FurnaceNTP/Furnace/FurnaceRT/Equipments/FIMSs/FIMSLoadRoutine.cs

using Aitex.Core.RT.Event;
using Aitex.Core.RT.Routine;
using Aitex.Core.RT.SCCore;
using Aitex.Core.Util;
using FurnaceRT.Equipments.Systems;
using MECF.Framework.Common.Equipment;
using MECF.Framework.Common.SubstrateTrackings;
using System;

namespace FurnaceRT.Equipments.FIMSs
{
    public class FIMSLoadRoutine : ModuleRoutine, IRoutine
    {
        enum RoutineStep
        {
            Load,
            Delay,
            CheckLoadFinish,
        }

        private int _timeout;
        private FIMSModule _fimsModule;

        public FIMSLoadRoutine(FIMSModule fimsModule)
        {
            Module = fimsModule.Module.ToString();
            _fimsModule = fimsModule;
            Name = "Load";
        }

        public Result Init()
        {
            return Result.DONE;
        }

        public Result Start(params object[] objs)
        {
            Reset();

            _timeout = SC.GetValue<int>($"FIMS.{Module}.MotionTimeout");

            if (!Singleton<EquipmentManager>.Instance.IsAutoMode && !Singleton<EquipmentManager>.Instance.IsReturnWafer)
            {
                if (!_fimsModule.SensorWaferRobotEX1AxisHomePosition.Value)
                {
                    _fimsModule.LoadFailAlarm.Set($"wafer robot EX1 axis not at home position");
                    return Result.FAIL;
                }

                if (!_fimsModule.SensorWaferRobotEX2AxisHomePosition.Value)
                {
                    _fimsModule.LoadFailAlarm.Set($"wafer robot EX2 axis not at home position");
                    return Result.FAIL;
                }
            }
            if (_fimsModule.FIMSDevice.IsLoadCompleted)
            {
                EV.PostInfoLog(Module, $"{Module} already at load position");
                _fimsModule.FIMSDevice.IsLoadCompleted = true;
                _fimsModule.FIMSDevice.IsUnloadCompleted = false;
                return Result.DONE;
            }


            if (_fimsModule.FIMSDevice.DoorOpenCloseStatus == Devices.DeviceStatus.Close && _fimsModule.IsWaferOnRobot)
            {
                _fimsModule.UnloadFailAlarm.Set($"wafer robot inside {Module}");
                return Result.FAIL;
            }

            Notify($"{_fimsModule.Name} {Name} start");
            _fimsModule.FIMSDevice.IsLoadCompleted = false;
            _fimsModule.FIMSDevice.IsUnloadCompleted = false;

            return Result.RUN;
        }

        public override Result Monitor()
        {
            try
            {
                PauseRountine(_fimsModule.FIMSDevice.IsPause);
                if (_fimsModule.FIMSDevice.IsPause)
                    return Result.RUN;

                Load((int)RoutineStep.Load, _timeout);

                Delay((int)RoutineStep.Delay, 3);

                CheckLoadFinish((int)RoutineStep.CheckLoadFinish, _timeout);
            }
            catch (RoutineBreakException)
            {
                return Result.RUN;
            }
            catch (RoutineFaildException)
            {
                _fimsModule.Stop();
                return Result.FAIL;
            }

            _fimsModule.FIMSDevice.IsLoadCompleted = true;
            _fimsModule.Stop();
            Notify($"{_fimsModule.Name} {Name} finished");

            return Result.DONE;
        }

        public void Abort()
        {
            _fimsModule.Stop();
        }
        private void Load(int id, int timeout)
        {
            Tuple<bool, Result> ret = ExecuteAndWait(id, () =>
            {
                Notify($"{Module} load");
                if (!_fimsModule.FIMSDevice.Load(out string reason))
                {
                    Stop(reason);
                    return false;
                }
                return true;
            }, () =>
            {
                return true;
            }, timeout * 1000);

            if (ret.Item1)
            {
                if (ret.Item2 == Result.FAIL)
                {
                    throw (new RoutineFaildException());
                }
                else if (ret.Item2 == Result.TIMEOUT) //timeout
                {
                    _fimsModule.LoadTimeoutAlarm.Set($"can not complete in {timeout} seconds");
                    throw (new RoutineFaildException());
                }
                else
                    throw (new RoutineBreakException());
            }
        }
        private void CheckLoadFinish(int id, int timeout)
        {
            Tuple<bool, Result> ret = ExecuteAndWait(id, () =>
            {
                Notify($"Check {Module} load finish");
                return true;
            }, () =>
            {
                return _fimsModule.FIMSDevice.IsPLCLoadCompleted && !_fimsModule.FIMSDevice.IsRunning;
            }, timeout * 1000);

            if (ret.Item1)
            {
                if (ret.Item2 == Result.FAIL)
                {
                    throw (new RoutineFaildException());
                }
                else if (ret.Item2 == Result.TIMEOUT) //timeout
                {
                    _fimsModule.LoadTimeoutAlarm.Set($"can not complete in {timeout} seconds");
                    throw (new RoutineFaildException());
                }
                else
                    throw (new RoutineBreakException());
            }
        }
    }
}