CyberX8/CyberX8_RT/Modules/EFEM/EFEMAlignRoutine.cs

using Aitex.Core.Common;
using Aitex.Core.RT.Log;
using Aitex.Core.RT.Routine;
using MECF.Framework.Common.Equipment;
using MECF.Framework.Common.SubstrateTrackings;
using System;
using System.Collections.Generic;
using CyberX8_Core;
using CyberX8_RT.Devices.EFEM;
using Aitex.Core.Util;
using MECF.Framework.Common.Routine;
using Aitex.Core.RT.SCCore;

namespace CyberX8_RT.Modules.EFEM
{
    public class EFEMAlignRoutine : RoutineBase, IRoutine
    {
        private enum AlignStep
        {
            WaitIdle,
            SetAngle,
            ReWaitIdle,
            Rotate,
            End
        }

        private int _moveTimeout = 20 * 1000;
        EfemBase _efem;
        private double angle = 25;
        private WaferSize ws = WaferSize.WS12;
        private int _angleOffset = 0;

        public EFEMAlignRoutine(EfemBase efem) : base(ModuleName.Aligner1.ToString())
        {
            _efem = efem;
        }

        public RState Start(params object[] objs)
        {
            if (SC.ContainsItem($"EFEM.AlignerOffsetAngle"))
            {
                _angleOffset = SC.GetValue<int>($"EFEM.AlignerOffsetAngle");
            }
            if (objs.Length >= 3)
            {
                try
                {
                    angle = Convert.ToDouble(objs[2]) + _angleOffset;                    
                }
                catch
                {
                    LOG.Write(eEvent.ERR_EFEM_COMMON_FAILED, Module, $"ALIAN PARAMETER IS ILLEGAL ");
                }
               
            }

            if (!CheckPreCondition())
            {
                return RState.Failed;
            }
            return Runner.Start(Module,$"PreAligner Start align");
        }
        /// <summary>
        /// 检验前置条件
        /// </summary>
        /// <returns></returns>
        private bool CheckPreCondition()
        {
            if (!WaferManager.Instance.CheckHasWafer(ModuleName.Aligner1, 0))
            {
                NotifyError(eEvent.ERR_EFEM_ROBOT, $"Efem PreAligner not have wafer, cannot do the align action",0);
                return false;
            }
            return true;
        }
        public RState Monitor()
        {
            Runner.Wait(AlignStep.WaitIdle,     WaitEFEMIdle)
                .Run(AlignStep.SetAngle,SetAlignAngle,CheckAlignDone,_delay_5s)
                .Wait(AlignStep.ReWaitIdle, WaitEFEMIdle)
                .Run(AlignStep.Rotate,          Align,                    CheckAlignDone,         _moveTimeout)
                .End( AlignStep.End,            ActionDone,                  0);
            return Runner.Status;
        }

        private bool SetAlignAngle()
        {
            return _efem.SetAlignAngle(ModuleName.Aligner1, angle);
        }

        private bool Align()
        {
            return _efem.Align(ModuleName.Aligner1,angle,0,ws);
        }

        private bool CheckAlignDone()
        {
            if (_efem.Status == RState.End)
            {
                return true;
            }
            else if (_efem.Status == RState.Failed)
            {
                LOG.Write(eEvent.ERR_EFEM_COMMON_FAILED, Module, $"Efem PreAligner align failed: {_efem.Status}");
                return true;
            }

            return false;
        }

        private bool ActionDone()
        {
            return true;
        }

        private bool WaitEFEMIdle()
        {
            return Singleton<RouteManager>.Instance.EFEM.RobotStatus == RState.End;
        }

        public void Abort()
        {
        }
        /// <summary>
        /// 重试
        /// </summary>
        /// <param name="step"></param>
        public RState Retry(int step)
        {
            if (!CheckPreCondition())
            {
                return RState.Failed;
            }
            _efem.Reset();
            List<Enum> preStepIds = new List<Enum>();
            return Runner.Retry(AlignStep.WaitIdle, preStepIds, Module, "Align Retry");
        }
        /// <summary>
        /// 检验前面完成状态
        /// </summary>
        /// <returns></returns>
        public bool CheckCompleteCondition(int index)
        {
            return true;
        }
    }
}