CyberX8/CyberX8_RT/Schedulers/EfemRobot/SchedulerRobot.cs

using Aitex.Core.RT.Fsm;
using Aitex.Core.RT.Log;
using Aitex.Core.RT.Routine;
using Aitex.Core.Util;
using MECF.Framework.Common.Equipment;
using MECF.Framework.Common.Schedulers;
using CyberX8_Core;
using CyberX8_RT.Modules;
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.Loader;
using CyberX8_RT.Modules.SRD;

namespace CyberX8_RT.Schedulers.EfemRobot
{
    public class SchedulerRobot : SchedulerModule
    {
        private enum SchedulerRobotOperation
        {
            None,
            Pick,
            PickWait,
            Place,
            PlaceWait
        }
        #region 内部变量
        private EfemEntity _efemEntity;
        private LoaderEntity _loaderEntity;
        private PUFEntity _puf1Entity;
        private PUFEntity _puf2Entity;
        #endregion

        #region 属性
        /// <summary>
        /// 是否空闲
        /// </summary>
        public override bool IsIdle
        {
            get { return _state == RState.End; }
        }
        /// <summary>
        /// 是否错误
        /// </summary>
        public override bool IsError
        {
            get { return _state == RState.Failed || _state == RState.Timeout; }
        }
        #endregion
        /// <summary>
        /// 构造函数
        /// </summary>
        /// <param name="module"></param>
        public SchedulerRobot(ModuleName module) : base(module.ToString())
        {
            _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());
        }
        /// <summary>
        /// 执行
        /// </summary>
        /// <param name="parameter"></param>
        /// <returns></returns>
        public override bool RunProcess(object recipe, object parameter, List<SchedulerSyncModuleMessage> syncMessages)
        {
            if (_efemEntity.IsBusy)
            {
                return false;
            }
            MoveItem moveItem = (MoveItem)parameter;
            if (moveItem.SourceModule != ModuleName.Unknown&&moveItem.DestinationModule!=ModuleName.Unknown)
            {                
                _state = RState.Running;
                if (RobotMoveHelper.Instance.IsIdle)
                {
                    RobotMoveHelper.Instance.Start(moveItem, Module.ToString());
                    return true;
                }
            }
            return false;
        }

        /// <summary>
        /// 监控执行
        /// </summary>
        /// <returns></returns>
        public override bool MonitorProcess(SchedulerSequence schedulerSequence, bool hasMatchWafer)
        {
            RobotMoveHelper.Instance.Monitor(Module.ToString());
            if (RobotMoveHelper.Instance.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 (parameter == null)
            {
                reason = "parameter is null";
                return true;
            }

            if (_state == RState.Running)
            {
                reason = "scheduler module is already running";
                return false;
            }
            if(_efemEntity.IsBusy)
            {
                reason = "efem is busy";
                return false;
            }
            if(_efemEntity.IsError)
            {
                reason = "efem is error";
                return false;
            }
            if(_loaderEntity.IsError||_puf1Entity.IsError)
            {
                reason = "loader or puf is error";
                return false;
            }

            MoveItem moveItem = (MoveItem)parameter;
            if(WaferManager.Instance.CheckHasWafer(ModuleName.EfemRobot,(int)moveItem.RobotHand))
            {
                reason = "robot has wafer";
                return false;
            }

            if (moveItem.SourceModule == ModuleName.Unknown)
            {
                UpdateUnkownSourceModule(schedulerSequences, moveItem, sequenceIndex);
            }
            if (moveItem.DestinationModule == ModuleName.Unknown)
            {
                bool result= UpdateUnkownTargetModule(schedulerSequences, moveItem, sequenceIndex);
                if (!result)
                {
                    reason = "efem robot confirm target module failed";
                    return false;
                }
            }
            if (ModuleHelper.IsPUF(moveItem.DestinationModule))
            {
                PUFEntity pufEntity = Singleton<RouteManager>.Instance.GetModule<PUFEntity>(moveItem.DestinationModule.ToString());
                if (pufEntity != null)
                {
                    if (pufEntity.State == (int)PUFSTATE.WaitForRobotPlace)
                    {
                        return true;
                    }
                    else
                    {
                        if (pufEntity.IsIdle)
                        {
                            pufEntity.CheckToPostMessage<PUFSTATE, PUFMSG>(eEvent.ERR_PUF, Module.ToString(),
                                (int)PUFMSG.ReadyForRobotPlace);
                        }
                        reason = $"{pufEntity.Module} state is not WaitForRobotPlace";
                        return false;
                    }
                }
                else
                {
                    reason = $"{moveItem.DestinationModule} puf is null";
                }
            }
            else if (ModuleHelper.IsPUF(moveItem.SourceModule))
            {
                PUFEntity pufEntity = Singleton<RouteManager>.Instance.GetModule<PUFEntity>(moveItem.SourceModule.ToString());
                if (pufEntity != null)
                {
                    if (pufEntity.State == (int)PUFSTATE.WaitForRobotPick)
                    {
                        return true;
                    }
                    else
                    {
                        if (pufEntity.IsIdle)
                        {
                            pufEntity.CheckToPostMessage<PUFSTATE, PUFMSG>(eEvent.ERR_PUF, pufEntity.Module.ToString(),
                                (int)PUFMSG.ReadyForRobotPick);
                        }
                        reason = $"{pufEntity.Module} state is not WaitForRobotPick";
                        return false;
                    }
                }
                else
                {
                    reason = $"{moveItem.SourceModule} puf is null";
                    return false;
                }
            }
            return true;
        }
        /// <summary>
        /// 更新未知源模块
        /// </summary>
        private void UpdateUnkownSourceModule(List<SchedulerSequence> schedulerSequences, MoveItem moveItem, int sequenceIndex)
        {
            if (moveItem.SourceModule == ModuleName.Unknown)
            {
                if (sequenceIndex >= 1 && sequenceIndex - 1 < schedulerSequences.Count)
                {
                    SchedulerSequence preSchedulerSequence = schedulerSequences[sequenceIndex - 1];
                    if (preSchedulerSequence != null && preSchedulerSequence.SchedulerModule != null)
                    {
                        moveItem.SourceModule = preSchedulerSequence.SchedulerModule.Module;
                    }
                }
            }
        }
        /// <summary>
        /// 更新未知目标模块
        /// </summary>
        private bool UpdateUnkownTargetModule(List<SchedulerSequence> schedulerSequences, MoveItem moveItem, int sequenceIndex)
        {
            SchedulerSequence currentSchedulerSequence= schedulerSequences[sequenceIndex];
            ModuleName moduleName = ModuleName.Unknown;
            if (moveItem.DestinationType == ModuleType.SRD)
            {
                SRDEntity srd1Entity = Singleton<RouteManager>.Instance.GetModule<SRDEntity>(ModuleName.SRD1.ToString());
                if (srd1Entity != null&&srd1Entity.IsIdle&&srd1Entity.IsAuto&&WaferManager.Instance.CheckNoWafer(ModuleName.SRD1.ToString(),0))
                {
                    moduleName = ModuleName.SRD1;
                }
                else
                {
                    SRDEntity srd2Entity= Singleton<RouteManager>.Instance.GetModule<SRDEntity>(ModuleName.SRD2.ToString());
                    if (srd2Entity != null && srd2Entity.IsIdle&&srd2Entity.IsAuto && WaferManager.Instance.CheckNoWafer(ModuleName.SRD2.ToString(), 0))
                    {
                        moduleName=ModuleName.SRD2;
                    }
                }

            }
            else
            {
                return false;
            } 
            
            if (moduleName == ModuleName.Unknown)
            {
                return false;
            }
            else
            {
                if(WaferManager.Instance.CheckHasWafer(moduleName,0))
                {
                    return false;
                }
                IModuleEntity moduleEntity = Singleton<RouteManager>.Instance.GetModule<IModuleEntity>(moduleName.ToString());
                if (moduleEntity==null)
                {
                    return false;
                }
                if (moduleEntity.IsBusy)
                {
                    return false;
                }
                moveItem.DestinationModule = moduleName;
                if (sequenceIndex + 1 < schedulerSequences.Count)
                {
                    SchedulerSequence sequence = schedulerSequences[sequenceIndex + 1];
                    if (sequence.SchedulerModule == null)
                    {
                        sequence.SchedulerModule = SchedulerManager.Instance.GetScheduler(moduleName);
                        sequence.ModuleName = moduleName;
                    }
                }
            }
            return true;
        }

        public override void ResetTask()
        {
            base.ResetTask();
            RobotMoveHelper.Instance.Reset();
        }
    }
}