CyberX8/CyberX8_RT/Modules/Dryer/DryerEntity.cs

using Aitex.Core.RT.DataCenter;
using Aitex.Core.RT.Device;
using Aitex.Core.RT.Fsm;
using Aitex.Core.RT.Log;
using Aitex.Core.RT.OperationCenter;
using Aitex.Core.RT.SCCore;
using Aitex.Core.Util;
using Aitex.Core.Utilities;
using MECF.Framework.Common.Equipment;
using MECF.Framework.Common.SubstrateTrackings;
using MECF.Framework.Common.WaferHolder;
using CyberX8_Core;
using CyberX8_RT.Devices.Dryer;
using System;
using System.Collections.Generic;
using System.Linq;
using System.Reflection;
using System.Text;
using System.Threading.Tasks;
using System.Timers;
using Aitex.Core.RT.RecipeCenter;
using MECF.Framework.Common.RecipeCenter;
using MECF.Framework.Common.Persistent.Dryer;
using MECF.Framework.Common.ToolLayout;
using CyberX8_RT.Devices.Safety;
using MECF.Framework.Common.Alarm;
using MECF.Framework.Common.CommonData;

namespace CyberX8_RT.Modules.Dryer
{
    public class DryerEntity : Entity, IEntity, IModuleEntity
    {
        #region 常量
        private const int IDLE_TICKS = 1000;
        private const string AUTO = "Auto";
        private const string MANUAL = "Manual";
        private const string DISABLED = "Disabled";
        private const string ENGINEERING = "Engineering";
        private const string PRODUCTION = "Production";
        #endregion

        #region 内部变量
        /// <summary>
        /// 设备对象
        /// </summary>
        private DryerDevice _device;
        /// <summary>
        /// Manual模式下Cycle run 
        /// </summary>
        private DryerCycleManualProcessRecipeRoutine _cycleManualProcessRoutine;
        /// <summary>
        /// Cycle次数
        /// </summary>
        private int _cycle = 0;
        /// <summary>
        /// 已经完成的Cycle次数
        /// </summary>
        private int _achievedCycle = 0;
        /// <summary>
        /// Hvd recipe 的dryTime属性
        /// </summary>
        private int _dryTime;
        /// <summary>
        /// 持久化对象
        /// </summary>
        private DryerPersistentValue _persistentValue;
        /// <summary>
        /// 当前运行的Recipe
        /// </summary>
        private HvdRecipe _currentRecipe;
        /// <summary>
        /// Runrecipe已经运行的时间
        /// </summary>
        private int _runrecipeElapsedTime = 0;
        /// <summary>
        /// run recipe start time
        /// </summary>
        private DateTime _runRecipeStartTime;
        /// <summary>
        ///  run recipe complete time
        /// </summary>
        private DateTime _runRecipeCompleteTime;
        /// <summary>
        /// 是否Retry
        /// </summary>
        private bool _isRetry = false;
        #endregion

        #region 属性
        /// <summary>
        /// 当前状态机状态
        /// </summary>
        public int State { get { return fsm.State; } }
        /// <summary>
        /// 模块名称
        /// </summary>
        public ModuleName Module { get; private set; }
        /// <summary>
        /// 初始化状态
        /// </summary>
        public bool IsInit
        {
            get { return fsm.State == (int)DryerState.Init; }
        }

        /// <summary>
        /// 空闲状态
        /// </summary>
        public bool IsIdle
        {
            get
            {
                return fsm.State == (int)DryerState.Idle;
            }
        }
        /// <summary>
        /// 是否发生错误
        /// </summary>
        public bool IsError
        {
            get { return fsm.State == (int)DryerState.Error; }
        }
        /// <summary>
        /// 是否完成初始化
        /// </summary>
        public bool IsInitialized
        {
            get { return fsm.State >= (int)DryerState.Initialized; }
        }
        /// <summary>
        /// 是否正在作业
        /// </summary>
        public bool IsBusy
        {
            get { return fsm.State > (int)DryerState.Idle; }
        }
        /// <summary>
        /// 是否禁用
        /// </summary>
        public bool IsDisable { get { return _persistentValue == null || _persistentValue.OperatingMode == DISABLED; } }

        /// <summary>
        /// 自动模式
        /// </summary>
        public bool IsAuto { get { return _persistentValue != null && _persistentValue.OperatingMode == AUTO; } }
        /// <summary>
        /// 自动模式
        /// </summary>
        public bool IsManual { get { return _persistentValue != null && _persistentValue.OperatingMode == MANUAL; } }
        /// <summary>
        /// 是否为工程模式
        /// </summary>
        public bool IsEngineering { get { return _persistentValue != null && _persistentValue.RecipeOperatingMode == ENGINEERING; } }
        /// <summary>
        /// 是否为产品模式
        /// </summary>
        public bool IsProduction { get { return _persistentValue != null && _persistentValue.RecipeOperatingMode == PRODUCTION; } }
        /// <summary>
        /// WaferHolder信息
        /// </summary>
        public WaferHolderInfo WaferHolderInfo { get { return WaferHolderManager.Instance.GetWaferHolder(Module.ToString()); } }
        /// <summary>
        /// 已完成的RunRecipeCycle次数
        /// </summary>
        public int AchievedCycle { get { return _achievedCycle; } }
        /// <summary>
        /// 剩余时间
        /// </summary>
        public override int TimeToReady
        {
            get
            {
                if (_currentRecipe == null)
                {
                    return base.TimeToReady;
                }
                switch (fsm.State)
                {
                    case (int)DryerState.RunReciping:
                        return Math.Max(_dryTime - fsm.ElapsedTime / 1000, 0);
                    default:
                        return base.TimeToReady;
                }
            }
        }
        #endregion

        /// <summary>
        /// 构造函数
        /// </summary>
        public DryerEntity(ModuleName moduleName)
        {
            this.Module = moduleName;
            InitialFsm();
            _device = DEVICE.GetDevice<DryerDevice>(Module.ToString());
            WaferManager.Instance.SubscribeLocation(Module, 2);
        }
        /// <summary>
        /// 初始化状态机
        /// </summary>
        private void InitialFsm()
        {
            fsm = new StateMachine<DryerEntity>(Module.ToString(), (int)DryerState.Init, 20);
            fsm.EnableRepeatedMsg(true);

            AnyStateTransition(DryerMsg.Error, NullFunc, DryerState.Error);
            Transition(DryerState.Error, DryerMsg.ResumeError, NullFunc, DryerState.Init);

            //Initialize
            AnyStateTransition(DryerMsg.Initialize, InitializeAll, DryerState.Initialized);
            //直接进入Idle
            Transition(DryerState.Initialized, FSM_MSG.TIMER, NullFunc, DryerState.Idle);

            //Cycle Run Recipe
            Transition(DryerState.Idle, DryerMsg.RunRecipe, CycleManualProcess, DryerState.RunReciping);
            Transition(DryerState.RunReciping, FSM_MSG.TIMER, CycleManualMonitor, DryerState.Idle);
            Transition(DryerState.RunReciping, DryerMsg.Abort, CycleManualAbort, DryerState.Abort);
            //Retry
            Transition(DryerState.Error, DryerMsg.Retry, NullFunc, DryerState.Retrying);
            Transition(DryerState.Retrying, FSM_MSG.TIMER, DryerRetry, DryerState.Retrying);
            Transition(DryerState.Retrying, DryerMsg.RunRecipe, RetryRunRecipe, DryerState.RunReciping);

            //Enter Init
            Transition(DryerState.Idle, DryerMsg.Init, NullFunc, DryerState.Init);

            EnumLoop<DryerState>.ForEach((item) => { fsm.MapState((int)item, item.ToString()); });
            EnumLoop<DryerMsg>.ForEach((item) => { fsm.MapMessage((int)item, item.ToString()); });
        }
        /// <summary>
        /// 初始化
        /// </summary>
        /// <returns></returns>
        protected override bool Init()
        {
            InitializeParameter();
            InitializeOperation();
            InitializeData();
            InitializeRoutine();
            return true;
        }

        /// <summary>
        /// 初始化参数
        /// </summary>
        private void InitializeParameter()
        {
            _persistentValue = DryerPersistentManager.Instance.GetDryerPersistentValue(Module.ToString());
            if (_persistentValue == null)
            {
                LOG.WriteLog(eEvent.ERR_RESERVOIR, Module.ToString(), "Persistent Value Object is not exist");
            }
        }
        /// <summary>
        /// 初始化操作
        /// </summary>
        private void InitializeOperation()
        {
            OP.Subscribe($"{Module}.InitializeAll", (cmd, args) => { return CheckToPostMessage<DryerState, DryerMsg>(eEvent.ERR_DRYER, Module.ToString(), (int)DryerMsg.Initialize); });
            OP.Subscribe($"{Module}.CycleManualProcessRecipe", (cmd, args) =>
            {
                HvdRecipe recipe = RecipeFileManager.Instance.LoadGenericityRecipe<HvdRecipe>(args[0].ToString());
                if (recipe == null)
                {
                    LOG.WriteLog(eEvent.ERR_DRYER, Module.ToString(), $"{args[0]} recipe is null");
                    return false;
                }
                object[] objects = new object[args.Length];
                objects[0] = recipe;
                for (int i = 1; i < args.Length; i++)
                {
                    objects[i] = args[i];
                }
                return CheckToPostMessage<DryerState, DryerMsg>(eEvent.ERR_DRYER, Module.ToString(), (int)DryerMsg.RunRecipe, objects);
            });
            OP.Subscribe($"{Module}.Abort", (cmd, args) => { return CheckToPostMessage<DryerState, DryerMsg>(eEvent.ERR_DRYER, Module.ToString(), (int)DryerMsg.Abort); });          
        }
        /// <summary>
        /// EnterInit
        /// </summary>
        public void EnterInit()
        {
            if ((DryerState)fsm.State != DryerState.Idle) return;
            else
            {
                CheckToPostMessage<DryerState, DryerMsg>(eEvent.ERR_DRYER, Module.ToString(), (int)DryerMsg.Init);
            }
        }

        /// <summary>
        /// 初始化DATA
        /// </summary>
        private void InitializeData()
        {
            InitializeSvid();
            DATA.Subscribe($"{Module}.FsmState", () => ((DryerState)fsm.State).ToString(), SubscriptionAttribute.FLAG.IgnoreSaveDB);
            DATA.Subscribe($"{Module}.WaferHolder", () => WaferHolderInfo,SubscriptionAttribute.FLAG.IgnoreSaveDB);
            DATA.Subscribe($"{Module}.IsInit", () => IsInit, SubscriptionAttribute.FLAG.IgnoreSaveDB);
            DATA.Subscribe($"{Module}.IsIdle", () => IsIdle, SubscriptionAttribute.FLAG.IgnoreSaveDB);
            DATA.Subscribe($"{Module}.IsError", () => IsError, SubscriptionAttribute.FLAG.IgnoreSaveDB);
            DATA.Subscribe($"{Module}.IsBusy", () => IsBusy, SubscriptionAttribute.FLAG.IgnoreSaveDB);
            DATA.Subscribe($"{Module}.IsDisable", () => IsDisable, SubscriptionAttribute.FLAG.IgnoreSaveDB);
            DATA.Subscribe($"{Module}.AchievedCycle", () => AchievedCycle, SubscriptionAttribute.FLAG.IgnoreSaveDB);
            DATA.Subscribe($"{Module}.DryTime", () => _dryTime, SubscriptionAttribute.FLAG.IgnoreSaveDB);
            DATA.Subscribe($"{Module}.CurrentRecipe", () => _currentRecipe != null ? _currentRecipe.Ppid : "", SubscriptionAttribute.FLAG.IgnoreSaveDB);
        }
        /// <summary>
        /// 初始化SVID
        /// </summary>
        private void InitializeSvid()
        {
            DATA.Subscribe($"{Module}.State", () => ((RinseState)fsm.State).ToString(), SubscriptionAttribute.FLAG.IgnoreSaveDB);
            DATA.Subscribe($"{Module}.LotID", () => (WaferHolderInfo != null ? WaferHolderInfo.LotId : ""), SubscriptionAttribute.FLAG.IgnoreSaveDB);
            DATA.Subscribe($"{Module}.WSID", () => (WaferHolderInfo != null ? WaferHolderInfo.Id : ""), SubscriptionAttribute.FLAG.IgnoreSaveDB);
            DATA.Subscribe($"{Module}.LSAID", () => (WaferHolderInfo != null ? WaferHolderInfo.CrsAId : ""), SubscriptionAttribute.FLAG.IgnoreSaveDB);
            DATA.Subscribe($"{Module}.LSBID", () => (WaferHolderInfo != null ? WaferHolderInfo.CrsBId : ""), SubscriptionAttribute.FLAG.IgnoreSaveDB);
            DATA.Subscribe($"{Module}.ModuleRecipe", () => (_currentRecipe != null ? _currentRecipe.Ppid : ""), SubscriptionAttribute.FLAG.IgnoreSaveDB);
            DATA.Subscribe($"{Module}.SequenceRecipe", () => (WaferHolderInfo != null ? WaferHolderInfo.SequenceId : ""), SubscriptionAttribute.FLAG.IgnoreSaveDB);
            DATA.Subscribe($"{Module}.WaferAID", () => (WaferHolderInfo != null ? WaferHolderInfo.WaferAId : ""), SubscriptionAttribute.FLAG.IgnoreSaveDB);
            DATA.Subscribe($"{Module}.WaferBID", () => (WaferHolderInfo != null ? WaferHolderInfo.WaferBId : ""), SubscriptionAttribute.FLAG.IgnoreSaveDB);
            DATA.Subscribe($"{Module}.TotalTime", () => _dryTime, SubscriptionAttribute.FLAG.IgnoreSaveDB);
            DATA.Subscribe($"{Module}.TimeRemain", () => _dryTime - _cycleManualProcessRoutine.ElapsedMilliseconds / 1000, SubscriptionAttribute.FLAG.IgnoreSaveDB);
            DATA.Subscribe($"{Module}.Task", () => WaferHolderInfo!=null? WaferHolderInfo.CurrentControlJobId:"", SubscriptionAttribute.FLAG.IgnoreSaveDB);
            DATA.Subscribe($"{Module}.OperatingMode", () => _persistentValue != null ? _persistentValue.OperatingMode : "None", SubscriptionAttribute.FLAG.IgnoreSaveDB);
        }
        /// <summary>
        /// 初始化Routine
        /// </summary>
        private void InitializeRoutine()
        {
            _cycleManualProcessRoutine = new DryerCycleManualProcessRecipeRoutine(Module.ToString());
        }

        /// <summary>
        /// 初始化
        /// </summary>
        /// <param name="param"></param>
        /// <returns></returns>
        private bool InitializeAll(object[] param)
        {
            if (!CheckSafety())
            {
                return false;
            }
            return _device.IOInitialized;
        }
        /// <summary>
        /// 检验Safety
        /// </summary>
        /// <returns></returns>
        private bool CheckSafety()
        {
            SafetyDevice safetyDevice = DEVICE.GetDevice<SafetyDevice>("Safety");
            if (safetyDevice != null)
            {
                bool result = safetyDevice.SafetyData.TwincatState == 8;
                if (!result)
                {
                    LOG.WriteLog(eEvent.ERR_DRYER, Module.ToString(), "Twincat Status is not OP status");
                    return false;
                }
            }
            return true;
        }

        #region  Cycle RunRecipe
        private bool CycleManualProcess(object[] param)
        {
            HvdRecipe hvdRecipe = param[0] as HvdRecipe;
            _cycle = (int)param[1];
            
            bool result= _cycleManualProcessRoutine.Start(param) == RState.Running;
            _runrecipeElapsedTime = 0;
            if(result)
            {
                _isRetry = false;
                _dryTime = _cycle * hvdRecipe.DryTime;
                _currentRecipe = hvdRecipe;
                _runRecipeStartTime = DateTime.Now;
                if (WaferHolderInfo != null && _currentRecipe != null)
                {
                    FaModuleNotifier.Instance.NotifyWaferShuttleRecipeStart(WaferHolderInfo, _currentRecipe.Ppid);
                }
            }
            return result;
        }

        /// <summary>
        /// Retry RunRecipe
        /// </summary>
        /// <param name="param"></param>
        /// <returns></returns>
        private bool RetryRunRecipe(object[] param)
        {
            int stepIndex = (int)param[0];
            bool result = _cycleManualProcessRoutine.Retry(stepIndex) == RState.Running;
            if (result)
            {
                _isRetry = true;
                if (_currentRecipe != null)
                {
                    _dryTime = _cycle * _currentRecipe.DryTime;
                }
            }
            return result;
        }

        private bool CycleManualMonitor(object[] param)
        {
            RState state = _cycleManualProcessRoutine.Monitor();

            if (Singleton<RouteManager>.Instance.IsAutoRunning&&_runrecipeElapsedTime!=TimeToReady)
            {
                _runrecipeElapsedTime = TimeToReady;
                LOG.WriteLog(eEvent.INFO_DRYER, Module.ToString(), $"{WaferHolderInfo?.Id} {Module} RunRecipe TimeToReady {TimeToReady}s.");
            }
            if (state == RState.Failed || state == RState.Timeout)
            {
                if (Singleton<RouteManager>.Instance.IsAutoRunning)
                {                   
                    //不存在其他可用的Dryer
                    if (!CheckOtherDyrerAvaible())
                    {
                        AlarmList alarmList = new AlarmList(Module.ToString(), ((DryerState)fsm.State).ToString(), (int)DryerMsg.RunRecipe,
                        _cycleManualProcessRoutine.ErrorMsg, _cycleManualProcessRoutine.ErrorStep, (int)AlarmType.Error);
                        AlarmListManager.Instance.AddAlarm(alarmList);
                    }
                }
                _runrecipeElapsedTime = 0;
                PostMsg(DryerMsg.Error);
                //记录LotTrack
                _runRecipeCompleteTime = DateTime.Now;
                _cycleManualProcessRoutine.DryerLotTrackHeaderDatas.ProcessTime = (_runRecipeCompleteTime - _runRecipeStartTime).TotalSeconds.ToString("F2");
                DryerLotTrackUtil.ExportDryerLotTrack(Module.ToString(), _cycleManualProcessRoutine.DryerLotTrackDatas,
                    _cycleManualProcessRoutine.DryerLotTrackHeaderDatas, IsAuto, _isRetry);
                if (WaferHolderInfo != null && _currentRecipe != null)
                {
                    FaModuleNotifier.Instance.NotifyWaferShuttleRecipeFailed(WaferHolderInfo, _currentRecipe.Ppid);
                }
                return false;
            }
            else if(state==RState.End)
            {
                _runrecipeElapsedTime = 0;
                if (Singleton<RouteManager>.Instance.IsAutoRunning)
                {
                    AlarmListManager.Instance.CheckModuleAlamAndRemove(Module.ToString(), DryerState.RunReciping.ToString());
                }
                //记录LotTrack
                _runRecipeCompleteTime = DateTime.Now;
                int timeLength = (int)(_runRecipeCompleteTime - _runRecipeStartTime).TotalSeconds;
                _cycleManualProcessRoutine.DryerLotTrackHeaderDatas.ProcessTime = (_runRecipeCompleteTime - _runRecipeStartTime).TotalSeconds.ToString("F2");
                DryerLotTrackUtil.ExportDryerLotTrack(Module.ToString(), _cycleManualProcessRoutine.DryerLotTrackDatas,
                    _cycleManualProcessRoutine.DryerLotTrackHeaderDatas, IsAuto, _isRetry);
                if (WaferHolderInfo != null && _currentRecipe != null)
                {
                    FaModuleNotifier.Instance.NotifyWaferShuttleRecipeEnd(WaferHolderInfo, _currentRecipe.Ppid,timeLength);
                }
            }
            _achievedCycle = _cycleManualProcessRoutine.GetAchievedCycle();
            return state == RState.End;
        }
        /// <summary>
        /// 检验其他Dryer是否可用
        /// </summary>
        /// <returns></returns>
        private bool CheckOtherDyrerAvaible()
        {
            List<string> installedModules = DryerItemManager.Instance.InstalledModules;
            foreach (string item in installedModules)
            {
                if (item != Module.ToString())
                {
                    DryerEntity dryerEntity = Singleton<RouteManager>.Instance.GetModule<DryerEntity>(item);
                    if(dryerEntity!=null&&dryerEntity.IsAuto&&(dryerEntity.IsIdle||dryerEntity.IsBusy))
                    {
                        return true;
                    }
                }
            }
            return false;
        }

        private bool CycleManualAbort(object[] param)
        {                    
            _cycleManualProcessRoutine.Abort();
            //记录LotTrack   
            _runRecipeCompleteTime = DateTime.Now;
            _cycleManualProcessRoutine.DryerLotTrackHeaderDatas.ProcessTime = (_runRecipeCompleteTime - _runRecipeStartTime).TotalSeconds.ToString("F2");
            DryerLotTrackUtil.ExportDryerLotTrack(Module.ToString(), _cycleManualProcessRoutine.DryerLotTrackDatas,
                _cycleManualProcessRoutine.DryerLotTrackHeaderDatas, IsAuto, _isRetry);
            return true;
        }

        #endregion


        #region RunRecipeRetry
        /// <summary>
        /// Retry
        /// </summary>
        /// <param name="param"></param>
        /// <returns></returns>
        private bool DryerRetry(object[] param)
        {
            AlarmList alarmList = AlarmListManager.Instance.GetAlarmListByModule(Module.ToString());
            if (alarmList != null)
            {
                CheckToPostMessage<DryerState, DryerMsg>(eEvent.ERR_DRYER, Module.ToString(), alarmList.ModuleCmd,
                    alarmList.ModuleStep);
            }
            return false;
        }
        #endregion

        public bool Check(int msg, out string reason, params object[] args)
        {
            reason = "";
            return true;
        }

        public bool CheckAcked(int msg)
        {
            return true;
        }

        public int Invoke(string function, params object[] args)
        {
            switch(function)
            {
                case "HomeAll":
                    if(IsIdle)
                    {
                        return (int)FSM_MSG.NONE;
                    }
                    if(CheckToPostMessage<DryerState,DryerMsg>(eEvent.ERR_DRYER,Module.ToString(),(int)DryerMsg.Initialize))
                    {
                        return (int)DryerMsg.Initialize;
                    }
                    else
                    {
                        return (int)FSM_MSG.NONE;
                    }
                case "Retry":
                    if (CheckToPostMessage<DryerState, DryerMsg>(eEvent.ERR_DRYER, Module.ToString(), (int)DryerMsg.Retry))
                    {
                        return (int)DryerMsg.Retry;
                    }
                    else
                    {
                        return (int)FSM_MSG.NONE;
                    }
            }
            return (int)FSM_MSG.NONE;
        }
    }

    public enum DryerMsg
    {
        NONE,
        Error, 
        ResumeError,
        Initialize,
        Manual,
        Auto,
        RunRecipe,
        Abort,
        Init,
        Retry
    }
}