CyberX8/CyberX8_RT/Modules/Transporter/TransporterPickUpValidateRoutine.cs

using Aitex.Core.RT.Device;
using Aitex.Core.RT.Log;
using Aitex.Core.RT.Routine;
using Aitex.Core.RT.SCCore;
using Aitex.Core.Util;
using MECF.Framework.Common.Routine;
using MECF.Framework.Common.Utilities;
using MECF.Framework.Common.WaferHolder;
using CyberX8_Core;
using CyberX8_RT.Devices.AXIS;
using CyberX8_RT.Devices.TransPorter;
using CyberX8_RT.Modules.Loader;
using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Threading.Tasks;
using Aitex.Core.Common;
using MECF.Framework.Common.Alarm;
using MECF.Framework.Common.CommonData;
using System.Threading;
using MECF.Framework.Common.SubstrateTrackings;

namespace CyberX8_RT.Modules.Transporter
{
   
    public class TransporterPickUpValidateRoutine : RoutineBase, IRoutine
    {
        private enum PickUpStep
        {
            PickUp,
            PickUpWait,
            ReadBarcodeConfirm,
            Place,
            PlaceWait,
            End
        }

        #region 内部变量
        private string _cellName;
        private TransporterPickUpFromRoutine _pickupFromRoutine;
        private TransporterPickDownToRoutine _placeRoutine;
        private JetAxisBase _gantryAxis;
        private TransporterCommon _transporterCommon;
        private bool _validate = false;
        #endregion

        /// <summary>
        /// 构造函数
        /// </summary>
        /// <param name="module"></param>
        public TransporterPickUpValidateRoutine(string module) : base(module)
        {
            _pickupFromRoutine=new TransporterPickUpFromRoutine(module);
            _placeRoutine=new TransporterPickDownToRoutine(module);
        }
        /// <summary>
        /// 中止
        /// </summary>
        public void Abort()
        {
            Runner.Stop("Manual Abort");
        }
        /// <summary>
        /// 监控
        /// </summary>
        /// <returns></returns>
        public RState Monitor()
        {
              //1.1 PickupFrom
              Runner .Run(PickUpStep.PickUp, () => { return _pickupFromRoutine.Start(_cellName) == RState.Running; }, _delay_1ms)
                .WaitWithStopCondition(PickUpStep.PickUpWait, () => CommonFunction.CheckRoutineEndState(_pickupFromRoutine),
                    () => CheckRoutineStopStatus(_pickupFromRoutine, "PickUpValidate Routine", _pickupFromRoutine.ErrorMsg, 0))
                //2.1 Read Barcode 确认与Material Tracking的转移是否一致
                .Run(PickUpStep.ReadBarcodeConfirm, ReadBarcode, _delay_1ms)
                .RunIf(PickUpStep.Place, !_validate, ()=> { return _placeRoutine.Start(_cellName) == RState.Running; },_delay_1ms )
                .WaitWithStopConditionIf(PickUpStep.PlaceWait,!_validate, () => CommonFunction.CheckRoutineEndState(_placeRoutine),
                    () => CheckRoutineStopStatus(_placeRoutine, "Place Routine", _placeRoutine.ErrorMsg, 1))
                .End(PickUpStep.End,NullFun,100);
            return Runner.Status;
        }
        /// <summary>
        /// 检验Routine异常结束状态
        /// </summary>
        /// <param name="routine"></param>
        /// <returns></returns>
        private bool CheckRoutineStopStatus(IRoutine routine, string routineName, string errorMsg, int step)
        {
            RState ret = routine.Monitor();
            if (ret == RState.Failed || ret == RState.Timeout)
            {
                NotifyError(eEvent.ERR_TRANSPORTER, $"PickUp Validate WaferHolder Routine\r\n{routineName}\\r\n{errorMsg}", step);
                return true;
            }
            return false;
        }

        /// <summary>
        /// 读取条码
        /// </summary>
        /// <returns></returns>
        private bool ReadBarcode()
        {
            TransporterEntity transporterEntity = Singleton<RouteManager>.Instance.GetModule<TransporterEntity>(Module.ToString());
            if (transporterEntity == null)
            {
                return true;
            }
            WaferHolderInfo waferHolderInfo = transporterEntity.WaferHolderInfo;
            if (waferHolderInfo == null)
            {
                return true;
            }
            bool isSimulator = SC.GetValue<bool>("System.IsSimulatorMode");
            string str = CycleReadBarcode(isSimulator);
            string error = "";
            if(!string.IsNullOrEmpty(str))
            {               
                if (waferHolderInfo.Id == str)
                {
                    _validate = true;
                }
                else
                {
                    error = $"Wafer Shuttle Id {waferHolderInfo?.Id} is not matched with reader {str}";
                    _validate = false;
                }
            }
            else
            {
                if (isSimulator)
                {
                    _validate = true;
                    return true;
                }
                error = $"reader data is empty";
            }
            if (!_validate)
            {
                if (CheckWaferHolderAllAssistWafers(waferHolderInfo))
                {
                    WaferHolderManager.Instance.DisableWaferHolder(waferHolderInfo);
                    LOG.WriteLog(eEvent.WARN_TRANSPORTER, Module, error);
                    LOG.WriteLog(eEvent.WARN_TRANSPORTER, Module, $"disable WaferHolder {waferHolderInfo.Id}");
                    AlarmList alarmList = new AlarmList(Module.ToString(), "", 0, error, 0, (int)AlarmType.Warning);
                    AlarmListManager.Instance.AddAlarm(alarmList);
                }
                else
                {
                    _validate = true;
                }
            }
            return true;
        }
        /// <summary>
        /// 检验WaferHolder所有的Wafer是辅助片
        /// </summary>
        /// <param name="waferHolderInfo"></param>
        /// <returns></returns>
        private bool CheckWaferHolderAllAssistWafers(WaferHolderInfo waferHolderInfo)
        {
            if (!string.IsNullOrEmpty(waferHolderInfo.WaferAId))
            {
                WaferInfo waferInfo = WaferManager.Instance.GetWaferByWaferId(waferHolderInfo.WaferAId);
                if (waferInfo!=null&&waferInfo.WaferType!=WaferType.Assit)
                {
                    return false;
                }
            }
            if (!string.IsNullOrEmpty(waferHolderInfo.WaferBId))
            {
                WaferInfo waferInfo = WaferManager.Instance.GetWaferByWaferId(waferHolderInfo.WaferBId);
                if (waferInfo != null && waferInfo.WaferType != WaferType.Assit)
                {
                    return false;
                }
            }
            return true;
        }
        /// <summary>
        /// 循环读取Barcode
        /// </summary>
        /// <param name="isSimulator"></param>
        /// <returns></returns>
        private string CycleReadBarcode(bool isSimulator)
        {
            int count = 0;
            string str = "";
            //读取Barcode3遍
            while (count < 3)
            {
                str = _transporterCommon.ReaderBarcode();
                str = str.Trim();
                if (!string.IsNullOrEmpty(str))
                {
                    break;
                }
                if (isSimulator)
                {
                    break;
                }
                Thread.Sleep(10);
            }
            return str;
        }

        /// <summary>
        /// 启动
        /// </summary>
        /// <param name="objs"></param>
        /// <returns></returns>
        public RState Start(params object[] objs)
        {
            _cellName = objs[0].ToString();
            _transporterCommon = DEVICE.GetDevice<TransporterCommon>($"{Module}.Common");
            _gantryAxis = DEVICE.GetDevice<JetAxisBase>($"{Module}.Gantry");
            _validate = false;
            return Runner.Start(Module, $"PickUpValidate {_cellName}");
        }

        /// <summary>
        /// 重试
        /// </summary>
        /// <param name="step"></param>
        public RState Retry(int step)
        {
            if (string.IsNullOrEmpty(_cellName))
            {
                NotifyError(eEvent.ERR_TRANSPORTER, "source cell is empty", step);
                return RState.Failed;
            }
            List<Enum> preStepIds = new List<Enum>();
            if (step == 0 || step == -1)
            {
                return Runner.Retry(PickUpStep.PickUp, preStepIds, Module, "PickUp Validate Retry");
            }
            else
            {
                AddPreSteps(PickUpStep.Place, preStepIds);
                return Runner.Retry(PickUpStep.Place, preStepIds, Module, $"Pickup Validate step {PickUpStep.Place} Retry");
            }
        }
        /// <summary>
        /// 忽略前步骤
        /// </summary>
        /// <param name="step"></param>
        /// <param name="preStepIds"></param>
        private void AddPreSteps(PickUpStep step, List<Enum> preStepIds)
        {
            for (int i = 0; i < (int)step; i++)
            {
                preStepIds.Add((PickUpStep)i);
            }
        }
        /// <summary>
        /// 检验前面Unload完成状态
        /// </summary>
        /// <returns></returns>
        public bool CheckCompleteCondition(int index)
        {
            TransporterEntity transporterEntity = Singleton<RouteManager>.Instance.GetModule<TransporterEntity>(Module);
            if (transporterEntity.WaferHolderInfo == null)
            {
                NotifyError(eEvent.ERR_TRANSPORTER, $"{Module} does not have waferholder", index);
                return false;
            }
            double gantryPsition = _gantryAxis.MotionData.MotorPosition;
            if (!_gantryAxis.CheckPositionIsInStation(gantryPsition, _cellName))
            {
                NotifyError(eEvent.ERR_TRANSPORTER, $"{Module} gantry not in {_cellName}", index);
                return false;
            }
            return true;
        }
    }
}