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

using System;
using System.Collections.Generic;
using System.Diagnostics;
using Aitex.Core.Common;
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 MECF.Framework.RT.EquipmentLibrary.HardwareUnits.LoadPorts;
using MECF.Framework.RT.EquipmentLibrary.HardwareUnits.Robot;
using MECF.Framework.RT.EquipmentLibrary.HardwareUnits.Robots;
using MECF.Framework.RT.EquipmentLibrary.HardwareUnits.Robots.RobotBase;
using FurnaceRT.Equipments.Systems;
using FurnaceRT.Devices;
using IoDoor =  FurnaceRT.Devices.IoDoor;
using Aitex.Core.Util;

namespace FurnaceRT.Equipments.CarrierRobots
{
    public partial class CarrierRobotModule
    {
        private List<AlarmEventItem> _triggeredAlarmList = new List<AlarmEventItem>();
        private int _alarmNumber;
        public IoTrigger TrigActionCommand => _trigActionCommand;
        public RobotBaseDevice CarrierRobotDevice { get; set; }
        public IoBufferMotor BufferDevice { get; set; }
        private IoTrigger _trigAlarmReset;
        private IoTrigger _trigActionCommand;
        private IoAlarmSignal _alarmSignaRobotAlarm;
        private R_TRIG _alarmSignaRobotAlarmTrig = new R_TRIG();
        public IoDoor DoorDevice { get; set; }
        public IoAlarmSignal AlarmSignaFOUPRobotTPStatusWarning { get; set; }
        private Dictionary<string, int> _actionCommand;
        private Dictionary<string, int> _actionCommandStocker;
        public void InitDevice()
        {
            CarrierRobotDevice = DEVICE.GetDevice<RobotBaseDevice>($"{Module}");
            BufferDevice = DEVICE.GetDevice<IoBufferMotor>($"PM1.BufferServo");
            DoorDevice = DEVICE.GetDevice<IoDoor>($"PM1.AGVDoor");
            AlarmSignaFOUPRobotTPStatusWarning = DEVICE.GetDevice<IoAlarmSignal>($"PM1.AlarmSignaFOUPRobotTPStatusWarning");
            _alarmSignaRobotAlarm = DEVICE.GetDevice<IoAlarmSignal>($"PM1.AlarmSignaFOUPRobotAlarm");
            _trigAlarmReset = DEVICE.GetDevice<IoTrigger>($"PM1.TrigFOUPRobotAlarmReset");
            _trigActionCommand = DEVICE.GetDevice<IoTrigger>($"PM1.TrigFOUPRobotActionCommand");
            CarrierManager.Instance.SubscribeLocation(Module, 1, SC.GetValue<int>("System.CassetteSlotCount"));
            WaferManager.Instance.SubscribeLocation(Module, SC.GetValue<int>("System.CassetteSlotCount"));
            this.OnDeviceAlarmStateChanged += OnModuleDeviceAlarmStateChanged;
            CarrierRobotDevice.OnDeviceAlarmStateChanged += OnModuleDeviceAlarmStateChanged;
            _actionCommand = new Dictionary<string, int>()
            {
                {"C01.Pick",1 },
                {"C01.Place",2 },
                {"C02.Pick",3 },
                {"C02.Place",4 },
                {"C03.Pick",5 },
                {"C03.Place",6 },
                {"C04.Pick",7 },
                {"C04.Place",8 },
                {"C05.Pick",9 },
                {"C05.Place",10 },
                {"C06.Pick",11 },
                {"C06.Place",12 },
                {"C07.Pick",13 },
                {"C07.Place",14 },
                {"C08.Pick",15 },
                {"C08.Place",16 },
                {"C09.Pick",17 },
                {"C09.Place",18 },
                {"C10.Pick",19 },
                {"C10.Place",20 },
                {"C11.Pick",21 },
                {"C11.Place",22 },
                {"C12.Pick",23 },
                {"C12.Place",24 },
            };
            _actionCommandStocker = new Dictionary<string, int>()
            {
                {"Stocker1.Pick",171 },
                {"Stocker1.Place",181 },
                {"Stocker2.Pick",172 },
                {"Stocker2.Place",182 },
                {"Stocker3.Pick",173 },
                {"Stocker3.Place",183 },
                {"Stocker4.Pick",174 },
                {"Stocker4.Place",184 },
                {"Stocker5.Pick",191 },
                {"Stocker5.Place",201 },
                {"Stocker6.Pick",192 },
                {"Stocker6.Place",202 },
                {"Stocker7.Pick",193 },
                {"Stocker7.Place",203 },
                {"Stocker8.Pick",194 },
                {"Stocker8.Place",204 },
                {"Stocker9.Pick",211 },
                {"Stocker9.Place",221 },
                {"Stocker10.Pick",212 },
                {"Stocker10.Place",222 },
                {"Stocker11.Pick",213 },
                {"Stocker11.Place",223 },
                {"Stocker12.Pick",214 },
                {"Stocker12.Place",224 },
                {"Stocker13.Pick",231 },
                {"Stocker13.Place",241 },
                {"Stocker14.Pick",232 },
                {"Stocker14.Place",242 },
                {"Stocker15.Pick",233 },
                {"Stocker15.Place",243 },
                {"Stocker16.Pick",234 },
                {"Stocker16.Place",244 },
            };
        }
        public void OnModuleDeviceAlarmStateChanged(string deviceId, AlarmEventItem alarmItem)
        {
            if (alarmItem.IsTriggered)
            {
                EventLevel level = alarmItem.Level;

                _triggeredAlarmList.Add(alarmItem);

                if (level == EventLevel.Alarm)
                {
                    try
                    {
                        EV.PostAlarmLog(Module, alarmItem);
                    }
                    catch (Exception ex)
                    {
                        EV.WriteEvent(ex.Message.ToString());
                    }
                }
                else
                {
                    EV.PostWarningLog(Module, alarmItem);
                }
            }
            else
            {
            }
        }
        public void SetCassetteRobotReset()
        {
            CarrierRobotDevice.RobotReset();
        }
        public bool SetCassetteRobotHome(out string reason)
        {
            reason = string.Empty;
            return CarrierRobotDevice.HomeModule(null);
        }
        public bool SetSpeed(int speed, out string reason)
        {
            reason = string.Empty;
            return CarrierRobotDevice.SetSpeed("SetSpeed", speed);
        }
        public bool RequestCassettePresent(Hand hand, out string reason)
        {
            reason = string.Empty;
            RobotArmEnum arm = hand == Hand.Blade1 ? RobotArmEnum.Blade1 : RobotArmEnum.Blade2;
            List<object> paras = new List<object>() { "CurrentStatus", arm };
            return CarrierRobotDevice.ReadParameter(paras.ToArray());
        }
        public bool RobotPick(ModuleName target, int targetSlot, Hand hand, out string reason)
        {
            reason = string.Empty;
            RobotArmEnum arm = hand == Hand.Blade1 ? RobotArmEnum.Blade1 : RobotArmEnum.Both;
            return CarrierRobotDevice.Pick(arm, target.ToString(), targetSlot);
        }
        public bool RobotPlace(ModuleName target, int targetSlot, Hand hand, out string reason)
        {
            reason = string.Empty;
            RobotArmEnum arm = hand == Hand.Blade1 ? RobotArmEnum.Blade1 : RobotArmEnum.Both;
            return CarrierRobotDevice.Place(arm, target.ToString(), targetSlot);
        }
        public bool RobotGoto(ModuleName target, int targetSlot, Hand hand, bool isPickReady, out string reason)
        {
            reason = string.Empty;
            RobotArmEnum arm = hand == Hand.Blade1 ? RobotArmEnum.Blade1 : RobotArmEnum.Blade2;
            List<object> paras = new List<object>() { arm, target, targetSlot, isPickReady ? "PickReady" : "PlaceReady" };
            return CarrierRobotDevice.GoTo(paras.ToArray());
        }

        public void Stop()
        {
            CarrierRobotDevice.Stop();
        }

        public void SetBufferTargetPosition(string module)
        {
            int.TryParse(module.Replace("Stocker", ""), out int target);
            BufferDevice.SetServoTargetPosition(target);
        }

        public bool SetBufferMoveTo()
        {
            return BufferDevice.SetServoMoveTo();
        }
        public bool CheckBufferTargetPosition(string module)
        {
            int.TryParse(module.Replace("Stocker", ""), out int target);
            return (int)(BufferDevice.ServoMovePositionSet + 0.00001) == target && BufferDevice.TargetPositionFb == target;
        }
        public void SetRobotActionCommand(ModuleName traget, EnumTransferType transferType)
        {
            if (!CarrierRobotDevice.ModuleAssociateStationDic.ContainsKey(traget.ToString()))
                return;

            if (_actionCommandStocker.ContainsKey($"{traget}.{transferType}"))
            {
                //Stocker相关工位
                _trigActionCommand.SetAOTrigger(_actionCommandStocker[$"{traget}.{transferType}"], out _);
                return;
            }

            var station = CarrierRobotDevice.ModuleAssociateStationDic[traget.ToString()];
            if (!_actionCommand.ContainsKey($"{station}.{transferType}"))
                return;
            _trigActionCommand.SetAOTrigger(_actionCommand[$"{station}.{transferType}"], out _);
        }
        public bool CheckRobotActionCommand(ModuleName traget, EnumTransferType transferType)
        {
            if (!CarrierRobotDevice.ModuleAssociateStationDic.ContainsKey(traget.ToString()))
                return false;

            if (_actionCommandStocker.ContainsKey($"{traget}.{transferType}"))
            {
                //Stocker相关工位
                return Math.Abs(_trigActionCommand.AIValue - _actionCommandStocker[$"{traget}.{transferType}"]) < 0.001;
            }

            var station = CarrierRobotDevice.ModuleAssociateStationDic[traget.ToString()];
            if (!_actionCommand.ContainsKey($"{station}.{transferType}"))
                return false;
            return Math.Abs(_trigActionCommand.AIValue - _actionCommand[$"{station}.{transferType}"]) < 0.001;
        }
        public void ResetRobotActionCommand()
        {
            _trigActionCommand?.SetAOTrigger(0, out _);
        }
    }
}