CyberX8/CyberX8_RT/Devices/Loader/LoaderInstallCRSRoutine.cs

using Aitex.Core.RT.Device;
using Aitex.Core.RT.Log;
using Aitex.Core.RT.Routine;
using Aitex.Core.Util;
using MECF.Framework.Common.CommonData.Loader;
using MECF.Framework.Common.Equipment;
using MECF.Framework.Common.Routine;
using MECF.Framework.Common.Utilities;
using CyberX8_Core;
using CyberX8_RT.Devices.AXIS;
using CyberX8_RT.Devices.AXIS.CANOpen;
using CyberX8_RT.Modules.PUF;
using CyberX8_RT.Modules;
using System;
using CyberX8_RT.Modules.Transporter;
using Aitex.Core.RT.SCCore;
using CyberX8_RT.Modules.Loader;

namespace CyberX8_RT.Devices.Loader
{
    public class LoaderInstallCRSRoutine : RoutineBase, IRoutine
    {
        private enum InstallStep
        {
            CheckPreCondition,
            TiltGotoVertical,
            TiltGotoVerticalCheck,
            LSGotoUnlock,
            LSGotoUnlockWait,
            ShuttleGotoIN,
            ShuttleGotoINWait,
            BernoulliBladderOn,
            BernoulliBladderOnCheck,
            BernoulliN2On,
            BernoulliN2OnCheck,
            WSBladderOn,
            WSBladderOnCheck,
            LSVacuumOn,
            LSVacuumOnCheck,
            VacuumLevelCheck,
            VacuumLevelCheckWait,
            ShuttleGotoLS,
            ShuttleGotoLSWait,
            LSGotoLock,
            LSGotoLockWait,
            BernoulliN2Off,
            BernoulliN2OffCheck,
            WSBladderOff,
            WSBladderOffCheck,
            Wait500MSForWSBladder,
            LSVacuumOff,
            LSVacuumOffCheck,
            Wait500MS,
            ShuttleGotoMID,
            ShuttleGotoMIDWait,
            HomingLSAxis,
            HomingLSAxisWait,
            CRSHomedGotoSetUp,
            CRSHomedGotoSetUpCheck,
            End
        }

        #region 常量
        private const string SIDE_A = "SideA";
        private const string SIDE_B = "SideB";
        #endregion
        #region 内部变量
        private string _side = "";
        private JetAxisBase _lsAxis;
        private LoaderSideBernoulliBladderRoutine _bernoulliBladderRoutine;
        private LoaderSideBernoulliN2PressureRoutine _bernoulliN2PressureRoutine;
        private LoaderSideVacuumRoutine _vacuumRoutine;
        private LoaderSideVacuumLevelCheckRoutine _vacuumLevelCheckRoutine;
        private LoaderSideWhBladderRoutine _whBladderRoutine;
        private JetAxisBase _shuttleAxis;
        private JetAxisBase _tiltAxis;
        private JetAxisBase _rotationAxis;
        private LoaderCommonDevice _loaderCommonDevice;
        private LoaderSideDevice _sideDevice;
        /// <summary>
        /// WaferSize
        /// </summary>
        private int _waferSize;
        #endregion

        /// <summary>
        /// 构造函数
        /// </summary>
        /// <param name="module"></param>
        public LoaderInstallCRSRoutine(string module,string side) : base(module)
        {
           _side = side;
        }
        /// <summary>
        /// 中止
        /// </summary>
        public void Abort()
        {
            Runner.Stop("Manual Abort");
        }
        /// <summary>
        /// 监控
        /// </summary>
        /// <returns></returns>
        public RState Monitor()
        {
            Runner.Run(InstallStep.CheckPreCondition, CheckPreCondition, _delay_1ms)
                //1. Tilt Goto Vertical
                .Run(InstallStep.TiltGotoVertical, () => { return _tiltAxis.PositionStation("VERT"); }, NullFun, _delay_1ms)
                .WaitWithStopCondition(InstallStep.TiltGotoVerticalCheck, () => { return _tiltAxis.Status == RState.End; }, 
                    () => { return _tiltAxis.Status == RState.Failed; })
                //2. LS Goto Unlock
                .Run(InstallStep.LSGotoUnlock, () => { return _lsAxis.PositionStation($"Unlock{_waferSize}"); }, NullFun, _delay_1ms)
                .WaitWithStopCondition(InstallStep.LSGotoUnlockWait, () => { return _lsAxis.Status == RState.End; }, 
                    () => { return _lsAxis.Status == RState.Failed; })
                //3. Shuttle Goto IN
                .Run(InstallStep.ShuttleGotoIN, () => { return _shuttleAxis.PositionStation("IN"); }, NullFun, _delay_1ms)
                .WaitWithStopCondition(InstallStep.ShuttleGotoINWait, () => { return _shuttleAxis.Status == RState.End; }, 
                    () => { return _shuttleAxis.Status == RState.Failed; })
                //4. BernoulliBladder On
                .Run(InstallStep.BernoulliBladderOn, () => { return _bernoulliBladderRoutine.Start(true) == RState.Running; }, _delay_1ms)
                .WaitWithStopCondition(InstallStep.BernoulliBladderOnCheck, () => { return CommonFunction.CheckRoutineEndState(_bernoulliBladderRoutine); }, 
                    () => CheckRoutineStopStatus(_bernoulliBladderRoutine, "BernoulliBladder On failed"))
                //5. Bernoulli N2 On
                .Run(InstallStep.BernoulliN2On, () => { return _bernoulliN2PressureRoutine.Start(true) == RState.Running; }, _delay_1ms)
                .WaitWithStopCondition(InstallStep.BernoulliN2OnCheck, () => { return CommonFunction.CheckRoutineEndState(_bernoulliN2PressureRoutine); }, 
                    () => CheckRoutineStopStatus(_bernoulliN2PressureRoutine, " BernoulliN2 On failed"))
                //6. WS Bladder On
                .Run(InstallStep.WSBladderOn, () => { return _whBladderRoutine.Start(true) == RState.Running; }, _delay_1ms)
                .WaitWithStopCondition(InstallStep.WSBladderOnCheck, () => { return CommonFunction.CheckRoutineEndState(_whBladderRoutine); }, 
                    () => CheckRoutineStopStatus(_whBladderRoutine, "WSBladder On failed"))
                //7. LS Vacuum On
                .Run(InstallStep.LSVacuumOn, () => { return _vacuumRoutine.Start(true) == RState.Running; }, _delay_1ms)
                .WaitWithStopCondition(InstallStep.LSVacuumOnCheck, () => { return CommonFunction.CheckRoutineEndState(_vacuumRoutine); }, 
                    () => CheckRoutineStopStatus(_vacuumRoutine, "LS Vacuum On failed"))
                //8. LS Vacuum Level Check
                .Run(InstallStep.VacuumLevelCheck, () => { return _vacuumLevelCheckRoutine.Start(true) == RState.Running; }, _delay_1ms)
                .WaitWithStopCondition(InstallStep.VacuumLevelCheckWait, () => { return CommonFunction.CheckRoutineEndState(_vacuumLevelCheckRoutine); }, 
                    () => CheckRoutineStopStatus(_vacuumLevelCheckRoutine, "LS Vacuum Level Check failed"))
                //9. Shuttle Goto LS
                .Run(InstallStep.ShuttleGotoLS, () => { return _shuttleAxis.PositionStation("LS"); }, NullFun, _delay_1ms)
                .WaitWithStopCondition(InstallStep.ShuttleGotoLSWait, () => { return _shuttleAxis.Status == RState.End; }, 
                    () => { return _shuttleAxis.Status == RState.Failed; })
                //10. LS Goto Lock
                .Run(InstallStep.LSGotoLock, () => { 
                    return _lsAxis.PositionStation($"Lock{_waferSize}",false,0,0,0,false); }, NullFun, _delay_1ms)
                .WaitWithStopCondition(InstallStep.LSGotoLockWait, () => { return _lsAxis.Status!=RState.Running; }, 
                    () => { return false; })
                //11. Bernoulli N2 Off
                .Run(InstallStep.BernoulliN2Off, () => { return _bernoulliN2PressureRoutine.Start(false) == RState.Running; }, _delay_1ms)
                .WaitWithStopCondition(InstallStep.BernoulliN2OffCheck, () => { return CommonFunction.CheckRoutineEndState(_bernoulliN2PressureRoutine); }, 
                    () => CheckRoutineStopStatus(_bernoulliN2PressureRoutine, " BernoulliN2 Off failed"))
                //12. WS Bladder Off
                .Run(InstallStep.WSBladderOff, () => { return _whBladderRoutine.Start(false) == RState.Running; }, _delay_1ms)
                .WaitWithStopCondition(InstallStep.WSBladderOffCheck, () => { return CommonFunction.CheckRoutineEndState(_whBladderRoutine); }, 
                    () => CheckRoutineStopStatus(_whBladderRoutine, "WSBladder Off failed"))
                //13. Wait 0.5s for WS Bladder
                .Delay(InstallStep.Wait500MSForWSBladder, 500)
                //14. LS Vacuum Off
                .Run(InstallStep.LSVacuumOff, () => { return _vacuumRoutine.Start(false) == RState.Running; }, _delay_1ms)
                .WaitWithStopCondition(InstallStep.LSVacuumOffCheck, () => { return CommonFunction.CheckRoutineEndState(_vacuumRoutine); }, 
                    () => CheckRoutineStopStatus(_vacuumRoutine, "LS Vacuum Off failed"))
                //15. Wait 0.5s 
                .Delay(InstallStep.Wait500MS, 500)
                //16. Shuttle Goto MID
                .Run(InstallStep.ShuttleGotoMID, () => { return _shuttleAxis.PositionStation("MID"); }, NullFun, _delay_1ms)
                .WaitWithStopCondition(InstallStep.ShuttleGotoMIDWait, () => { return _shuttleAxis.Status == RState.End; }, 
                    () => { return _shuttleAxis.Status == RState.Failed; })
                //17. Home LS Axis,Goto
                .Run(InstallStep.HomingLSAxis, () => { return _lsAxis.Home(); }, _delay_1ms)
                .WaitWithStopCondition(InstallStep.HomingLSAxisWait, () => { return _lsAxis.Status == RState.End; }, 
                    () => { return _lsAxis.Status == RState.Failed; })
                 .Run(InstallStep.CRSHomedGotoSetUp, () => { return _lsAxis.PositionStation($"Setup{_waferSize}"); }, _delay_1ms)
                .WaitWithStopCondition(InstallStep.CRSHomedGotoSetUpCheck, () => { return _lsAxis.Status == RState.End; },
                    () => CheckAxisMotionStopStatus(_lsAxis))
                .End(InstallStep.End, NullFun, 10);
            return Runner.Status;
        }
        /// <summary>
        /// 启动
        /// </summary>
        /// <param name="objs"></param>
        /// <returns></returns>
        /// <exception cref="NotImplementedException"></exception>
        public RState Start(params object[] objs)
        {
            LoaderEntity loaderEntity = Singleton<RouteManager>.Instance.GetModule<LoaderEntity>(ModuleName.Loader1.ToString());
            if (_side == SIDE_A)
            {
                _waferSize = loaderEntity.SideAWaferSize;
            }
            else
            {
                _waferSize = loaderEntity.SideBWaferSize;
            }
            _shuttleAxis = GetShuttleAxis();
            _lsAxis = GetLsAxis();
            _tiltAxis = GetTiltAxis(); 
            _loaderCommonDevice = DEVICE.GetDevice<LoaderCommonDevice>($"{Module}.Common");
            _rotationAxis = DEVICE.GetDevice<JetAxisBase>($"{Module}.Rotation");
            _sideDevice = DEVICE.GetDevice<LoaderSideDevice>($"{Module}.{_side}");
            _vacuumRoutine = new LoaderSideVacuumRoutine($"{Module}.{_side}");
            _vacuumLevelCheckRoutine = new LoaderSideVacuumLevelCheckRoutine($"{Module}.{_side}");
            _whBladderRoutine = new LoaderSideWhBladderRoutine($"{Module}.{_side}");
            _bernoulliBladderRoutine = new LoaderSideBernoulliBladderRoutine($"{Module}.{_side}");
            _bernoulliN2PressureRoutine = new LoaderSideBernoulliN2PressureRoutine($"{Module}.{_side}");
            
            Runner.Start(Module, "Install LS");
            return RState.Running;
        }
        /// <summary>
        /// 检验Routine异常状态
        /// </summary>
        /// <returns></returns>
        private bool CheckRoutineStopStatus(IRoutine routine, string error)
        {
            bool result = CommonFunction.CheckRoutineStopState(routine);
            if (result)
            {
                NotifyError(eEvent.ERR_LOADER, $"{error}", 0);
            }
            return result;
        }
        /// <summary>
        /// 获取Shuttle轴对象
        /// </summary>
        /// <returns></returns>
        private JetAxisBase GetShuttleAxis()
        {
            switch (_side)
            {
                case "SideA":
                    return DEVICE.GetDevice<JetAxisBase>($"{Module}.ShuttleA");
                default:
                    return DEVICE.GetDevice<JetAxisBase>($"{Module}.ShuttleB");
            }
        }
        /// <summary>
        /// 获取CRS轴对象
        /// </summary>
        /// <returns></returns>
        private JetAxisBase GetLsAxis()
        {
            switch (_side)
            {
                case "SideA":
                    return DEVICE.GetDevice<JetAxisBase>($"{Module}.LSA");
                default:
                    return DEVICE.GetDevice<JetAxisBase>($"{Module}.LSB");
            }
        }
        /// <summary>
        /// 获取Tilt轴对象
        /// </summary>
        /// <returns></returns>
        private JetAxisBase GetTiltAxis()
        {
            switch (_side)
            {
                case "SideA":
                    return DEVICE.GetDevice<JetAxisBase>($"{Module}.TiltA");
                default:
                    return DEVICE.GetDevice<JetAxisBase>($"{Module}.TiltB");
            }
        }

        /// <summary>
        /// 检验前置条件
        /// </summary>
        /// <returns></returns>
        private bool CheckPreCondition()
        {
            if (!CheckHomeCondition())
            {
                return false;
            }
            if (!CheckInstallCRSAxisCondition())
            {
                return false;
            }
            if (!InstallCRSStatusCheck())
            {
                return false;
            }
            return true;
        }
        /// <summary>
        /// 检验Home条件
        /// </summary>
        /// <returns></returns>
        private bool CheckHomeCondition()
        {
            //检验PUF、Loader Transporter,Robot均Homed
            //Efem Home
            if (ModuleHelper.IsInstalled(ModuleName.EFEM))
            {
                EfemEntity efemEntity = Singleton<RouteManager>.Instance.GetModule<EfemEntity>(ModuleName.EFEM.ToString());
                if (!efemEntity.IsHomed)
                {
                    LOG.WriteLog(eEvent.ERR_EFEM_ROBOT, Module, $"{ModuleName.EFEM.ToString()} is not home, Cannot execute GotoSavedPosition");
                    return false;
                }
            }
            if (ModuleHelper.IsInstalled(ModuleName.PUF1))
            {
                PUFEntity puf1Entity = Singleton<RouteManager>.Instance.GetModule<PUFEntity>(ModuleName.PUF1.ToString());
                if (!puf1Entity.IsHomed)
                {
                    NotifyError(eEvent.ERR_LOADER, "PUF1 is not homed", -1);
                    return false;
                }
            }
            if (ModuleHelper.IsInstalled(ModuleName.Transporter2))
            {
                TransporterEntity loaderTransportEntity = Singleton<RouteManager>.Instance.GetModule<TransporterEntity>(ModuleName.Transporter2.ToString());
                if (!loaderTransportEntity.IsHomed)
                {
                    NotifyError(eEvent.ERR_LOADER, "Loader Transporter is not homed", -1);
                    return false;
                }
            }
            return true;
        }
        /// <summary>
        /// 检验Axis条件
        /// </summary>
        /// <param name="side"></param>
        /// <returns></returns>
        private bool CheckInstallCRSAxisCondition()
        {
            if (!_rotationAxis.IsHomed)
            {
                NotifyError(eEvent.ERR_LOADER, $"Rotation is not homed", -1);
                return false;
            }
            if (!_shuttleAxis.IsHomed)
            {
                NotifyError(eEvent.ERR_LOADER, $"{_shuttleAxis.Name} is not homed", -1);
                return false;
            }
            if (!_tiltAxis.IsHomed)
            {
                NotifyError(eEvent.ERR_LOADER, $"{_tiltAxis.Name} is not homed", -1);
                return false;
            }
            if (!_lsAxis.IsHomed)
            {
                NotifyError(eEvent.ERR_LOADER, $"{_lsAxis.Name} is not homed", -1);
                return false;
            }
            //LS已经运动到 Setup 位
            double crsPosition = _lsAxis.MotionData.MotorPosition;
            if (!_lsAxis.CheckPositionIsInStation(crsPosition, $"Setup{_waferSize}"))
            {
                NotifyError(eEvent.ERR_LOADER, $"LS {crsPosition} not in Setup{_waferSize}", -1);
                return false;
            }
            //Rotation已经运动到 loaderA 位（sideA 下片时）或 loaderB 位（sideB 下片时）
            double rotationPosition = _rotationAxis.MotionData.MotorPosition;
            if (_side == "SideA")
            {

                if (!_rotationAxis.CheckPositionIsInStation(rotationPosition, $"LOADA{_waferSize}"))
                {
                    NotifyError(eEvent.ERR_LOADER, $"Rotation {rotationPosition} not in LOADA{_waferSize}", -1);
                    return false;
                }
            }
            else
            {
                if (!_rotationAxis.CheckPositionIsInStation(rotationPosition, $"LOADB{_waferSize}"))
                {
                    NotifyError(eEvent.ERR_LOADER, $"Rotation {rotationPosition} not in LOADB{_waferSize}", -1);
                    return false;
                }
            }
            //Shuttle已经运动到除 IN 外任何位置
            double shuttlePosition = _shuttleAxis.MotionData.MotorPosition;
            if (_shuttleAxis.CheckPositionIsInStation(shuttlePosition, "IN"))
            {
                NotifyError(eEvent.ERR_LOADER, $"Shuttle {shuttlePosition} is in IN", -1);
                return false;
            }           
            
            return true;
        }
        /// <summary>
        /// 检验Status条件
        /// </summary>
        /// <param name="side"></param>
        /// <returns></returns>
        private bool InstallCRSStatusCheck()
        {
            LoaderSideData sideData = _sideDevice.SideData;
            LoaderCommonData commonData = _loaderCommonDevice.CommonData;
            //Bernoulli Bladder(Bernoulli Bladder any state)
            //if (!sideData.BernoulliBladder)
            //{
            //    NotifyError(eEvent.ERR_LOADER, "Bernoulli Bladder is off", -1);
            //    return false;
            //}
            //Bernoulli N2(BernoulliN2 any state)
            //if (sideData.BernoulliN2)
            //{
            //    NotifyError(eEvent.ERR_LOADER, "Bernoulli N2 is on", -1);
            //    return false;
            //}
            //CRS Vacuum检验(Vacuum off)
            if (sideData.CRSVacuum)
            {
                LOG.WriteLog(eEvent.ERR_LOADER, Module, "LS Vacuum is on");
                return false;
            }
            //Wafer Shuttle Present
            if (!commonData.WaferHolderPresent)
            {
                LOG.WriteLog(eEvent.ERR_LOADER, Module, "Wafer Shuttle is absent");
                return false;
            }
            //WS Clamp On any state
            //if (!commonData.WaferHolderClamp)
            //{
            //    NotifyError(eEvent.ERR_LOADER, "Wafer Shuttle Clamp is off", -1);
            //    return false;
            //}
            //WS Bladder off
            //if (sideData.WHBladder)
            //{
            //    LOG.WriteLog(eEvent.ERR_LOADER, Module, "WS Bladder is on");
            //    return false;
            //}
            //Drip Tray Fluid(正常)
            if (commonData.DripTrayFluid)
            {
                LOG.WriteLog(eEvent.ERR_LOADER, Module, "Drip Tray Fluid is on");
                return false;
            }
            return true;
        }
        /// <summary>
        /// Axis goto position
        /// </summary>
        /// <param name="axis"></param>
        /// <param name="station"></param>
        /// <returns></returns>
        private bool AxisPosition(JetAxisBase axis, string station)
        {
            bool result = axis.PositionStation(station);
            if (!result)
            {
                NotifyError(eEvent.ERR_LOADER, $"{axis.Module} goto {station} failed", 0);
            }
            return result;
        }
        /// <summary>
        /// 检验电机运动异常状态
        /// </summary>
        /// <param name="axis"></param>
        /// <returns></returns>
        private bool CheckAxisMotionStopStatus(JetAxisBase axis)
        {
            bool result = axis.Status == RState.Failed || axis.Status == RState.Timeout;
            if (result)
            {
                NotifyError(eEvent.ERR_LOADER, $"{axis.Module} motion failed", 0);
            }
            return result;
        }
    }
}