PunkHPX8/PunkHPX8_RT/Modules/PlatingCell/PlatingCellVerticalPositionRoutine.cs

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.Persistent.Reservoirs;
using MECF.Framework.Common.RecipeCenter;
using MECF.Framework.Common.Routine;
using MECF.Framework.Common.SubstrateTrackings;
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 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;
        /// <summary>
        /// 位置 
        /// </summary>
        private double _position;

        private string state;
        #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_2s)
                .Run(PositionStep.GotoPosition, VerticalGotoLoad, 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;
            }
            foreach (PlatingCellEntity item in _cellEntities)
            {
                if (!WaferManager.Instance.CheckHasWafer(item.Module, 0))
                {
                    return false;
                }
            }

            string firstCurrentStep = _cellEntities[0].CurrentStepState;
            foreach (var item in _cellEntities)
            {
                if (item.CurrentStepState != firstCurrentStep)
                {
                    return false;
                }
            }                 
            return true;
        }
        /// <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.ProfilePositionOperation(_position);

            }
            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)
        {
            _position=(double)objs[0];
            _matcher = ModuleMatcherManager.Instance.GetMatcherListByVertical(Module);
            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;
                }
                if (cellEntity.IsAuto)
                {
                    _cellEntities.Add(cellEntity);
                }
            }
            _verticalAxis = DEVICE.GetDevice<JetAxisBase>($"{Module}.Vertical");
            return Runner.Start(Module, "Start PlatingCell Vertical Initialize");
        }
    }
}