JET-EFEM/athos/athosRT/Devices/DeviceManager.cs

using Aitex.Common.Util;
using Aitex.Core.RT.DataCenter;
using Aitex.Core.RT.Device;
using Aitex.Core.RT.Device.Unit;
using Aitex.Core.RT.Event;
using Aitex.Core.RT.IOCore;
using Aitex.Core.RT.OperationCenter;
using Aitex.Core.RT.SCCore;
using Aitex.Core.Util;
using Aitex.Sorter.Common;
using athosRT.tool;
using MECF.Framework.Common.Equipment;
using MECF.Framework.RT.EquipmentLibrary.HardwareUnits.CarrierIdReaders.OmronBarcode;
using MECF.Framework.RT.EquipmentLibrary.HardwareUnits.CarrierIdReaders.OmronRFID;
using MECF.Framework.RT.EquipmentLibrary.HardwareUnits.FFUs.AAF;
using MECF.Framework.RT.EquipmentLibrary.HardwareUnits.LoadPorts.Fortrend;
using MECF.Framework.RT.EquipmentLibrary.HardwareUnits.LoadPorts.LoadPortBase;
using MECF.Framework.RT.EquipmentLibrary.HardwareUnits.Robots.RobotBase;
using MECF.Framework.RT.EquipmentLibrary.HardwareUnits.Robots.Rorze;
using System;
using System.Collections.Generic;
using System.Diagnostics;
using System.Linq;
using System.Reflection;
using System.Text;
using System.Text.RegularExpressions;
using System.Threading.Tasks;
using System.Xml;
using FortrendSmifPort = athosRT.Devices.LP.FortrendSmifPort;
using RorzeRobot751 = athosRT.Modules.Robot.RorzeRobot751;
using EV = athosRT.tool.EV;
using DATA = Common.DataCenter.DATA;
using athosRT.Devices.LP;
using athosRT.Devices.PA;
using MECF.Framework.RT.EquipmentLibrary.HardwareUnits.Robot;
using athosRT.Devices.FLP;
using MECF.Framework.Common.SubstrateTrackings;


namespace athosRT.Devices
{
    public class DeviceManager : DeviceManagerBase
    {
        private static readonly int LoadPortQuantity = Singleton<DeviceDefineManager>.Instance.GetValue<int>(nameof(LoadPortQuantity)).GetValueOrDefault();
        private static readonly int LoadLockQuantity = Singleton<DeviceDefineManager>.Instance.GetValue<int>(nameof(LoadLockQuantity)).GetValueOrDefault();
        private static readonly int LoadLockSlot = Singleton<DeviceDefineManager>.Instance.GetValue<int>(nameof(LoadLockSlot)).GetValueOrDefault();
        private static readonly bool LoadLockDoorControlByStation = Singleton<DeviceDefineManager>.Instance.GetValue<bool>("LLDoorControlByStation").GetValueOrDefault();
        private static readonly bool DmcCardUsed = Singleton<DeviceDefineManager>.Instance.GetValue<bool>("DmcCardInstalled").GetValueOrDefault();
        private static readonly bool DisableSignalTower = Singleton<DeviceDefineManager>.Instance.GetValue<bool>(nameof(DisableSignalTower)).GetValueOrDefault();
        private readonly string[] _carrierIdReader = new string[10]
        {
          nameof (CarrierIdReader),
          nameof (CarrierIdReader),
          nameof (CarrierIdReader),
          nameof (CarrierIdReader),
          nameof (CarrierIdReader),
          nameof (CarrierIdReader),
          nameof (CarrierIdReader),
          nameof (CarrierIdReader),
          nameof (CarrierIdReader),
          nameof (CarrierIdReader)
        };
        private readonly string[] _carrierRfidReader = new string[10]
        {
          "RFID",
          "RFID",
          "RFID",
          "RFID",
          "RFID",
          "RFID",
          "RFID",
          "RFID",
          "RFID",
          "RFID"
        };
        private readonly ModuleName[] _lpNames = new ModuleName[10]
        {
          ModuleName.LP1,
          ModuleName.LP2,
          ModuleName.LP3,
          ModuleName.LP4,
          ModuleName.LP5,
          ModuleName.LP6,
          ModuleName.LP7,
          ModuleName.LP8,
          ModuleName.LP9,
          ModuleName.LP10
        };
        private readonly string[] _carrierIdReaderPortScName = new string[10]
        {
          "LoadPort.LoadPort1CarrierIdReaderPortName",
          "LoadPort.LoadPort2CarrierIdReaderPortName",
          "LoadPort.LoadPort3CarrierIdReaderPortName",
          "LoadPort.LoadPort4CarrierIdReaderPortName",
          "LoadPort.LoadPort5CarrierIdReaderPortName",
          "LoadPort.LoadPort6CarrierIdReaderPortName",
          "LoadPort.LoadPort7CarrierIdReaderPortName",
          "LoadPort.LoadPort8CarrierIdReaderPortName",
          "LoadPort.LoadPort9CarrierIdReaderPortName",
          "LoadPort.LoadPort10CarrierIdReaderPortName"
        };
        private readonly string[] _rfidReaderAddress = new string[10]
        {
          "LoadPort.LoadPort1CarrierIdReaderAddress",
          "LoadPort.LoadPort2CarrierIdReaderAddress",
          "LoadPort.LoadPort3CarrierIdReaderAddress",
          "LoadPort.LoadPort4CarrierIdReaderAddress",
          "LoadPort.LoadPort5CarrierIdReaderAddress",
          "LoadPort.LoadPort6CarrierIdReaderAddress",
          "LoadPort.LoadPort7CarrierIdReaderAddress",
          "LoadPort.LoadPort8CarrierIdReaderAddress",
          "LoadPort.LoadPort9CarrierIdReaderAddress",
          "LoadPort.LoadPort10CarrierIdReaderAddress"
        };
        private readonly string[] _rfidReaderPages = new string[10]
        {
          "LoadPort.LoadPort1CarrierIdReaderPage",
          "LoadPort.LoadPort2CarrierIdReaderPage",
          "LoadPort.LoadPort3CarrierIdReaderPage",
          "LoadPort.LoadPort4CarrierIdReaderPage",
          "LoadPort.LoadPort5CarrierIdReaderPage",
          "LoadPort.LoadPort6CarrierIdReaderPage",
          "LoadPort.LoadPort7CarrierIdReaderPage",
          "LoadPort.LoadPort8CarrierIdReaderPage",
          "LoadPort.LoadPort9CarrierIdReaderPage",
          "LoadPort.LoadPort10CarrierIdReaderPage"
        };
        private readonly string[] _rfidNames = new string[10]
        {
          "RFIDReaderA",
          "RFIDReaderB",
          "RFIDReaderC",
          "RFIDReaderD",
          "RFIDReaderE",
          "RFIDReaderF",
          "RFIDReaderG",
          "RFIDReaderH",
          "RFIDReaderI",
          "RFIDReaderJ"
        };
        private readonly string[] _lpPortNameSc = new string[10]
        {
          "LoadPort.LoadPort1PortName",
          "LoadPort.LoadPort2PortName",
          "LoadPort.LoadPort3PortName",
          "LoadPort.LoadPort4PortName",
          "LoadPort.LoadPort5PortName",
          "LoadPort.LoadPort6PortName",
          "LoadPort.LoadPort7PortName",
          "LoadPort.LoadPort8PortName",
          "LoadPort.LoadPort9PortName",
          "LoadPort.LoadPort10PortName"
        };
        private readonly string[] _llNames = new string[8]
        {
          "LL1",
          "LL2",
          "LL3",
          "LL4",
          "LL5",
          "LL6",
          "LL7",
          "LL8"
        };
        private char[] rfidInstallment;
        private char[] carrierIdInstallment;
        private char[] e84Support;

        public string[] CarrierIdReader => ((IEnumerable<string>)_carrierIdReader).Take<string>(DeviceManager.LoadPortQuantity).ToArray<string>();

        public string[] CarrierRfidReader => ((IEnumerable<string>)_carrierRfidReader).Take<string>(DeviceManager.LoadPortQuantity).ToArray<string>();

        public IEnumerable<ModuleName> LpNames => ((IEnumerable<ModuleName>)_lpNames).Take<ModuleName>(DeviceManager.LoadPortQuantity);

        private string[] CarrierIdReaderPortScName => ((IEnumerable<string>)_carrierIdReaderPortScName).Take<string>(DeviceManager.LoadPortQuantity).ToArray<string>();

        public string[] LpPortNameSc => ((IEnumerable<string>)_lpPortNameSc).Take<string>(DeviceManager.LoadPortQuantity).ToArray<string>();

        public string[] LLNames => ((IEnumerable<string>)_llNames).Take<string>(DeviceManager.LoadLockQuantity).ToArray<string>();

        public bool IsAnyLPIdle() => LpNames.Any<ModuleName>((Func<ModuleName, bool>)(moduleName => DEVICE.GetDevice<LoadPortBaseDevice>(moduleName.ToString()).IsIdle));

        public ModuleName[] GetAllLoadPortName() => LpNames as ModuleName[];

        public LoadPortBaseDevice[] GetAllLoadPorts() => LpNames.Select<ModuleName, LoadPortBaseDevice>((Func<ModuleName, LoadPortBaseDevice>)(lpName => DEVICE.GetDevice<LoadPortBaseDevice>(lpName.ToString()))).ToList<LoadPortBaseDevice>().ToArray();

        private OmronBarcodeReader GetBarcodeReader(string lp)
        {
            int index = Array.IndexOf((Array)LpNames.ToArray<ModuleName>(), (object)lp);
            return DEVICE.GetDevice<OmronBarcodeReader>(lp + "." + _carrierIdReader[index]);
        }

        public OmronRfidReader GetRfidReader(string lp)
        {
            int num = int.Parse(new Regex("[1-9]\\d*").Match(lp).ToString());
            return num <= LoadPortQuantity ? DEVICE.GetDevice<OmronRfidReader>(_rfidNames[num - 1]) : (OmronRfidReader)null;
        }

        public override bool Initialize()
        {
            foreach (FieldInfo field in typeof(DeviceModel).GetFields())
                field.SetValue(null, GetDevice(field.Name));
            DeviceModel.TrigSafetytoSMIF2.SetTrigger(true,out _);
            IoSensor[] ioSensorArray1 = new IoSensor[2]
            {
                DeviceModel.SensorPMASystemInterlock,
                DeviceModel.SensorPMBSystemInterlock
            };
            IoSensor[] ioSensorArray2 = new IoSensor[2]
            {
                DeviceModel.SensorRBNotExtendPMA,
                DeviceModel.SensorRBNotExtendPMB
            };
            IoTrigger[] ioTriggerArray1 = new IoTrigger[2]
            {
                DeviceModel.TrigSafetytoPMA,
                DeviceModel.TrigSafetytoPMB
            };
            IoTrigger[] ioTriggerArray2 = new IoTrigger[2]
            {
                DeviceModel.TrigRBNotExtendPMA,
                DeviceModel.TrigRBNotExtendPMB
            };
            IoSensor[] ioSensorArray3 = new IoSensor[2]
            {
                DeviceModel.SensorSMIF1PODOPEN,
                DeviceModel.SensorSMIF1PODOPEN
            };
            IoTrigger[] ioTriggerArray3 = new IoTrigger[2]
            {
                DeviceModel.TrigSafetytoPMA,
                DeviceModel.TrigSafetytoPMB
            };

            IoTrigger[] ioTriggerLP = new IoTrigger[2]
            {
                DeviceModel.TrigSafetytoSMIF1,
                DeviceModel.TrigSafetytoSMIF2
            };

            RorzeRobot751 RR751 = new RorzeRobot751(ModuleName.System.ToString(), "Robot", "Robot", null, null);
            RR751.InitializeRobot();
            for (int index = 0; index < LoadPortQuantity; ++index)
            {
                this.AddCustomDevice((IDevice)new HirataLoadPort(ModuleName.System.ToString(), this._lpNames[index].ToString(), "LoadPort", (RobotBaseDevice)null, ioTriggerLP), "LoadPort", typeof(LoadPortBaseDevice));
            }
            AddCustomDevice(RR751, "Robot", typeof(RobotBaseDevice));
            //添加PA 用于新的设备逻辑
            
            
            if (SC.GetValue<bool>("Aligner1.IsEnable"))
            {
                Singleton<WaferManager>.Instance.SubscribeLocation(ModuleName.Aligner1, 1);
                //AddCustomDevice(new RorzePreAligner(ModuleName.System.ToString(), "Aligner1", "Aligner1", "", ""), "Aligner1", typeof(PreAligner));
            }
            if (SC.GetValue<bool>("Aligner2.IsEnable"))
            {
                Singleton<WaferManager>.Instance.SubscribeLocation(ModuleName.Aligner1, 1);
                //AddCustomDevice(new RorzePreAligner(ModuleName.System.ToString(), "Aligner2", "Aligner2", "", ""), "Aligner2", typeof(PreAligner));
            }
            if (Singleton<DeviceDefineManager>.Instance.GetValue<bool>("FfuMemoBusControl").GetValueOrDefault())
            {
                AddCustomDevice(new Ffu("", "FFU", "01", SC.GetStringValue("System.FFUComPortName")), "FFU", typeof(Ffu));
            }
            for (int index = 0; index < LoadLockQuantity; ++index)
            {
                LoadLockDevice loadLockDevice = new LoadLockDevice("System", _llNames[index], DeviceManager.LoadLockSlot, ioSensorArray1[index], ioSensorArray2[index], ioTriggerArray1[index], ioTriggerArray2[index]);
                AddCustomDevice((IDevice)loadLockDevice, "LoadLockDevice", loadLockDevice.GetType());
            }
            if (DisableSignalTower)
                DeviceModel.SignalTower.CustomSignalTower(PathManager.GetCfgDir() + "SignalTower.xml");
            //DeviceModel.TurnOverStation;
            AddCustomDevice((IDevice)new EquipmentMonitor(), "EquipmentMonitor", typeof(EquipmentMonitor));//这里涉及RT状态的修改 file报错
            foreach (object childNode in DeviceModelNodes.ChildNodes)
            {
                XmlElement xmlElement = childNode as XmlElement;
            }
        
            AddCustomDevice(new SimpleBuffer("Buffer"), "Buffer", typeof(SimpleBuffer));

            OP.Subscribe(OperationName.ResetDevice, new Func<string, object[], bool>(InvokeResetDevice));
            OP.Subscribe("DeviceOperation", new Func<string, object[], bool>(InvokeDeviceOperation));
            OP.Subscribe("SetManualScanCode", new Func<string, object[], bool>(InvokeSetManualScanCode));
            OP.Subscribe("Scan", new Func<string, object[], bool>(InvokeScan));
            OP.Subscribe("Write", new Func<string, object[], bool>(InvokeWrite));
            OP.Subscribe("ReadCarrierId", new Func<string, object[], bool>(InvokeScan));
            OP.Subscribe("ReadFoupRFID", new Func<string, object[], bool>(InvokeReadRfid));
            OP.Subscribe("WriteFoupRFID", new Func<string, object[], bool>(InvokeWriteRfid));
            RR751.OnSlotMapRead += new Action<ModuleName, string>(Robot_OnSlotMapRead);
            return true;
        }


        private bool InvokeWrite(string arg1, object[] args)
        {
            string reason;
            if (GetRfidReader(args[0].ToString()).Write(args[1].ToString(), out reason))
                return true;
            EV.PostWarningLog(args[0].ToString(), "fail to write RFID, " + reason);
            return false;
        }

        private bool InvokeWriteRfid(string arg1, object[] arg2)
        {
            string reason;
            if (GetRfidReader(arg2[0].ToString()).Write(arg2[1].ToString(), out reason))
                return true;
            EV.PostWarningLog(arg1, "fail to write RFID, " + reason);
            return false;
        }

        private bool InvokeReadRfid(string arg1, object[] arg2)
        {
            string reason;
            if (GetRfidReader(arg2[0].ToString()).Read(out reason))
                return true;
            EV.PostWarningLog(arg1, "fail to read RFID, " + reason);
            return false;
        }

        private bool InvokeScan(string arg1, object[] args) => DEVICE.GetDevice<LoadPortBaseDevice>(args[0].ToString()).ReadCarrierID();

        private bool InvokeSetManualScanCode(string arg1, object[] args)
        {
            DEVICE.GetDevice<LoadPortBaseDevice>(args[0].ToString()).OnCarrierIdRead(args[1].ToString());
            return true;
        }

        private bool InvokeOffline(string arg1, object[] arg2) => true;

        private void Robot_OnSlotMapRead(ModuleName module, string slotMap) => DEVICE.GetDevice<LoadPortBaseDevice>(module.ToString())?.OnSlotMapRead(slotMap);

        private bool InvokeDeviceOperation(string arg1, object[] args)
        {
            string str = "";
            string cmd = "";
            try
            {
                str = (string)args[0];
                cmd = (string)args[1];
                if ((bool)DATA.Poll(ModuleName.System.ToString(), "IsMaintenanceMode"))
                {
                    EV.PostMessage<EventEnum>("System", EventEnum.DefaultWarning, (object)string.Format("System in maintenance, can not execute {0}{1}", (object)str, (object)cmd));
                    return false;
                }
                object[] objArray = new object[args.Length - 2];
                for (int index = 2; index < args.Length; ++index)
                    objArray[index - 2] = (object)args[index].ToString();
                if (str == "SignalTower")
                {
                    OP.DoOperation("System.SignalTower." + cmd);
                    return true;
                }
                if (ModuleHelper.IsLoadPort(ModuleHelper.Converter(str)))
                    OP.DoOperation(str + "." + cmd, objArray);
                else
                    DeviceCmd(str, cmd, objArray);
            }
            catch (Exception ex)
            {
                LogObject.Error("DeviceManager",ex);
                EV.PostMessage<EventEnum>("System", EventEnum.DefaultWarning, (object)string.Format("Invalid parameters, can not execute {0}{1}", (object)str, (object)cmd));
                return false;
            }
            return true;
        }

        private bool InvokeResetDevice(string arg1, object[] arg2)
        {
            Singleton<DeviceEntity>.Instance.PostMsg<DeviceEntityT<DeviceManager>.MSG>(DeviceEntityT<DeviceManager>.MSG.RESET);
            return true;
        }

        private void DeviceCmd(string name, string cmd, params object[] args) => DEVICE.Do(string.Format("{0}.{1}", (object)name, (object)cmd), 0, true, args);
    }
}