JET-EFEM/athos/athosRT/Modules/SchedulerEfemRobot.cs

using Aitex.Core.Common.DeviceData;
using Aitex.Core.RT.Fsm;
using Aitex.Core.RT.SCCore;
using Aitex.Core.Util;
using Aitex.Sorter.Common;
using athosRT.FSM;
using athosRT.Modules.EFEMs;
using athosRT.tool;
using MECF.Framework.Common.Equipment;
using MECF.Framework.Common.SubstrateTrackings;
using MECF.Framework.RT.EquipmentLibrary.HardwareUnits.Robots;
using System;
using System.Collections.Generic;
using System.Linq;
using System.Runtime.Serialization;
using System.Text;
using System.Threading.Tasks;
using static athosRT.Modules.SchedulerEfemRobot;

namespace athosRT.Modules
{
    public enum EnumMoveType
    {
        Place,
        Pick,
        Move,
    }

    class SchedulerItem
    {
        public RouteManager1.MSG MoveType { get; set; }
        public ModuleName target { get; set; }

        public Queue<MoveItem> moveList { get; set; }

        public RState Status { get; set; }

    }
    public class SchedulerEfemRobot : SchedulerModule
    {
        public override bool IsAvailable
        {
            get { return _entity.IsIdle && true && CheckTaskDone() && RunSchedulers(); }
        }
        public override bool IsOnline
        {
            //get { return _entity.IsOnline; }
            get { return true; }

        }
        public override bool IsError
        {
            get { return _entity.IsError; }

        }

        public override bool IsIdle
        {
            get { return _entity.IsIdle; }
        }

        public RState RobotStatus
        {
            get
            {
                switch (_entity.Robot.RobotState)
                {
                    case RobotStateEnum.Error:
                        return RState.Failed;
                    case RobotStateEnum.Idle:
                        return RState.End;
                    case RobotStateEnum.Init:
                        return RState.Init;
                    default:
                        return RState.Running;
                }
                 
            }
        }

        private RouteManager1 _entity = null;


        private SchedulerItem _currentScheduler = null;
        private int _entityTaskToken = (int)FSM_MSG.NONE;


        public ModuleName PreviousTarget { get; set; }

        public SchedulerEfemRobot() : base(ModuleName.EfemRobot.ToString())
        {
            _entity = Singleton<RouteManager1>.Instance.GetRT();
            PreviousTarget = ModuleName.System;
            
        }

        //public bool Goto(ModuleName target, int slot)
        //{
        //    _entityTaskToken = _entity.InvokeGoto(target, slot);
        //    PreviousTarget = target;
        //
        //    LogTaskStart(_task, $"Robot goto {target}.{slot + 1}");
        //
        //    return true;
        //}

        //public bool Map(ModuleName destination)
        //{
        //    _entityTaskToken = _entity.InvokeMap(destination.ToString());
        //    LogTaskStart(_task, $"{Module} mapping");
        //    PreviousTarget = destination;
        //
        //    return true;
        //}

        public bool Monitor()
        {
            return true;
        }

        public bool CheckTaskDone()
        {
            bool ret = false;
            switch (_entityTaskToken)
            {
                case (int)FSM_MSG.NONE:
                    ret = true;
                    break;
                case (int)RouteManager1.MSG.Pick:
                case (int)RouteManager1.MSG.Place:
                //case (int)RouteManager1.MSG.Swap:
                    ret = IsAllWafersArrived();
                    break;

                case (int)RouteManager1.MSG.MapWafer:
                    ret = _entity.CheckAcked(_entityTaskToken) && _entity.IsIdle;
                    break;
                //case (int)RouteManager1.MSG.Goto:
                //    ret = _entity.CheckAcked(_entityTaskToken) && _entity.IsIdle;
                //    break;
                case (int)RouteManager1.MSG.Align:
                    ret = _entity.CheckAcked(_entityTaskToken) && _entity.IsIdle;
                    break;

            }

            if (ret && _task != TaskType.None)
            {
                LogTaskDone(_task, "");
                _task = TaskType.None;
            }

            return ret;
        }

        public bool PostMoveItems(MoveItem[] items)
        {
            if (items.Length > 0)
            {
                _currentScheduler = new SchedulerItem();
                _currentScheduler.moveList = new Queue<MoveItem>();
                _currentScheduler.Status = RState.Init;

                foreach (var item in items)
                {
                    LogObject.Info(ModuleName.EfemRobot.ToString(), $"Post Moving Item: {item.SourceModule} Slot {item.SourceSlot + 1} => {item.DestinationModule} Slot {item.DestinationSlot + 1}");

                    
                    _currentScheduler.MoveType = items.First().TransferType == EnumMoveType.Pick ? RouteManager1.MSG.Pick : RouteManager1.MSG.Place;
                    _currentScheduler.target = item.Module;
                    _currentScheduler.moveList.Enqueue(item);
                    
                }
            }
            RunSchedulers();
            return true;
        }

        bool RunSchedulers()
        {
            if (_currentScheduler == null)
                return true;

            if (_entity.IsIdle)
            {
                if (_currentScheduler.Status == RState.Init)
                {
                    foreach (var item in _currentScheduler.moveList)
                    {
                        LogObject.Info(ModuleName.EfemRobot.ToString(), $"EFEM Robot Moving Items: {item.SourceModule} Slot {item.SourceSlot + 1} => {item.DestinationModule} Slot {item.DestinationSlot + 1}");
                    }

                    if (_entity.CheckToPostMessage((int)_currentScheduler.MoveType, _currentScheduler.moveList))
                    {
                        _currentScheduler.Status = RState.Running;
                        _entityTaskToken = (int)_currentScheduler.MoveType;
                    }
                    else
                        _entityTaskToken = (int)FSM_MSG.NONE;
                }
                else if (_currentScheduler.Status == RState.Running)
                {
                    if (IsAllWafersArrived())
                    {
                        if (_entityTaskToken == (int)RouteManager1.MSG.Pick
                            ||_entityTaskToken == (int)RouteManager1.MSG.Place 
                            //||_entityTaskToken == (int)RouteManager1.MSG.Swap
                            )
                        {
                            _entityTaskToken = (int)FSM_MSG.NONE;
                        }

                        _currentScheduler.Status = RState.End;
                    }
                }
            }

            return _currentScheduler.Status == RState.End;
        }

        private bool IsAllWafersArrived()
        {
            foreach (var item in _currentScheduler.moveList)
            {
                if (WaferManager.Instance.CheckNoWafer(item.DestinationModule, item.DestinationSlot))
                    return false;
            }

            return true;
        }

        public override void ResetTask()
        {
            base.ResetTask();

            _entityTaskToken = (int)FSM_MSG.NONE;
            if (_currentScheduler != null)
            {
                _currentScheduler.moveList.Clear();
                _currentScheduler.Status = RState.End;
            }
        }

        //public override bool Align(float angle)
        //{
        //    _task = TaskType.Align;
        //
        //    LogTaskStart(_task, $"Aligning");
        //
        //    _increasingAngle = SC.GetValue<int>($"EFEM.Aligner.IncreasingAngle");
        //    if (_increasingAngle == 0)
        //    {
        //        // enable change align angle only with increasing function disable to avoid logic confuse
        //        _alignAngle = SC.GetValue<int>($"EFEM.Aligner.AlignAngle");
        //    }
        //
        //    _alignAngle = (_alignAngle + _increasingAngle) % 360;
        //    _entityTaskToken = _entity.InvokeAlign(ModuleName.Aligner1.ToString(), 0, _alignAngle);
        //
        //    return _entityTaskToken == (int)RouteManager1.MSG.Align;
        //}

        [DataContract]
        [Serializable]
        //helper class
        public class MoveItem : IDeviceData
        {

            [DataMember]
            public ModuleName SourceModule { get; set; }
            [DataMember]
            public int SourceSlot { get; set; }
            [DataMember]
            public ModuleName DestinationModule { get; set; }
            [DataMember]
            public int DestinationSlot { get; set; }
            [DataMember]
            public Hand RobotHand { get; set; }

            public ModuleName Module
            {
                get
                {
                    return ModuleHelper.IsTMRobot(SourceModule) || ModuleHelper.IsEfemRobot(SourceModule) ? DestinationModule : SourceModule;
                }
            }

            public EnumMoveType TransferType
            {
                get
                {
                    if (ModuleHelper.IsTMRobot(SourceModule) || ModuleHelper.IsEfemRobot(SourceModule))
                        return EnumMoveType.Place;
                    else if (ModuleHelper.IsTMRobot(DestinationModule) || ModuleHelper.IsEfemRobot(DestinationModule))
                        return EnumMoveType.Pick;
                    else
                        return EnumMoveType.Move;
                }
            }



            public MoveItem(ModuleName sourceModule, int sourceSlot, ModuleName destinationModule, int destinationSlot, Hand robotHand)
            {
                this.SourceModule = sourceModule;
                this.SourceSlot = sourceSlot;
                this.DestinationModule = destinationModule;
                this.DestinationSlot = destinationSlot;
                this.RobotHand = robotHand;

            }

            public void Update(IDeviceData data)
            {
                throw new NotImplementedException();
            }
        }
    }
}