CyberX8/CyberX8_RT/Schedulers/Loader/SchedulerLoader.cs

using Aitex.Core.RT.Fsm;
using Aitex.Core.RT.Log;
using Aitex.Core.Util;
using MECF.Framework.Common.CommonData;
using MECF.Framework.Common.Equipment;
using CyberX8_Core;
using CyberX8_RT.Modules;
using CyberX8_RT.Modules.Loader;
using CyberX8_RT.Modules.PUF;
using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Threading.Tasks;
using MECF.Framework.Common.SubstrateTrackings;
using CyberX8_RT.Modules.Metal;
using CyberX8_RT.Devices.AXIS;
using Aitex.Core.RT.Device;
using MECF.Framework.Common.WaferHolder;
using Aitex.Core.Common;
using CyberX8_RT.Dispatch;

namespace CyberX8_RT.Schedulers.Loader
{
    public class SchedulerLoader : SchedulerModule
    {
        private enum SchedulerStep
        {
            None,
            WaitUnload,
            WaitLoad,
            LoadingFirst,
            ReadyForPuf,
            LoadingSecond
        }
        #region 内部变量
        private LoaderEntity _loaderEntity;
        private PUFEntity _puf1Entity;
        private SchedulerStep _currentStep;
        private int _currentWaferIndex = 1;
        #endregion

        #region 属性

        public override bool IsIdle
        {
            get { return _state == RState.End; }
        }
        public override bool IsError
        {
            get { return _state == RState.Failed || _state == RState.Timeout; }
        }
        #endregion
        /// <summary>
        /// 构造函数
        /// </summary>
        /// <param name="module"></param>
        public SchedulerLoader(ModuleName module) : base(module.ToString())
        {
            _loaderEntity = Singleton<RouteManager>.Instance.GetModule<LoaderEntity>(module.ToString());
            _puf1Entity = Singleton<RouteManager>.Instance.GetModule<PUFEntity>(ModuleName.PUF1.ToString());
        }

        /// <summary>
        /// 执行
        /// </summary>
        /// <param name="parameter"></param>
        /// <returns></returns>
        public override bool RunProcess(object recipe, object parameter, List<SchedulerSyncModuleMessage> syncModuleMessages)
        {
            _state = RState.Running;
            _currentStep = SchedulerStep.WaitUnload;
            _currentWaferIndex = 1;
            return true;
        }
        /// <summary>
        /// 监控执行
        /// </summary>
        /// <returns></returns>
        public override bool MonitorProcess(SchedulerSequence schedulerSequence, bool hasMatchWafer)
        {
            if (_currentStep == SchedulerStep.WaitUnload)
            {
                if (_loaderEntity.State == (int)LOADERSTATE.WaitForUnload && WaferHolderManager.Instance.HasWaferHolder("Loader"))
                {
                    JetAxisBase _loadTransporterGantryAxis = DEVICE.GetDevice<JetAxisBase>($"{ModuleName.Transporter2}.Gantry");
                    if (_loadTransporterGantryAxis != null && _loadTransporterGantryAxis.JudgeCompareTargetStation("Loader", "Right"))
                    {
                        WaferInfo preLoaderWaferInfo = WaferHolderTaskManager.Instance.GetPreLoaderHasWafer();
                        //触发loaderEntity UnloadAll
                        if (preLoaderWaferInfo != null && !string.IsNullOrEmpty(preLoaderWaferInfo.LoaderSide))
                        {
                            _loaderEntity.CheckToPostMessage<LOADERSTATE, LoaderMSG>(eEvent.WARN_LOADER, ModuleName.Loader1.ToString(),
                                (int)LoaderMSG.UnloadSide, preLoaderWaferInfo.LoaderSide);
                        }
                    }
                }
                else if(_loaderEntity.State==(int)LOADERSTATE.Unloading)
                {
                    _currentStep = SchedulerStep.WaitLoad;
                }
                else if (_loaderEntity.State == (int)LOADERSTATE.WaitForLoad)
                {
                    _currentStep = SchedulerStep.WaitLoad;
                }
                return true;
            }
            LoaderParameter loaderParameter =(LoaderParameter)schedulerSequence.Parameters;
            bool loadComplete = loaderParameter.WaferCount == _currentWaferIndex;
            bool needFlip = loaderParameter.NeedWaitFlip;
            if (_currentStep == SchedulerStep.WaitLoad)
            {
                if (_loaderEntity.State != (int)LOADERSTATE.WaitForLoad)
                {
                    return false;
                }
                if (_puf1Entity.State == (int)PUFSTATE.AferSwapParkStation || _puf1Entity.IsIdle && _puf1Entity.IsBackToParkStation)
                {
                    bool result = ExecuteLoadSide(loadComplete, loaderParameter.LoadCompleteToTransporterSide);
                    if (result)
                    {
                        _currentStep = SchedulerStep.LoadingFirst;
                    }
                }
            }
            else if (_currentStep == SchedulerStep.LoadingFirst)
            {
                if (_loaderEntity.IsIdle)
                {
                    if (loaderParameter.WaferCount == 1)
                    {
                        if (needFlip)
                        {
                            bool loaderResult= _loaderEntity.CheckToPostMessage<LOADERSTATE, LoaderMSG>(eEvent.WARN_LOADER, Module.ToString(),
                                (int)LoaderMSG.WaitFlip);
                            if (loaderResult)
                            {
                                _state = RState.End;
                                _currentStep = SchedulerStep.None;
                            }
                        }
                        else
                        {
                            _state = RState.End;
                            _currentStep = SchedulerStep.None;
                        }
                    }
                    else
                    {
                        bool result = EnterReadyForPuf();
                        if (result)
                        {
                            _currentStep = SchedulerStep.ReadyForPuf;
                            _currentWaferIndex=2;
                        }
                    }
                }
            }
            else if (_currentStep == SchedulerStep.ReadyForPuf)
            {
                if (_loaderEntity.State == (int)LOADERSTATE.WaitForLoad)
                {
                    if (_puf1Entity.State == (int)PUFSTATE.AferSwapParkStation || _puf1Entity.IsIdle && _puf1Entity.IsBackToParkStation)
                    {
                        bool result = ExecuteLoadSide(true, loaderParameter.LoadCompleteToTransporterSide);
                        if (result)
                        {
                            _currentStep = SchedulerStep.LoadingSecond;
                        }
                    }
                }
            }
            else if (_currentStep == SchedulerStep.LoadingSecond)
            {
                if (_loaderEntity.IsIdle)
                {
                    _state = RState.End;
                    _currentStep = SchedulerStep.None;
                }
            }
            return true;
        }
        /// <summary>
        /// 执行Loader Load动作
        /// </summary>
        /// <param name="loadComplete"></param>
        /// <param name="completeSide"></param>
        /// <returns></returns>
        private bool ExecuteLoadSide(bool loadComplete,string completeSide)
        {
            if (_puf1Entity.State == (int)PUFSTATE.AferSwapParkStation || (_puf1Entity.IsIdle && _puf1Entity.IsBackToParkStation))
            {
                JetAxisBase tiltAAxis = DEVICE.GetDevice<JetAxisBase>($"{ModuleName.Loader1}.TiltA");
                JetAxisBase tiltBAxis = DEVICE.GetDevice<JetAxisBase>($"{ModuleName.Loader1}.TiltB");
                double tiltAPosition = tiltAAxis.MotionData.MotorPosition;
                double tiltBPosition = tiltBAxis.MotionData.MotorPosition;
                bool tiltAHori = tiltAAxis.CheckPositionIsInStation(tiltAPosition, "HORI");
                bool tiltBHori = tiltBAxis.CheckPositionIsInStation(tiltBPosition, "HORI");
                string side = tiltAHori ? "SideA" : (tiltBHori ? "SideB" : "");
                if (string.IsNullOrEmpty(side))
                {
                    return false;
                }
                return _loaderEntity.CheckToPostMessage<LOADERSTATE, LoaderMSG>(eEvent.WARN_LOADER, Module.ToString(),
                    (int)LoaderMSG.LoadSide, side, loadComplete,completeSide);
            }
            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
        /// </summary>
        /// <param name="sequenceIndex"></param>
        /// <param name="parameter"></param>
        /// <returns></returns>
        public override bool CheckPrecondition(List<SchedulerSequence> schedulerSequences, int sequenceIndex, object parameter, string materialId,ref string reason)
        {
            if (_state == RState.Running)
            {
                reason = "scheduler module is already running";
                return false;
            }
            if (_loaderEntity.IsIdle)
            {
                reason = "loader is idle";
                return false;
            }
            if (_loaderEntity.WaferHolderInfo == null)
            {
                reason = "loader has no wafer shuttle";
                return false;
            }
            if (_loaderEntity.WaferHolderInfo.Id != materialId)
            {
                reason = $"{_loaderEntity.Module} wafer shuttle {_loaderEntity.WaferHolderInfo.Id} is not matched with {materialId}";
                return false;
            }
            return true;
        }
    }
}