FurnaceELK/Furnace/FurnaceRT/Equipments/CarrierRobots/CarrierRobotHome.cs

using Aitex.Core.RT.Event;
using Aitex.Core.RT.Routine;
using Aitex.Core.RT.SCCore;
using Aitex.Sorter.Common;
using MECF.Framework.Common.Equipment;
using MECF.Framework.Common.SubstrateTrackings;
using MECF.Framework.RT.EquipmentLibrary.HardwareUnits.Robot;
using MECF.Framework.RT.EquipmentLibrary.HardwareUnits.Robots.RobotBase;
using System;

namespace FurnaceRT.Equipments.CarrierRobots
{
    public class CarrierRobotHome : ModuleRoutine, IRoutine
    {
        enum RoutineStep
        {
            SetCommunication,
            RobotReset,
            RobotSetServoOn,
            SetLoadArm1,
            SetLoadArm2,
            Home,
            DoorClose,
            CheckLoad,
            SetSpeed,
            RobotRequestCassettePresent,
            UpdateWaferInfoByRobotSensor,
            Delay,
            CheckRobotIsReady,
        }

        private CarrierRobotModule _cassetteRobotModule;
        private int _timeout = 0;
        private int _speed = 1;

        public CarrierRobotHome(CarrierRobotModule cassetteModule)
        {
            _cassetteRobotModule = cassetteModule;
            Module = cassetteModule.Module;
            Name = "Home";
        }

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

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

            _cassetteRobotModule.RobotHomeFailAlarm.RetryMessage = (int)CarrierRobotModule.MSG.Home;
            _cassetteRobotModule.RobotHomeTimeoutAlarm.RetryMessage = (int)CarrierRobotModule.MSG.Home;
            _cassetteRobotModule.SetSpeedFailAlarm.RetryMessage = (int)CarrierRobotModule.MSG.Home;
            _cassetteRobotModule.SetSpeedTimeoutAlarm.RetryMessage = (int)CarrierRobotModule.MSG.Home;
            _cassetteRobotModule.RequestCassettePresentFailAlarm.RetryMessage = (int)CarrierRobotModule.MSG.Home;
            _cassetteRobotModule.RequestCassettePresentTimeoutAlarm.RetryMessage = (int)CarrierRobotModule.MSG.Home;
            _cassetteRobotModule.ShutterCloseTimeoutAlarm.RetryMessage = (int)CarrierRobotModule.MSG.Home;

            Notify($"Start");

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

        public override Result Monitor()
        {
            try
            {
                PauseRountine(_cassetteRobotModule.CarrierRobotDevice.IsPause);
                if (_cassetteRobotModule.CarrierRobotDevice.IsPause)
                    return Result.RUN;

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

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

                SaferDoorOpen((int)RoutineStep.DoorClose, false, _timeout);

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

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

                RobotRequestCassettePresent((int)RoutineStep.RobotRequestCassettePresent, Hand.Blade1, _timeout);

                UpdateCassetteInfoByRobotSensor((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;
            }

            _cassetteRobotModule.ResetRobotActionCommand();
            Notify("Finished");
            return Result.DONE;
        }

        private void CheckRobotIsReady(int id, int timeout)
        {
            Tuple<bool, Result> ret = ExecuteAndWait(id, () =>
            {
                Notify("Check Robot IsReady");
                return true;
            }, () =>
            {
                int count = 0;
                while (count < 3)
                {
                    if (_cassetteRobotModule.CarrierRobotDevice.IsReady() && !_cassetteRobotModule.CarrierRobotDevice.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");

                _cassetteRobotModule.SetCassetteRobotReset();

                return true;
            }, () =>
            {
                if (_cassetteRobotModule.CarrierRobotDevice.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
                {
                    _cassetteRobotModule.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))
                {
                    //_cassetteRobotModule.SetServoOnFailAlarm.Description = reason;
                    _cassetteRobotModule.SetServoOnFailAlarm.Set(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
                {
                    //_cassetteRobotModule.CheckLoadTimeoutAlarm.Description = $"timeout over {timeout} seconds";
                    _cassetteRobotModule.CheckLoadTimeoutAlarm.Set($"timeout over {timeout} seconds");
                    throw (new RoutineFaildException());
                }
                else
                    throw (new RoutineBreakException());
            }
        }
        public void RobotSetCommunication(int id, Robot robot, int timeout)
        {
            Tuple<bool, Result> ret = ExecuteAndWait(id, () =>
            {
                Notify("Set default communication");

                if (!robot.SetCommunication(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 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 (!_cassetteRobotModule.SetCassetteRobotHome(out string reason))
                {
                    //_cassetteRobotModule.RobotHomeFailAlarm.Description = reason;
                    _cassetteRobotModule.RobotHomeFailAlarm.Set(reason);
                    return false;
                }

                return true;
            }, () =>
            {
                if (_cassetteRobotModule.CarrierRobotDevice.IsReady() && !_cassetteRobotModule.CarrierRobotDevice.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
                {
                    //_cassetteRobotModule.RobotHomeTimeoutAlarm.Description = $"timeout over {timeout} seconds";
                    _cassetteRobotModule.RobotHomeTimeoutAlarm.Set($"timeout over {timeout} seconds");
                    throw (new RoutineFaildException());
                }
                else
                    throw (new RoutineBreakException());
            }
        }
        private void UpdateCassetteInfoByRobotSensor(int id)
        {
            Tuple<bool, Result> ret = Execute(id, () => {
                Notify($"Update cassette info by robot cassette present sensor");

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

                if (_cassetteRobotModule.CarrierRobotDevice.IsWaferPresenceOnBlade1 && !CarrierManager.Instance.CheckHasCarrier(ModuleHelper.Converter(_cassetteRobotModule.Module), 0))
                {
                    EV.PostInfoLog(Module, "Cassette Robot sensor found cassette on blade 1");
                    CarrierManager.Instance.CreateCarrier(_cassetteRobotModule.Module);
                }

                if (!_cassetteRobotModule.CarrierRobotDevice.IsWaferPresenceOnBlade1 && !CarrierManager.Instance.CheckNoCarrier(ModuleHelper.Converter(_cassetteRobotModule.Module), 0))
                {
                    EV.PostInfoLog(Module, "Cassette Robot sensor no cassette on blade 1");
                    CarrierManager.Instance.DeleteCarrier(_cassetteRobotModule.Module);
                }

                return true;
            });

            if (ret.Item1)
            {
                throw (new RoutineBreakException());
            }
        }
        public void RobotSetSpeed(int id, int speed, int timeout)
        {
            Tuple<bool, Result> ret = ExecuteAndWait(id, () =>
            {
                if (speed > 100)
                    speed = 100;
                if (speed < 1)
                    speed = 1;

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

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

                return true;
            }, () =>
            {
                if (_cassetteRobotModule.CarrierRobotDevice.IsReady() && !_cassetteRobotModule.CarrierRobotDevice.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
                {
                    //_cassetteRobotModule.SetSpeedTimeoutAlarm.Description = $"timeout over {timeout} seconds";
                    _cassetteRobotModule.SetSpeedTimeoutAlarm.Set($"timeout over {timeout} seconds");
                    throw (new RoutineFaildException());
                }
                else
                    throw (new RoutineBreakException());
            }
        }

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

                if (!_cassetteRobotModule.RequestCassettePresent(hand, out string reason))
                {
                    //_cassetteRobotModule.RequestCassettePresentFailAlarm.Description = reason;
                    _cassetteRobotModule.RequestCassettePresentFailAlarm.Set(reason);
                    return false;
                }

                return true;
            }, () =>
            {
                if (_cassetteRobotModule.CarrierRobotDevice.IsReady() && !_cassetteRobotModule.CarrierRobotDevice.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
                {
                    //_cassetteRobotModule.RequestCassettePresentTimeoutAlarm.Description = $"timeout over {timeout} seconds";
                    _cassetteRobotModule.RequestCassettePresentTimeoutAlarm.Set($"timeout over {timeout} seconds");
                    throw (new RoutineFaildException());
                }
                else
                    throw (new RoutineBreakException());
            }
        }

        protected void CheckCassetteInfoByRobotSensor(int id, RobotBaseDevice robot, Hand hand, bool isAfterPick)
        {
            Tuple<bool, Result> ret = Execute(id, () =>
            {
                Notify($"check wafer info by robot RQ present");

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

                if (hand == Hand.Blade1 || hand == Hand.Both)
                {
                    if (!isAfterPick && robot.IsWaferPresenceOnBlade1)
                    {
                        EV.PostWarningLog(Module, "Cassette Robot sensor found cassette on blade 1");
                        return false;
                    }

                    if (isAfterPick && !robot.IsWaferPresenceOnBlade1)
                    {
                        EV.PostInfoLog(Module, "Cassette Robot sensor no cassette on blade 1");
                        return false;
                    }
                }

                if (hand == Hand.Blade2 || hand == Hand.Both)
                {
                    if (!isAfterPick && robot.IsWaferPresenceOnBlade2)
                    {
                        EV.PostWarningLog(Module, "Cassette Robot sensor found cassette on blade 2");
                        return false;
                    }

                    if (isAfterPick && !robot.IsWaferPresenceOnBlade2)
                    {
                        EV.PostInfoLog(Module, "Cassette Robot sensor no cassette on blade 2");
                        return false;
                    }
                }

                return true;
            });

            if (ret.Item1)
            {
                if (ret.Item2 == Result.FAIL)
                {
                    Stop($"check cassette info failed.");
                    throw (new RoutineFaildException());
                }
                else
                    throw (new RoutineBreakException());
            }
        }

        private void SaferDoorOpen(int id, bool isOpen, int timeout)
        {
            Tuple<bool, Result> ret = ExecuteAndWait(id, () =>
            {
                Notify($"Shutter Door {(isOpen ? "Open" : "Close")}");

                if (isOpen)
                    _cassetteRobotModule.DoorDevice.Open();
                else
                    _cassetteRobotModule.DoorDevice.Close();

                return true;
            }, () =>
            {
                return isOpen ? _cassetteRobotModule.DoorDevice.OpenCloseStatus == Devices.DeviceStatus.Open : _cassetteRobotModule.DoorDevice.OpenCloseStatus == Devices.DeviceStatus.Close;
            }, timeout * 1000);

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