FurnaceNTP/Furnace/FurnaceRT/Equipments/CarrierRobots/CarrierRobotModule.cs

using System;
using System.Diagnostics;
using System.Linq;
using Aitex.Core.Common;
using Aitex.Core.RT.DataCenter;
using Aitex.Core.RT.Device;
using Aitex.Core.RT.Event;
using Aitex.Core.RT.Fsm;
using Aitex.Core.RT.Log;
using Aitex.Core.RT.OperationCenter;
using Aitex.Core.RT.Routine;
using Aitex.Core.RT.SCCore;
using Aitex.Core.Util;
using Aitex.Core.Utilities;
using Aitex.Sorter.Common;
using FurnaceRT.Equipments.Systems;
using MECF.Framework.Common.Alarms;
using MECF.Framework.Common.Device.Bases;
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;

namespace FurnaceRT.Equipments.CarrierRobots
{
    public partial class CarrierRobotModule : CarrierRobotModuleBase, IE87CallBack
    {
        public enum STATE
        {
            Init,

            Idle,

            Error,

            Homing,

            InTransfer,

            Loading,
            Unloading,

            Picking,
            Placing,
            Gotoing,
            Transfer,
            CycleSwaping,
        }

        public enum MSG
        {
            Home,
            Reset,
            Init,
            Error,
            Abort,
            InTransfer,
            TransferComplete,
            Load,
            LoadRetry,
            Unload,
            UnloadRetry,
            Pick,
            PickRetry,
            Place,
            PlaceRetry,
            Goto,
            GotoRetry,
            SwapRetry,
            Transfer,
            CycleSwap
        }

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

        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;
        private bool _jobDone;
        private bool _isInit;
        private Stopwatch _timerNotifyJobDone = new Stopwatch();
        private CarrierLoad _loadRoutine;
        private CarrierUnload _unloadRoutine;
        private CarrierRobotHome _home;
        private CarrierRobotPick _pick;
        private CarrierRobotPlace _place;
        private CarrierRobotGoto _goto;
        private CarrierRobotSwap _swap;
        private CarrierRobotCycleSwap _cycleSwap;
        public bool IsExcuteRoutineFailed { get; set; }

        public CarrierRobotModule(ModuleName module) : base()
        {
            Name = module.ToString();

            Module = module.ToString();

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

            InitDevice();

            InitFsm();

            InitOp();

            InitData();

            InitAlarmDefine();

            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 CarrierLoad(this);
            _unloadRoutine = new CarrierUnload(this);
            _home = new CarrierRobotHome(this);
            _pick = new CarrierRobotPick(this);
            _place = new CarrierRobotPlace(this);
            _swap = new CarrierRobotSwap(this);
            _cycleSwap = new CarrierRobotCycleSwap(this);
        }

        private void InitData()
        {
            DATA.Subscribe($"{Module}.Status", () => IsExcuteRoutineFailed ? STATE.Error.ToString() : StringFsmStatus);
            DATA.Subscribe($"{Module}.IsOnline", () => IsOnline);
            DATA.Subscribe($"{Module}.IsError", () => IsError);
            DATA.Subscribe($"{Module}.SwapCycledCount", () => _swap.LoopCounter);
            DATA.Subscribe($"{Module}.CycleSwapCycledCount", () => _cycleSwap._overAllLoopCount);
        }

        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($"{Module}.Reset", (string cmd, object[] args) => CheckToPostMessage((int)MSG.Reset));
            OP.Subscribe($"{Module}.Pick", (string cmd, object[] args) => CheckToPostMessage((int)MSG.Pick, args));
            OP.Subscribe($"{Module}.Place", (string cmd, object[] args) => CheckToPostMessage((int)MSG.Place, args));
            OP.Subscribe($"{Module}.Transfer", (string cmd, object[] args) => CheckToPostMessage((int)MSG.Transfer, args));
            OP.Subscribe($"{Module}.CycleSwap", (string cmd, object[] args) => CheckToPostMessage((int)MSG.CycleSwap, args));
            OP.Subscribe($"{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}.In", (string cmd, object[] args) =>
            {
                return true;
            });
            OP.Subscribe($"{Module}.Out", (string cmd, object[] args) =>
            {
                return true;
            });
            OP.Subscribe($"{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;
            });

            OP.Subscribe($"{Module}.SetOnline", (string cmd, object[] args) =>
            {
                IsOnline = true;
                return true;
            });

            OP.Subscribe($"{Module}.SetOffline", (string cmd, object[] args) =>
            {
                IsOnline = false;
                return true;
            });
        }

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

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

            EnableFsm(50, STATE.Init);

            //Init
            Transition(STATE.Init, MSG.Home, FsmStartHome, STATE.Homing);
            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);
            EnterExitTransition<STATE, FSM_MSG>(STATE.Idle, FsmEnterIdle, FSM_MSG.NONE, FsmExitIdle);

            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, FsmAbortTask, 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.Idle, MSG.Load, FsmStartLoad, 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.Idle, MSG.Unload, FsmStartUnload, STATE.Unloading);
            Transition(STATE.Unloading, FSM_MSG.TIMER, FsmMonitorUnloadTask, STATE.Idle);
            Transition(STATE.Unloading, MSG.Abort, FsmAbortTask, STATE.Idle);

            //pick
            Transition(STATE.Error, MSG.PickRetry, FsmStartPick, STATE.Picking);
            Transition(STATE.Idle, MSG.Pick, FsmStartPick, STATE.Picking);
            Transition(STATE.Picking, FSM_MSG.TIMER, FsmMonitorTask, STATE.Idle);
            Transition(STATE.Picking, MSG.Abort, FsmAbortTask, STATE.Idle);

            //place
            Transition(STATE.Error, MSG.PlaceRetry, FsmStartPlace, STATE.Placing);
            Transition(STATE.Idle, MSG.Place, FsmStartPlace, STATE.Placing);
            Transition(STATE.Placing, FSM_MSG.TIMER, FsmMonitorTask, STATE.Idle);
            Transition(STATE.Placing, MSG.Abort, FsmAbortTask, STATE.Idle);

            //goto
            Transition(STATE.Error, MSG.GotoRetry, FsmStartGoto, STATE.Gotoing);
            Transition(STATE.Idle, MSG.Goto, FsmStartGoto, STATE.Gotoing);
            Transition(STATE.Gotoing, FSM_MSG.TIMER, FsmMonitorTask, STATE.Idle);
            Transition(STATE.Gotoing, MSG.Abort, FsmAbortTask, STATE.Idle);

            //swap
            Transition(STATE.Idle, MSG.Transfer, FsmStartSwap, STATE.Transfer);
            Transition(STATE.Transfer, FSM_MSG.TIMER, FsmMonitorTask, STATE.Idle);
            Transition(STATE.Transfer, MSG.Abort, FsmAbortTask, STATE.Idle);

            //CycleSwap
            Transition(STATE.Idle, MSG.CycleSwap, FsmStartCycleSwap, STATE.CycleSwaping);
            Transition(STATE.CycleSwaping, FSM_MSG.TIMER, FsmMonitorTask, STATE.Idle);
            Transition(STATE.CycleSwaping, MSG.Abort, FsmAbortTask, STATE.Idle);

        }

        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 NoteJobStart()
        {
            _jobDone = false;
        }

        public override void NoteJobComplete()
        {
            _timerNotifyJobDone.Restart();
            _jobDone = true;
        }

        public override void Monitor()
        {
            base.Monitor();

            _alarmSignaRobotAlarmTrig.CLK = _alarmSignaRobotAlarm.Value;
            if (_alarmSignaRobotAlarmTrig.Q)
            {
                RobotDIAlarm.Set();
                CarrierRobotDevice.NoteError("");
            }
        }

        public override void Reset()
        {
            _alarmSignaRobotAlarmTrig.RST = true;
            //_trigAlarmReset?.SetPulseTrigger(true, out _);

            if (IsError)
            {
                CheckToPostMessage((int)MSG.Reset);
            }
        }

        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;
            return IsReady;
        }

        public override bool CheckReadyForMap(ModuleName robot, Hand blade, out string reason)
        {
            reason = string.Empty;
            return IsReady;
        }

        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);
        }

        public override bool Pick(ModuleName target, Hand blade, int targetSlot, out string reason)
        {
            CheckToPostMessage((int)MSG.Pick, target.ToString(), targetSlot, blade);
            reason = string.Empty;
            return true;
        }
        public override bool Place(ModuleName target, Hand blade, int targetSlot, out string reason)
        {
            CheckToPostMessage((int)MSG.Place, target.ToString(), targetSlot, blade);
            reason = string.Empty;
            return true;
        }
        public bool Goto(ModuleName target, Hand blade, int targetSlot, bool isPickReady, out string reason)
        {
            CheckToPostMessage((int)MSG.Goto, target.ToString(), targetSlot, blade, isPickReady);
            reason = string.Empty;
            return true;
        }

        public override bool Load(ModuleName target, Hand blade, int targetSlot, ModuleName destinationStocker,
            CarrierType carrierType, string reservedCarrierId, out string reason)
        {
            CheckToPostMessage((int)MSG.Load, target.ToString(), targetSlot, blade, destinationStocker, carrierType, reservedCarrierId);
            reason = string.Empty;
            return true;
        }
        public override bool Unload(ModuleName target, Hand blade, int targetSlot, out string reason)
        {
            CheckToPostMessage((int)MSG.Unload, target.ToString(), targetSlot, blade);
            reason = string.Empty;
            return true;
        }

        public void CarrierIDReadSuccess(string carrierID)
        {
        }

        public void CarrierIDReadFail()
        {
        }

        public void MappingComplete(string carrierID, string slotmap)
        {
        }

        public void LoadportError(string errorcode)
        {
        }

        public void LoadComplete()
        {
        }

        public void UnloadComplete()
        {
        }

        public void OnLPHomed()
        {
        }

        public void OnE84HandoffStart(bool isload)
        {
        }

        public void OnE84HandoffComplete(bool isload)
        {
        }

        public void CarrierArrive()
        {

        }

        public void CarrerRemove(string carrierID)
        {

        }

        private bool FsmReset(object[] param)
        {
            if (IsError)
            {
                CarrierRobotDevice.RobotReset();
                if (Singleton<EquipmentManager>.Instance.IsAutoMode || Singleton<EquipmentManager>.Instance.IsReturnWafer)
                {
                    Singleton<EquipmentManager>.Instance.ResetTask(ModuleHelper.Converter(Module));
                }
            }
            return true;
        }

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

            AbortRoutine();

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

            return true;
        }

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

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

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

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

        private bool FsmAbortTask(object[] param)
        {
            if (!CarrierRobotDevice.IsReady())
                CarrierRobotDevice.Abort();
            AbortRoutine();
            return true;
        }

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

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

        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(ModuleHelper.Converter(param[0].ToString()), (int)param[1], (Hand)param[2],
                ModuleHelper.Converter(param[3].ToString()), (CarrierType)param[4], param[5].ToString(), param.Length > 6 ? (bool)param[6] : false);
            QueueRoutine.Enqueue(_loadRoutine);

            Result ret = QueueRoutine.Peek().Start();
            if (ret == Result.FAIL || ret == Result.DONE)
                return false;
            return ret == Result.RUN;
        }

        private bool FsmStartUnload(object[] param)
        {
            _unloadRoutine.Init(ModuleHelper.Converter(param[0].ToString()), (int)param[1], (Hand)param[2], param.Length > 3 ? (bool)param[3] : false);

            Result ret = StartRoutine(_unloadRoutine);
            if (ret == Result.FAIL || ret == Result.DONE)
                return false;
            return ret == Result.RUN;
        }
        private bool FsmStartHome(object[] param)
        {
            if (IsError)
            {
                if (Singleton<EquipmentManager>.Instance.IsAutoMode || Singleton<EquipmentManager>.Instance.IsReturnWafer)
                {
                    Singleton<EquipmentManager>.Instance.ResetTask(ModuleHelper.Converter(Module));
                }
            }
            Result ret = StartRoutine(_home);
            if (ret == Result.FAIL || ret == Result.DONE)
                return false;

            _isInit = false;

            return ret == Result.RUN;
        }

        private bool FsmStartPick(object[] param)
        {
            _pick.Init(ModuleHelper.Converter(param[0].ToString()), (int)param[1], (Hand)param[2], param.Length > 3 ? (bool)param[3] : false);

            Result ret = StartRoutine(_pick);
            if (ret == Result.FAIL || ret == Result.DONE)
                return false;
            return ret == Result.RUN;
        }

        private bool FsmStartPlace(object[] param)
        {
            _place.Init(ModuleHelper.Converter(param[0].ToString()), (int)param[1], (Hand)param[2], param.Length > 3 ? (bool)param[3] : false);

            Result ret = StartRoutine(_place);
            if (ret == Result.FAIL || ret == Result.DONE)
                return false;
            return ret == Result.RUN;
        }
        private bool FsmStartGoto(object[] param)
        {
            _goto.Init(ModuleHelper.Converter(param[0].ToString()), (int)param[1], (Hand)param[2], (bool)param[3], param.Length > 34 ? (bool)param[4] : false);

            Result ret = StartRoutine(_goto);
            if (ret == Result.FAIL || ret == Result.DONE)
                return false;
            return ret == Result.RUN;
        }
        private bool FsmStartSwap(object[] param)
        {
            _swap.Init(ModuleHelper.Converter(param[0].ToString()), ModuleHelper.Converter(param[1].ToString()), (int)param[2], (Hand)param[3]);

            Result ret = StartRoutine(_swap);
            if (ret == Result.FAIL || ret == Result.DONE)
                return false;
            return ret == Result.RUN;
        }
        private bool FsmStartCycleSwap(object[] param)
        {
            _cycleSwap.Init(ModuleHelper.Converter(param[0].ToString()), ModuleHelper.Converter(param[1].ToString()), (int)param[2], (Hand)param[3], Convert.ToInt32(param[4] == null ? 0 : param[4]));

            Result ret = StartRoutine(_cycleSwap);
            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)
            {
                _alarmSignaRobotAlarmTrig.RST = true;

                _isInit = true;
                return true;
            }

            return false;
        }

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

            return ret == Result.DONE;
        }
    }
}