PunkHPX8/PunkHPX8_RT/Modules/PlatingCell/PlatingCellVerticalInitializeRoutine.cs

using Aitex.Core.RT.Device;
using Aitex.Core.RT.Log;
using Aitex.Core.RT.Routine;
using Aitex.Core.RT.SCCore;
using MECF.Framework.Common.Persistent.Reservoirs;
using MECF.Framework.Common.RecipeCenter;
using MECF.Framework.Common.Routine;
using MECF.Framework.Common.ToolLayout;
using PunkHPX8_Core;
using PunkHPX8_RT.Devices.AXIS;
using PunkHPX8_RT.Devices.PlatingCell;
using PunkHPX8_RT.Devices.Reservoir;
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 PlatingCellVerticalInitializeRoutine : RoutineBase, IRoutine
    {
        private enum InitializeStep
        {
            VerticalHome,
            VerticalHomeCheck,
            GoToLoad,
            GoToLoadCheck,
            End
        }

        #region 内部变量
        /// <summary>
        /// vertical axis
        /// </summary>
        private JetAxisBase _verticalAxis; 
        #endregion

        /// <summary>
        /// 构造函数
        /// </summary>
        /// <param name="module"></param>
        public PlatingCellVerticalInitializeRoutine(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(InitializeStep.VerticalHome, Home, NullFun, 100)
                .WaitWithStopCondition(InitializeStep.VerticalHomeCheck, CheckVerticalPositionStatus, CheckVerticalPositionRunStop)
                .Run(InitializeStep.GoToLoad, VerticalGotoLoad, 100)
                .WaitWithStopCondition(InitializeStep.GoToLoadCheck, CheckVerticalPositionStatus, CheckVerticalPositionRunStop)
                .End(InitializeStep.End, NullFun, _delay_1ms);
            return Runner.Status;
        }
        /// <summary>
        /// vertical 运动到Load位置
        /// </summary>
        /// <returns></returns>
        private bool VerticalGotoLoad()
        {
            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("Load", true);

            }
            else
            {
                LOG.WriteLog(eEvent.ERR_PLATINGCELL, Module, "vertical axis is null");
                return false;
            }   
        }
        /// <summary>
        /// Home
        /// </summary>
        /// <returns></returns>
        private bool Home()
        {
            if (_verticalAxis != null)
            {
                if (!_verticalAxis.IsSwitchOn)
                {
                    LOG.WriteLog(eEvent.ERR_PLATINGCELL, Module, "Vertical is not Power On");
                    return false;
                }
                return _verticalAxis.Home();

            }
            else
            {
                LOG.WriteLog(eEvent.ERR_PLATINGCELL, Module, "Verticel 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 || _verticalAxis.Status == RState.Timeout;
        }
        /// <summary>
        /// 启动
        /// </summary>
        /// <param name="objs"></param>
        /// <returns></returns>
        public RState Start(params object[] objs)
        {
            _verticalAxis = DEVICE.GetDevice<JetAxisBase>($"{Module}.Vertical");
            return Runner.Start(Module, "Start PlatingCell Vertical Initialize");
        }
    }
}