopConditionIf(SafetyAllOnStep.WaitSwitchOnPlatingCell12Vertical, ModuleHelper.IsInstalled(ModuleName.PlatingCell1),
                    () => CheckSwitchOn(_platingCell1_2Vertical), () => CheckSwitchOnStopStatus(_platingCell1_2Vertical))

                .RunIf(SafetyAllOnStep.PlatingCell34VerticalSwitchOn, ModuleHelper.IsInstalled(ModuleName.PlatingCell3), () => SwitchOnAxis(_platingCell3_4Vertical), _delay_1ms)
                .WaitWithStopConditionIf(SafetyAllOnStep.WaitSwitchOnPlatingCell34Vertical, ModuleHelper.IsInstalled(ModuleName.PlatingCell3),
                    () => CheckSwitchOn(_platingCell3_4Vertical), () => CheckSwitchOnStopStatus(_platingCell3_4Vertical))

                .RunIf(SafetyAllOnStep.PlatingCell1RotationSwitchOn, ModuleHelper.IsInstalled(ModuleName.PlatingCell1), () => SwitchOnAxis(_platingCell1Rotation), _delay_1ms)
                .WaitWithStopConditionIf(SafetyAllOnStep.WaitSwitchOnPlatingCell1Rotation, ModuleHelper.IsInstalled(ModuleName.PlatingCell1),
                    () => CheckSwitchOn(_platingCell1Rotation), () => CheckSwitchOnStopStatus(_platingCell1Rotation))
                       
                .RunIf(SafetyAllOnStep.PlatingCell2RotationSwitchOn, ModuleHelper.IsInstalled(ModuleName.PlatingCell2), () => SwitchOnAxis(_platingCell2Rotation), _delay_1ms)
                .WaitWithStopConditionIf(SafetyAllOnStep.WaitSwitchOnPlatingCell2Rotation, ModuleHelper.IsInstalled(ModuleName.PlatingCell2),
                    () => CheckSwitchOn(_platingCell2Rotation), () => CheckSwitchOnStopStatus(_platingCell2Rotation))

                .RunIf(SafetyAllOnStep.PlatingCell3RotationSwitchOn, ModuleHelper.IsInstalled(ModuleName.PlatingCell3), () => SwitchOnAxis(_platingCell3Rotation), _delay_1ms)
                .WaitWithStopConditionIf(SafetyAllOnStep.WaitSwitchOnPlatingCell3Rotation, ModuleHelper.IsInstalled(ModuleName.PlatingCell3),
                    () => CheckSwitchOn(_platingCell3Rotation), () => CheckSwitchOnStopStatus(_platingCell3Rotation))

                .RunIf(SafetyAllOnStep.PlatingCell4RotationSwitchOn, ModuleHelper.IsInstalled(ModuleName.PlatingCell4), () => SwitchOnAxis(_platingCell4Rotation), _delay_1ms)
                .WaitWithStopConditionIf(SafetyAllOnStep.WaitSwitchOnPlatingCell4Rotation, ModuleHelper.IsInstalled(ModuleName.PlatingCell4),
                    () => CheckSwitchOn(_platingCell4Rotation), () => CheckSwitchOnStopStatus(_platingCell4Rotation))

                .RunIf(SafetyAllOnStep.SwitchOnSRD1, ModuleHelper.IsInstalled(ModuleName.SRD1), () => SwitchOnAxis(_srd1Rotation), _delay_1ms)
                .WaitWithStopConditionIf(SafetyAllOnStep.WaitSwitchOnSRD1, ModuleHelper.IsInstalled(ModuleName.SRD1),
                    () => CheckSwitchOn(_srd1Rotation), () => CheckSwitchOnStopStatus(_srd1Rotation))

                .RunIf(SafetyAllOnStep.SwitchOnSRD2, ModuleHelper.IsInstalled(ModuleName.SRD2), () => SwitchOnAxis(_srd2Rotation), _delay_1ms)
                .WaitWithStopConditionIf(SafetyAllOnStep.WaitSwitchOnSRD2, ModuleHelper.IsInstalled(ModuleName.SRD2),
                    () => CheckSwitchOn(_srd2Rotation), () => CheckSwitchOnStopStatus(_srd2Rotation))

                .End(SafetyAllOnStep.End, NullFun, _delay_1ms);

            return Runner.Status;
        }
        /// <summary>
        /// 电机SwitchOn
        /// </summary>
        /// <param name="axis"></param>
        /// <returns></returns>
        private bool SwitchOnAxis(JetAxisBase axis)
        {
            return axis.SwitchOn();
        }
        /// <summary>
        /// 检验电机是否上电
        /// </summary>
        /// <param name="axis"></param>
        /// <returns></returns>
        private bool CheckSwitchOn(JetAxisBase axis) 
        {
            return axis.IsSwitchOn && axis.Status == RState.End;
        }

        /// <summary>
        /// 检验电机上电是否异常
        /// </summary>
        /// <param name="axis"></param>
        /// <returns></returns>
        private bool CheckSwitchOnStopStatus(JetAxisBase axis)
        {
            return axis.Status == RState.Failed;
        }
        /// <summary>
        /// 启动
        /// </summary>
        /// <param name="objs"></param>
        /// <returns></returns>
        public RState Start(params object[] objs)
        {
            _device = DEVICE.GetDevice<SafetyDevice>(Module);
            _vpwCell1Rotation = DEVICE.GetDevice<JetAxisBase>($"{ModuleName.VPW1}.Rotation");
            _vpwCell2Rotation = DEVICE.GetDevice<JetAxisBase>($"{ModuleName.VPW2}.Rotation");
            _platingCell1Rotation = DEVICE.GetDevice<JetAxisBase>($"{ModuleName.PlatingCell1}.Rotation");
            _platingCell2Rotation = DEVICE.GetDevice<JetAxisBase>($"{ModuleName.PlatingCell2}.Rotation");
            _platingCell3Rotation = DEVICE.GetDevice<JetAxisBase>($"{ModuleName.PlatingCell3}.Rotation");
            _platingCell4Rotation = DEVICE.GetDevice<JetAxisBase>($"{ModuleName.PlatingCell4}.Rotation");
            _platingCell1_2Vertical = DEVICE.GetDevice<JetAxisBase>($"PlatingCell1_2.Vertical");
            _platingCell3_4Vertical = DEVICE.GetDevice<JetAxisBase>($"PlatingCell3_4.Vertical");
            _srd1Rotation = DEVICE.GetDevice<JetAxisBase>($"{ModuleName.SRD1}.Rotation");
            _srd2Rotation = DEVICE.GetDevice<JetAxisBase>($"{ModuleName.SRD2}.Rotation");
            return Runner.Start(Module, $"Safety All On");
        }
    }
}