ELK/Furnace/FurnaceRT/Equipments/PMs/PMModuleRecipeExecutor.cs

using Aitex.Core.RT.Device;
using Aitex.Core.RT.Device.Unit;
using Aitex.Core.RT.Event;
using Aitex.Core.RT.Log;
using Aitex.Core.RT.ParameterCenter;
using Aitex.Core.Util;
using FurnaceRT.Devices;
using FurnaceRT.Equipments.Boats;
using FurnaceRT.Equipments.PMs.RecipeExecutions;
using FurnaceRT.Equipments.Systems;
using MECF.Framework.Common.Equipment;
using System.Collections.Generic;
using System.Diagnostics;
using System.IO;
using System.Linq;
using System.Xml;
using static Aitex.Core.RT.Device.Unit.IoBoat;

namespace FurnaceRT.Equipments.PMs
{
    public partial class PMModule
    {
        public bool IsMainRecipeComplete { get; set; }
        public bool IsHeaterProfile { get; set; }
        public bool IsHeaterProfileSuccess { get; set; }
        public bool IsBoatMoveToLoadPosition { get; private set; }
        public bool IsWaitBoatMoveComplete { get; private set; }
        private string _boatTargetPosition;
        private R_TRIG _profileTrig = new R_TRIG();
        public RecipeRunningInfo RecipeRunningInfo
        {
            get
            {
                return _recipeRunningInfo;
            }
        }

        public bool IsPaused { get; set; }//按了hold按键
        public bool IsHolded { get; set; }//按了hold按键之后，当前step执行完了
        public bool IsWait { get; set; }//等待wait条件的结束

        public void ResetToleranceChecker()
        {

        }

        public void OnProcessStart(string v1, string recipeName, bool v2)
        {

        }

        public void PauseRecipe(out string reason)
        {
            reason = string.Empty;
        }

        public bool CheckEndPoint()
        {
            return true;
        }

        public bool CheckAllDevicesStable(float v1, float v2, float v3, float v4, float v5, float v6, float v7, float v8, float v9)
        {
            return true;
        }

        public bool CheckEnableRunProcess(out string reason)
        {
            reason = string.Empty;
            return true;
        }

        public void AbortRunProcess(out string reason)
        {
            //GasSticks.ForEach(x => x.SetFlow(out _, 0, 0));

            reason = string.Empty;
        }
        private bool SetBoatManualMotion(object[] param)
        {
            if (param == null || param.Length < 1)
            {
                return false;
            }
            var paramArray = param[0].ToString().Split(';');
            var loaderCommand = paramArray[0].ToString();
            switch (loaderCommand.ToLower().Replace(" ", ""))
            {
                case "boatload":
                    if (paramArray.Length > 3)
                    {
                        var boat = Singleton<EquipmentManager>.Instance.Modules[ModuleName.Boat] as BoatModule;
                        if (!boat.CheckPrepareMove(out string reason))
                        {
                            boat.BoatZAxisMoveFailedForInterlock.Set(reason);
                            return false;
                        }
                        float.TryParse(paramArray[1], out float speed1);
                        float.TryParse(paramArray[2], out float speed2);
                        float.TryParse(paramArray[3], out float speed3);
                        ZAxisDevice.SetServoMoveTo("Position1", out _, speed1);
                    }
                    break;
                case "boatunload":
                    if (paramArray.Length > 3)
                    {
                        var boat = Singleton<EquipmentManager>.Instance.Modules[ModuleName.Boat] as BoatModule;
                        if (!boat.CheckPrepareMove(out string reason))
                        {
                            boat.BoatZAxisMoveFailedForInterlock.Set(reason);
                            return false;
                        }
                        float.TryParse(paramArray[1], out float speed1);
                        float.TryParse(paramArray[2], out float speed2);
                        float.TryParse(paramArray[3], out float speed3);
                        ZAxisDevice.SetServoMoveTo("Position3", out _, speed1);
                    }
                    break;
                case "boatloaderhome":
                    {
                        var boat = Singleton<EquipmentManager>.Instance.Modules[ModuleName.Boat] as BoatModule;
                        if (!boat.CheckPrepareMove(out string reason))
                        {
                            boat.BoatZAxisMoveFailedForInterlock.Set(reason);
                            return false;
                        }
                    }
                    ZAxisDevice.SetServoMoveTo("HomePosition", out _);
                    break;
                case "boatcap2":
                    if (paramArray.Length > 1)
                    {
                        var boat = Singleton<EquipmentManager>.Instance.Modules[ModuleName.Boat] as BoatModule;
                        if (!boat.CheckPrepareMove(out string reason))
                        {
                            boat.BoatZAxisMoveFailedForInterlock.Set(reason);
                            return false;
                        }
                        float.TryParse(paramArray[1], out float speed);
                        ZAxisDevice.SetServoMoveTo("CapPosition", out _, speed);
                    }
                    break;
                case "boatrotate":
                    if (paramArray.Length > 1)
                    {
                        float.TryParse(paramArray[1], out float speed);
                        RAxisDevice.SetServoMoveTo("CCW", out _, speed);
                    }
                    break;
                case "boatrotatestop"://r home
                    RAxisDevice.ServoStop();
                    RAxisDevice.SetServoHome();
                    break;
                case "stop(includer-axis)":
                    RAxisDevice.ServoStop();
                    break;
            }

            return true;
        }
        private bool SetValves(object[] param)
        {
            var stopwatch = new Stopwatch();
            stopwatch.Start();
            if (param == null || param.Length < 1)
            {
                return false;
            }
            var paramArray = param[0].ToString().Split(';');
            for (int i = 0; i < paramArray.Length; i++)
            {
                var item = paramArray[i];
                if (string.IsNullOrEmpty(item))
                    continue;
                var valveDatas = item.Split(',');
                if (valveDatas != null && valveDatas.Length > 1)
                {
                    var valveName = valveDatas[0];
                    var valveSet = valveDatas[1];
                    if (valveSet == "Continue")
                        continue;
                    bool.TryParse(valveSet, out bool set);
                    switch (valveName.ToUpper())
                    {
                        case "F2CLN":
                            IsF2ClnOn = set;
                            break;
                        case "HFCLN":
                            IsHFClnOn = set;
                            break;
                        case "HTR1":
                            //_HTR1Group.ForEach(x => x.SetEnable(set));
                            SetHTR1Enable(new object[1] { set });
                            break;
                        case "HTR2":
                            //_HTR2Group.ForEach(x => x.SetEnable(set));
                            SetHTR2Enable(new object[1] { set });
                            break;
                        case "HTR3":
                            SetHTR3Enable(new object[1] { set });
                            break;
                        case "DEPO":
                            SetDEPOEnable(new object[1] { set });
                            break;
                        case "DPR":
                            valveName = "ValveAV91";
                            if (_valves.Any(x => x.Name == valveName))
                            {
                                var valve = _valves.Find(x => x.Name == valveName);
                                if (valve != null)
                                    valve.TurnValve(set, out _);
                            }
                            break;
                        case "AGV":
                            valveName = "AGVPump";
                            if (_valves.Any(x => x.Name == valveName))
                            {
                                var valve = _valves.Find(x => x.Name == valveName);
                                if (valve != null)
                                    valve.TurnValve(set, out _);
                            }
                            break;
                        case "AGV2":
                            valveName = "AGV2Pump";
                            if (_valves.Any(x => x.Name == valveName))
                            {
                                var valve = _valves.Find(x => x.Name == valveName);
                                if (valve != null)
                                    valve.TurnValve(set, out _);
                            }
                            break;
                        case "MBP":
                        case "MBP1":
                        case "MBP2":
                        case "DP":
                            valveName = "BothPump";
                            if (_valves.Any(x => x.Name == valveName))
                            {
                                var valve = _valves.Find(x => x.Name == valveName);
                                if (valve != null)
                                    valve.TurnValve(set, out _);
                            }
                            break;
                        case "DP1":
                            valveName = "BothPump1";
                            if (_valves.Any(x => x.Name == valveName))
                            {
                                var valve = _valves.Find(x => x.Name == valveName);
                                if (valve != null)
                                    valve.TurnValve(set, out _);
                            }
                            break;
                        case "DP2":
                            valveName = "BothPump2";
                            if (_valves.Any(x => x.Name == valveName))
                            {
                                var valve = _valves.Find(x => x.Name == valveName);
                                if (valve != null)
                                    valve.TurnValve(set, out _);
                            }
                            break;
                        case "BWR":
                            valveName = "ValveBlowerPowerOn";
                            if (_valves.Any(x => x.Name == valveName))
                            {
                                var valve = _valves.Find(x => x.Name == valveName);
                                if (valve != null)
                                    valve.TurnValve(set, out _);
                            }
                            break;
                        default:
                            if (_valves.Any(x => x.Name == valveName))
                            {
                                var valve = _valves.Find(x => x.Name == valveName);
                                if (valve != null)
                                    valve.TurnValve(set, out _);
                            }
                            break;
                    }

                }
            }
            LOG.Write($"SetValves exec time {stopwatch.ElapsedMilliseconds}");

            return true;
        }
        private bool SetBoatMotion(object[] param)
        {
            var boatModule = Singleton<EquipmentManager>.Instance.Modules[ModuleName.Boat] as BoatModule;
            if (param == null || param.Length < 1 || boatModule == null)
            {
                return false;
            }
            var paramArray = param[0].ToString().Split(';');
            var loaderCommand = paramArray[0].ToString();
            IsWaitBoatMoveComplete = false;
            IsBoatMoveToLoadPosition = false;
            switch (loaderCommand.ToLower().Replace(" ", ""))
            {
                case "boatload":
                    if (paramArray.Length > 3)
                    {
                        float.TryParse(paramArray[1], out float speed1);
                        float.TryParse(paramArray[2], out float speed2);
                        float.TryParse(paramArray[3], out float speed3);
                        IsWaitBoatMoveComplete = true;
                        IsBoatMoveToLoadPosition = true;
                        _boatTargetPosition = BoatPosition.Position1.ToString();
                        //ZAxisDevice.SetServoMoveTo(_boatTargetPosition, out _, speed1);
                        boatModule.BoatMove("boatload", _boatTargetPosition, speed1);
                    }
                    break;
                case "boatunload":
                    if (paramArray.Length > 3)
                    {
                        float.TryParse(paramArray[1], out float speed1);
                        float.TryParse(paramArray[2], out float speed2);
                        float.TryParse(paramArray[3], out float speed3);
                        IsWaitBoatMoveComplete = true;
                        _boatTargetPosition = BoatPosition.Position3.ToString();
                        //ZAxisDevice.SetServoMoveTo(_boatTargetPosition, out _, speed1);
                        boatModule.BoatMove("boatunload", _boatTargetPosition, speed1);
                    }
                    break;
                case "boatloaderhome":
                    IsWaitBoatMoveComplete = true;
                    _boatTargetPosition = BoatPosition.HomePosition.ToString();
                    //ZAxisDevice.SetServoMoveTo(_boatTargetPosition, out _);
                    boatModule.BoatMove("boatloaderhome", _boatTargetPosition, 0);
                    break;
                case "boatcap2":
                    if (paramArray.Length > 1)
                    {
                        float.TryParse(paramArray[1], out float speed);
                        IsWaitBoatMoveComplete = true;
                        _boatTargetPosition = BoatPosition.CapPosition.ToString();
                        //ZAxisDevice.SetServoMoveTo(_boatTargetPosition, out _, speed);
                        boatModule.BoatMove("boatcap2", _boatTargetPosition, speed);
                    }
                    break;
                case "boatrotate":
                    if (paramArray.Length > 4)
                    {
                        float.TryParse(paramArray[4], out float speed);
                        //RAxisDevice.SetServoMoveTo("CCW", out _, speed);
                        //boatModule.BoatMove("boatrotate", "CCW", speed);
                        boatModule.RAxisDevice.SetServoMoveTo("CCW", out string reason, speed);//旋转直接发
                    }
                    break;
                case "boatrotatestop"://r home
                    IsWaitBoatMoveComplete = true;
                    _boatTargetPosition = "RotateHome";
                    //RAxisDevice.ServoStop();
                    //RAxisDevice.SetServoHome();
                    boatModule.BoatMove("boatrotatestop", _boatTargetPosition, 0);
                    break;
                case "stop(includer-axis)":
                    //RAxisDevice.ServoStop();
                    boatModule.BoatMove("stop(includer-axis)", "", 0);
                    break;
            }

            return true;
        }
        public bool CheckBoatWaitCondition(out string reason)
        {
            reason = "";
            if (!IsWaitBoatMoveComplete)
                return true;
            if (_boatTargetPosition == "RotateHome")
            {
                if (!RAxisDevice.IsHomeDone)
                {
                    reason = "rotate not home done";
                    return false;
                }
                return (Singleton<EquipmentManager>.Instance.Modules[ModuleName.Boat] as BoatModule).IsReady;
            }
            else
            {
                if (!ZAxisDevice.CheckServoAtPosition(_boatTargetPosition))
                {
                    reason = $"elevator not at {_boatTargetPosition}";
                    return false;
                }
                return (Singleton<EquipmentManager>.Instance.Modules[ModuleName.Boat] as BoatModule).IsReady;
            }
        }
        public bool CheckAPCWaitCondition(out string reason)
        {
            return APCDevice.CheckWaitCondition(out reason);
        }
        public bool CheckMFCWaitCondition(out string reason)
        {
            reason = "";
            var ret = true;
            foreach (var mfc in _processMFCs)
            {
                if (!mfc.CheckWaitCondition(out string info))
                {
                    reason += $"{info} \n";
                    ret = false;
                }
            }
            return ret;
        }
        public bool CheckHeaterWaitCondition(out string reason)
        {
            reason = "";
            var ret = true;
            foreach (var heater in _heaters)
            {
                if (!heater.CheckWaitCondition(out string info))
                {
                    reason += $"{info} \n";
                    ret = false;
                }
            }
            return ret;
        }
        public void AbortRecipe()
        {
            _processMFCs.ForEach(x => x.Terminate());
            _heaters.ForEach(x => x.Terminate());
            _valves.ForEach(x => x.Terminate());
            ZAxisDevice.ServoStop();
            RAxisDevice.ServoStop();
            APC.Terminate();
            AbortLeakCheck();
            IsWait = false;
        }
        public void HeaterEnable(bool isEnable)
        {
            _heaters.ForEach(x => x.SetEnable(isEnable));
        }
        public bool CheckHeaterProfileFinish(out string reason)
        {
            reason = "";
            if (_heaters.Any(x => x.IsProfileMode))
            {
                IsHeaterProfile = true;
                var ret = true;
                foreach (var heater in _heaters)
                {
                    if (!heater.CheckProfileFinish(out string info))
                    {
                        reason += $"{info} \n";
                        ret = false;
                    }
                }
                if (!ret)
                {
                    foreach (var heater in _heaters)
                    {
                        heater.IsProfileSuccess = false;//有任何一个没结束,所有都要接着判断
                    }

                    _profileTrig.CLK = false;
                    return false;//有任何一个没结束
                }

                if (HeaterU.IsProfileSuccess &&
                    HeaterCU.IsProfileSuccess &&
                    HeaterC.IsProfileSuccess &&
                    HeaterCL.IsProfileSuccess &&
                    HeaterL.IsProfileSuccess)
                {
                    IsHeaterProfileSuccess = true;
                    _profileTrig.CLK = true;
                    _heaters.ForEach(x => x.DeviceData.ProfileStatus = "Normal End");
                    _heaters.ForEach(x => x.ProfileFinish());
                    if (_profileTrig.Q)
                        SaveHeaterProflieToCorrectTable(_heaters[0].CurrentCorrectFileName, _heaters[0].CurrentCorrectIndex);//更新profile table
                }
                return true;
            }
            else
            {
                _heaters.ForEach(x => x.ProfileFinish());
                return true;//不处于profile模式
            }
        }
        private void SaveHeaterProflieToCorrectTable(string correctFileName, int tableIndex)
        {
            var content = ParameterFileManager.Instance.LoadParameter("Parameter\\TempCorrection", correctFileName, false);
            if (string.IsNullOrEmpty(content))
            {
                EV.PostWarningLog(Module, $"{correctFileName} heater temperature correct file is empty");
                return;
            }

            var doc = new XmlDocument();
            doc.LoadXml(content);

            XmlNodeList nodeSteps = doc.SelectNodes($"Aitex/TableParameterData/Module[@Name='']/Step");
            if (nodeSteps == null)
                nodeSteps = doc.SelectNodes($"Aitex/TableParameterData/Step");
            if (nodeSteps == null)
            {
                EV.PostWarningLog(Module, $"Invalid heater temperature correct file {correctFileName}");
                return;
            }

            if (tableIndex < 1 || nodeSteps.Count < tableIndex)
            {
                EV.PostWarningLog(Module, $"{correctFileName} heater temperature correct file table id={tableIndex} is invalid");
                return;
            }

            XmlElement targetStepNode = nodeSteps[tableIndex - 1] as XmlElement;
            if (targetStepNode != null)
            {
                var correctionDataString = targetStepNode.GetAttribute("CorrectionData");
                if (string.IsNullOrEmpty(correctionDataString))
                {
                    EV.PostWarningLog(Module, $"Heater temperature correct file is empty");
                    return;
                }

                var correctionDatas = correctionDataString.Split('|');
                if (correctionDatas.Length < 5)
                {
                    EV.PostWarningLog(Module, $"Heater temperature correct file data length is invalid");
                    return;
                }

                List<string> newCorrectionDatas = new List<string>();
                for (int i = 0; i < correctionDatas.Length; i++)
                {
                    var datas = correctionDatas[i];
                    var dataArry = datas.Split(';');
                    if (dataArry.Length < 6)
                    {
                        EV.PostWarningLog(Module, $"Heater temperature correct file data length is invalid");
                        return;
                    }

                    var correctParameter = new CorrectParameter();
                    foreach (var item in dataArry)
                    {
                        var itemArry = item.Split(':');
                        if (itemArry.Length < 2)
                        {
                            EV.PostWarningLog(Module, $"Heater temperature correct file data length is invalid");
                            return;
                        }
                        switch (itemArry[0].ToLower())
                        {
                            case "index":
                                int.TryParse(itemArry[1], out int no);
                                correctParameter.No = no;
                                break;
                            case "name":
                                correctParameter.Name = itemArry[1];
                                break;
                            case "profiletemp":
                                float.TryParse(itemArry[1], out float profiletemp);
                                correctParameter.ProfileTemp = profiletemp;
                                break;
                            case "profilecorrect":
                                float.TryParse(itemArry[1], out float profilecorrect);
                                correctParameter.ProfileCorrect = profilecorrect;
                                break;
                            case "cascadetccorrect":
                                float.TryParse(itemArry[1], out float cascadetccorrect);
                                correctParameter.CascadeTCCorrect = cascadetccorrect;
                                break;
                            case "profiletccalib":
                                float.TryParse(itemArry[1], out float profiletccalib);
                                correctParameter.ProfileTCCalib = profiletccalib;
                                break;
                        }
                    }

                    FurnaceRT.Devices.IoHeater heater = null;
                    if (_heaters.Count > i)
                    {
                        heater = _heaters[i];
                    }
                    if (heater != null)
                    {
                        newCorrectionDatas.Add($"Index:{correctParameter.No};Name:{correctParameter.Name};ProfileTemp:{heater.DeviceData.HeaterPV};ProfileCorrect:{(heater.DeviceData.HeaterPV - heater.DeviceData.CascadePV).ToString("f1")};CascadeTCCorrect:{heater.DeviceData.CascadePV};ProfileTCCalib:{correctParameter.ProfileTCCalib}");
                        heater.DeviceData.ProfileResult = correctParameter.ProfileCorrect;
                    }
                }

                if (newCorrectionDatas.Count == correctionDatas.Length)
                    targetStepNode.SetAttribute("CorrectionData", string.Join("|", newCorrectionDatas.ToArray()));

                LOG.Write($"Profile result {correctFileName}:{tableIndex} CorrectionData={string.Join("|", newCorrectionDatas.ToArray())}");

                //FileStream fileStream = new FileStream(ParameterFileManager.Instance.GenerateParameterFilePath("Parameter\\TempCorrection", correctFileName), FileMode.Create);
                //doc.Save(fileStream);
                using (FileStream fileStream = new FileStream(ParameterFileManager.Instance.GenerateParameterFilePath("Parameter\\TempCorrection", correctFileName), FileMode.Create))
                {
                    doc.Save(fileStream);
                }
            }

        }
        private bool SetAlarmConditionTable(object[] param)
        {
            if (param == null || param.Length < 1)
            {
                return false;
            }

            var array = param[0].ToString().Split(':');
            int.TryParse(array[0], out int index);
            lock (_alarmConditionLocker)
            {
                SetAlarmConditionTableIndex(index);
            }

            return true;
        }
    }
}