CyberX8/CyberX8_RT/Modules/PUF/PufPlaceToLoaderRoutine.cs

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

namespace CyberX8_RT.Modules.PUF
{
    public class PufPlaceToLoaderRoutine : RoutineBase, IRoutine
    {
        private enum PlaceStep
        {
            CheckStatus,
            OnlyPlaceToLoader,
            OnlyPlaceToLoaderWait,
            SwitchWaferHolder,
            LastVerticalFlip,
            LastVerticalFlipWait,
            LastVerticalPark,
            LastVerticalParkWait,
            LastRotationPark,
            LastRotationParkWait,
            End
        }
        #region 常量
        private const string CURRENT_STATION_LIST = "CurrentStationList";
        private const string SIDE_A = "SideA";
        #endregion
        #region 内部变量
        private string _side;
        private LoaderEntity _loaderEntity;
        private JetAxisBase _flipAxis;
        private JetAxisBase _rotationAxis;
        private JetAxisBase _verticalAxis;
        private PufVacuum _vacuum;
        private LoaderSideDevice _loaderSide;
        private JetAxisBase _loaderCrsAxis;
        private JetAxisBase _gantryAxis;
        private PufOnlyPlaceToLoaderRoutine _onlyPlaceToLoaderRoutine;
        #endregion

        /// <summary>
        /// 构造函数
        /// </summary>
        /// <param name="module"></param>
        public PufPlaceToLoaderRoutine(string module) : base(module)
        {
        }
        /// <summary>
        /// 中止
        /// </summary>
        public void Abort()
        {
            _flipAxis.StopPositionOperation();
            _rotationAxis.StopPositionOperation();
            _verticalAxis.StopPositionOperation();
            Runner.Stop("Manual Abort");            
        }
        /// <summary>
        /// 监控
        /// </summary>
        /// <returns></returns>
        public RState Monitor()
        {
            Runner.Run(PlaceStep.CheckStatus,CheckPreCondition,_delay_1ms)
                .Run(PlaceStep.OnlyPlaceToLoader,StartOnlyPlaceToLoader,_delay_1ms)
                .WaitWithStopCondition(PlaceStep.OnlyPlaceToLoaderWait,CheckPlaceEndStatus,CheckPlaceStopStatus)
                .Run(PlaceStep.SwitchWaferHolder,SwitchWaferHolderSideWafer,_delay_1ms)
                .Run(PlaceStep.LastVerticalFlip, () => _verticalAxis.PositionStation("Flip"), _delay_1ms)
                .WaitWithStopCondition(PlaceStep.LastVerticalFlipWait, CheckVerticalPositionStatus, CheckVerticalPositionRunStop)
                .Run(PlaceStep.LastVerticalPark, () => _verticalAxis.PositionStation("Park"), _delay_1ms)
                .WaitWithStopCondition(PlaceStep.LastVerticalParkWait, CheckVerticalPositionStatus, CheckVerticalPositionRunStop)
                .Run(PlaceStep.LastRotationPark, () => _rotationAxis.PositionStation("Park"), _delay_1ms)
                .WaitWithStopCondition(PlaceStep.LastRotationParkWait, CheckRotationPositionStatus, CheckRotationPositionRunStop)
                .End(PlaceStep.End, NullFun, _delay_1ms);
            return Runner.Status;
        }
        /// <summary>
        /// 执行放片至Loader
        /// </summary>
        /// <returns></returns>
        private bool StartOnlyPlaceToLoader()
        {
            return _onlyPlaceToLoaderRoutine.Start(_side) == RState.Running;
        }
        /// <summary>
        /// 检验放片状态 
        /// </summary>
        /// <returns></returns>
        private bool CheckPlaceEndStatus()
        {
            return _onlyPlaceToLoaderRoutine.Monitor() ==RState.End;
        }
        /// <summary>
        /// 检验放片停止状态
        /// </summary>
        /// <returns></returns>
        private bool CheckPlaceStopStatus()
        {
            RState state = _onlyPlaceToLoaderRoutine.Monitor();
            if(state==RState.Failed||state==RState.Timeout)
            {
                return true;
            }
            return false;
        }

        /// <summary>
        /// WaferHolder交换片
        /// </summary>
        /// <returns></returns>
        private bool SwitchWaferHolderSideWafer()
        {
            WaferHolderInfo waferHolderInfo = _loaderEntity.WaferHolderInfo;
            if (waferHolderInfo != null)
            {
                if (Module == ModuleName.PUF1.ToString())
                {
                    WaferManager.Instance.WaferMoved(ModuleHelper.Converter(Module), 1, ModuleName.Loader1, 0);
                    WaferInfo loaderWaferInfo = WaferManager.Instance.GetWafer(ModuleName.Loader1, 0);
                    waferHolderInfo.WaferAId = loaderWaferInfo.WaferID;
                    waferHolderInfo.WaferAType = (int)loaderWaferInfo.WaferType;
                    WaferHolderDataRecorder.UpdateWaferHolderData(waferHolderInfo.Id, waferHolderInfo);
                    MaterialTrackerManager.Instance.UpdateModuleMaterial(ModuleName.Loader1.ToString());
                }
                else
                {
                    WaferManager.Instance.WaferMoved(ModuleHelper.Converter(Module), 1, ModuleName.Loader1, 1);
                    WaferInfo loaderWaferInfo = WaferManager.Instance.GetWafer(ModuleName.Loader1, 1);
                    waferHolderInfo.WaferBId = loaderWaferInfo.WaferID;
                    waferHolderInfo.WaferBType = (int)loaderWaferInfo.WaferType;
                    WaferHolderDataRecorder.UpdateWaferHolderData(waferHolderInfo.Id, waferHolderInfo);
                    MaterialTrackerManager.Instance.UpdateModuleMaterial(ModuleName.Loader1.ToString());
                }
            }
            return true;
        }
        /// <summary>
        /// 检验Rotation移动状态
        /// </summary>
        /// <returns></returns>
        private bool CheckRotationPositionStatus()
        {
            return _rotationAxis.Status == RState.End;
        }
        /// <summary>
        /// 检验Rotation是否还在运动
        /// </summary>
        /// <returns></returns>
        private bool CheckRotationPositionRunStop()
        {
            return _rotationAxis.Status == RState.Failed;
        }

        /// <summary>
        /// 检验Vertical移动状态
        /// </summary>
        /// <returns></returns>
        private bool CheckVerticalPositionStatus()
        {
            return _verticalAxis.Status == RState.End;
        }
        /// <summary>
        /// 检验Vertical是否还在运动
        /// </summary>
        /// <returns></returns>
        private bool CheckVerticalPositionRunStop()
        {
            return _verticalAxis.Status == RState.Failed;
        }
        /// <summary>
        /// 启动
        /// </summary>
        /// <param name="objs"></param>
        /// <returns></returns>
        public RState Start(params object[] objs)
        {
            _side = objs[0].ToString();
            _loaderEntity = Singleton<RouteManager>.Instance.GetModule<LoaderEntity>(ModuleName.Loader1.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();
            GetCrsAxis();
            _onlyPlaceToLoaderRoutine = new PufOnlyPlaceToLoaderRoutine(Module.ToString());
            return Runner.Start(Module, "Place To Loader");
        }
        /// <summary>
        /// 检验是否存在Wafer
        /// </summary>
        /// <returns></returns>
        private bool CheckWaferPresent()
        {
            if (_side == "SideA")
            {
                if (!_vacuum.ChuckAWaferPresent)
                {
                    NotifyError(eEvent.ERR_PUF, $"{_side} has no Wafer", -1);
                    return false;
                }
            }
            else
            {
                if (!_vacuum.ChuckBWaferPresent)
                {
                    NotifyError(eEvent.ERR_PUF, $"{_side} has no Wafer",-1);
                    return false;
                }
            }
            return true;
        }
        /// <summary>
        /// 检验前置条件
        /// </summary>
        /// <returns></returns>
        private bool CheckPreCondition()
        {
            if(!CheckWaferPresent())
            {
                return false;
            }
            bool isLoaderInstall = ModuleHelper.IsInstalled(ModuleName.Loader1);
            if (isLoaderInstall)
            {
                if(_loaderSide.SideData.WaferPresent)
                {
                    NotifyError(eEvent.ERR_PUF, $"{_loaderSide.Module}.{_loaderSide.Name} has Wafer",-1);
                    return false;
                }
                JetAxisBase loaderRotationaxis = DEVICE.GetDevice<JetAxisBase>($"{ModuleName.Loader1}.Rotation");
                if (loaderRotationaxis != null)
                {
                    double loaderRotationPosition = loaderRotationaxis.MotionData.MotorPosition;
                    if (!loaderRotationaxis.CheckPositionIsInStation(loaderRotationPosition, "LOADA"))
                    {
                        NotifyError(eEvent.ERR_PUF, $"Loader Rotation {loaderRotationPosition} is not in LOADA", -1);
                        return false;
                    }
                }
                if (Module == ModuleName.PUF1.ToString())
                {
                    //Loader1.SwingA 在Open
                    JetAxisBase loaderShuttleAAxis = DEVICE.GetDevice<JetAxisBase>($"{ModuleName.Loader1}.ShuttleA");
                    if (loaderShuttleAAxis != null)
                    {
                        double loaderShuttleAPosition = loaderShuttleAAxis.MotionData.MotorPosition;
                        if (!loaderShuttleAAxis.CheckPositionIsInStation(loaderShuttleAPosition, "OPEN"))
                        {
                            NotifyError(eEvent.ERR_PUF, $"Loader ShuttleA {loaderShuttleAPosition} is not in OPEN", -1);
                            return false;
                        }
                    }
                    //Loader1.TiltA 在HORI
                    JetAxisBase loaderTiltAAxis = DEVICE.GetDevice<JetAxisBase>($"{ModuleName.Loader1}.TiltA");
                    if (loaderTiltAAxis != null)
                    {
                        double loaderTiltAPosition = loaderTiltAAxis.MotionData.MotorPosition;
                        if (!loaderTiltAAxis.CheckPositionIsInStation(loaderTiltAPosition, "HORI"))
                        {
                            NotifyError(eEvent.ERR_PUF, $"Loader TiltA {loaderTiltAPosition} is not in HORI", -1);
                            return false;
                        }
                    }
                }
                if (Module == ModuleName.PUF2.ToString())
                {
                    //Loader1.SwingB 在Open
                    JetAxisBase loaderShuttleBAxis = DEVICE.GetDevice<JetAxisBase>($"{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)
                {
                    NotifyError(eEvent.ERR_PUF, "Loader1 LS Vacuum is off", -1);
                    return false;
                }
                //Bernoulli Bladder "ON",Retracted Green Light
                if (!_loaderSide.SideData.BernoulliBladder)
                {
                    NotifyError(eEvent.ERR_PUF, "Loader1 Bernoulli Bladder is off",-1);
                    return false;
                }
                if (_loaderSide.SideData.BernoulliExtended)
                {
                    NotifyError(eEvent.ERR_PUF, "Loader1 Bernoulli Retracted is off", -1);
                    return false;
                }
                //其他SideA/B均为OFF
                if (_loaderSide.SideData.BernoulliN2)
                {
                    NotifyError(eEvent.ERR_PUF, "Loader1 Bernoulli N2 is on",-1);
                    return false;
                }
            }
            //Loader Transporter在Loader右侧
            bool loaderTransporterInstalled = ModuleHelper.IsInstalled(ModuleName.Transporter2);
            if (loaderTransporterInstalled && !_gantryAxis.JudgeCompareTargetStation("Loader", "Right"))
            {
                NotifyError(eEvent.ERR_PUF, "Loader Transporter is not in Loader right position", -1);
                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>
        /// 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");
            }
        }
        /// <summary>
        /// 获取lipseal Axis
        /// </summary>
        private void GetCrsAxis()
        {
            if(Module==ModuleName.PUF1.ToString())
            {
                _loaderCrsAxis = DEVICE.GetDevice<JetAxisBase>($"{ModuleName.Loader1}.LSA");
            }
            else
            {
                _loaderCrsAxis = DEVICE.GetDevice<JetAxisBase>($"{ModuleName.Loader1}.LSB");
            }
        }
    }
}