CyberX8/CyberX8_RT/Modules/PUF/PufPickFromLoaderRoutine.cs

using Aitex.Core.RT.DataCenter;
using Aitex.Core.RT.Device;
using Aitex.Core.RT.Event;
using Aitex.Core.RT.Log;
using Aitex.Core.RT.Routine;
using MECF.Framework.Common.Equipment;
using MECF.Framework.Common.Routine;
using MECF.Framework.Common.Utilities;
using CyberX8_Core;
using CyberX8_RT.Devices.AXIS;
using CyberX8_RT.Devices.Loader;
using CyberX8_RT.Devices.PUF;
using CyberX8_RT.Devices.TransPorter;
using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Threading.Tasks;

namespace CyberX8_RT.Modules.PUF
{
    public class PufPickFromLoaderRoutine : RoutineBase,IRoutine
    {
        #region 常量
        private const string SideA = "SideA";
        private const string SideB = "SideB";
        private const string CURRENT_STATION_LIST = "CurrentStationList";
        #endregion

        #region 内部变量
        private string _side;
        private JetAxisBase _flipAxis;
        private JetAxisBase _rotationAxis;
        private JetAxisBase _verticalAxis;
        private JetAxisBase _gantryAxis;
        private LoaderSideDevice _loaderSide;
        private PufVacuum _vacuum;
        private IRoutine _routine;
        private PufNoWaferPickRoutine _noWaferPickRoutine;
        private PufWaferPickRoutine _pufWaferPickRoutine;
        #endregion
        /// <summary>
        /// 构造函数
        /// </summary>
        /// <param name="module"></param>
        /// <param name="pufEntity"></param>
        public PufPickFromLoaderRoutine(string module) : base(module)
        {
            _noWaferPickRoutine =new PufNoWaferPickRoutine(module);
            _pufWaferPickRoutine=new PufWaferPickRoutine(module);
        }
        /// <summary>
        /// 中止
        /// </summary>
        public void Abort()
        {
            _routine.Abort();
        }
        /// <summary>
        /// 监控
        /// </summary>
        /// <returns></returns>
        public RState Monitor()
        {
            return _routine.Monitor();
        }
        /// <summary>
        /// 启动
        /// </summary>
        /// <param name="objs"></param>
        /// <returns></returns>
        public RState Start(params object[] objs)
        {
            _side = objs[0].ToString();

            _flipAxis = DEVICE.GetDevice<JetAxisBase>($"{Module}.Flip");
            _rotationAxis = DEVICE.GetDevice<JetAxisBase>($"{Module}.Rotation");
            _verticalAxis = DEVICE.GetDevice<JetAxisBase>($"{Module}.Vertical");
            _vacuum = DEVICE.GetDevice<PufVacuum>($"{Module}.Vacuum");
            _gantryAxis = DEVICE.GetDevice<JetAxisBase>($"{ModuleName.Transporter2}.Gantry");
            GetLoaderSide();
            if (CheckCondition())
            {
                if (CheckReverseWafer())
                {
                    _routine = _pufWaferPickRoutine;
                }
                else
                {
                    _routine = _noWaferPickRoutine;
                }
                _routine.Start(_side);
                return RState.Running;
            }
            else
            {
                return RState.Failed;
            }
        }
        /// <summary>
        /// 检验条件
        /// </summary>
        /// <returns></returns>
        private bool CheckCondition()
        {
            //Loader1.Rotation 在LOADA
            bool isLoaderInstall = ModuleHelper.IsInstalled(ModuleName.Loader1);
            if (isLoaderInstall)
            {
                JetAxisBase loaderRotationAxis = DEVICE.GetDevice<JetAxisBase>($"{ModuleName.Loader1}.Rotation");
                double loaderRotationPosition = loaderRotationAxis.MotionData.MotorPosition;
                if (!loaderRotationAxis.CheckPositionIsInStation(loaderRotationPosition, "LOADA"))
                {
                    LOG.WriteLog(eEvent.ERR_PUF, Module, $"Loader Rotation {loaderRotationPosition} is not in LOADA");
                    return false;
                }
                if (Module == ModuleName.PUF1.ToString())
                {
                    //Loader1.SwingA 在Open
                    JetAxisBase loaderShuttleAAxis = DEVICE.GetDevice<JetAxisBase>($"{ModuleName.Loader1}.ShuttleA");
                    double loaderShuttleAPosition = loaderShuttleAAxis.MotionData.MotorPosition;
                    if (!loaderShuttleAAxis.CheckPositionIsInStation(loaderShuttleAPosition, "OPEN"))
                    {
                        LOG.WriteLog(eEvent.ERR_PUF, Module, $"Loader ShuttleA {loaderShuttleAPosition} is not in OPEN");
                        return false;
                    }
                    //Loader1.TiltA 在HORI
                    JetAxisBase loaderTiltAAxis = DEVICE.GetDevice<JetAxisBase>($"{ModuleName.Loader1}.TiltA");
                    double loaderTiltAPosition = loaderTiltAAxis.MotionData.MotorPosition;
                    if (!loaderTiltAAxis.CheckPositionIsInStation(loaderTiltAPosition, "HORI"))
                    {
                        LOG.WriteLog(eEvent.ERR_PUF, Module, $"Loader TiltA {loaderTiltAPosition} is not in HORI");
                        return false;
                    }
                }
                if (Module == ModuleName.PUF2.ToString())
                {
                    //Loader1.ShuttleB 在Open
                    JetAxisBase loaderShuttleBAxis = DEVICE.GetDevice<JetAxisBase>($"{ModuleName.Loader1}.ShuttleB");
                    double loaderShuttleBPosition = loaderShuttleBAxis.MotionData.MotorPosition;
                    if (!loaderShuttleBAxis.CheckPositionIsInStation(loaderShuttleBPosition, "OPEN"))
                    {
                        LOG.WriteLog(eEvent.ERR_PUF, Module, $"Loader ShuttleB {loaderShuttleBPosition} is not in OPEN");
                        return false;
                    }
                    //Loader1.TiltB 在HORI
                    JetAxisBase loaderTiltBAxis = DEVICE.GetDevice<JetAxisBase>($"{ModuleName.Loader1}.TiltB");
                    double loaderTiltBPosition = loaderTiltBAxis.MotionData.MotorPosition;
                    if (!loaderTiltBAxis.CheckPositionIsInStation(loaderTiltBPosition, "HORI"))
                    {
                        LOG.WriteLog(eEvent.ERR_PUF, Module, $"Loader TiltB {loaderTiltBPosition} is not in HORI");
                        return false;
                    }
                }


                //Loader Handle Wafer状态确认
                // Lip Seal Vacuum "ON"
                if (!_loaderSide.SideData.CRSVacuum)
                {
                    LOG.WriteLog(eEvent.ERR_PUF, Module, "Loader1 LS Vacuum is off");
                    return false;
                }
                //Bernoulli Bladder "ON",Retracted Green Light
                if (!_loaderSide.SideData.BernoulliBladder)
                {
                    LOG.WriteLog(eEvent.ERR_PUF, Module, "Loader1 Bernoulli Bladder is off");
                    return false;
                }
                if (_loaderSide.SideData.BernoulliExtended)
                {
                    LOG.WriteLog(eEvent.ERR_PUF, Module, "Loader1 Bernoulli Retracted is off");
                    return false;
                }
                //其他SideA/B均为OFF
                if (_loaderSide.SideData.BernoulliN2)
                {
                    LOG.WriteLog(eEvent.ERR_PUF, Module, "Loader1 Bernoulli N2 is on");
                    return false;
                }
                if (!_loaderSide.SideData.DoorUnlock)
                {
                    LOG.WriteLog(eEvent.ERR_PUF, Module, "Loader1 Door is Locked");
                    return false;
                }
                if (_loaderSide.SideData.WHBladder)
                {
                    LOG.WriteLog(eEvent.ERR_PUF, Module, "Loader1 WS Bladder is on");
                    return false;
                }
                if (_loaderSide.SideData.TransBladder)
                {
                    LOG.WriteLog(eEvent.ERR_PUF, Module, "Loader1 Translate Bladder is on");
                    return false;
                }
                if (_loaderSide.SideData.TransHigh)
                {
                    LOG.WriteLog(eEvent.ERR_PUF, Module, "Loader1 Translate High Pre is on");
                    return false;
                }
            }
            //Loader Transporter在Loader右侧
            bool loaderTransporterInstalled = ModuleHelper.IsInstalled(ModuleName.Transporter2);
            if (loaderTransporterInstalled && !_gantryAxis.JudgeCompareTargetStation("Loader", "Right"))
            {
                LOG.WriteLog(eEvent.ERR_PUF, Module, "Loader Transporter is not in Loader right position");
                return false;
            }
            double verticalPosition = _verticalAxis.MotionData.MotorPosition;
            if (!_verticalAxis.CheckPositionIsInStation(verticalPosition,"Park"))
            {
                LOG.WriteLog(eEvent.ERR_PUF,Module, $"vertical axis {verticalPosition} is not at Park Station");
                return false;
            }
            double rotationPosition = _rotationAxis.MotionData.MotorPosition;
            if(_rotationAxis.CheckPositionIsEmpty(rotationPosition))
            {
                LOG.WriteLog(eEvent.ERR_PUF,Module, $"rotation axis {rotationPosition} is not at Station");
                return false;
            }

            double flipPosition = _flipAxis.MotionData.MotorPosition;
            if(_flipAxis.CheckPositionIsEmpty(flipPosition))
            {
                LOG.WriteLog( eEvent.ERR_PUF,Module, $"flip axis {flipPosition} is not at Station");
                return false;
            }
            
            return true;
        }
        /// <summary>
        /// 检验反面Wafer Present
        /// </summary>
        /// <returns></returns>
        private bool CheckReverseWafer()
        {
            if(_side == SideA)
            {
                return _vacuum.ChuckBWaferPresent;
            }
            else if(_side == SideB)
            {
                return _vacuum.ChuckAWaferPresent;
            }
            else
            {
                return false;
            }
        }
        /// <summary>
        /// 获取LoaderSide
        /// </summary>
        private void GetLoaderSide()
        {
            if( Module == ModuleName.PUF1.ToString())
            {
                _loaderSide= DEVICE.GetDevice<LoaderSideDevice>($"{ModuleName.Loader1}.SideA");
            }
            else
            {
                _loaderSide = DEVICE.GetDevice<LoaderSideDevice>($"{ModuleName.Loader1}.SideB"); 
            }
        }
    }
}