CyberX8/CyberX8_RT/Schedulers/EfemRobot/RobotMoveHelper.cs

using Aitex.Core.RT.Log;
using Aitex.Core.Util;
using CyberX8_Core;
using CyberX8_RT.Modules;
using CyberX8_RT.Modules.Loader;
using CyberX8_RT.Modules.PUF;
using MECF.Framework.Common.Equipment;
using MECF.Framework.Common.Schedulers;
using MECF.Framework.Common.SubstrateTrackings;
using System;
using System.Collections.Generic;
using System.Linq;
using System.Reflection;
using System.Text;
using System.Threading.Tasks;

namespace CyberX8_RT.Schedulers.EfemRobot
{
    public class RobotMoveHelper : Singleton<RobotMoveHelper>
    {
        private enum RobotOperation
        {
            None,
            Pick,
            PickWait,
            CheckLoaderPrepare,
            Place,
            PlaceWait
        }

        #region 内部变量
        private Queue<MoveItem> _queue=new Queue<MoveItem>();
        private MoveItem _moveItem;
        private RState _state = RState.End;
        private RobotOperation _currentOperation=RobotOperation.None;
        private EfemEntity _efemEntity;
        private LoaderEntity _loaderEntity;
        private PUFEntity _puf1Entity;
        private PUFEntity _puf2Entity;
        private string _module;
        #endregion

        #region 属性
        /// <summary>
        /// 是否忙碌
        /// </summary>
        public bool IsBusy
        {
            get { return _state == RState.Running; }
        }
        /// <summary>
        /// 是否空闲
        /// </summary>
        public bool IsIdle
        {
            get { return _state == RState.End; }
        }
        /// <summary>
        /// 是否错误
        /// </summary>
        public bool IsError
        {
            get { return _state == RState.Failed || _state == RState.Timeout; }
        }
        /// <summary>
        /// 当前模块名称
        /// </summary>
        public string Module { get { return _module; } }
        /// <summary>
        /// 是否完成
        /// </summary>
        public bool IsPickCompleted { get { return _currentOperation >= RobotOperation.Place; } }
        #endregion
        /// <summary>
        /// 构造函数
        /// </summary>
        /// <param name="queue"></param>
        public RobotMoveHelper()
        {
        }

        /// <summary>
        /// 启动
        /// </summary>
        /// <param name="queue"></param>
        /// <returns></returns>
        public bool Start(MoveItem moveItem,string module)
        {
            _efemEntity = Singleton<RouteManager>.Instance.EFEM;
            _loaderEntity = Singleton<RouteManager>.Instance.GetModule<LoaderEntity>(ModuleName.Loader1.ToString());
            _puf1Entity = Singleton<RouteManager>.Instance.GetModule<PUFEntity>(ModuleName.PUF1.ToString());
            _puf2Entity = Singleton<RouteManager>.Instance.GetModule<PUFEntity>(ModuleName.PUF2.ToString());
            _moveItem = moveItem;
            _queue.Clear();
            _queue.Enqueue(moveItem);
            _state = RState.Running;
            _currentOperation = RobotOperation.Pick;
            _module = module;
            return true;
        }
        /// <summary>
        /// 监控状态
        /// </summary>
        /// <returns></returns>
        public bool Monitor(string module)
        {
            if (_module != module)
            {
                return false;
            }
            if (_currentOperation == RobotOperation.Pick)
            {
                if (CheckOtherModuleError())
                {
                    return false;
                }
                if (_efemEntity.IsIdle)
                {
                    bool result = Pick();
                    if (result)
                    {
                        _currentOperation = RobotOperation.PickWait;
                    }
                }
            }
            else if (_currentOperation == RobotOperation.PickWait)
            {
                if (_efemEntity.IsIdle && WaferManager.Instance.CheckHasWafer(ModuleName.EfemRobot, 0)
                    && WaferManager.Instance.CheckNoWafer(_moveItem.SourceModule, _moveItem.SourceSlot))
                {
                    if (_moveItem.DestinationType == ModuleType.PUF)
                    {
                        _currentOperation = RobotOperation.CheckLoaderPrepare;
                    }
                    else
                    {
                        _currentOperation = RobotOperation.Place;
                    }
                }
            }
            else if (_currentOperation == RobotOperation.CheckLoaderPrepare)
            {
                if(_loaderEntity.State==(int)LOADERSTATE.WaitForUnload)
                {
                    _currentOperation = RobotOperation.Place;
                }
            }
            else if (_currentOperation == RobotOperation.Place)
            {
                if (CheckOtherModuleError())
                {
                    return false;
                }
                
                if (_efemEntity.IsIdle)
                {
                    bool result = Place();
                    if (result)
                    {
                        _currentOperation = RobotOperation.PlaceWait;
                    }
                }
            }
            else if (_currentOperation == RobotOperation.PlaceWait)
            {
                if (_efemEntity.IsIdle && WaferManager.Instance.CheckNoWafer(ModuleName.EfemRobot, 0)
                    && WaferManager.Instance.CheckHasWafer(_moveItem.DestinationModule, _moveItem.DestinationSlot))
                {
                    _state = RState.End;
                    _currentOperation = RobotOperation.None;
                }
            }
            return true;
        }
        //检验其他模块是否故障
        private bool CheckOtherModuleError()
        {
            return _loaderEntity.IsError||_puf1Entity.IsError;
        }

        /// <summary>
        /// 取片
        /// </summary>
        /// <param name="moveItem"></param>
        /// <returns></returns>
        private bool Pick()
        {
            return _efemEntity.CheckToPostMessage<EfemEntity.STATE, EfemEntity.MSG>(eEvent.ERR_EFEM_COMMON_FAILED,
                ModuleName.EFEM.ToString(), (int)EfemEntity.MSG.Pick, _queue);
        }
        /// <summary>
        /// 放片
        /// </summary>
        /// <param name="moveItem"></param>
        /// <returns></returns>
        private bool Place()
        {
            return _efemEntity.CheckToPostMessage<EfemEntity.STATE, EfemEntity.MSG>(eEvent.ERR_EFEM_COMMON_FAILED,
                ModuleName.EFEM.ToString(), (int)EfemEntity.MSG.Place, _queue);
        }
        /// <summary>
        /// 重置
        /// </summary>
        public void Reset()
        {
            _state = RState.End;
            _queue.Clear();
        }
    }
}