FurnaceELK/Furnace/FurnaceRT/Equipments/Schedulers/SchedulerLoadPort.cs

using Aitex.Core.Common;
using Aitex.Core.RT.Fsm;
using Aitex.Core.RT.Log;
using Aitex.Core.RT.SCCore;
using Aitex.Core.Util;
using Aitex.Sorter.Common;
using MECF.Framework.Common.Equipment;
using MECF.Framework.Common.Schedulers;
using MECF.Framework.Common.SubstrateTrackings;
using FurnaceRT.Equipments.PMs;
using FurnaceRT.Equipments.FIMSs;
using FurnaceRT.Equipments.Systems;
using FurnaceRT.Equipments.LPs;
using System.Linq;

namespace FurnaceRT.Equipments.Schedulers
{
    public class SchedulerLoadPort : SchedulerModule
    {
        public override bool IsAvailable
        {
            get { return _lp.IsReady && _lp.IsOnline && CheckTaskDone(); }

        }
        public override bool IsOnline
        {
            get { return _lp.IsOnline; }

        }
        public override bool IsError
        {
            get { return _lp.IsError; }

        }
        private LoadPortModule _lp = null;

        private ModuleName _taskRobot;
        private EnumTransferType _taskTransferType;
        private int _taskSlot;

        private DeviceTimer _timer = new DeviceTimer();

        public SchedulerLoadPort(ModuleName chamber) : base(chamber.ToString())
        {
            _lp = Singleton<EquipmentManager>.Instance.Modules.FirstOrDefault(x=>x.Key == chamber).Value as LoadPortModule;
        }

        public override bool IsReadyForPick(ModuleName robot, int slot)
        {
            return _lp.CheckReadyForTransfer(robot, Hand.Blade1, slot, EnumTransferType.Pick, out _);
        }

        public override bool IsReadyForPlace(ModuleName robot, int slot)
        {
            return _lp.CheckReadyForTransfer(robot, Hand.Blade1, slot, EnumTransferType.Place, out _)
                   && CarrierManager.Instance.CheckNoCarrier(ModuleHelper.Converter(_module), 0);
        }

        public override bool PrepareTransfer(ModuleName robot, EnumTransferType type, int slot)
        {
            _task = TaskType.PrepareTransfer;
            _taskRobot = robot;
            _taskSlot = slot;
            _taskTransferType = type;
            if (!_lp.PrepareTransfer(robot, Hand.Blade1, slot, type, out string reason))
            {
                LOG.Write(reason);
                return false;
            }

            LogTaskStart(_task, $"{robot} {type} slot {slot + 1}");
            return true;
        }
        public bool Load()
        {
            _task = TaskType.Load;
            _lp.InvokeLoad();

            LogTaskStart(_task, $"{Module} load start");
            return true;
        }
        public bool Unload()
        {
            _task = TaskType.Unload;
            _lp.InvokeUnload();

            LogTaskStart(_task, $"{Module} unload start");
            return true;
        }

        public bool CheckTaskDone()
        {
            bool ret = false;
            switch (_task)
            {
                case TaskType.None:
                    ret = true;
                    break;
                case TaskType.PrepareTransfer:
                    ret = _lp.CheckReadyForTransfer(_taskRobot, Hand.Blade1, _taskSlot, _taskTransferType, out _);
                    break;
                case TaskType.Load:
                    ret = _lp.LPDevice.IsLoadCompleted;
                    break;
                case TaskType.Unload:
                    ret = _lp.LPDevice.IsUnloadCompleted;
                    break;
            }

            if (ret && _task != TaskType.None)
            {
                LogTaskDone(_task, "");
                _task = TaskType.None;
            }

            return ret;
        }

        public bool Monitor()
        {
            return true;
        }

    }
}