CyberX8/CyberX8_RT/Modules/EFEM/EfemAutoMessageProcessor.cs

using Aitex.Core.RT.Log;
using Aitex.Core.Util;
using CyberX8_Core;
using CyberX8_RT.Devices.EFEM;
using MECF.Framework.Common.Equipment;
using MECF.Framework.Common.SubstrateTrackings;
using System;
using System.Collections.Concurrent;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Threading.Tasks;

namespace CyberX8_RT.Modules.EFEM
{
    public class EfemAutoMessageProcessor
    {
        #region 内部变量
        /// <summary>
        /// EFEM对象
        /// </summary>
        private EfemBase _efem;
        /// <summary>
        /// 指令 
        /// </summary>
        private ConcurrentQueue<object[]> _commands = new ConcurrentQueue<object[]>();
        #endregion
        /// <summary>
        /// 构造函数
        /// </summary>
        /// <param name="efem"></param>
        public EfemAutoMessageProcessor(EfemBase efem)
        {
            _efem = efem;
        }
        /// <summary>
        /// 发送指令
        /// </summary>
        /// <param name="parameters"></param>
        public void SendAutoCommandMessage(object[] parameters)
        {
            EfemEntity.MSG cmd = (EfemEntity.MSG)parameters[0];
            ModuleName moduleName = (ModuleName)parameters[1];
            if (!IsExistMsg(cmd,moduleName))
            {
                _commands.Enqueue(parameters);
                LOG.WriteLog(eEvent.EV_EFEM_COMMON_INFO, ModuleName.EFEM.ToString(), $"{cmd} command enter queue");
            }
        }
        /// <summary>
        /// 是否存在队列
        /// </summary>
        /// <param name="msg"></param>
        /// <returns></returns>
        private bool IsExistMsg(EfemEntity.MSG msg,ModuleName moduleName)
        {
            List<object[]> queues = _commands.ToList();
            foreach (var item in queues)
            {
                EfemEntity.MSG itemMsg = (EfemEntity.MSG)item[0];
                ModuleName itemModule = (ModuleName)item[1];
                if (itemMsg == msg&&itemModule==moduleName)
                {
                    return true;
                }
            }
            return false;
        }
        /// <summary>
        /// 监控
        /// </summary>
        public void Monitor()
        {
            if (Singleton<RouteManager>.Instance.EFEM.RobotStatus != RState.Running)
            {
                if (Singleton<RouteManager>.Instance.EFEM.RobotStatus==RState.End)
                {
                    if (WaferManager.Instance.CheckHasWafer(ModuleName.EfemRobot, 0))
                    {
                        return;
                    }
                    if (_commands.Count > 0 && _commands.TryDequeue(out object[] args))
                    {
                        EfemEntity.MSG cmd = (EfemEntity.MSG)args[0];
                        LOG.WriteLog(eEvent.EV_EFEM_ROBOT, ModuleName.EfemRobot.ToString(), $"execute {cmd}");
                        ProcessBackroundCommand(cmd, args);
                    }
                }
            }
        }
        /// <summary>
        /// 处理指令
        /// </summary>
        /// <param name="cmd"></param>
        /// <param name="args"></param>
        private void ProcessBackroundCommand(EfemEntity.MSG cmd, object[] args)
        {
            switch (cmd)
            {
                case EfemEntity.MSG.Load:
                    _efem.Load((ModuleName)args[1]);
                    break;
                case EfemEntity.MSG.Unload:
                    _efem.Unload((ModuleName)args[1]);
                    break;
                case EfemEntity.MSG.Dock:
                    _efem.Dock((ModuleName)args[1]);
                    break;
                case EfemEntity.MSG.Undock:
                    _efem.Undock((ModuleName)args[1]);
                    break;
                case EfemEntity.MSG.Clamp:
                    _efem.Clamp((ModuleName)args[1], (bool)args[2]);
                    break;
                case EfemEntity.MSG.Unclamp:
                    _efem.Unclamp((ModuleName)args[1]);
                    break;
                case EfemEntity.MSG.GotoMap:
                    _efem.GotoMap((ModuleName)args[1], Aitex.Sorter.Common.Hand.Blade1, args[2].ToString());
                    break;
                case EfemEntity.MSG.Map:
                    _efem.Map((ModuleName)args[1]);
                    break;
                case EfemEntity.MSG.ReadCarrierId:
                    _efem.ReadCarrierId((ModuleName)args[1]);
                    break;
                case EfemEntity.MSG.WriteCarrierID:
                    _efem.WriteCarrierId((ModuleName)args[1], (string)args[2]);
                    break;
                case EfemEntity.MSG.ReadTagData:
                    _efem.ReadCarrierId((ModuleName)args[1]);
                    break;
                case EfemEntity.MSG.WriteTagData:
                    _efem.WriteCarrierId((ModuleName)args[1], (string)args[2]);
                    break;
                default:
                    LOG.Write(eEvent.ERR_EFEM_ROBOT, ModuleName.EFEM, $"unprocessed Efem command {cmd}");
                    break;
            }
        }
    }
}