JET-EFEM/athos/athosRT/Devices/EFEM/Task/GotoTask.cs

using Aitex.Core.RT.Device;
using Aitex.Core.RT.SCCore;
using Aitex.Core.Util;
using Aitex.Sorter.Common;
using athosRT.Devices.EFEM.ABS;
using MECF.Framework.Common.Equipment;
using MECF.Framework.Common.SubstrateTrackings;
using MECF.Framework.RT.EquipmentLibrary.HardwareUnits.LoadPorts.LoadPortBase;
using MECF.Framework.RT.EquipmentLibrary.HardwareUnits.Robots;
using MECF.Framework.RT.EquipmentLibrary.HardwareUnits.Robots.RobotBase;
using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Threading.Tasks;
using EV = athosRT.tool.EV;

namespace athosRT.Devices.EFEM.Task
{
    public class GotoTask : CheckImp, ITask
    {
        public bool EnableGotoReady => !SC.ContainsItem("Robot.Robot.EnableGotoReady") || SC.GetValue<bool>("Robot.Robot.EnableGotoReady");

        public bool Execute(out string result, params string[] args)
        {
            string str = "Robot";
            this.GetEntity(str);
            ModuleName target = ModuleName.System;
            int slot = 1;
            if (!this.ParseMoveTarget(args[0], out target, out slot))
            {
                result = "PARAM_NG";
                return false;
            }
            Hand arm = Hand.Blade2;
            if (!this.ParseMoveArm(args[1], out arm))
            {
                result = "PARAM_NG";
                return false;
            }
            bool flag = !Singleton<WaferManager>.Instance.CheckHasWafer(ModuleName.Robot, arm == Hand.Blade2 ? 1 : 0);
            if (!this.MultiWaferSize)
                ;
            if (!this.Check<NoReadyPolicy>(str, out result) || !this.Check<NoInitCompletedPolicy>(str, out result) || !this.Check<NoOriginCompletedPolicy>(str, out result) || !this.Check<VacPolicy>(str, out result) || !this.Check<EMSPolicy>(str, out result) || !this.Check<ErrorPolicy>(str, out result) || !this.Check<BusyPolicy>(str, out result) || !this.Check<HoldPolicy>(str, out result) || !this.Check<RemovePolicy>(str, out result) || !this.Check<MaintenancePolicy>(str, out result) || !this.Check<LinkPolicy>(str, out result) || !this.Check<PowerDownPolicy>(str, out result))
                return false;
            RobotBaseDevice device = DEVICE.GetDevice<RobotBaseDevice>(str);
            string reason;
            if (ModuleHelper.IsLoadPort(target) && !DEVICE.GetDevice<LoadPortBaseDevice>(target.ToString()).IsEnableTransferWafer(out reason))
            {
                EV.PostWarningLog("EFEM", "Can not goto, " + reason);
                result = "NOPOS";
                return false;
            }
            if (!this.EnableGotoReady)
                return true;
            object[] objArray;
            if (flag)
                objArray = new object[4]
                {
                  (object) arm,
                  (object) target,
                  (object) (slot - 1),
                  (object) RobotPostionEnum.PickReady
                };
            else
                objArray = new object[4]
                {
                  (object) arm,
                  (object) target,
                  (object) (slot - 1),
                  (object) RobotPostionEnum.PlaceReady
                };
            device.GoTo(objArray);
            return true;
        }

        public bool? Monitor(out string result, params string[] args)
        {
            result = string.Empty;
            RobotBaseDevice device = DEVICE.GetDevice<RobotBaseDevice>("Robot");
            if (device.IsError)
            {
                this.flag1 = ErrorCheckList1.VAC | ErrorCheckList1.AIR | ErrorCheckList1.STALL | ErrorCheckList1.LIMIT | ErrorCheckList1.SENSOR | ErrorCheckList1.POSITION | ErrorCheckList1.EMS | ErrorCheckList1.COMM | ErrorCheckList1.COMM2 | ErrorCheckList1.VACON | ErrorCheckList1.VACOFF | ErrorCheckList1.CLAMPON | ErrorCheckList1.CLAMPOF;
                this.flag2 = ErrorCheckList2.RRTWAF | ErrorCheckList2.CRSWAF | ErrorCheckList2.THICKWAF | ErrorCheckList2.THINWAF | ErrorCheckList2.DBLWAF | ErrorCheckList2.BAOWAF | ErrorCheckList2.COMMAND | ErrorCheckList2.PODNG | ErrorCheckList2.PODMISMATCH | ErrorCheckList2.VAC_S | ErrorCheckList2.CLAMP_S | ErrorCheckList2.SAFTY | ErrorCheckList2.LOCKNG | ErrorCheckList2.UNLOCKNG | ErrorCheckList2.L_KEY_LK | ErrorCheckList2.L_KEY_UL;
                this.flag3 = ErrorCheckList3.MAP_S | ErrorCheckList3.MAP_S1 | ErrorCheckList3.MAP_S2 | ErrorCheckList3.WAFLOST | ErrorCheckList3.ALIGNNG | ErrorCheckList3.DRIVER | ErrorCheckList3.DRPOWERDOWN | ErrorCheckList3.HARDWARE | ErrorCheckList3.INTERNAL | ErrorCheckList3.E84_TIMEOUTx | ErrorCheckList3.E84_CS_VALID | ErrorCheckList3.READFAIL;
                return new bool?(this.CheckError("Robot", out result));
            }
            return device.IsReady() ? new bool?(true) : new bool?();
        }
    }
}