307 lines
12 KiB
C#
307 lines
12 KiB
C#
using Aitex.Core.RT.IOCore;
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using Aitex.Core.Util;
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namespace MECF.Framework.Simulator.Core.IoProviders
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{
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public enum E84Stage
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{
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WaitForStation,
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IDLE,
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TD0, //when CS_0 wait for VALID
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TA1, //CS_0 and VALID wait for L_REQ(U_REQ)
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TP1, //when TA1 and TR_REQ is set
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TA2, //
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TP2,
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TP3,
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TP4,
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TA3,
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TP5
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}
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public class SimulatorE84
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{
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#region sequence
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/*
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* for loading sequence:
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* (1) Active set CS_0 *ON* then set VALID *ON* for valid confirm
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* A:CS_0 *ON* VALID *ON*
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* (2) Passive equipment set L_REQ *ON* if the load port is ready for loading operation / U_REQ for unload
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* A:CS_0 *ON* VALID *ON*
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* P:L_REQ *ON \\ U_REQ *ON*
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* (3) After active equipment receive the L_REQ/U_REQ *ON* set TR_REQ *ON*
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* A:TR_TRQ *ON* CS_0 *ON* VALID *ON*
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* P:L_REQ *ON \\ U_REQ *ON*
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* (4) After passive equipment turn the READY *ON*, active equipment BUSY set to *ON* and proceed handoff operation
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* A:BUSY *ON* TR_TRQ *ON* CS_0 *ON* VALID *ON*
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* P:READY *ON* L_REQ *ON \\ U_REQ *ON*
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* (5) When passive equipment turns the L_REQ(U_REQ) signal *OFF* when carrier is done processing
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* A:BUSY *ON* TR_TRQ *ON* CS_0 *ON* VALID *ON*
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* P:READY *ON*
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* (6) After finish the operation and the active equipment is out of conflict area,
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* active equipment turns the BUSY signal *OFF*(make sure after the L_REQ(R_REQ) was *OFF*)
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* A:TR_TRQ *ON* CS_0 *ON* VALID *ON*
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* P:READY *ON*
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* (7) After the BUSY *OFF*, active equipment set the TR_REQ signal *OFF*
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* A:CS_0 *ON* VALID *ON*
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* P:READY *ON*
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* (8) When finish those above, active equipment set the COMPT *ON*
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* A:COMPT *ON* CS_0 *ON* VALID *ON*
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* P:READY *ON*
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* (9) After COMPT *ON*, passive equipment should set the READY *OFF*
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* A:COMPT *ON* CS_0 *ON* VALID *ON*
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* P:
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* (10) After READY *OFF*, active set the signal all off
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* A:
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* P:
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*/
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#endregion
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private readonly string _loadPortName;
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private PeriodicJob _thread;
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public readonly bool IsFloor;
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public bool IsLoading => Stage == E84Stage.TP2 && lReq;
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public bool IsUnLoading => Stage == E84Stage.TP2 && uReq;
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public string LoadPortName => _loadPortName;
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public bool LReq => lReq;
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public bool UReq => uReq;
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public bool Ready => ready;
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public bool HoAvbl => hoAvbl;
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public bool ES => es;
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public bool VA => va;
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public bool VS0 => vs0;
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public bool VS1 => vs1;
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//inputs
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private bool lReq;
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private bool uReq;
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private bool ready;
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private bool hoAvbl;
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private bool es;
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private bool va;
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private bool vs0;
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private bool vs1;
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private RD_TRIG _lReq = new RD_TRIG();
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private RD_TRIG _uReq = new RD_TRIG();
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private RD_TRIG _ready = new RD_TRIG();
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private RD_TRIG _hoAvbl = new RD_TRIG();
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private RD_TRIG _es = new RD_TRIG();
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private RD_TRIG _va = new RD_TRIG();
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private RD_TRIG _vs0 = new RD_TRIG();
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private RD_TRIG _vs1 = new RD_TRIG();
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//outputs
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public bool ON => IO.DI[$"DI_{_loadPortName}_ON"].Value;
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public bool VALID => IO.DI[$"DI_{_loadPortName}_VALID"].Value;
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public bool CS_0 => IO.DI[$"DI_{_loadPortName}_CS_0"].Value;
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public bool TR_REQ => IO.DI[$"DI_{_loadPortName}_TR_REQ"].Value;
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public bool BUSY => IO.DI[$"DI_{_loadPortName}_BUSY"].Value;
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public bool COMPT => IO.DI[$"DI_{_loadPortName}_COMPT"].Value;
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public bool CONT => IO.DI[$"DI_{_loadPortName}_CONT"].Value;
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public bool AM_AVBL => IO.DI[$"DI_{_loadPortName}_AM_AVBL"].Value;
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public E84Stage Stage;
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private readonly DeviceTimer _timerDelay = new DeviceTimer();
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public SimulatorE84(string loadPortName, bool isFloor)
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{
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_loadPortName = loadPortName;
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IsFloor = isFloor;
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_thread = new PeriodicJob(50, OnMonitor, _loadPortName, true);
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Stage = E84Stage.IDLE;
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if (isFloor)
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IO.DI[$"DI_{_loadPortName}_AM_AVBL"].Value = true;
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_thread.Start();
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}
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//DO_LP1_L_REQ Load Request
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//DO_LP1_U_REQ Unload Request
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//DO_LP1_READY Ready Signal
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//DO_LP1_HO_AVBL HandOff Available Always on
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//DO_LP1_ES Emergency Stop Always on
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//DO_LP1_VA Vehicle Arrive
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//DO_LP1_VS_O Carrier Stage 0
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//DO_LP1_VS_1 Carrier Stage 1
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private bool OnMonitor()
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{
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//inputs
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lReq = IO.DO[$"DO_{_loadPortName}_L_REQ"].Value;
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uReq = IO.DO[$"DO_{_loadPortName}_U_REQ"].Value;
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ready = IO.DO[$"DO_{_loadPortName}_READY"].Value;
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hoAvbl = IO.DO[$"DO_{_loadPortName}_HO_AVBL"].Value;
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es = IO.DO[$"DO_{_loadPortName}_ES"].Value;
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va = IO.DO[$"DO_{_loadPortName}_VA"].Value;
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vs0 = IO.DO[$"DO_{_loadPortName}_VS_O"].Value;
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vs1 = IO.DO[$"DO_{_loadPortName}_VS_1"].Value;
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_lReq.CLK = lReq;
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_uReq.CLK = uReq;
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_ready.CLK = ready;
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_hoAvbl.CLK = hoAvbl;
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_es.CLK = es;
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_va.CLK = va;
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_vs0.CLK = vs0;
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_vs1.CLK = vs1;
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//outputs
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if (IsFloor)
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{
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if (_es.T || _hoAvbl.T)
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{
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Stage = E84Stage.WaitForStation;
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IO.DI[$"DI_{_loadPortName}_CS_0"].Value = false;
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IO.DI[$"DI_{_loadPortName}_VALID"].Value = false;
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IO.DI[$"DI_{_loadPortName}_TR_REQ"].Value = false;
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IO.DI[$"DI_{_loadPortName}_BUSY"].Value = false;
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IO.DI[$"DI_{_loadPortName}_COMPT"].Value = false;
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}
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else if (_es.R || _hoAvbl.R)
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{
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Stage = E84Stage.IDLE;
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}
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switch(Stage)
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{
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case E84Stage.IDLE:
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{
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if ((lReq || uReq) && (vs0 || vs1))
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Stage = E84Stage.TD0;
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break;
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}
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case E84Stage.TD0:
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{
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if (va)
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Stage = E84Stage.TA1;
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break;
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}
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case E84Stage.TA1:
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{
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IO.DI[$"DI_{_loadPortName}_TR_REQ"].Value = true;
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Stage = E84Stage.TA2;
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break;
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}
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case E84Stage.TA2:
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{
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if (ready)
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Stage = E84Stage.TP2;
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break;
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}
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case E84Stage.TP2:
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IO.DI[$"DI_{_loadPortName}_BUSY"].Value = true;
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Stage = E84Stage.TP3;
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break;
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case E84Stage.TP3:
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{
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if (!uReq || !lReq)
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Stage = E84Stage.TP4;
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break;
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}
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case E84Stage.TP4:
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IO.DI[$"DI_{_loadPortName}_BUSY"].Value = false;
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IO.DI[$"DI_{_loadPortName}_TR_REQ"].Value = false;
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IO.DI[$"DI_{_loadPortName}_COMPT"].Value = true;
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Stage = E84Stage.TA3;
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break;
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case E84Stage.TA3:
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{
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if (!ready)
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Stage = E84Stage.TP5;
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break;
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}
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case E84Stage.TP5:
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IO.DI[$"DI_{_loadPortName}_CS_0"].Value = false;
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IO.DI[$"DI_{_loadPortName}_VALID"].Value = false;
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IO.DI[$"DI_{_loadPortName}_COMPT"].Value = false;
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Stage = E84Stage.IDLE;
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break;
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}
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}
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else
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{
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if (_es.T || _hoAvbl.T)
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{
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Stage = E84Stage.WaitForStation;
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IO.DI[$"DI_{_loadPortName}_CS_0"].Value = false;
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IO.DI[$"DI_{_loadPortName}_VALID"].Value = false;
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IO.DI[$"DI_{_loadPortName}_TR_REQ"].Value = false;
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IO.DI[$"DI_{_loadPortName}_BUSY"].Value = false;
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IO.DI[$"DI_{_loadPortName}_COMPT"].Value = false;
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}
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else if (_es.R || _hoAvbl.R)
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{
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Stage = E84Stage.IDLE;
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}
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switch(Stage)
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{
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case E84Stage.IDLE:
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{
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IO.DI[$"DI_{_loadPortName}_CS_0"].Value = true;
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Stage = E84Stage.TD0;
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break;
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}
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case E84Stage.TD0:
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{
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IO.DI[$"DI_{_loadPortName}_VALID"].Value = true;
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Stage = E84Stage.TA1;
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break;
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}
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case E84Stage.TA1:
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{
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if (lReq || uReq)
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Stage = E84Stage.TP1;
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break;
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}
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case E84Stage.TP1:
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IO.DI[$"DI_{_loadPortName}_TR_REQ"].Value = true;
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Stage = E84Stage.TA2;
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break;
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case E84Stage.TA2:
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{
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if (ready)
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Stage = E84Stage.TP2;
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break;
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}
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case E84Stage.TP2:
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IO.DI[$"DI_{_loadPortName}_BUSY"].Value = true;
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Stage = E84Stage.TP3;
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break;
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case E84Stage.TP3:
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{
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if (!uReq || !lReq)
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Stage = E84Stage.TP4;
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break;
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}
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case E84Stage.TP4:
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IO.DI[$"DI_{_loadPortName}_BUSY"].Value = false;
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IO.DI[$"DI_{_loadPortName}_TR_REQ"].Value = false;
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IO.DI[$"DI_{_loadPortName}_COMPT"].Value = true;
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Stage = E84Stage.TA3;
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break;
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case E84Stage.TA3:
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{
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if (!ready)
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Stage = E84Stage.TP5;
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break;
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}
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case E84Stage.TP5:
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IO.DI[$"DI_{_loadPortName}_CS_0"].Value = false;
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IO.DI[$"DI_{_loadPortName}_VALID"].Value = false;
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IO.DI[$"DI_{_loadPortName}_COMPT"].Value = false;
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Stage = E84Stage.IDLE;
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break;
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}
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}
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return true;
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}
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}
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} |