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;

namespace CyberX8_RT.Schedulers.Loader
{
    public class SchedulerLoader : SchedulerModule
    {
        private enum SchedulerStep
        {
            WaitLoad,
            Loading,
        }
        #region 内部变量
        private LoaderEntity _loaderEntity;
        private PUFEntity _puf1Entity;
        private PUFEntity _puf2Entity;
        private SchedulerStep _currentStep;
        #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());
            _puf2Entity = Singleton<RouteManager>.Instance.GetModule<PUFEntity>(ModuleName.PUF2.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.WaitLoad;
            return true;
        }
        /// <summary>
        /// 监控执行
        /// </summary>
        /// <returns></returns>
        public override bool MonitorProcess(SchedulerSequence schedulerSequence, bool hasMatchWafer)
        {
            if (_currentStep == SchedulerStep.WaitLoad)
            {
                if (_loaderEntity.State != (int)LOADERSTATE.WaitForLoad)
                {
                    return false;
                }
                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;
                    }
                    bool result = _loaderEntity.CheckToPostMessage<LOADERSTATE, LoaderMSG>(eEvent.WARN_LOADER, Module.ToString(),
                    (int)LoaderMSG.LoadSide,side);
                    if (result)
                    {
                        _currentStep = SchedulerStep.Loading;
                    }
                }
            }
            if(_currentStep==SchedulerStep.Loading)
            {
                if(_loaderEntity.IsIdle)
                {
                    _state = RState.End;
                }
            }

            return true;
        }

        /// <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;
        }
    }
}