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

using Aitex.Core.Common;
using Aitex.Core.RT.Device;
using Aitex.Core.RT.SCCore;
using Aitex.Core.Util;
using Aitex.Sorter.Common;
using athosRT.Devices;
using athosRT.FSM;
using athosRT.Modules.EFEMs.Routine;
using athosRT.Modules.LPs;
using athosRT.tool;
using Common.DataCenter;
using MECF.Framework.Common.Equipment;
using MECF.Framework.Common.SubstrateTrackings;
using MECF.Framework.RT.EquipmentLibrary.HardwareUnits.BufferStations;
using MECF.Framework.RT.EquipmentLibrary.HardwareUnits.LoadPorts.LoadPortBase;
using MECF.Framework.RT.EquipmentLibrary.HardwareUnits.Robots.RobotBase;
using System;
using System.Collections.Generic;
using System.Linq;
using static athosRT.Modules.FLP.FlipperEntity;
using MoveItem = athosRT.Modules.SchedulerEfemRobot.MoveItem;

namespace athosRT.Modules
{
    public enum MovingStatus
    {
        Waiting,//等待开始
  
        WaitAlign,//需要去Align
        Aligning,//Align执行
        AlignDone,//Align完成

        WaitFlip,//需要Flip
        Flipping,//Flip执行
        FlipDone,//Flip完成

        WaitProcess,//需要PM
        Processing,// PM执行
        ProcessDone,//PM完成

        WaitCool,//需要Cooling
        Cooling,// Cool执行
        CoolDone,//Cool完成

        Idle,//最后一步 回到LP后置
        None,//空位
    }

    public class AutoCycle : ModuleRoutineBase, IRoutine
    {
        enum EFEMCycle
        {
            start,
            End
        }

        enum ModuleType
        {
            //LP,
            Align,
            Flip,
            Cool,
            PM
        }


        ModuleName _source = ModuleName.LP1;
        ModuleName _destination = ModuleName.LP1;
        private LoadPortBaseDevice m_soucelp;
        private LoadPortBaseDevice m_destlp;
        private RobotBaseDevice m_Robot = null;
        private int cyclewafernum;
        private bool cyclecreated = false;

        Queue<MoveItem> _moveQueue = new Queue<MoveItem>();
        SchedulerEfemRobot _efemRobot;
        List<MoveItem> _efemMovingItems = new List<MoveItem>();

        private PickRoutine m_pickRoutine = null;

        private PlaceRoutine m_placeRoutine = null;

        private SwapRoutine m_swapRoutine = null;
        

        private LoadFoupRoutine m_sourceLoadRoutine = null;

        private LoadFoupRoutine m_destLoadRoutine = null;

        private string _name;
        private bool _isLowerArmEnable = true;
        private bool _isUpperArmEnable = true;
        private RState _cycleState;
        

        //两条基线 一是foup的计划点 二是设备需要经过的点
        private List<MovingStatus> _movingStatus = new List<MovingStatus>();
        private List<ModuleName> _lstPass = new List<ModuleName>();
        //需要经过什么类型的点
        private List<MovingStatus> _taskQueue = new List<MovingStatus>();
        private List<bool> _hasFlipper = new List<bool>();
        private List<int> _flippertimes = new List<int>();

        private int CycleIndex;
        private int cyclenumber=0;

        public AutoCycle(ModuleName module) : base(module)
        {
            _name = "AutoCycle";

            _cycleState = RState.Init;
            cyclenumber= SC.GetValue<int>("Process.CycleCount");           
            DATA.Subscribe("Process.cyclenumber", () => cyclenumber);
            DATA.Subscribe("Process.CycleIndex", () => CycleIndex);
            //_efemRobot = (SchedulerEfemRobot)Singleton<TransferModule>.Instance.GetScheduler(ModuleName.EfemRobot) ;
        }

        Dictionary<ModuleName, ModuleType> module2type = new Dictionary<ModuleName, ModuleType>();


        /// <summary>
        /// objs 结构 要去的模块 起点 终点 经过点
        /// </summary>
        /// <param name="objs"></param>
        /// <returns></returns>
        public RState Start(params object[] objs)
        {
            m_Robot = DEVICE.GetDevice<RobotBaseDevice>("Robot");
            CycleIndex = 0;
            if (!SC.GetValue<bool>("Process.CycleEnable"))
                cyclenumber = 1;
            else
                cyclenumber = SC.GetValue<int>("Process.CycleCount");

            LogObject.Info("Cycle",$"cycle圈数:{cyclenumber}");

            if (objs.Length == 3)
            {
                if (!Enum.TryParse(objs[0].ToString(), out _source))
                {
                    LogObject.Error(_name, $"{objs[0]} is invalid ModuleName, source undefined");
                    _cycleState = RState.Failed;
                }

                if (!Enum.TryParse(objs[1].ToString(), out _destination))
                {
                    LogObject.Error(_name, $"{objs[1]} is invalid ModuleName, destination undefined");
                    _cycleState = RState.Failed;
                }

                m_soucelp = DEVICE.GetDevice<LoadPortBaseDevice>(_source.ToString());
                m_destlp = DEVICE.GetDevice<LoadPortBaseDevice>(_destination.ToString());

                if (!m_soucelp.IsPlacement)
                {
                    LogObject.Error(_name, $"{m_soucelp} is not Placed");
                    return RState.Failed;
                }
                else
                {
                    m_sourceLoadRoutine = new LoadFoupRoutine(_source);
                }

                if (!m_destlp.IsPlacement)
                {
                    LogObject.Error(_name, $"{m_destlp} is not Placed");
                    return RState.Failed;
                }
                else
                {
                    m_destLoadRoutine = new LoadFoupRoutine(_destination);
                }

                _taskQueue = new List<MovingStatus>();
                _taskQueue.Add(MovingStatus.Waiting);
                //路过的模块 模块的类型决定其是否需要经过
                List<ModuleName> pathmodules = (List<ModuleName>)objs[2];

                module2type.Clear();
                _lstPass = (List<ModuleName>)objs[2];
                _lstPass.ForEach(x => LogObject.Info("cycle",$"Module=>{x}"));
                _taskQueue.Add(MovingStatus.Waiting);

                m_pickRoutine = new PickRoutine(ModuleName.System);
                m_placeRoutine = new PlaceRoutine(ModuleName.System);
                m_swapRoutine = new SwapRoutine(ModuleName.System);

                _isLowerArmEnable = SC.GetValue<bool>("Robot.Blade1Enable");
                _isUpperArmEnable = SC.GetValue<bool>("Robot.Blade2Enable");
                if (!_isLowerArmEnable && !_isUpperArmEnable)
                {
                    LogObject.Error(_name, $"Robot both cannot Work");
                    return RState.Failed;
                }

                if (pathmodules.Exists(x => ModuleHelper.IsAligner(x)))
                {
                    _taskQueue.Add(MovingStatus.WaitAlign);
                    pathmodules.FindAll(x => ModuleHelper.IsAligner(x)).ForEach(x => module2type.Add(x, ModuleType.Align));
                }

                if (pathmodules.Exists(x => ModuleHelper.IsLoadLock(x)))
                {
                    _taskQueue.Add(MovingStatus.WaitProcess);
                    pathmodules.FindAll(x => ModuleHelper.IsLoadLock(x)).ForEach(x => module2type.Add(x, ModuleType.PM));
                }

                if (pathmodules.Exists(x => ModuleHelper.IsBuffer(x)))
                {
                    _taskQueue.Add(MovingStatus.WaitCool);
                    pathmodules.FindAll(x => ModuleHelper.IsBuffer(x)).ForEach(x => module2type.Add(x, ModuleType.Cool));
                }

                if (pathmodules.Exists(x => ModuleHelper.IsTurnOverStation(x)))
                {
                    _taskQueue.Add(MovingStatus.WaitFlip);
                    pathmodules.FindAll(x => ModuleHelper.IsTurnOverStation(x)).ForEach(x => module2type.Add(x, ModuleType.Flip));
                }
                cyclecreated = false;

                Reset();
                _cycleState = RState.Running;
            }
            else
            {
                LogObject.Error(_name, $"illegal params length, cannot start");
                _cycleState = RState.Failed;
            }

            return _cycleState;
        }

        public RState Monitor()
        {
            if (_cycleState == RState.Running)
            {
                if (!cyclecreated)
                {
                    if(!LPTaskDone())
                        return _cycleState;
                    else
                        PrepareTask();
                }
                RunOtherTask();
                //与代码有所不同
                //是利用各种逻辑进行的 主要依赖的waferinfo的nextstation以及robot的禁用状态 以及各个站点的状态
                RunEFEMRobotTask();
            }

            return _cycleState;
        }

        //检查所有晶圆是否完成传送
        public bool CheckDone()
        {
            if (m_Robot.IsReady())
            {
                WaferInfo[] wafers = Singleton<WaferManager>.Instance.GetWafers(_source);
                WaferInfo[] array = wafers;
                WaferInfo[] _wafers = Singleton<WaferManager>.Instance.GetWafers(_destination);
                WaferInfo[] _destinations = _wafers;
                if (_destinations.ToList().FindAll(wafer => !wafer.IsEmpty && wafer.SubstE90Status == EnumE90Status.Processed).Count() == cyclewafernum)
                {
                    ++CycleIndex;
                    //DATA.Subscribe("Process.CycleIndex", () => CycleIndex);
                    if (CycleIndex >= cyclenumber)
                        return true;
                    else
                    {
                        ModuleName swapmd = _destination;
                        _destination = _source;
                        _source = swapmd;
                        PrepareTask();
                    }
                }
            }

            return false;
        }

        /// <summary>
        /// 用于检查source和dest LP是否已经load且map
        /// </summary>
        /// <returns></returns>
        public bool LPTaskDone()
        {
            if (!m_soucelp.IsMapped || !m_soucelp.IsLoaded)
            {
                if (m_sourceLoadRoutine.Monitor() == RState.Failed ||
                    m_sourceLoadRoutine.Monitor() == RState.Timeout)
                {
                    LogObject.Error(_name, $"{_source} Load Failed or Timeout");
                    _cycleState = RState.Failed;
                    return false;
                }

                if (m_sourceLoadRoutine.Monitor() == RState.Running)
                    return false;
            }

            if (_source != _destination && (!m_destlp.IsMapped || !m_destlp.IsLoaded))
            {
                if (m_destLoadRoutine.Monitor() == RState.Failed ||
                    m_destLoadRoutine.Monitor() == RState.Timeout)
                {
                    LogObject.Error(_name, $"{_destination} Load Failed or Timeout");
                    _cycleState = RState.Failed;
                    return false;
                }

                if (m_destLoadRoutine.Monitor() == RState.Running)
                    return false;
            }
            //LogObject.Info(_name, "所有LP Load就绪 准备传送");
            return true;
        }

        /// <summary>
        /// 用于判定任务
        /// </summary>
        public void PrepareTask()
        {
            //检索所有source LP中的wafer信息
            LogObject.Info(_name,"建立传送任务 确认需要传送的晶圆信息");
            cyclewafernum = 0;
            _hasFlipper.Clear();
            _flippertimes.Clear();
            for (int i = 0; i < 25; i++)
            {
                _hasFlipper.Add(false);
                _flippertimes.Add(0);
                if (Singleton<WaferManager>.Instance.CheckHasWafer(_source, i))
                {
                    cyclewafernum++;
                    WaferInfo wafer= Singleton<WaferManager>.Instance.GetWafer(_source, i);
                    wafer.SubstE90Status = EnumE90Status.InProcess;
                    wafer.DestinationStation = (int)_destination;
                    wafer.DestinationSlot = i;
                    wafer.IsChecked = false;
                    Singleton<WaferManager>.Instance.UpdateWaferProcessStatus(_source, i, EnumWaferProcessStatus.Wait);
                    _movingStatus.Add(MovingStatus.Waiting);
                }
                else
                {
                    _movingStatus.Add(MovingStatus.None);
                }
            }
            cyclecreated = true;
        }

        public RState EFEMRobotTask()
        {
            if (m_Robot.IsReady())
            {
                LogObject.Info("cycle", "robot is Idle,prepare to have the Robot's Task");
                //手臂全空取片
                if (IsRobotEmpty())
                {
                    LogObject.Info("cycle","手臂全空");
                    WaferInfo firstwafer = GetFirstWafer(new List<ModuleName>() { _source }, EnumE90Status.InProcess);
                    //LP可以有片取cycle
                    if (firstwafer != null)
                    {
                        LogObject.Info("cycle", "开始Pick from LP");
                        m_pickRoutine.Source = _source;
                        m_pickRoutine.Slot = firstwafer.Slot;
                        m_pickRoutine.Blade = Hand.Blade1;
                       
                        return m_pickRoutine.Start();
                    }
                    //
                    firstwafer = GetFirstWafer(_lstPass,EnumE90Status.InProcess);
                    if (firstwafer != null)
                    {
                        LogObject.Info("cycle", "开始Pick from Pass");
                        m_pickRoutine.Blade = Hand.Blade1;
                        LogObject.Info("cycle", $"确定station => {firstwafer.Station}");
                        m_pickRoutine.Source = (ModuleName)firstwafer.Station;
                        LogObject.Info("cycle", $"确定slot => {firstwafer.Slot}");
                        m_pickRoutine.Slot = firstwafer.Slot;
                        //如果是loadport
                        if (ModuleHelper.IsLoadPort(m_pickRoutine.Source))
                        {
                            return m_pickRoutine.Start();
                        }
                        //如果是cooling
                        if (ModuleHelper.IsCoolingBuffer(m_pickRoutine.Source))
                        {
                            return m_pickRoutine.Start();
                        }

                        if (ModuleHelper.IsLoadLock(m_pickRoutine.Source))
                        {
                            return m_pickRoutine.Start();
                        }

                        if (ModuleHelper.IsTurnOverStation(m_pickRoutine.Source) && _hasFlipper[firstwafer.OriginSlot] && _flippertimes[firstwafer.OriginSlot] == 1
                            && Singleton<RouteManager1>.Instance.GetFlipper().IsIdle)
                        {
                            return m_pickRoutine.Start();
                        }

                        if (ModuleHelper.IsAligner(m_pickRoutine.Source))
                        {
                            return m_pickRoutine.Start();
                        }

                        if (ModuleHelper.IsBuffer(m_pickRoutine.Source))
                        {
                            return m_pickRoutine.Start();
                        }
                    }
                    

                }
                //手臂全满放片
                else if (IsRobotFull())
                {
                    LogObject.Info("cycle", "手臂全满");
                    WaferInfo Robotwafer = Singleton<WaferManager>.Instance.GetWafer(ModuleName.Robot,0);
                    if (Singleton<WaferManager>.Instance.CheckHasWafer((ModuleName)Robotwafer.NextStation, Robotwafer.NextStationSlot))
                    {
                        LogObject.Error("System","下一步有wafer 而手臂全满");
                        return RState.Failed;
                    }
                    m_placeRoutine.Blade = Hand.Blade1;
                    m_placeRoutine.Station = (ModuleName)Robotwafer.NextStation;
                    m_placeRoutine.Slot = Robotwafer.NextStationSlot;
                    if (ModuleHelper.IsLoadPort(m_placeRoutine.Station))
                    {
                        LoadPortBaseDevice LP = DEVICE.GetDevice<LoadPortBaseDevice>(m_placeRoutine.Station.ToString());
                        if (LP.IsEnableTransferWafer(out _))
                        {
                            return m_placeRoutine.Start();
                        }
                    }
                    if (ModuleHelper.IsCoolingBuffer(m_placeRoutine.Station))
                    {
                        return m_placeRoutine.Start(null);
                    }
                    if (ModuleHelper.IsAligner(m_placeRoutine.Station))
                    {
                        return m_placeRoutine.Start(null);
                    }
                    if (ModuleHelper.IsLoadLock(m_placeRoutine.Station))
                    {
                        LoadLockDevice LL = DEVICE.GetDevice<LoadLockDevice>(m_placeRoutine.Station.ToString());
                        if (LL.IsEnableTransferWafer(out _))
                        {
                            return m_placeRoutine.Start();
                        }
                    }
                    if (ModuleHelper.IsTurnOverStation(m_placeRoutine.Station))
                    {
                        return m_placeRoutine.Start();
                    }
                }
                //手臂有空 swap或place
                else
                {
                    LogObject.Info("cycle", "手臂一只手wafer 一只手空");
                    WaferInfo RobotWafer = GetFirstWafer(new List<ModuleName>() { ModuleName.Robot }, EnumE90Status.InProcess);
                    if (RobotWafer == null)
                    {
                        LogObject.Error(_name,"未能获取手臂wafer信息");
                        return RState.Failed;
                    }
                    //目标地没有wafer 直接place
                    if (Singleton<WaferManager>.Instance.CheckNoWafer((ModuleName)RobotWafer.NextStation, RobotWafer.NextStationSlot))
                    {
                        m_placeRoutine.Blade = (Hand)RobotWafer.Slot;
                        m_placeRoutine.Station = (ModuleName)RobotWafer.NextStation;
                        m_placeRoutine.Slot = RobotWafer.NextStationSlot;
                        if (ModuleHelper.IsLoadPort(m_placeRoutine.Station))
                        {
                            LoadPortBaseDevice LP = DEVICE.GetDevice<LoadPortBaseDevice>(m_placeRoutine.Station.ToString());
                            if (LP.IsEnableTransferWafer(out _))
                            {
                                return m_placeRoutine.Start();
                            }
                        }
                        if (ModuleHelper.IsCoolingBuffer(m_placeRoutine.Station))
                        {
                            return m_placeRoutine.Start();
                        }
                        if (ModuleHelper.IsAligner(m_placeRoutine.Station))
                        {
                            m_placeRoutine.Start();
                        }
                        if (ModuleHelper.IsLoadLock(m_placeRoutine.Station))
                        {
                            LoadLockDevice LL = DEVICE.GetDevice<LoadLockDevice>(m_placeRoutine.Station.ToString());
                            if (LL.IsEnableTransferWafer(out _))
                            {
                                return m_placeRoutine.Start();
                            }
                        }
                        if (ModuleHelper.IsBuffer(m_placeRoutine.Station))
                        {
                            SimpleBuffer buffer = DEVICE.GetDevice<SimpleBuffer>(m_placeRoutine.Station.ToString());

                            return m_placeRoutine.Start();
                        }
                        if (ModuleHelper.IsTurnOverStation(m_placeRoutine.Station))
                        {
                            return m_placeRoutine.Start();
                        }
                    }
                    //目标地有wafer 需要swap
                    else
                    {
                        if (ModuleHelper.IsLoadPort((ModuleName)RobotWafer.NextStation))
                        {
                            LogObject.Error(_name, "目标loadport 不可能swap");
                            return RState.Failed;
                        }
                        m_swapRoutine.Source = (ModuleName)RobotWafer.NextStation;
                        m_swapRoutine.Slot = RobotWafer.NextStationSlot;
                        if (RobotWafer.Slot == 0)
                        {
                            m_swapRoutine.PlaceBlade = Hand.Blade1;
                        }
                        else
                        {
                            m_swapRoutine.PlaceBlade = Hand.Blade2;
                        }
                        //if (ModuleHelper.IsLoadPort(m_swapRoutine.Source))
                        //{
                        //    LoadPortBaseDevice LP = DEVICE.GetDevice<LoadPortBaseDevice>(m_swapRoutine.Source.ToString());
                        //    if (LP.IsEnableTransferWafer(out _))
                        //    {
                        //        return m_swapRoutine.Start();
                        //    }
                        //}
                        if (ModuleHelper.IsCoolingBuffer(m_swapRoutine.Source))
                        {
                            return m_swapRoutine.Start();
                        }
                        if (ModuleHelper.IsAligner(m_swapRoutine.Source))
                        {
                            return m_swapRoutine.Start();
                        }
                        if (ModuleHelper.IsBuffer(m_swapRoutine.Source))
                        {
                            //BufferStation buffer = DEVICE.GetDevice<BufferStation>(m_swapRoutine.Source.ToString());
                            //if (buffer.IsEnableTransferWafer(out _))
                            //{
                            //    return m_swapRoutine.Start();
                            //}
                            return m_swapRoutine.Start();
                        }
                        if (ModuleHelper.IsLoadLock(m_swapRoutine.Source))
                        {
                            LoadLockDevice LL = DEVICE.GetDevice<LoadLockDevice>(m_swapRoutine.Source.ToString());
                            if (LL.IsEnableTransferWafer(out _))
                            {
                                return m_swapRoutine.Start();
                            }
                        }
                        if (ModuleHelper.IsTurnOverStation(m_swapRoutine.Source))
                        {
                            return m_swapRoutine.Start();
                        }

                    }
                }
            }

            return RState.Running;
        }
        

        private bool IsRobotEmpty() => WaferManager.Instance.CheckNoWafer(ModuleName.Robot,0) && WaferManager.Instance.CheckNoWafer(ModuleName.Robot, 1);
        private bool IsRobotFull() => WaferManager.Instance.CheckHasWafer(ModuleName.Robot,0) && WaferManager.Instance.CheckHasWafer(ModuleName.Robot, 1);
        

        private WaferInfo GetFirstWafer(List<ModuleName> modules, EnumE90Status estatus)
        {
            foreach (ModuleName md in modules)
            {
                WaferInfo[] wafers = Singleton<WaferManager>.Instance.GetWafers(md);
                WaferInfo[] copywafers = wafers;
                foreach (WaferInfo wafer in copywafers)
                {
                    if (!wafer.IsEmpty && wafer.SubstE90Status == estatus)
                    {
                        wafer.Station = (int)md;
                        return wafer;
                    }
                }
            }
            return null;
        }

        //从lp中取出wafer
        public void GetWaferFromLP()
        {
            if (m_Robot.IsIdle)
            {
                //如果都没有wafer 可以pick
                if (WaferManager.Instance.CheckNoWafer(m_Robot.Module, (int)Hand.Blade1))
                {
                    if (_movingStatus.Exists(x => x == MovingStatus.Waiting))
                    {
                        int slot = _movingStatus.FindIndex(x => x == MovingStatus.Waiting);
                        m_pickRoutine.Source = _source;
                        m_pickRoutine.Slot = slot;
                        m_pickRoutine.Blade = Hand.Blade1;
                        m_pickRoutine.Start();
                    }
                }
                else if (WaferManager.Instance.CheckNoWafer(m_Robot.Module, (int)Hand.Blade2))
                {
                    if (_movingStatus.Exists(x => x == MovingStatus.Waiting))
                    {
                        int slot = _movingStatus.FindIndex(x => x == MovingStatus.Waiting);
                        m_pickRoutine.Source = _source;
                        m_pickRoutine.Slot = slot;
                        m_pickRoutine.Blade = Hand.Blade1;
                        if (m_pickRoutine.Start() == RState.Running)
                        {
                            _movingStatus[slot] = NextStation(MovingStatus.Waiting);
                        }
                    }
                }

            }
            
        }

        public Hand GetFreeHand()
        {
            if (WaferManager.Instance.CheckHasWafer(m_Robot.Module, 0))
            {
                return Hand.Blade1;
            }

            if (WaferManager.Instance.CheckHasWafer(m_Robot.Module, 1))
            {
                return Hand.Blade2;
            }

            return Hand.Both;
        }

        public MovingStatus NextStation(MovingStatus currentStation)
        {
            if (_taskQueue.Exists(x => x == currentStation))
            {
                return _taskQueue[_taskQueue.FindIndex(x => x == currentStation)+1];
            }
            else
            {
                LogObject.Error(_name, $"meet unknown Status:{currentStation}");
                _cycleState = RState.Failed;
                return MovingStatus.None;
            }
        }

        public void RunEFEMRobotTask()
        {
            try
            {
                switch (m_pickRoutine.Monitor())
                {
                    case RState.Running:
                        _cycleState = RState.Running;
                        return;
                        //break;
                    case RState.Timeout:
                    case RState.Failed:
                        LogObject.Error(_name, "pick失败");
                        _cycleState = RState.Failed;
                        return;
                        //break;
                    default:
                        switch (m_placeRoutine.Monitor())
                        {
                            case RState.Running:
                                _cycleState = RState.Running;
                                return;
                                //break;
                            case RState.Timeout:
                            case RState.Failed:
                                LogObject.Error(_name, "place失败");
                                _cycleState = RState.Failed;
                                return;
                                //break;
                            default:
                                switch (m_swapRoutine.Monitor())
                                {
                                    case RState.Running:
                                        _cycleState = RState.Running;
                                        return;
                                        //break;
                                    case RState.Timeout:
                                    case RState.Failed:
                                        LogObject.Error(_name, "swap失败");
                                        _cycleState = RState.Failed;
                                        return;
                                        //break;
                                    default:
                                        if (CheckDone())
                                        {
                                            _cycleState = RState.End;
                                            return;
                                        }
                                        if (m_Robot.IsReady())
                                        {
                                            UpdataWaferNextStation();
                                            RState ret = EFEMRobotTask();
                                            switch (ret)
                                            {
                                                case RState.Failed:
                                                case RState.Timeout:
                                                    _cycleState = RState.Failed;
                                                    break;
                                                default:
                                                    break;
                                            }
                                        }
                                        //策略开始
                                        
                                        break;
                                }
                                break;
                        }
                        break;
                }
            }
            catch (Exception ex)
            {
                LogObject.Info("cycle", $"Cycle Exception: {ex.Message},Site:{ex.TargetSite}|Source:{ex.Source}");
            }
        }
        public void RunOtherTask()
        {
            if (_lstPass.Contains(ModuleName.TurnOverStation)
                &&Singleton<RouteManager1>.Instance.GetFlipper().State == Devices.FLP.FlipperState.Idle
                &&WaferManager.Instance.CheckHasWafer(ModuleName.TurnOverStation,0) )
            {
                WaferInfo flipperwafer = WaferManager.Instance.GetWafer(ModuleName.TurnOverStation, 0);
                //LogObject.Info("Cycle",$"Wafer on Flipperstatus:{flipwafer.IsChecked}|Empty:{flipwafer.IsEmpty}");
                if (_flippertimes[flipperwafer.OriginSlot] < 1 && !_hasFlipper[flipperwafer.OriginSlot])
                {
                    LogObject.Info("Cycle",$"Flipper上有wafer且未翻面 可以旋转 Slot:{flipperwafer.OriginSlot}|hasFlip:{_hasFlipper[flipperwafer.OriginSlot]}");
                    Singleton<RouteManager1>.Instance.GetFlipper().PostMsg(FlipperMSG.TurnOver);
                    //flipwafer.IsChecked = true;
                }
            }

            if ((Singleton<RouteManager1>.Instance.GetFlipper().State == Devices.FLP.FlipperState.Turning)
                && WaferManager.Instance.CheckHasWafer(ModuleName.TurnOverStation, 0))
            {
                WaferInfo flipperwafer = WaferManager.Instance.GetWafer(ModuleName.TurnOverStation, 0);
                _hasFlipper[flipperwafer.OriginSlot] = true;
            }

            if ((Singleton<RouteManager1>.Instance.GetFlipper().State == Devices.FLP.FlipperState.Idle)
                && WaferManager.Instance.CheckHasWafer(ModuleName.TurnOverStation, 0))
            {
                WaferInfo flipperwafer = WaferManager.Instance.GetWafer(ModuleName.TurnOverStation, 0);
                if (_hasFlipper[flipperwafer.OriginSlot] && _flippertimes[flipperwafer.OriginSlot] == 0)
                {
                    _flippertimes[flipperwafer.OriginSlot] = 1;
                }

                if (!_hasFlipper[flipperwafer.OriginSlot] && _flippertimes[flipperwafer.OriginSlot] == 1)
                {
                    _flippertimes[flipperwafer.OriginSlot] = 2;
                }
            }
            

        }

        //更新晶圆下一刻要去的位置
        private void UpdataWaferNextStation()
        {
            //获取起始点的所有晶圆
            WaferInfo[] wafers = Singleton<WaferManager>.Instance.GetWafers(_source);
            WaferInfo[] array = wafers;
            LogObject.Info("cycle", "更新LP wafer下一刻状态");
            foreach (WaferInfo waferInfo in array)
            {
                //有晶圆且状态为inprocess
                if (!waferInfo.IsEmpty && waferInfo.SubstE90Status == EnumE90Status.InProcess)
                {
                    LogObject.Info("cycle", $"LP waferInfo:{waferInfo.OriginStation}|{waferInfo.OriginSlot}");
                    if (_lstPass.Count != 0)
                    {
                        waferInfo.NextStation = (int)_lstPass[0];
                        int slot = 0;
                        if (ModuleHelper.IsBuffer((ModuleName)waferInfo.NextStation))
                            slot = CycleIndex % 10;
                        waferInfo.NextStationSlot = slot;
                        LogObject.Info("cycle", $"buffer cycle waferInfo:{waferInfo.NextStation}|{waferInfo.NextStationSlot}");
                        Singleton<WaferManager>.Instance.UpdateWaferProcessStatus((ModuleName)waferInfo.Station, waferInfo.Slot, EnumWaferProcessStatus.InProcess);
                    }
                    else
                    {
                        //没有任务直接传送回目标
                        waferInfo.NextStation = waferInfo.DestinationStation;
                        waferInfo.NextStationSlot = waferInfo.DestinationSlot;
                        Singleton<WaferManager>.Instance.UpdateWaferProcessStatus((ModuleName)waferInfo.Station, waferInfo.Slot, EnumWaferProcessStatus.InProcess);
                    }
                }
                else
                {
                    if (waferInfo.IsEmpty)
                    {
                        //LogObject.Info("Cycle",$"晶圆为空{waferInfo.Slot}");
                    }

                    if (waferInfo.SubstE90Status != EnumE90Status.InProcess)
                    {
                        //LogObject.Info("Cycle", $"晶圆为非InProcess {waferInfo.Slot}");
                    }
                }
            }

            LogObject.Info("cycle", "更新Pass station wafer下一刻状态");
            //_lstPass.ForEach(x => LogObject.Info("cycle", $"Module=>{x}"));

            for (int idx = 0; idx < _lstPass.Count(); idx++)
            {
                LogObject.Info("cycle", $"Pass waferInfo => Pass index:{idx} & Pass Module:{_lstPass[idx]}");
                int slot = 0;
                if (ModuleHelper.IsBuffer(_lstPass[idx]))
                    slot = CycleIndex % 10; 
                WaferInfo wafer = Singleton<WaferManager>.Instance.GetWafer(_lstPass[idx], slot);
                LogObject.Info("cycle", $"Pass waferInfo => Empty:{wafer.IsEmpty}");
                if (!wafer.IsEmpty && wafer.SubstE90Status == EnumE90Status.InProcess)
                {
                    LogObject.Info("cycle", $"Pass waferInfo:{_lstPass[idx]}|0");
                    if (idx == _lstPass.Count - 1)
                    {
                        wafer.NextStation = wafer.DestinationStation;
                        wafer.NextStationSlot = wafer.DestinationSlot;
                    }
                    else
                    {
                        wafer.NextStation = (int)_lstPass[idx + 1];
                     
                        wafer.NextStationSlot = 0;
                        if (ModuleHelper.IsBuffer((ModuleName)wafer.NextStation))
                            wafer.NextStationSlot = CycleIndex % 10;
                        //LogObject.Info("cycle", $"buff cycle:{wafer.NextStation}|{wafer.NextStationSlot}");

                    }
                }
            }
        }

        /// <summary>
        /// 当前的状态
        /// 用于对一些子设备的模拟计时
        /// </summary>
        /// <param name="currentStatus"></param>
        /// <returns></returns>
        private MovingStatus throughPath(MovingStatus currentStatus)
        {
            switch (currentStatus)
            {
                case MovingStatus.WaitAlign:
                    return MovingStatus.Aligning;
                case MovingStatus.Aligning:
                    return MovingStatus.AlignDone;
                case MovingStatus.WaitCool:
                    return MovingStatus.Cooling;
                case MovingStatus.Cooling:
                    return MovingStatus.CoolDone;
                case MovingStatus.WaitFlip:
                    return MovingStatus.Flipping;
                case MovingStatus.Flipping:
                    return MovingStatus.FlipDone;
                case MovingStatus.WaitProcess:
                    return MovingStatus.Processing;
                case MovingStatus.Processing:
                    return MovingStatus.ProcessDone;
                default:
                    return MovingStatus.Idle;
            }
        }

        private bool IsModulesEmpty(List<ModuleName> lstPassThrough)
        {
            foreach (ModuleName item in lstPassThrough)
            {
                if (Singleton<WaferManager>.Instance.CheckHasWafer(item, 0))
                {
                    return false;
                }
            }
            return true;
        }

        public void Abort()
        {
            _cycleState = RState.End;
        }



    }

    public class TransferModule
    {
        protected SchedulerEfemRobot _efemRobot = new SchedulerEfemRobot();
        //protected SchedulerTMRobot _tmRobot = new SchedulerTMRobot();
        //protected SchedulerSETMRobot _setm;
        //
        //protected SchedulerLoadPort _lp1 = new SchedulerLoadPort(ModuleName.LP1);
        //protected SchedulerLoadPort _lp2 = new SchedulerLoadPort(ModuleName.LP2);
        //protected SchedulerLoadPort _lp3 = new SchedulerLoadPort(ModuleName.LP3);
        //
        //protected SchedulerLoadLock _lla = new SchedulerLoadLock(ModuleName.LLA);
        //protected SchedulerLoadLock _llb = new SchedulerLoadLock(ModuleName.LLB);
        //
        //protected SchedulerAligner _aligner1 = new SchedulerAligner(ModuleName.Aligner1);
        //protected SchedulerAligner _aligner2 = new SchedulerAligner(ModuleName.Aligner2);
        //protected SchedulerAligner _cooling1 = new SchedulerAligner(ModuleName.Cooling1);
        //protected SchedulerAligner _cooling2 = new SchedulerAligner(ModuleName.Cooling2);
        //
        //protected SchedulerPM _pma = new SchedulerPM(ModuleName.PMA);
        //protected SchedulerPM _pmb = new SchedulerPM(ModuleName.PMB);
        //
        //protected SchedulerPM _pmc = new SchedulerPM(ModuleName.PMC);
        //protected SchedulerPM _pmd = new SchedulerPM(ModuleName.PMD);

        public TransferModule()
        {

        }


        public SchedulerModule GetScheduler(ModuleName module)
        {

            switch (module)
            {
                case ModuleName.EfemRobot:
                    return _efemRobot;

            }

            return null;
        }
    }
}