ZZ-EFEM/Jet/Jet_001_2P_Jet/EfemRT/Devices/Flipper/JetFlipper.cs

using Aitex.Core.RT.IOCore;
using Aitex.Core.RT.Log;
using Aitex.Core.Util;
using System;
using System.Xml;

namespace EFEM.RT.Devices.Flipper
{
    public class JetFlipper : FlipperBase
    {
        private DIAccessor _diIsOrigin;//是否在原点即0°-- IsOrigin==true  && IsHorizontal==true为0°
        private DIAccessor _diIsHorizontal;//是否在水平 -- IsOrigin==false && IsHorizontal==true为180°
        private DIAccessor _diIsTurnOK;//是否在旋转中
        private DIAccessor _diIsClampOK;//是否在Clamp中
        private DIAccessor _diTurnOverMotorAlarm;//无法旋转警告
        private DIAccessor _diEnableToRobot;//是否Robot可伸向
        private DIAccessor _diIsClampOpen;//是否打开Clamp(UnGrip)
        private DIAccessor _diIsClampClose;//是否关闭Clamp(Grip)
        private DIAccessor _diClampMotorAlarm;//无法夹紧警告

        private DOAccessor _doTurnOverRunMode;//旋转模式                         -- TurnHome_START_STOP==true && TurnOverRunMode=false旋转到0°
        private DOAccessor _doTurnHome_START_STOP;//开始/停止动作,取决于Run Mode -- TurnHome_START_STOP==true && TurnOverRunMode=true 旋转到180°
        private DOAccessor _doTurnOverPositionA;//转到预设角度A
        private DOAccessor _doTurnOverPositionB;//转到预设角度B
        private DOAccessor _doTurnOverPositionC;//转到预设角度C
        private DOAccessor _doClampRunMode;//Clamp模式                    -- ClampHome_START_STOP==true && ClampRunMode=false为Clamp关闭
        private DOAccessor _doClampHome_START_STOP;//Clamp开始/停止动作   -- ClampHome_START_STOP==true && ClampRunMode=true为Clamp打开
        private DOAccessor _doClampPositionA;//到预设位置A
        private DOAccessor _doClampPositionB;//到预设位置B
        private DOAccessor _doClampPositionC;//到预设位置C
        private DOAccessor _doClearClampAlarm;//清除Clamp警告
        private DOAccessor _doClearTurnOverAlarm;//清除TurnOver警告
        private DOAccessor _doTurnOverJOGP;//TurnOver JogP
        private DOAccessor _doTurnOverJOGN;//TurnOver JogN
        private DOAccessor _doTurnOverJOG0;//TurnOver 设置原点位
        private DOAccessor _doClampJOGP;//Clamp JogP
        private DOAccessor _doClampJOGN;//Clamp JogN
        private DOAccessor _doClampJOG0;//Clamp 设置原点位(前提ClampClosed)
        private bool _NotFlipped => _diIsOrigin.Value && _diIsHorizontal.Value;
        private string _module;
        private FlipperState _state;
        private DeviceTimer _timer;
        private bool _targetClampON;
        private string jogNP;

        public override bool IsBusy => !_diIsTurnOK.Value || !_diIsClampOK.Value;//旋转且夹紧完成
        public override bool IsError => !_diClampMotorAlarm.Value || !_diTurnOverMotorAlarm.Value;
        public override bool IsReadyForRobot => _diEnableToRobot.Value;//是否Robot可以向Flipper取放
        public override bool IsClampOpen => _diIsClampOpen.Value;//是否打开
        public override bool IsClampClose => _diIsClampClose.Value;//是否打开
        public bool IsFlipperOrigin => _diIsOrigin.Value && _diIsHorizontal.Value;//是否在原点（0°）
        public bool IsFlipperHorizontal => _diIsHorizontal.Value && !_diIsOrigin.Value;//是否在反面（180°）
        public bool IsFlipperOverOrigin => _diIsOrigin.Value;//是否反转（UI）

        public override FlipperState State => _state;

        public R_TRIG _trigError = new R_TRIG();

        //flipper的业务主要分为3件事
        //clamp
        //TurnOver
        //Home/Initialize
        public JetFlipper(string module, XmlElement node, string ioModule = "")
        {
            base.Module = (string.IsNullOrEmpty(node.GetAttribute("module")) ? module : node.GetAttribute("module"));
            base.Name = node.GetAttribute("id");
            base.Display = node.GetAttribute("display");
            base.DeviceID = node.GetAttribute("schematicId");

            //Name = module.ToString();
            _module = module;
            _state = FlipperState.Init;
            _diIsOrigin = ParseDiNode("diFlipperTurnOverOriginSensor", node, ioModule);
            _diIsHorizontal = ParseDiNode("diFlipperTurnOverHorizontalSensor", node, ioModule);
            _diIsTurnOK = ParseDiNode("diFlipperTurnOverMotorPosCompleted", node, ioModule);
            _diTurnOverMotorAlarm = ParseDiNode("diFlipperTurnOverMotorAlarm", node, ioModule);
            _diEnableToRobot = ParseDiNode("diFlipperEnableToRobot", node, ioModule);
            _diIsClampClose = ParseDiNode("diFlipperClampClosedSensor", node, ioModule);
            _diIsClampOpen = ParseDiNode("diFlipperClampOpenedSensor", node, ioModule);
            _diIsClampOK = ParseDiNode("diFlipperClampMotorPosCompleted", node, ioModule);
            _diClampMotorAlarm = ParseDiNode("diFlipperClampMotorAlarm", node, ioModule);
            _doTurnOverRunMode = ParseDoNode("doFlipperTurnOverMotorModeSW", node, ioModule);
            _doClampRunMode = ParseDoNode("doFlipperClampMotorModeSW", node, ioModule);
            _doTurnHome_START_STOP = ParseDoNode("doFlipperTurnOverStartStop", node, ioModule);
            _doClampHome_START_STOP = ParseDoNode("doFlipperClampSTARTSTOP", node, ioModule);
            _doTurnOverPositionA = ParseDoNode("doFlipperTurnOverSEL0", node, ioModule);
            _doTurnOverPositionB = ParseDoNode("doFlipperTurnOverSEL1", node, ioModule);
            _doTurnOverPositionC = ParseDoNode("doFlipperTurnOverSEL2", node, ioModule);
            _doClampPositionA = ParseDoNode("doFlipperClampSEL0", node, ioModule);
            _doClampPositionB = ParseDoNode("doFlipperClampSEL1", node, ioModule);
            _doClampPositionC = ParseDoNode("doFlipperClampSEL2", node, ioModule);
            _doClearClampAlarm = ParseDoNode("doFlipperClampPGMRES", node, ioModule);
            _doClearTurnOverAlarm = ParseDoNode("doFlipperTurnOverPgmres", node, ioModule);
            _doTurnOverJOGP = ParseDoNode("doFlipperTurnOverSEL0", node, ioModule);
            _doTurnOverJOGN = ParseDoNode("doFlipperTurnOverSEL1", node, ioModule);
            _doTurnOverJOG0 = ParseDoNode("doFlipperTurnOverSEL2", node, ioModule);
            _doClampJOGP = ParseDoNode("doFlipperClampSEL0", node, ioModule);
            _doClampJOGN = ParseDoNode("doFlipperClampSEL1", node, ioModule);
            _doClampJOG0 = ParseDoNode("doFlipperClampSEL2", node, ioModule);
            _timer = new DeviceTimer();

        }

        public override bool Home()
        {
            //在夹子关闭的状态下方可执行 否则在旋转过程中可能会导致wafer滑落
            //IO中已有interlock 是否拦两层？
            //整Home动作不能直接一个命令 应该分为两组 首先是闭合确认 然后是旋转home
            //LogObject.Error(_module.ToString(), $"flipper HOME:status = {_state}.");
            if (_state == FlipperState.Init || _state == FlipperState.Idle || _state == FlipperState.Error || _state == FlipperState.Gripping)
            {
                string reason = "";
                LOG.Info($"{_module.ToString()}: Home start");
                _state = FlipperState.Homing;
                return true;
                //超时时间60s
                //_timer.Start(60000);
            }
            else
            {
                _trigError.CLK = true;
                _state = FlipperState.Error;
                LOG.Error($"{_module.ToString()}: Home failed. Status:{_state}.");
                return false;
            }
        }
        public override void Monitor()
        {
            try
            {
                //超时就直接错误
                //if (_timer.IsTimeout())
                //    _state = FlipperState.Error;

                switch (State)
                {
                    case FlipperState.Gripping:
                        if (IsClampClose)
                        {
                            _doClampRunMode.SetValue(false, out _);
                            _doClampHome_START_STOP.SetValue(false, out _);
                            _state = FlipperState.Idle;
                            LOG.Info($"{_module.ToString()}: Grip is completed");
                        }
                        else
                        {
                            //_doClampHome_START_STOP.SetValue(true, out _);
                            _doClampRunMode.SetValue(false, out _);
                            _doClampHome_START_STOP.SetValue(true, out _);
                        }
                        break;
                    case FlipperState.UnGripping:
                        if (IsClampOpen)
                        {
                            _doClampRunMode.SetValue(false, out _);
                            _doClampHome_START_STOP.SetValue(false, out _);
                            _state = FlipperState.Idle;
                            LOG.Info($"{_module.ToString()}: UnGrip is completed");
                        }
                        else
                        {
                            _doClampRunMode.SetValue(true, out _);
                            _doClampHome_START_STOP.SetValue(true, out _);
                            //_doClampPositionA.SetValue(true, out _);
                        }
                        break;
                    case FlipperState.TurnOverJog:
                        if (jogNP == "P")
                        {
                            _doTurnOverJOGP.SetValue(true, out _);
                        }
                        else { _doTurnOverJOGN.SetValue(true, out _); }
                        break;
                    case FlipperState.TurnOverJogStop:
                        if (jogNP == "P")
                        {
                            _doTurnOverJOGP.SetValue(false, out _);
                        }
                        else
                        {
                            _doTurnOverJOGN.SetValue(false, out _);
                        }
                        _state = FlipperState.Idle;
                        break;
                    case FlipperState.Turning:
                        //_diIsHorizontal = true and _diIsOrigin = true: 0° 
                        //_diIsHorizontal = true and _diIsOrigin = false: 180°  
                        if (_diIsHorizontal.Value && !_diIsOrigin.Value)//180°
                        {
                            _doTurnOverRunMode.SetValue(false, out _);
                            _doTurnHome_START_STOP.SetValue(false, out _);
                            _state = FlipperState.Idle;
                        }
                        else
                        {
                            _doTurnOverRunMode.SetValue(true, out _);
                            _doTurnHome_START_STOP.SetValue(true, out _);
                        }
                        break;
                    case FlipperState.Homing:
                        if (_diIsHorizontal.Value && _diIsOrigin.Value)//0°为Home位置
                        {
                            _doTurnOverRunMode.SetValue(false, out _);
                            _doTurnHome_START_STOP.SetValue(false, out _);
                            _state = FlipperState.Idle;
                        }
                        else
                        {
                            _doTurnOverRunMode.SetValue(false, out _);
                            _doTurnHome_START_STOP.SetValue(true, out _);
                        }
                        break;
                    case FlipperState.Idle:
                        _doClampRunMode.SetValue(false, out _);
                        _doClampHome_START_STOP?.SetValue(false, out _);
                        _doTurnOverRunMode.SetValue(false, out _);
                        _doTurnHome_START_STOP.SetValue(false, out _);
                        break;
                    default:
                        break;
                }
                //如果是错误
                _trigError.CLK = State == FlipperState.Error;

                //DO_SafetytoFLP触发（待添加）
                if (_diIsHorizontal.Value && _diIsClampOpen.Value && _diEnableToRobot.Value)
                {
                    //+ Safety to FLP sw interlock逻辑
                }
            }
            catch (Exception ex)
            {
                LOG.Error($"{_module.ToString()}: {ex}");
            }
        }

        public override bool TurnOver()
        {
            if (_state == FlipperState.Idle && IsClampClose)
            {
                if (_NotFlipped)
                    _state = FlipperState.Turning;
                else
                    _state = FlipperState.Homing;

                LOG.Info($"{_module.ToString()}: Turn over start");
                return true;
                //超时时间60s
                //_timer.Start(60000);
            }
            else
            {
                if (_state != FlipperState.Idle)
                {
                    LOG.Error($"{_module.ToString()}: Turn over failed. Status:{_state}");
                }

                if (!IsClampClose)
                {
                    LOG.Error($"{_module.ToString()}: Turn over failed. Clamp is not closed");
                }
                _trigError.CLK = true;
                _state = FlipperState.Error;
                return false;
            }
        }

        public override bool Clamp(bool ClampOn)
        {
            _targetClampON = ClampOn;

            if (_state == FlipperState.Idle || _state == FlipperState.Init)
            {
                //关闭                
                if (ClampOn)
                {
                    LOG.Info($"{_module.ToString()}: Clamp start");
                    _state = FlipperState.Gripping;
                }
                //打开
                else
                {
                    LOG.Info($"{_module.ToString()}: UnClamp start");
                    _state = FlipperState.UnGripping;
                }
                return true;
            }
            else
            {
                LOG.Error($"{_module.ToString()}: Clamp failed. Status:{_state}");
                return false;
            }
        }

        public bool TrunOverJog(string NorP)
        {
            LOG.Info($"{_module.ToString()}: TurnOverJog-{NorP} start");
            jogNP = NorP;
            if (jogNP == "P")
            {
                _state = FlipperState.TurnOverJog;
            }
            else
            {
                _state = FlipperState.TurnOverJog;
            }
            return true;
        }
        public bool TrunOverJogStop(string NorP)
        {
            LOG.Info($"{_module.ToString()}: TurnOverJog-{NorP} stop");

            jogNP = NorP;
            if (jogNP == "P")
            {
                _state = FlipperState.TurnOverJogStop;
            }
            else
            {
                _state = FlipperState.TurnOverJogStop;
            }
            return true;
        }

        public override void Reset()
        {
            //错误条件下方可执行
            if (State == FlipperState.Error)
            {
                string error_reason;
                if (_doClearClampAlarm.SetValue(false, out error_reason) &&
                    _doClearTurnOverAlarm.SetValue(false, out error_reason))
                {
                    _trigError.RST = true;//清除错误
                    _state = FlipperState.Idle;//可以直接出状态
                }
                else
                {
                    LOG.Error($"{_module.ToString()}: Clear error failed. Reason:{error_reason}");
                }
            }

            _state = FlipperState.Idle;
        }

        public override void ShowAction()
        {
            LOG.Info($"{_module.ToString()}: TurnOver complete:{_diIsTurnOK.Value}, Clamp complete:{_diIsClampOK.Value}");
        }

        public bool IsEnableTransferWafer(out string reason)
        {
            reason = "";
            return true;
        }
    }
}