FurnaceELK/Furnace/FurnaceRT/Equipments/WaferRobots/WaferRobotHome.cs

using Aitex.Core.Common;
using Aitex.Core.RT.Device;
using Aitex.Core.RT.Event;
using Aitex.Core.RT.Routine;
using Aitex.Core.RT.SCCore;
using Aitex.Sorter.Common;
using MECF.Framework.Common.Device.Bases;
using MECF.Framework.Common.Equipment;
using MECF.Framework.Common.SubstrateTrackings;
using MECF.Framework.RT.EquipmentLibrary.HardwareUnits.Robot;
using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Threading.Tasks;
using FurnaceRT.Equipments.Systems;

namespace FurnaceRT.Equipments.WaferRobots
{
    public class WaferRobotHome : ModuleRoutine, IRoutine
    {
        enum RoutineStep
        {
            SetCommunication,
            RobotReset,
            RobotSetServoOn,
            SetLoadArm1,
            SetLoadArm2,
            Home,
            CheckLoad1,
            CheckLoad2,
            SetSpeed,
            RobotRequestWaferPresent1,
            RobotRequestWaferPresent2,
            UpdateWaferInfoByRobotSensor,
            Delay,
            CheckRobotIsReady,
        }

        private WaferRobotModule _waferRobotModule;
        private int _timeout = 0;
        private int _speed = 1;

        public WaferRobotHome(WaferRobotModule waferRobotModule)
        {
            _waferRobotModule = waferRobotModule;
            Module = waferRobotModule.Module;

            Name = "Home";
        }

        public Result Start(params object[] objs)
        {
            Reset();
            _timeout = SC.GetValue<int>($"{Module}.HomeTimeout");

            _speed = SC.GetValue<int>($"{Module}.RobotSpeed");

            _waferRobotModule.RobotHomeFailAlarm.RetryMessage = (int)WaferRobotModule.MSG.Home;
            _waferRobotModule.RobotHomeTimeoutAlarm.RetryMessage = (int)WaferRobotModule.MSG.Home;
            _waferRobotModule.SetServoOnTimeoutAlarm.RetryMessage = (int)WaferRobotModule.MSG.Home;
            _waferRobotModule.CheckLoadTimeoutAlarm.RetryMessage = (int)WaferRobotModule.MSG.Home;
            _waferRobotModule.SetSpeedTimeoutAlarm.RetryMessage = (int)WaferRobotModule.MSG.Home;
            _waferRobotModule.RequestWaferPresentTimeoutAlarm.RetryMessage = (int)WaferRobotModule.MSG.Home;

            Notify($"Start");

            return Result.RUN;
        }
        public void Abort()
        {
            _waferRobotModule.Stop();
        }

        public override Result Monitor()
        {
            try
            {
                PauseRountine(_waferRobotModule.WaferRobotDevice.IsPause);
                if (_waferRobotModule.WaferRobotDevice.IsPause)
                    return Result.RUN;

                //RobotReset((int)RoutineStep.RobotReset, _timeout);
                //RobotSetServoOn((int)RoutineStep.RobotSetServoOn, _waferRobot, true, _timeout);

                RobotHome((int)RoutineStep.Home, _timeout);

                //RobotCheckLoad((int)RoutineStep.CheckLoad1, _waferRobot, Hand.Blade1, _timeout);

                //RobotCheckLoad((int)RoutineStep.CheckLoad2, _waferRobot, Hand.Blade2, _timeout);

                RobotSetSpeed((int)RoutineStep.SetSpeed, _speed, _timeout);

                RobotRequestWaferPresent((int)RoutineStep.RobotRequestWaferPresent1, Hand.Blade1, _timeout);

                //RobotRequestWaferPresent((int)RoutineStep.RobotRequestWaferPresent2, Hand.Blade2, _timeout);

                UpdateWaferInfoByRobotSensor((int)RoutineStep.UpdateWaferInfoByRobotSensor);


                CheckRobotIsReady((int)RoutineStep.CheckRobotIsReady, _timeout);


             

                if (SC.ContainsItem("System.AddRobotDelay") && SC.ContainsItem("System.RobotDelayTime") && SC.GetValue<bool>("System.AddRobotDelay"))
                    Delay((int)RoutineStep.Delay, float.Parse(SC.GetStringValue("System.RobotDelayTime")));
            }
            catch (RoutineBreakException)
            {
                return Result.RUN;
            }
            catch (RoutineFaildException ex)
            {
                return Result.FAIL;
            }

            _waferRobotModule.ResetRobotActionCommand();
            Notify("Finished");
            return Result.DONE;
        }
        private void CheckRobotIsReady(int id, int timeout)
        {
            Tuple<bool, Result> ret = ExecuteAndWait(id, () =>
            {
                return true;
            }, () =>
            {
                int count = 0;
                while (count < 3)
                {
                    if (_waferRobotModule.WaferRobotDevice.IsReady() && !_waferRobotModule.WaferRobotDevice.IsError)
                        count++;
                }

                if (count == 3)
                    return true;

                return false;
            }, timeout * 1000);

            if (ret.Item1)
            {
                if (ret.Item2 == Result.FAIL)
                {
                    throw (new RoutineFaildException());
                }
                else if (ret.Item2 == Result.TIMEOUT) //timeout
                {
                    throw (new RoutineFaildException());
                }
                else
                    throw (new RoutineBreakException());
            }
        }
        private void RobotReset(int id, int timeout)
        {
            Tuple<bool, Result> ret = ExecuteAndWait(id, () =>
            {
                Notify($"Set robot reset");

                _waferRobotModule.SetCassetteRobotReset();

                return true;
            }, () =>
            {
                if (_waferRobotModule.WaferRobotDevice.IsReady())
                {
                    return true;
                }

                return false;

            }, timeout * 1000);

            if (ret.Item1)
            {
                if (ret.Item2 == Result.FAIL)
                {
                    throw (new RoutineFaildException());
                }
                else if (ret.Item2 == Result.TIMEOUT) //timeout
                {
                    _waferRobotModule.RobotHomeTimeoutAlarm.Set($"timeout over {timeout} seconds");
                    throw (new RoutineFaildException());
                }
                else
                    throw (new RoutineBreakException());
            }
        }

        private void RobotSetServoOn(int id, Robot robot, bool isOn, int timeout)
        {
            Tuple<bool, Result> ret = ExecuteAndWait(id, () =>
            {
                Notify($"Set servo {(isOn ? "on":"off")}");

                if (!robot.SetServoOnOff(isOn, out string reason))
                {
                    _waferRobotModule.SetServoOnFailAlarm.Description = reason;
                    _waferRobotModule.SetServoOnFailAlarm.Set();
                    return false;
                }

                return true;
            }, () =>
            {
                if (!robot.Busy)
                {
                    return true;
                }

                return false;

            }, timeout * 1000);

            if (ret.Item1)
            {
                if (ret.Item2 == Result.FAIL)
                {
                    throw (new RoutineFaildException());
                }
                else if (ret.Item2 == Result.TIMEOUT) //timeout
                {
                    _waferRobotModule.SetServoOnTimeoutAlarm.Description = $"timeout over {timeout} seconds";
                    _waferRobotModule.SetServoOnTimeoutAlarm.Set();
                    throw (new RoutineFaildException());
                }
                else
                    throw (new RoutineBreakException());
            }
        }

        public void RobotSetLoad(int id, Robot robot, Hand hand, int timeout)
        {
            Tuple<bool, Result> ret = ExecuteAndWait(id, () =>
            {
                Notify($"Set default load {hand}");

                if (!robot.SetLoad(hand, out string reason))
                {
                    Stop(reason);
                    return false;
                }

                return true;
            }, () =>
            {
                if (!robot.Busy)
                {
                    return true;
                }

                return false;

            }, timeout * 1000);

            if (ret.Item1)
            {
                if (ret.Item2 == Result.FAIL)
                {
                    throw (new RoutineFaildException());
                }
                else if (ret.Item2 == Result.TIMEOUT) //timeout
                {
                    Stop($"timeout over {timeout} seconds");
                    throw (new RoutineFaildException());
                }
                else
                    throw (new RoutineBreakException());
            }
        }
        public void RobotHome(int id, int timeout)
        {
            Tuple<bool, Result> ret = ExecuteAndWait(id, () =>
            {
                Notify("Execute home");

                if (!_waferRobotModule.SetWaferRobotHome(out string reason))
                {
                    //_waferRobotModule.RobotHomeFailAlarm.Description = reason;
                    _waferRobotModule.RobotHomeFailAlarm.Set(reason);
                    return false;
                }

                return true;
            }, () =>
            {
                if (_waferRobotModule.WaferRobotDevice.IsReady() && !_waferRobotModule.WaferRobotDevice.IsError)
                {
                    return true;
                }

                return false;

            }, timeout * 1000);

            if (ret.Item1)
            {
                if (ret.Item2 == Result.FAIL)
                {
                    throw (new RoutineFaildException());
                }
                else if (ret.Item2 == Result.TIMEOUT) //timeout
                {
                    _waferRobotModule.RobotHomeTimeoutAlarm.Description = $"timeout over {timeout} seconds";
                    _waferRobotModule.RobotHomeTimeoutAlarm.Set();
                    throw (new RoutineFaildException());
                }
                else
                    throw (new RoutineBreakException());
            }
        }
        public void RobotCheckLoad(int id, Robot robot, Hand hand, int timeout)
        {
            Tuple<bool, Result> ret = ExecuteAndWait(id, () =>
            {
                Notify("Check load");

                if (!robot.CheckLoad(hand, out string reason))
                {
                    _waferRobotModule.CheckLoadFailAlarm.Description = reason;
                    _waferRobotModule.CheckLoadFailAlarm.Set();
                    return false;
                }

                return true;
            }, () =>
            {
                if (!robot.Busy)
                {
                    return true;
                }

                return false;

            }, timeout * 1000);

            if (ret.Item1)
            {
                if (ret.Item2 == Result.FAIL)
                {
                    throw (new RoutineFaildException());
                }
                else if (ret.Item2 == Result.TIMEOUT) //timeout
                {
                    _waferRobotModule.CheckLoadTimeoutAlarm.Description = $"timeout over {timeout} seconds";
                    _waferRobotModule.CheckLoadTimeoutAlarm.Set();
                    throw (new RoutineFaildException());
                }
                else
                    throw (new RoutineBreakException());
            }
        }

        public void RobotSetSpeed(int id, int speed, int timeout)
        {
            Tuple<bool, Result> ret = ExecuteAndWait(id, () =>
            {
                if (speed > 3 || speed < 1)
                    speed = 1;

                Notify($"set speed to {speed}");

                if (!_waferRobotModule.SetSpeed(speed, out string reason))
                {
                    //_waferRobotModule.SetSpeedFailAlarm.Description = reason;
                    _waferRobotModule.SetSpeedFailAlarm.Set(reason);
                    return false;
                }

                return true;
            }, () =>
            {
                if (_waferRobotModule.WaferRobotDevice.IsReady() && !_waferRobotModule.WaferRobotDevice.IsError)
                {
                    return true;
                }

                return false;

            }, timeout * 1000);

            if (ret.Item1)
            {
                if (ret.Item2 == Result.FAIL)
                {
                    throw (new RoutineFaildException());
                }
                else if (ret.Item2 == Result.TIMEOUT) //timeout
                {
                    //_waferRobotModule.SetSpeedTimeoutAlarm.Description = $"timeout over {timeout} seconds";
                    _waferRobotModule.SetSpeedTimeoutAlarm.Set($"timeout over {timeout} seconds");
                    throw (new RoutineFaildException());
                }
                else
                    throw (new RoutineBreakException());
            }
        }

        private void RobotRequestWaferPresent(int id, Hand hand, int timeout)
        {
            Tuple<bool, Result> ret = ExecuteAndWait(id, () =>
            {
                Notify("request wafer present");

                if (!_waferRobotModule.RequestWaferPresent(hand, out string reason))
                {
                    _waferRobotModule.RequestWaferPresentFailAlarm.Description = reason;
                    _waferRobotModule.RequestWaferPresentFailAlarm.Set();
                    return false;
                }

                return true;
            }, () =>
            {
                if (_waferRobotModule.WaferRobotDevice.IsReady() && !_waferRobotModule.WaferRobotDevice.IsError)
                {
                    return true;
                }

                return false;

            }, timeout * 1000);

            if (ret.Item1)
            {
                if (ret.Item2 == Result.FAIL)
                {
                    throw (new RoutineFaildException());
                }
                else if (ret.Item2 == Result.TIMEOUT) //timeout
                {
                    //_waferRobotModule.RequestWaferPresentTimeoutAlarm.Description = $"timeout over {timeout} seconds";
                    _waferRobotModule.RequestWaferPresentTimeoutAlarm.Set($"timeout over {timeout} seconds");
                    throw (new RoutineFaildException());
                }
                else
                    throw (new RoutineBreakException());
            }
        }

        protected void UpdateWaferInfoByRobotSensor(int id)
        {
            Tuple<bool, Result> ret = Execute(id, () => {
                Notify($"Update wafer info by robot wafer present");

                if (SC.GetValue<bool>("System.IsSimulatorMode"))
                    return true;

                if (_waferRobotModule.WaferRobotDevice.IsWaferPresenceOnBlade1 && WaferManager.Instance.CheckNoWafer(_waferRobotModule.Module, 0))
                {
                    EV.PostInfoLog(Module, "Wafer Robot sensor found wafer on blade 1");
                    WaferManager.Instance.CreateWafer(ModuleHelper.Converter(_waferRobotModule.Module), 0, WaferStatus.Normal);
                }

                if (!_waferRobotModule.WaferRobotDevice.IsWaferPresenceOnBlade1 && WaferManager.Instance.CheckHasWafer(_waferRobotModule.Module, 0))
                {
                    EV.PostInfoLog(Module, "Wafer Robot sensor no wafer on blade 1");
                    WaferManager.Instance.DeleteWafer(ModuleHelper.Converter(_waferRobotModule.Module), 0);
                }

                if (_waferRobotModule.WaferRobotDevice.IsWaferPresenceOnBlade2 && WaferManager.Instance.CheckNoWafer(_waferRobotModule.Module, 1))
                {
                    EV.PostInfoLog(Module, "Wafer Robot sensor found wafer on blade 2");
                    WaferManager.Instance.CreateWafer(ModuleHelper.Converter(_waferRobotModule.Module), 1, WaferStatus.Normal);
                }

                if (!_waferRobotModule.WaferRobotDevice.IsWaferPresenceOnBlade2 && WaferManager.Instance.CheckHasWafer(_waferRobotModule.Module, 1))
                {
                    EV.PostInfoLog(Module, "Wafer Robot sensor no wafer on blade 2");
                    WaferManager.Instance.DeleteWafer(ModuleHelper.Converter(_waferRobotModule.Module), 1);
                }

                if (_waferRobotModule.WaferRobotDevice.IsWaferPresenceOnBlade3 && WaferManager.Instance.CheckNoWafer(_waferRobotModule.Module, 2))
                {
                    EV.PostInfoLog(Module, "Wafer Robot sensor found wafer on blade 3");
                    WaferManager.Instance.CreateWafer(ModuleHelper.Converter(_waferRobotModule.Module), 2, WaferStatus.Normal);
                }

                if (!_waferRobotModule.WaferRobotDevice.IsWaferPresenceOnBlade3 && WaferManager.Instance.CheckHasWafer(_waferRobotModule.Module, 2))
                {
                    EV.PostInfoLog(Module, "Wafer Robot sensor no wafer on blade 3");
                    WaferManager.Instance.DeleteWafer(ModuleHelper.Converter(_waferRobotModule.Module), 2);
                }

                if (_waferRobotModule.WaferRobotDevice.IsWaferPresenceOnBlade4 && WaferManager.Instance.CheckNoWafer(_waferRobotModule.Module, 3))
                {
                    EV.PostInfoLog(Module, "Wafer Robot sensor found wafer on blade 4");
                    WaferManager.Instance.CreateWafer(ModuleHelper.Converter(_waferRobotModule.Module), 3, WaferStatus.Normal);
                }

                if (!_waferRobotModule.WaferRobotDevice.IsWaferPresenceOnBlade4 && WaferManager.Instance.CheckHasWafer(_waferRobotModule.Module, 3))
                {
                    EV.PostInfoLog(Module, "Wafer Robot sensor no wafer on blade 4");
                    WaferManager.Instance.DeleteWafer(ModuleHelper.Converter(_waferRobotModule.Module), 3);
                }

                if (_waferRobotModule.WaferRobotDevice.IsWaferPresenceOnBlade5 && WaferManager.Instance.CheckNoWafer(_waferRobotModule.Module, 4))
                {
                    EV.PostInfoLog(Module, "Wafer Robot sensor found wafer on blade 5");
                    WaferManager.Instance.CreateWafer(ModuleHelper.Converter(_waferRobotModule.Module), 4, WaferStatus.Normal);
                }

                if (!_waferRobotModule.WaferRobotDevice.IsWaferPresenceOnBlade5 && WaferManager.Instance.CheckHasWafer(_waferRobotModule.Module, 4))
                {
                    EV.PostInfoLog(Module, "Wafer Robot sensor no wafer on blade 5");
                    WaferManager.Instance.DeleteWafer(ModuleHelper.Converter(_waferRobotModule.Module), 4);
                }

                return true;
            });

            if (ret.Item1)
            {
                throw (new RoutineBreakException());
            }
        }
        
    }
}