Modify PreTransferUnclamp Routine, TransPorter pickup and putdown Routine;

CyberX8_RT/Devices/Loader/LoaderPreTransferUnclampRoutine.cs

@@ -18,14 +18,14 @@ namespace CyberX8_RT.Devices.Loader
         private enum UnclampStep
         {
             WaferHolderUnClamp,
-            SideUnClamp,
-            SideUnClampWait,
+            //SideUnClamp,
+            //SideUnClampWait,
             FlowUnClamp,
             End
         }
         #region 内部变量
         private LoaderCommonDevice _commonDevice;
-        private LoaderCommonWaferHolderSideClampRoutine _sideClampRoutine;
+        //private LoaderCommonWaferHolderSideClampRoutine _sideClampRoutine;
         #endregion
         /// <summary>
         /// 构造函数
@@ -49,9 +49,9 @@ namespace CyberX8_RT.Devices.Loader
         public RState Monitor()
         {
             Runner.Run(UnclampStep.WaferHolderUnClamp, _commonDevice.WaferHolderClampOffAction, _delay_1ms)
-                .Run(UnclampStep.SideUnClamp, () => _sideClampRoutine.Start(false) == RState.Running, _delay_1ms)
-                .WaitWithStopCondition(UnclampStep.SideUnClampWait, () => CommonFunction.CheckRoutineEndState(_sideClampRoutine),
-                () => CommonFunction.CheckRoutineStopState(_sideClampRoutine))
+                //.Run(UnclampStep.SideUnClamp, () => _sideClampRoutine.Start(false) == RState.Running, _delay_1ms)
+                //.WaitWithStopCondition(UnclampStep.SideUnClampWait, () => CommonFunction.CheckRoutineEndState(_sideClampRoutine),
+                //() => CommonFunction.CheckRoutineStopState(_sideClampRoutine))
                 .Run(UnclampStep.FlowUnClamp, _commonDevice.LeakFlowClampOffAction, _delay_1ms)
                 .End(UnclampStep.End, NullFun, _delay_1ms);
             return Runner.Status;
@@ -63,7 +63,7 @@ namespace CyberX8_RT.Devices.Loader
         /// <returns></returns>
         public RState Start(params object[] objs)
         {
-            _sideClampRoutine = new LoaderCommonWaferHolderSideClampRoutine(Module);
+            //_sideClampRoutine = new LoaderCommonWaferHolderSideClampRoutine(Module);
             _commonDevice = DEVICE.GetDevice<LoaderCommonDevice>($"{ModuleName.Loader1}.Common");
             return Runner.Start(Module,"Start PreTransfer Unclamp");
         }

CyberX8_RT/Modules/Transporter/TransporterPickDownToRoutine.cs

@@ -33,6 +33,8 @@ namespace CyberX8_RT.Modules.Transporter
         private enum PutDownStep
         {
             CheckPreStatus,
+            TargetCellUnclamp,
+            TargetCellUnclampWait,
             ElevatorUp,
             ElevatorUpWait,
             SafeMoveTo,
@@ -66,6 +68,7 @@ namespace CyberX8_RT.Modules.Transporter
         private SystemFacilities _facilities;
         private TransporterCommon _transporterCommon;
         private TransporterConflictRoutine _conflictRoutine;
+        private LoaderPreTransferUnclampRoutine _preTransferUnclampRoutine;
         private LoaderCommonDevice _loaderCommonDevice;
         ProcessLayoutCellItem _cellItem;
         private int _placeTime;
@@ -95,6 +98,8 @@ namespace CyberX8_RT.Modules.Transporter
         public RState Monitor()
         {
             Runner.Run(PutDownStep.CheckPreStatus,CheckStartPreConfition,_delay_1ms)
+                .Run(PutDownStep.TargetCellUnclamp, TargetCellUnclamp, _delay_1ms)
+                .WaitWithStopCondition(PutDownStep.TargetCellUnclampWait, TargetCellUnclampEndStatus, TargetCellUnclampStopStatus)
                 //1. Elevator 移动至Up
                 .Run(PutDownStep.ElevatorUp, ElevatorGotoUp, _delay_1ms)
                 .WaitWithStopCondition(PutDownStep.ElevatorUpWait, CheckElevatorPositionEndStatus, CheckElevatorPositionStopStatus)
@@ -130,7 +135,115 @@ namespace CyberX8_RT.Modules.Transporter
                 .WaitWithStopCondition(PutDownStep.GantryPositionParkWait, CheckGantryParkPositionStatus, CheckGantryParkPositionRunStop)
                 .End(PutDownStep.End,NullFun,100);
             return Runner.Status;
-        }       
+        }
+        /// <summary>
+        /// 目标cell unclamp
+        /// </summary>
+        /// <returns></returns>
+        private bool TargetCellUnclamp()
+        {
+            if (_cellName == "Loader")
+            {
+                bool result = _preTransferUnclampRoutine.Start() == RState.Running;
+                if (!result)
+                {
+                    NotifyError(eEvent.ERR_TRANSPORTER, "Loader Unclamp failed", 0);
+                }
+                return result;
+            }
+            else
+            {
+                _cellItem = ProcessLayoutManager.Instance.GetProcessLayoutCellItemByModuleName(_cellName);
+                if (_cellItem != null)
+                {
+                    if (Enum.TryParse(_cellItem.ModuleName, out ModuleName cellModuleName))
+                    {
+                        if (ModuleHelper.IsRinse(cellModuleName))
+                        {
+                            RinseDevice rinseDevice = DEVICE.GetDevice<RinseDevice>(_cellItem.ModuleName);
+                            if (rinseDevice != null)
+                            {
+                                bool result = rinseDevice.WaferHolderClampValveOff();
+                                if (!result)
+                                {
+                                    NotifyError(eEvent.ERR_TRANSPORTER, $"{_cellItem.ModuleName} Clamp off failed", 0);
+                                }
+                                return result;
+                            }
+                        }
+                        else if (ModuleHelper.IsMetal(cellModuleName))
+                        {
+                            MetalCellDevice metalCellDevice = DEVICE.GetDevice<MetalCellDevice>(_cellItem.ModuleName);
+                            if (metalCellDevice != null)
+                            {
+                                bool result = metalCellDevice.WaferHolderClampOff();
+                                if (!result)
+                                {
+                                    NotifyError(eEvent.ERR_TRANSPORTER, $"{_cellItem.ModuleName} Clamp off failed", 0);
+                                }
+                                return result;
+                            }
+                        }
+                    }
+                }
+            }
+            return true;
+        }
+        /// <summary>
+        /// 目标Cell Unclamp状态
+        /// </summary>
+        /// <returns></returns>
+        private bool TargetCellUnclampEndStatus()
+        {
+            if (_cellName == "Loader")
+            {
+                return CommonFunction.CheckRoutineEndState(_preTransferUnclampRoutine);
+            }
+            else
+            {
+                _cellItem = ProcessLayoutManager.Instance.GetProcessLayoutCellItemByModuleName(_cellName);
+                if (_cellItem != null)
+                {
+                    if (Enum.TryParse(_cellItem.ModuleName, out ModuleName cellModuleName))
+                    {
+                        if (ModuleHelper.IsRinse(cellModuleName))
+                        {
+                            RinseDevice rinseDevice = DEVICE.GetDevice<RinseDevice>(_cellItem.ModuleName);
+                            if (rinseDevice != null)
+                            {
+                                return rinseDevice.RinseData.WaferHolderClamp == false;
+                            }
+                        }
+                        else if (ModuleHelper.IsMetal(cellModuleName))
+                        {
+                            MetalCellDevice metalCellDevice = DEVICE.GetDevice<MetalCellDevice>(_cellItem.ModuleName);
+                            if (metalCellDevice != null)
+                            {
+                                return metalCellDevice.ClampOff;
+                            }
+                        }
+                    }
+                }
+            }
+            return true;
+        }
+        /// <summary>
+        /// 目标Cell Unclamp运行中止状态
+        /// </summary>
+        /// <returns></returns>
+        private bool TargetCellUnclampStopStatus()
+        {
+            if (_cellName == "Loader")
+            {
+                bool result = CommonFunction.CheckRoutineStopState(_preTransferUnclampRoutine);
+                if (result)
+                {
+                    NotifyError(eEvent.ERR_TRANSPORTER, "Loader Unclamp failed", 0);
+                }
+                return result;
+            }
+            return false;
+        }
         /// <summary>
         /// Elevator goto Up
         /// </summary>
@@ -527,7 +640,7 @@ namespace CyberX8_RT.Modules.Transporter
             {
                 _placeDelayTime = SC.GetValue<int>($"{preConfig}.PlaceDelaySeconds");
             }
-
+            _preTransferUnclampRoutine = new LoaderPreTransferUnclampRoutine(ModuleName.Loader1.ToString());
             return Runner.Start(Module, $"Pun Down To {_cellName}");
         }
         /// <summary>

CyberX8_RT/Modules/Transporter/TransporterPickUpFromRoutine.cs

@@ -33,6 +33,8 @@ namespace CyberX8_RT.Modules.Transporter
         private enum PickUpStep
         {
             CheckPreCondition,
+            TargetCellUnclamp,
+            TargetCellUnclampWait,
             DropBlockLockoff,
             ElevatorGotoUp,
             ElevatorGotoUpWait,
@@ -61,6 +63,7 @@ namespace CyberX8_RT.Modules.Transporter
         private JetAxisBase _loaderRotationAxis;
         private SystemFacilities _facilities;
         private TransporterConflictRoutine _conflictRoutine;
+        private LoaderPreTransferUnclampRoutine _preTransferUnclampRoutine;
         private TransporterCommon _transporterCommon;
         private LoaderCommonDevice _loaderCommonDevice;
         ProcessLayoutCellItem _cellItem;
@@ -92,6 +95,8 @@ namespace CyberX8_RT.Modules.Transporter
         public RState Monitor()
         {
             Runner.Run(PickUpStep.CheckPreCondition, CheckStartPreConfition, _delay_1ms)
+                .Run(PickUpStep.TargetCellUnclamp, TargetCellUnclamp, _delay_1ms)
+                .WaitWithStopCondition(PickUpStep.TargetCellUnclampWait, TargetCellUnclampEndStatus, TargetCellUnclampStopStatus)
                 //1. 确认DropBlockLock是否off
                 .Run(PickUpStep.DropBlockLockoff, DropBlockLockoff, _delay_1ms)
                 //2. Elevator go to up
@@ -127,6 +132,115 @@ namespace CyberX8_RT.Modules.Transporter
             return Runner.Status;
         }
         /// <summary>
+        /// 目标cell unclamp
+        /// </summary>
+        /// <returns></returns>
+        private bool TargetCellUnclamp()
+        {
+            if (_cellName == "Loader")
+            {
+                bool result = _preTransferUnclampRoutine.Start() == RState.Running;
+                if (!result)
+                {
+                    NotifyError(eEvent.ERR_TRANSPORTER, "Loader Unclamp failed", 0);
+                }
+                return result;
+            }
+            else
+            {
+                _cellItem = ProcessLayoutManager.Instance.GetProcessLayoutCellItemByModuleName(_cellName);
+                if (_cellItem != null)
+                {
+                    bool result = false;
+                    if (Enum.TryParse(_cellItem.ModuleName, out ModuleName cellModuleName))
+                    {
+                        if (ModuleHelper.IsRinse(cellModuleName))
+                        {
+                            RinseDevice rinseDevice = DEVICE.GetDevice<RinseDevice>(_cellItem.ModuleName);
+                            if (rinseDevice != null)
+                            {
+                                result = rinseDevice.WaferHolderClampValveOff();
+                                if (!result)
+                                {
+                                    NotifyError(eEvent.ERR_TRANSPORTER, $"{_cellItem.ModuleName} Clamp off failed", 0);
+                                }
+                                return result;
+                            }
+                        }
+                        else if (ModuleHelper.IsMetal(cellModuleName))
+                        {
+                            MetalCellDevice metalCellDevice = DEVICE.GetDevice<MetalCellDevice>(_cellItem.ModuleName);
+                            if (metalCellDevice != null)
+                            {
+                                result = metalCellDevice.WaferHolderClampOff();
+                                if (!result)
+                                {
+                                    NotifyError(eEvent.ERR_TRANSPORTER, $"{_cellItem.ModuleName} Clamp off failed", 0);
+                                }
+                                return result;
+                            }
+                        }
+                    }
+                }
+            }
+            return true;
+        }
+        /// <summary>
+        /// 目标Cell Unclamp状态
+        /// </summary>
+        /// <returns></returns>
+        private bool TargetCellUnclampEndStatus()
+        {
+            if (_cellName == "Loader")
+            {
+                return CommonFunction.CheckRoutineEndState(_preTransferUnclampRoutine);
+            }
+            else
+            {
+                _cellItem = ProcessLayoutManager.Instance.GetProcessLayoutCellItemByModuleName(_cellName);
+                if (_cellItem != null)
+                {
+                    if (Enum.TryParse(_cellItem.ModuleName, out ModuleName cellModuleName))
+                    {
+                        if (ModuleHelper.IsRinse(cellModuleName))
+                        {
+                            RinseDevice rinseDevice = DEVICE.GetDevice<RinseDevice>(_cellItem.ModuleName);
+                            if (rinseDevice != null)
+                            {
+                                return !rinseDevice.RinseData.WaferHolderClamp;
+                            }
+                        }
+                        else if (ModuleHelper.IsMetal(cellModuleName))
+                        {
+                            MetalCellDevice metalCellDevice = DEVICE.GetDevice<MetalCellDevice>(_cellItem.ModuleName);
+                            if (metalCellDevice != null)
+                            {
+                                return metalCellDevice.ClampOff;
+                            }
+                        }
+                    }
+                }
+            }
+            return true;
+        }
+        /// <summary>
+        /// 目标Cell Unclamp运行中止状态
+        /// </summary>
+        /// <returns></returns>
+        private bool TargetCellUnclampStopStatus()
+        {
+            if (_cellName == "Loader")
+            {
+                bool result = CommonFunction.CheckRoutineStopState(_preTransferUnclampRoutine);
+                if (result)
+                {
+                    NotifyError(eEvent.ERR_TRANSPORTER, "Loader Unclamp failed", 0);
+                }
+                return result;
+            }
+            return false;
+        }
+        /// <summary>
         /// 关闭DropBlockLock
         /// </summary>
         /// <returns></returns>
@@ -473,6 +587,7 @@ namespace CyberX8_RT.Modules.Transporter
             _transporterCommon = DEVICE.GetDevice<TransporterCommon>($"{Module}.Common");
             _loaderCommonDevice = DEVICE.GetDevice<LoaderCommonDevice>($"{ModuleName.Loader1}.Common");
             _bypassWaferHolderPresent = SC.GetValue<bool>("Transporter.BypassWaferHolderPresent");
+            _preTransferUnclampRoutine = new LoaderPreTransferUnclampRoutine(ModuleName.Loader1.ToString());
             _velocity = 0;
             _acceleration = 0;
             _pickMaxRetries = SC.GetValue<int>("Transporter.MaxPickTries");