FurnaceELK/Furnace/FurnaceRT/Equipments/LPs/LoadPortModule.cs

using Aitex.Core.RT.DataCenter;
using Aitex.Core.RT.Device;
using Aitex.Core.RT.Device.Unit;
using Aitex.Core.RT.Event;
using Aitex.Core.RT.Fsm;
using Aitex.Core.RT.OperationCenter;
using Aitex.Core.RT.Routine;
using Aitex.Core.RT.SCCore;
using Aitex.Core.Utilities;
using Aitex.Sorter.Common;
using MECF.Framework.Common.Alarms;
using MECF.Framework.Common.Equipment;
using MECF.Framework.Common.Event;
using MECF.Framework.Common.Schedulers;
using MECF.Framework.Common.SubstrateTrackings;
using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Threading.Tasks;
using FurnaceRT.Equipments.Systems;
using Aitex.Core.Util;
using MECF.Framework.Common.Device.Bases;
using Aitex.Core.RT.Log;

namespace FurnaceRT.Equipments.LPs
{
    public partial class LoadPortModule : LoadPortModuleBase
    {
        public enum STATE
        {
            NotInstall,

            NotConnected,

            Init,
            Idle,

            Homing,
            Unloading,
            Loading,

            Error,

            InTransfer,
        }

        public enum MSG
        {
            Home,

            Disconnected,

            Connected,

            Reset,

            Abort,

            Error,

            Load,
            AutoLoad,
            Unload,
            AutoUnload,
            AutoLoadRetry,
            LoadRetry,
            UnloadRetry,
            AutoUnloadRetry,

            InTransfer,

            TransferComplete,

            ToInit,
        }

        public override bool IsReady
        {
            get { return FsmState == (int)STATE.Idle && CheckAllMessageProcessed(); }
        }

        public override bool IsError
        {
            get
            {
                return FsmState == (int)STATE.Error;
            }
        }

        public override bool IsInit
        {
            get { return FsmState == (int)STATE.Init; }
        }
        public event Action<string> OnEnterError;
        public string CurrentLotId { get; set; }
        public List<string> WaitLotId { get; set; }
        //public bool IsLoaded => SMIFDevice.IsLoaded;
        //public bool IsUnloaded => SMIFDevice.IsUnloaded;
        //public bool IsExtend => SMIFDevice.IsExtend;
        //public bool IsRetract => SMIFDevice.IsRetract;


        #region fields
        private LoadPortLoad _loadRoutine;
        private LoadPortAutoLoad _autoLoadRoutine;
        private LoadPortUnload _unloadRoutine;
        private LoadPortAutoUnload _autoUnloadRoutine;
        private LoadPortHome _homeRoutine;
        #endregion

        public LoadPortModule(ModuleName module) : base(SC.GetValue<int>("System.CassetteSlotCount"))
        {
            Name = module.ToString();

            Module = module.ToString();

            IsOnline = true;
        }
        public override bool Initialize()
        {
            InitRoutine();

            InitDevice();

            InitFsm();

            InitOp();

            InitData();

            InitAlarmEvent();

            Singleton<EventManager>.Instance.OnAlarmEvent += Instance_OnAlarmEvent;

            return base.Initialize();
        }
        private void Instance_OnAlarmEvent(EventItem item)
        {
            if (item != null && item.Level == EventLevel.Alarm && (item.Source == Name || item.Source == Module))
            {
                DEVICE.GetDevice<SignalTowerBase>("System.SignalTower")?.Reset();
                LOG.Write($"{item.Source} {item.EventEnum} {item.Description}\n");
                PostMsg(MSG.Error);
            }
        }
        private void InitRoutine()
        {
            _loadRoutine = new LoadPortLoad(this);
            _autoLoadRoutine = new LoadPortAutoLoad(this);
            _unloadRoutine = new LoadPortUnload(this);
            _autoUnloadRoutine = new LoadPortAutoUnload(this);
            _homeRoutine = new LoadPortHome(this);
        }
        private void InitData()
        {
            DATA.Subscribe($"{Module}.Status", () => StringFsmStatus);
            DATA.Subscribe($"{Module}.IsOnline", () => IsOnline);
            DATA.Subscribe($"{Module}.IsError", () => IsError);

            DATA.Subscribe($"{Name}.CurrentLotId", () => CurrentLotId);
            DATA.Subscribe($"{Name}.WaitLotId", () => WaitLotId);
            DATA.Subscribe($"{Name}.CarrierId", () => CarrierId);
        }

        private void InitOp()
        {
            OP.Subscribe($"{Module}.Home", (string cmd, object[] args) => CheckToPostMessage((int)MSG.Home));
            OP.Subscribe($"{Module}.Abort", (string cmd, object[] args) => CheckToPostMessage((int)MSG.Abort));
            OP.Subscribe($"{Module}.Load", (string cmd, object[] args) => CheckToPostMessage((int)MSG.Load));
            OP.Subscribe($"{Module}.Unload", (string cmd, object[] args) => CheckToPostMessage((int)MSG.Unload));
            OP.Subscribe($"{Module}.Reset", (string cmd, object[] args) => CheckToPostMessage((int)MSG.Reset));
            OP.Subscribe($"{Module}.ReadCarrierId", (string cmd, object[] args) => ReadCarrierId(args));
            OP.Subscribe($"{Module}.AlarmAction", (string cmd, object[] args) =>
            {
                Enum.TryParse(args[0].ToString(), out AlarmAction alarmAction);
                string eventName = null;
                if (args.Length > 1)
                    eventName = args[1].ToString();
                if (eventName != null)
                {
                    EV.ClearAlarmEvent(eventName);

                    var item = _triggeredAlarmList.FirstOrDefault(x => x.EventEnum == eventName);
                    if (item != null)
                    {
                        item.Reset();
                        _triggeredAlarmList.Remove(item);
                    }

                    if (item != null)
                    {
                        switch (alarmAction)
                        {
                            case AlarmAction.Retry:
                                {
                                    CheckToPostMessage((int)item.RetryMessage, item.RetryMessageParas);
                                }
                                break;
                            case AlarmAction.Abort:
                                {
                                    CheckToPostMessage((int)MSG.Abort);
                                }
                                break;
                            case AlarmAction.Clear:
                                {
                                    int alarmCount = 0;
                                    var alarms = EV.GetAlarmEvent();
                                    foreach (var alarm in alarms)
                                    {
                                        if (alarm.Level == EventLevel.Alarm && alarm.Source == Name)
                                            alarmCount++;
                                    }
                                    if (alarmCount == 0)
                                        CheckToPostMessage((int)MSG.Reset);
                                }
                                break;
                            case AlarmAction.Continue:
                                {
                                    int alarmCount = 0;
                                    var alarms = EV.GetAlarmEvent();
                                    foreach (var alarm in alarms)
                                    {
                                        if (alarm.Level == EventLevel.Alarm && alarm.Source == Name)
                                            alarmCount++;
                                    }
                                    if (alarmCount == 0)
                                        CheckToPostMessage((int)MSG.Reset);
                                }
                                break;
                        }
                    }
                }

                return true;
            });

        }

        private void InitFsm()
        {
            EnumLoop<STATE>.ForEach((item) =>
            {
                MapState((int)item, item.ToString());
            });

            EnumLoop<MSG>.ForEach((item) =>
            {
                MapMessage((int)item, item.ToString());
            });

            EnableFsm(100, IsInstalled ? STATE.Idle : STATE.NotInstall);

            //init
            Transition(STATE.Init, MSG.Home, FsmStartHome, STATE.Homing);
            Transition(STATE.InTransfer, MSG.Home, FsmStartHome, STATE.Homing);

            Transition(STATE.Idle, MSG.Abort, null, STATE.Idle);
            Transition(STATE.Idle, MSG.Reset, null, STATE.Idle);
            Transition(STATE.Init, MSG.Reset, null, STATE.Init);
            Transition(STATE.Error, MSG.Abort, null, STATE.Error);

            AnyStateTransition(MSG.ToInit, FsmToInit, STATE.Init);
            Transition(STATE.Error, MSG.Home, FsmStartHome, STATE.Homing);
            Transition(STATE.Idle, MSG.Home, FsmStartHome, STATE.Homing);
            Transition(STATE.Homing, FSM_MSG.TIMER, FsmMonitorHomeTask, STATE.Idle);
            Transition(STATE.Homing, MSG.Error, null, STATE.Init);
            Transition(STATE.Homing, MSG.Abort, FsmAbortTask, STATE.Init);

            Transition(STATE.Idle, MSG.InTransfer, null, STATE.InTransfer);
            Transition(STATE.InTransfer, MSG.InTransfer, null, STATE.InTransfer);
            Transition(STATE.InTransfer, MSG.TransferComplete, null, STATE.Idle);
            Transition(STATE.InTransfer, MSG.Abort, null, STATE.Idle);

            Transition(STATE.Idle, MSG.Abort, null, STATE.Idle);
            Transition(STATE.Idle, MSG.Reset, null, STATE.Idle);
            Transition(STATE.Error, MSG.Abort, null, STATE.Error);

            //Error
            AnyStateTransition(MSG.Error, FsmOnError, STATE.Error);
            Transition(STATE.Error, MSG.Reset, FsmReset, STATE.Idle);
            EnterExitTransition<STATE, FSM_MSG>(STATE.Error, FsmEnterError, FSM_MSG.NONE, FsmExitError);

            //load
            Transition(STATE.Error, MSG.LoadRetry, FsmStartLoad, STATE.Loading);
            Transition(STATE.Error, MSG.AutoLoadRetry, FsmStartAutoLoad, STATE.Loading);
            Transition(STATE.Idle, MSG.Load, FsmStartLoad, STATE.Loading);
            Transition(STATE.Idle, MSG.AutoLoad, FsmStartAutoLoad, STATE.Loading);
            Transition(STATE.Loading, FSM_MSG.TIMER, FsmMonitorLoadTask, STATE.Idle);
            Transition(STATE.Loading, MSG.Abort, FsmAbortTask, STATE.Idle);

            //unload
            Transition(STATE.Error, MSG.UnloadRetry, FsmStartUnload, STATE.Unloading);
            Transition(STATE.Error, MSG.AutoUnloadRetry, FsmStartAutoUnload, STATE.Unloading);
            Transition(STATE.Idle, MSG.Unload, FsmStartUnload, STATE.Unloading);
            Transition(STATE.Idle, MSG.AutoUnload, FsmStartAutoUnload, STATE.Unloading);
            Transition(STATE.Unloading, FSM_MSG.TIMER, FsmMonitorUnloadTask, STATE.Idle);
            Transition(STATE.Unloading, MSG.Abort, FsmAbortTask, STATE.Idle);
        }

        #region Service Functions
        public void Invoke(string cmd)
        {
            switch (cmd)
            {
                case "ReadID":
                    {
                        LPDevice.ReadCarrierID();
                        //CheckToPostMessage((int)MSG.ReadCarrierId);
                        break;
                    }
            }
        }
        public override bool Home(out string reason)
        {
            if (!CheckToPostMessage((int)MSG.Home))
            {
                reason = $"Can not home in {StringFsmStatus} status";
                return false;
            }
            reason = string.Empty;
            return true;
        }

        public override void Reset()
        {
            _triggeredAlarmList.ForEach(x => x.Reset());
            _triggeredAlarmList.Clear();
            if (IsError)
            {
                CheckToPostMessage((int)MSG.Reset);
            }
        }

        private bool FsmReset(object[] param)
        {
            return true;
        }

        public override bool PrepareTransfer(ModuleName robot, Hand blade, int targetSlot, EnumTransferType transferType, out string reason)
        {
            reason = string.Empty;
            return true;
        }

        public override bool TransferHandoff(ModuleName robot, Hand blade, int targetSlot, EnumTransferType transferType, out string reason)
        {
            reason = string.Empty;
            return true;
        }

        public override bool PostTransfer(ModuleName robot, Hand blade, int targetSlot, EnumTransferType transferType, out string reason)
        {
            reason = string.Empty;
            return true;
        }

        public override bool CheckReadyForTransfer(ModuleName robot, Hand blade, int targetSlot, EnumTransferType transferType,
            out string reason)
        {
            reason = string.Empty;
            if (!IsReady)
            {
                reason = $"{Module} status={StringFsmStatus} is busy";
                return false;
            }
            if (transferType == EnumTransferType.Place)
            {
                if (!LPDevice.IsFoupPresent || (SC.GetValue<bool>("System.IsSimulatorMode") && CarrierManager.Instance.CheckNoCarrier(Module, 0)))
                    return true;

                reason = $"foup present";
                return false;
            }

            if (transferType == EnumTransferType.Pick)
            {
                if (LPDevice.IsFoupPresent)
                    return true;

                reason = $"foup not present";
                return false;
            }
            if (!IsReleased)
            {
                reason = $"{Module} is not release";
                return false;
            }
            return false;
        }

        public override void NoteTransferStart(ModuleName robot, Hand blade, int targetSlot, EnumTransferType transferType)
        {

            CheckToPostMessage(MSG.InTransfer);
        }

        public override void NoteTransferStop(ModuleName robot, Hand blade, int targetSlot, EnumTransferType transferType)
        {
            if (FsmState == (int)STATE.InTransfer)
                CheckToPostMessage(MSG.TransferComplete);
        }

        private bool FsmMonitorLoadTask(object[] param)
        {
            Result ret = MonitorRoutine();
            if (ret == Result.FAIL)
            {
                PostMsg(MSG.Error);
                return false;
            }

            if (ret == Result.DONE)
                IsOnline = true;

            return ret == Result.DONE;
        }

        private bool FsmMonitorUnloadTask(object[] param)
        {
            Result ret = MonitorRoutine();
            if (ret == Result.FAIL)
            {
                PostMsg(MSG.Error);
                return false;
            }

            return ret == Result.DONE;
        }

        private bool FsmStartLoad(object[] param)
        {
            QueueRoutine.Clear();
            _loadRoutine.Init(param.Length > 0 ? (bool)param[0] : false);
            QueueRoutine.Enqueue(_loadRoutine);

            Result ret = QueueRoutine.Peek().Start();
            if (ret == Result.FAIL || ret == Result.DONE)
                return false;
            return ret == Result.RUN;
        }
        private bool FsmStartAutoLoad(object[] param)
        {
            QueueRoutine.Clear();
            _autoLoadRoutine.Init(param.Length > 0 ? (bool)param[0] : false);
            QueueRoutine.Enqueue(_autoLoadRoutine);

            Result ret = QueueRoutine.Peek().Start();
            if (ret == Result.FAIL || ret == Result.DONE)
                return false;
            return ret == Result.RUN;
        }
        private bool FsmStartUnload(object[] param)
        {
            QueueRoutine.Clear();
            _loadRoutine.Init(param.Length > 0 ? (bool)param[0] : false);
            Result ret = StartRoutine(_unloadRoutine);
            if (ret == Result.FAIL || ret == Result.DONE)
                return false;
            return ret == Result.RUN;
        }
        private bool FsmStartAutoUnload(object[] param)
        {
            QueueRoutine.Clear();
            _autoUnloadRoutine.Init(param.Length > 0 ? (bool)param[0] : false);
            Result ret = StartRoutine(_autoUnloadRoutine);
            if (ret == Result.FAIL || ret == Result.DONE)
                return false;
            return ret == Result.RUN;
        }
        private bool FsmStartHome(object[] param)
        {
            Result ret = StartRoutine(_homeRoutine);
            if (ret == Result.FAIL || ret == Result.DONE)
                return false;

            return ret == Result.RUN;
        }

        private bool FsmMonitorHomeTask(object[] param)
        {
            Result ret = MonitorRoutine();
            if (ret == Result.FAIL)
            {
                PostMsg(MSG.Error);
                return false;
            }

            if (ret == Result.DONE)
            {
                return true;
            }

            return false;
        }

        private bool FsmExitError(object[] param)
        {
            return true;
        }

        private bool FsmEnterError(object[] param)
        {
            if (OnEnterError != null)
                OnEnterError(Module);
            return true;
        }

        private bool FsmAbortTask(object[] param)
        {
            AbortRoutine();
            return true;
        }

        private bool FsmToInit(object[] param)
        {
            return true;
        }
        private bool FsmOnError(object[] param)
        {
            if (FsmState == (int)STATE.Error)
            {
                return false;
            }

            if (FsmState != (int)STATE.Init && FsmState != (int)STATE.Idle)
                AbortRoutine();

            //AbortRoutine();

            //if (FsmState == (int)STATE.Init)
            //    return false;

            return true;
        }
        public void InvokeLoad()
        {
            CheckToPostMessage((int)MSG.Load);
        }
        public void InvokeUnload()
        {
            CheckToPostMessage((int)MSG.Unload);
        }
        #endregion
    }

}