update puf/loader scheduler

CyberX8_MainPages/ViewModels/TopViewModel.cs

@@ -53,7 +53,6 @@ namespace CyberX8_MainPages.ViewModels
 
         private bool _EFEMIsInstalled;
         private bool _PUF1IsInstalled;
-        private bool _PUF2IsInstalled;
         private bool _loader1Installed;
         private bool _transporter2Installed;
         private bool _transporter1Installed;
@@ -212,12 +211,6 @@ namespace CyberX8_MainPages.ViewModels
             get { return _PUF1IsInstalled; }
             set { SetProperty(ref _PUF1IsInstalled, value); }
         }
-        public bool PUF2IsInstalled
-        {
-            get { return _PUF2IsInstalled; }
-            set { SetProperty(ref _PUF2IsInstalled, value); }
-        }
-
         public bool Loader1IsInstalled
         {
             get { return _loader1Installed; }
@@ -321,7 +314,6 @@ namespace CyberX8_MainPages.ViewModels
                 List<string> allModules = CommonFunction.GetValue<List<string>>(allModulesDictionary, "System.InstalledModules");
                 EFEMIsInstalled = allModules.Contains("EFEM");
                 PUF1IsInstalled = allModules.Contains("PUF1");
-                PUF2IsInstalled = allModules.Contains("PUF2");
                 Loader1IsInstalled = allModules.Contains("Loader1");
                 Transporter1IsInstalled = allModules.Contains("Transporter1");
                 Transporter2IsInstalled = allModules.Contains("Transporter2");
@@ -412,10 +404,6 @@ namespace CyberX8_MainPages.ViewModels
             {
                 m_RtDataKeys.Add("PUF1.FsmState");
             }
-            if (PUF2IsInstalled)
-            {
-                m_RtDataKeys.Add("PUF2.FsmState");
-            }
 
             if(Loader1IsInstalled)
             {

CyberX8_MainPages/Views/TopView.xaml

@@ -64,12 +64,7 @@
                           LabelColor="{Binding RtDataValues[PUF1.IsOnline],Converter={StaticResource IsOnlineConverter}}"  
                           Visibility="{Binding PUF1IsInstalled,Converter={StaticResource bool2VisibilityConverter}}" />
 
-            <userControls:StateTitle Title="PUF2"  Grid.Column="3"  TextBoxValue="{Binding RtDataValues[PUF2.FsmState]}"   
-              TextBoxColor="{Binding RtDataValues[PUF2.FsmState],Converter={StaticResource PUFStateConverter}}"     
-              LabelColor="{Binding RtDataValues[PUF2.IsOnline],Converter={StaticResource IsOnlineConverter}}"  
-              Visibility="{Binding PUF2IsInstalled,Converter={StaticResource bool2VisibilityConverter}}" />
-
-            <userControls:StateTitle Title="Loader1" Grid.Row="0"  Grid.Column="4"  TextBoxValue="{Binding RtDataValues[Loader1.FsmState]}"   
+            <userControls:StateTitle Title="Loader1" Grid.Row="0"  Grid.Column="3"  TextBoxValue="{Binding RtDataValues[Loader1.FsmState]}"   
               TextBoxColor="{Binding RtDataValues[Loader1.FsmState],Converter={StaticResource LoaderStateConverter}}"     
               LabelColor="{Binding RtDataValues[Loader1.IsOnline],Converter={StaticResource IsOnlineConverter}}"  
               Visibility="{Binding Loader1IsInstalled,Converter={StaticResource bool2VisibilityConverter}}" />

CyberX8_RT/Dispatch/WaferTask.cs

@@ -22,6 +22,7 @@ using MECF.Framework.Common.Schedulers;
 using System.Windows;
 using MECF.Framework.RT.Core.Equipments;
 using CyberX8_RT.Modules.SRD;
+using CyberX8_RT.Schedulers.Puf;
 
 namespace CyberX8_RT.Dispatch
 {
@@ -342,10 +343,6 @@ namespace CyberX8_RT.Dispatch
                 return false;
             }
 
-            if(loaderEntity.IsBusy&&loaderEntity.State!=(int)LOADERSTATE.WaitForUnload)
-            {
-                return false;
-            }
             if(!string.IsNullOrEmpty(MateWaferTask))
             {
                 WaferTask mateTask=WaferTaskManager.Instance.GetWaferTask(MateWaferTask);
@@ -357,6 +354,13 @@ namespace CyberX8_RT.Dispatch
                     }
                 }
             }
+            else
+            {
+                if (loaderEntity.IsBusy && loaderEntity.State != (int)LOADERSTATE.WaitForUnload)
+                {
+                    return false;
+                }
+            }
 
             //WaferHolderTask waferHolderTask = WaferTaskManager.Instance.GetWaferHolderTaskByWaferId(WaferId);
             //if (waferHolderTask != null)
@@ -378,8 +382,8 @@ namespace CyberX8_RT.Dispatch
             {
                 if (schedulerSequence.ModuleType == ModuleType.PUF&&schedulerSequence.IsWaitNotify)
                 {
-                    bool forward = (bool)schedulerSequence.Parameters;
-                    if (!forward)
+                    PufSchedulerParameter pufParameter = (PufSchedulerParameter)schedulerSequence.Parameters;
+                    if (!pufParameter.IsForward)
                     {
                         schedulerSequence.StartTime = DateTime.Now;
                         schedulerSequence.EndTime = DateTime.Now;

CyberX8_RT/Modules/Loader/LoaderEntity.cs

@@ -328,6 +328,7 @@ namespace CyberX8_RT.Modules.Loader
             //Prepare for Place
             Transition(LOADERSTATE.Idle, LoaderMSG.PrepareForPlace, PrePareForPlace, LOADERSTATE.PrepreForPlacing);
             Transition(LOADERSTATE.PrepreForPlacing, FSM_MSG.TIMER, PrepareForPlaceMonitor, LOADERSTATE.WaitForUnload);
+            Transition(LOADERSTATE.Idle, LoaderMSG.ReadyForPuf, NullFunc, LOADERSTATE.WaitForUnload);
             Transition(LOADERSTATE.WaitForUnload, LoaderMSG.UnloadSide, UnloadSide, LOADERSTATE.Unloading);
             Transition(LOADERSTATE.Unloading, FSM_MSG.TIMER, UnloadSideMonitor, LOADERSTATE.WaitForLoad);
             Transition(LOADERSTATE.WaitForLoad, LoaderMSG.LoadSide, LoadSide, LOADERSTATE.Loading);
@@ -975,6 +976,7 @@ namespace CyberX8_RT.Modules.Loader
         Error,
         ClearError,
         PrepareForPlace,
+        ReadyForPuf,
         UnloadSide,
         LoadSide,
         Retry,

CyberX8_RT/Modules/Loader/LoaderUnloadSideRoutine.cs

@@ -88,7 +88,7 @@ namespace CyberX8_RT.Modules.Loader
         public RState Monitor()
         {
             LottrackRecord();
-            Runner.Run(UnloadStep.RotationGoToLOADA,RotationGotoLOADA,_delay_1ms)
+            Runner.Run(UnloadStep.RotationGoToLOADA,RotationGotoLOAD,_delay_1ms)
                 .WaitWithStopCondition(UnloadStep.RotationGoToLOADAWait,CheckRotationPositionStatus,CheckRotationPositionRunStop)
                 .Run(UnloadStep.SideUnload, () => StartUnloadRoutine(_sideUnloadRoutine,_isSideUnloaded), _delay_1ms)
                 .WaitWithStopCondition(UnloadStep.UnloadAllWait, CheckUnloadAllRoutineEndStatus,CheckUnloadAllRoutineStopStatus)
@@ -99,12 +99,13 @@ namespace CyberX8_RT.Modules.Loader
         /// Rotation Goto LOADA
         /// </summary>
         /// <returns></returns>
-        private bool RotationGotoLOADA()
+        private bool RotationGotoLOAD()
         {
-            bool result = _rotationAxis.PositionStation($"LOADA{_waferSize}", false);
+            string side = _side == SIDE_A ? "A" : "B";
+            bool result = _rotationAxis.PositionStation($"LOAD{side}{_waferSize}", false);
             if (!result)
             {
-                NotifyError(eEvent.ERR_LOADER, "rotation start goto LOADA failed", 0);
+                NotifyError(eEvent.ERR_LOADER, "rotation start goto LOAD failed", 0);
             }
             return result;
         }
@@ -215,7 +216,7 @@ namespace CyberX8_RT.Modules.Loader
             InitializeParameters();
             _loaderCommon = DEVICE.GetDevice<LoaderCommonDevice>($"{Module}.Common");
             _loaderSide = DEVICE.GetDevice<LoaderSideDevice>($"{Module}.{_side}");
-            return Runner.Start(Module, "Start UnloadAll");
+            return Runner.Start(Module, "Start Unload side");
         }
         /// <summary>
         /// 初始化参数

CyberX8_RT/Modules/PUF/PufBackToParkRoutine.cs

@@ -74,7 +74,7 @@ namespace CyberX8_RT.Modules.PUF
         private bool CheckChuckStopStatus()
         {
             bool result=CommonFunction.CheckRoutineStopState(_chuckRoutine);
-            if (!result)
+            if (result)
             {
                 NotifyError(eEvent.ERR_PUF, _chuckRoutine.ErrorMsg, 0);
             }

CyberX8_RT/Modules/PUF/PufSwapRoutine.cs

@@ -305,11 +305,11 @@ namespace CyberX8_RT.Modules.PUF
                         }
                     }
                     //Loader1.TiltA 在HORI
-                    JetAxisBase loaderTiltAAxis = DEVICE.GetDevice<JetAxisBase>($"{ModuleName.Loader1}.TiltA");
+                    JetAxisBase loaderTiltAAxis = DEVICE.GetDevice<JetAxisBase>($"{ModuleName.Loader1}.Tilt{side}");
                     double loaderTiltAPosition = loaderTiltAAxis.MotionData.MotorPosition;
                     if (!loaderTiltAAxis.CheckPositionIsInStation(loaderTiltAPosition, "HORI"))
                     {
-                        NotifyError(eEvent.ERR_PUF, $"Loader TiltA {loaderTiltAPosition} is not in HORI",-1);
+                        NotifyError(eEvent.ERR_PUF, $"Loader Tilt {loaderTiltAPosition} is not in HORI",-1);
                         return false;
                     }
                 }

CyberX8_RT/Schedulers/Loader/SchedulerLoader.cs

@@ -25,6 +25,7 @@ namespace CyberX8_RT.Schedulers.Loader
         {
             WaitLoad,
             LoadingFirst,
+            ReadyForPuf,
             LoadingSecond
         }
         #region 内部变量
@@ -97,14 +98,25 @@ namespace CyberX8_RT.Schedulers.Loader
                     }
                     else
                     {
-                        bool result = ExecuteLoadSide(true);
+                        bool result = EnterReadyForPuf();
                         if (result)
                         {
-                            _currentStep = SchedulerStep.LoadingSecond;
+                            _currentStep = SchedulerStep.ReadyForPuf;
                         }
                     }
                 }
             }
+            else if (_currentStep == SchedulerStep.ReadyForPuf)
+            {
+                if (_loaderEntity.State == (int)LOADERSTATE.WaitForLoad)
+                {
+                    bool result = ExecuteLoadSide(true);
+                    if (result)
+                    {
+                        _currentStep = SchedulerStep.LoadingSecond;
+                    }
+                }
+            }
             else if (_currentStep == SchedulerStep.LoadingSecond)
             {
                 if (_loaderEntity.IsIdle)
@@ -130,12 +142,20 @@ namespace CyberX8_RT.Schedulers.Loader
                 {
                     return false;
                 }
-                bool result = _loaderEntity.CheckToPostMessage<LOADERSTATE, LoaderMSG>(eEvent.WARN_LOADER, Module.ToString(),
-                (int)LoaderMSG.LoadSide, side, loadComplete);
-                return result;
+                return _loaderEntity.CheckToPostMessage<LOADERSTATE, LoaderMSG>(eEvent.WARN_LOADER, Module.ToString(),
+                    (int)LoaderMSG.LoadSide, side, loadComplete);
             }
             return false;
         } 
+        /// <summary>
+        /// 第二次进入WaitForUnload
+        /// </summary>
+        /// <returns></returns>
+        private bool EnterReadyForPuf()
+        {
+            return _loaderEntity.CheckToPostMessage<LOADERSTATE, LoaderMSG>(eEvent.WARN_LOADER, Module.ToString(),
+                (int)LoaderMSG.ReadyForPuf);
+        }
 
         /// <summary>
         /// 检验前置条件

CyberX8_RT/Schedulers/Puf/SchedulerPuf.cs

@@ -198,7 +198,7 @@ namespace CyberX8_RT.Schedulers.Puf
         /// <returns></returns>
         private bool CheckDualPufStateCanExecuteLoaderUnloadAll()
         {
-            bool puf1ready = true;
+            bool pufReady = true;
             if(ModuleHelper.IsInstalled(ModuleName.PUF1))
             {
                 PUFEntity puf1Entity = Singleton<RouteManager>.Instance.GetModule<PUFEntity>(ModuleName.PUF1.ToString());
@@ -206,14 +206,14 @@ namespace CyberX8_RT.Schedulers.Puf
                 //B面有Wafer
                 if (WaferManager.Instance.CheckHasWafer(ModuleName.PUF1,1))
                 {
-                    puf1ready = puf1Entity.State == (int)PUFSTATE.WaitForSwap;
+                    pufReady = puf1Entity.State == (int)PUFSTATE.WaitForSwap;
                 }
                 else
                 {
-                    puf1ready = false;
+                    pufReady = false;
                 }
             }
-            if(!puf1ready)
+            if(!pufReady)
             {
                 return false;
             }

CyberX8_RT/Schedulers/SchedulerManager.cs

@@ -20,6 +20,8 @@ using CyberX8_RT.Schedulers.Rinse;
 using CyberX8_RT.Schedulers.Metal;
 using CyberX8_RT.Schedulers.Srd;
 using CyberX8_RT.Dispatch;
+using CyberX8_RT.Modules.Dryer;
+using CyberX8_RT.Modules;
 
 namespace CyberX8_RT.Schedulers
 {
@@ -172,6 +174,11 @@ namespace CyberX8_RT.Schedulers
             List<string> dryerModules = DryerItemManager.Instance.InstalledModules;
             foreach(string item in dryerModules)
             {
+                DryerEntity dryerEntity = Singleton<RouteManager>.Instance.GetModule<DryerEntity>(item);
+                if (!dryerEntity.IsIdle)
+                {
+                    continue;
+                }
                 WaferHolderInfo waferHolderInfo = WaferHolderManager.Instance.GetWaferHolder(item);
                 if (waferHolderInfo == null)
                 {

CyberX8_Simulator/Devices/SunWayEfemSimulator.cs

@@ -74,7 +74,7 @@ namespace CyberX8_Simulator.Devices
             get { return _isDoorOpen3; }
             set { _isDoorOpen3 = value; SendLP3Data(); }
         }
-        public SunWayEfemSimulator() : base(13001, -1, "\r", ' ')
+        public SunWayEfemSimulator() : base(1102, -1, "\r", ' ')
         {
             for (int i = 0; i < _slotMap.Length; i++)
                 _slotMap[i] = "0";