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

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

namespace athosRT.Devices.EFEM.Task
{
    public class MpntTask : CheckImp, ITask
    {
        private bool ParseTaskEnum(string args, out MpntTaskEnum taskEnum)
        {
            taskEnum = MpntTaskEnum.ParamNg;
            string str = args;
            switch (str)
            {
                case "G1":
                    taskEnum = MpntTaskEnum.G1;
                    break;
                case "GB":
                    taskEnum = MpntTaskEnum.GB;
                    break;
                case "G4":
                    taskEnum = MpntTaskEnum.G4;
                    break;
                case "P1":
                    taskEnum = MpntTaskEnum.P1;
                    break;
                case "PB":
                    taskEnum = MpntTaskEnum.PB;
                    break;
                case "P4":
                    taskEnum = MpntTaskEnum.P4;
                    break;
                default:
                    return false;
            }
            return true;
        }

        private bool IsGetCommand(MpntTaskEnum taskEnum) => taskEnum == MpntTaskEnum.G1 || taskEnum == MpntTaskEnum.GB || taskEnum == MpntTaskEnum.G4;

        public bool Execute(out string result, params string[] args)
        {
            string str = "Robot";
            this.GetEntity(str);
            ModuleName target = ModuleName.System;
            MpntTaskEnum taskEnum = MpntTaskEnum.ParamNg;
            int slot = 1;
            if (!this.ParseMoveTarget(args[0], out target, out slot))
            {
                result = "PARAM_NG";
                return false;
            }
            if (!this.ParseTaskEnum(args[1], out taskEnum))
            {
                result = "PARAM_NG";
                return false;
            }
            Hand arm = Hand.Blade2;
            if (!this.ParseMoveArm(args[2], out arm))
            {
                result = "PARAM_NG";
                return false;
            }
            if (!ModuleHelper.IsLoadLock(target))
            {
                result = "PARAM_NG";
                return false;
            }
            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))
                return false;
            if (!this.Check<BusyPolicy>(str, out result))
            {
                LogObject.Warning("MPNTTask " , str + " Busy");
                return false;
            }
            if (!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<NoWaferMappingCompletedPolicy>(target.ToString(), out result) || !this.Check<NoPodPolicy>(target.ToString(), out result) || !this.Check<ClosePolicy>(target.ToString(), out result))
                return false;
            if (!ModuleHelper.IsLoadLock(target) && !Singleton<WaferManager>.Instance.CheckNoWafer(target, slot - 1))
            {
                result = "WAFER";
                return false;
            }
            if (!this.Check<PowerDownPolicy>(str, out result))
                return false;
            if (!Singleton<RouteManager1>.Instance.IsIdle)
            {
                LogObject.Warning("MpntTask", "MpntTask RouteManager is Busy");
                result = "BUSY";
                return false;
            }
            if (this.IsGetCommand(taskEnum))
            {
                if (taskEnum == MpntTaskEnum.GB)
                {
                    switch (arm)
                    {
                        case Hand.Blade1:
                            if (!Singleton<WaferManager>.Instance.CheckNoWafer(ModuleName.Robot, 0))
                            {
                                result = "WAFER";
                                return false;
                            }
                            break;
                        case Hand.Blade2:
                            if (!Singleton<WaferManager>.Instance.CheckNoWafer(ModuleName.Robot, 1))
                            {
                                result = "WAFER";
                                return false;
                            }
                            break;
                        default:
                            if (!Singleton<WaferManager>.Instance.CheckNoWafer(ModuleName.Robot, 0))
                            {
                                result = "WAFER";
                                return false;
                            }
                            if (!Singleton<WaferManager>.Instance.CheckNoWafer(ModuleName.Robot, 1))
                            {
                                result = "WAFER";
                                return false;
                            }
                            break;
                    }
                }
                this._token = Singleton<RouteManager1>.Instance.Invoke("MPNTPick", new object[4]
                {
                  (object) target.ToString(),
                  (object) (slot - 1),
                  (object) arm,
                  (object) taskEnum
                });
                return true;
            }
            if (taskEnum == MpntTaskEnum.PB)
            {
                switch (arm)
                {
                    case Hand.Blade1:
                        if (!Singleton<WaferManager>.Instance.CheckHasWafer(ModuleName.Robot, 0))
                        {
                            result = "NONWAF";
                            return false;
                        }
                        break;
                    case Hand.Blade2:
                        if (!Singleton<WaferManager>.Instance.CheckHasWafer(ModuleName.Robot, 1))
                        {
                            result = "NONWAF";
                            return false;
                        }
                        break;
                    default:
                        if (!Singleton<WaferManager>.Instance.CheckHasWafer(ModuleName.Robot, 0))
                        {
                            result = "NONWAF";
                            return false;
                        }
                        if (!Singleton<WaferManager>.Instance.CheckHasWafer(ModuleName.Robot, 1))
                        {
                            result = "NONWAF";
                            return false;
                        }
                        break;
                }
            }
            this._token = Singleton<RouteManager1>.Instance.Invoke("MPNTPlace", new object[4]
            {
                (object) target.ToString(),
                (object) (slot - 1),
                (object) arm,
                (object) taskEnum
            });
            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 Singleton<RouteManager1>.Instance.IsIdle && device.IsReady() && !device.IsBusy && Singleton<RouteManager1>.Instance.CheckAcked(this._token) ? new bool?(true) : new bool?();
        }
    }
}