CyberX8/CyberX8_RT/Modules/EFEM/CycleRobotCycleNewRoutine.cs

using Aitex.Core.Common;
using Aitex.Core.RT.Log;
using Aitex.Core.RT.Routine;
using CyberX8_Core;
using CyberX8_RT.Devices.EFEM;
using CyberX8_RT.Modules.Rinse;
using MECF.Framework.Common.Equipment;
using MECF.Framework.Common.Routine;
using MECF.Framework.Common.Schedulers;
using MECF.Framework.Common.SubstrateTrackings;
using MECF.Framework.Common.Utilities;
using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Threading.Tasks;

namespace CyberX8_RT.Modules.EFEM
{
    public class CycleRobotCycleNewRoutine : ModuleRoutineBase, IRoutine
    {
        private enum CycleRobotCycleStep
        {
            LoopStart,
            LoopRunRobotCycle,
            LoopRunRobotCycleWait,
            LoopEnd,
            End

        }
        /// <summary>
        /// Cycle次数
        /// </summary>
        private int _cycleTimes;
        /// <summary>
        /// 当前处于第几次Cycle
        /// </summary>
        private int _currentCycle;
        private object[] param;
        private RobotCycleMoveRoutine _cycleMoveRoutine;
        private List<ModuleName> _sequences;
        private int _alignerAngle;
        private List<EfemCycleAction> _actions;

        public CycleRobotCycleNewRoutine(EfemBase efem) : base(ModuleName.EfemRobot)
        {
            _cycleMoveRoutine = new RobotCycleMoveRoutine(efem);
        }

        public RState Start(params object[] objs)
        {
            string str = objs[0].ToString();
            _sequences = new List<ModuleName>();
            foreach(string item in str.Split('-'))
            {
                _sequences.Add((ModuleName)Enum.Parse(typeof(ModuleName), item));
            }
            _cycleTimes=(int)objs[1];
            _alignerAngle = (int)objs[2];
            _actions = new List<EfemCycleAction>();
            GenerateCycleAction();
            if (_cycleTimes < 1)
            {
                LOG.Write(eEvent.ERR_EFEM_ROBOT, Module, $"Input Robot Cycle Times{_cycleTimes} error");
                return RState.Failed;
            }
            return Runner.Start(Module, "Start CycleRobotCycleRoutine");
        }
        private void GenerateCycleAction()
        {
            if (!ModuleHelper.IsLoadPort(_sequences[0]))
            {
                return;
            }
            WaferInfo[] waferInfos = WaferManager.Instance.GetWafers(_sequences[0]);
            int count = 0;
            foreach (WaferInfo item in waferInfos)
            {
                if (item.IsEmpty)
                {
                    continue;
                }
                _actions.AddRange(GenerateCycle(_sequences[0], item.Slot, _sequences[1], ModuleHelper.IsDummy(_sequences[1]) ? count : 0));
                for (int i = 1; i < _sequences.Count; i++)
                {
                    if (i == 1)
                    {
                        _actions.AddRange(GenerateCycle(_sequences[i], ModuleHelper.IsDummy(_sequences[i]) ? count : 0, _sequences[i + 1],
                            ModuleHelper.IsDummy(_sequences[i + 1]) ? count : 0));
                    }
                    else if (i == _sequences.Count - 1)
                    {
                        _actions.AddRange(GenerateCycle(_sequences[i], ModuleHelper.IsDummy(_sequences[i]) ? count : 0, _sequences[0],
                            item.Slot));
                    }
                }
                count++;
            }
        }

        private List<EfemCycleAction> GenerateCycle(ModuleName source,int sourceSlot,ModuleName destModule,int destSlot)
        {
            List<EfemCycleAction> actions = new List<EfemCycleAction>();
            if (source == ModuleName.Aligner1)
            {
                EfemCycleAction action = new EfemCycleAction();
                action.Action = "Align";
                action.Parameter = _alignerAngle;
                actions.Add(action);
            }
            EfemCycleAction pick = new EfemCycleAction();
            MoveItem pickMoveItem = new MoveItem();
            pickMoveItem.SourceModule = source;
            pickMoveItem.SourceSlot = sourceSlot;
            pick.Parameter = pickMoveItem;
            pick.Action = "Pick";
            actions.Add(pick);
            EfemCycleAction place = new EfemCycleAction();
            MoveItem placeMoveItem = new MoveItem();
            placeMoveItem.DestinationModule = destModule;
            placeMoveItem.DestinationSlot = destSlot;
            place.Parameter = placeMoveItem;
            place.Action = "Place";
            actions.Add(place);
            return actions;
        }
        public RState Monitor()
        {
            Runner.LoopStart(CycleRobotCycleStep.LoopStart, "Loop StartCycleRobotCycleRoutine", _cycleTimes, NullFun, _delay_1ms)
                .LoopRun(CycleRobotCycleStep.LoopRunRobotCycle, () => _cycleMoveRoutine.Start(_actions) == RState.Running,_delay_1ms)
                .LoopRunWithStopStatus(CycleRobotCycleStep.LoopRunRobotCycleWait, () => { return CommonFunction.CheckRoutineEndState(_cycleMoveRoutine); },
                 () => CheckRoutineStopStatus(_cycleMoveRoutine, "CycleRobotCycleRoutine failed"))
                .LoopEnd(CycleRobotCycleStep.LoopEnd, UpdateCycleCount, _delay_1ms)
                .End(CycleRobotCycleStep.End, AchievedCycleCount, _delay_1ms);
            return Runner.Status;
        }

        private bool CheckRoutineStopStatus(IRoutine routine, string error)
        {
            bool result = CommonFunction.CheckRoutineStopState(routine);
            if (result)
            {
                Stop($"{error}");
            }
            return result;
        }
        
        /// <summary>
        /// Abort
        /// </summary>
        public void Abort()
        {
            Runner.Stop("CycleRobotCycleRoutine Abort");
        }

        /// <summary>
        /// 统计完成的Cycle次数
        /// </summary>
        /// <returns></returns>
        private bool UpdateCycleCount()
        {
            _currentCycle += 1;
            return true;
        }
        /// <summary>
        /// 
        /// </summary>
        /// <returns></returns>
        private bool AchievedCycleCount()
        {
            _currentCycle -= 1;
            return true;
        }
        /// <summary>
        /// 获取当前Cycle次数
        /// </summary>
        /// <returns></returns>
        public int GetCurrentCycle()
        {
            return _currentCycle;
        }
    }
}