JET-EFEM/athos/athosRT/Modules/EFEMs/StaticTransfer.cs

using Aitex.Core.RT.Device;
using Aitex.Core.RT.Event;
using Aitex.Core.RT.Routine;
using Aitex.Core.Util;
using Aitex.Sorter.Common;
using athosRT.Devices;
using athosRT.FSM;
using athosRT.Modules.EFEMs.Routine;
using athosRT.tool;
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.RobotBase;
using System;
using System.Collections.Generic;
using System.Linq;
using System.Reflection.Emit;
using System.Text;
using System.Threading.Tasks;
using IRoutine = athosRT.FSM.IRoutine;
using EV = athosRT.tool.EV;
using athosRT.Modules;

namespace athosRT.Modules.EFEMs
{
    public class StaticTransfer
    {
        private Queue<IRoutine> steps = null;//定义routine队列
        private IRoutine curStep = null;//当前routine
        private PickRoutine[] pickRoutine = null;
        private PlaceRoutine[] placeRoutine = null;
        private AlignRoutine[] alignRoutine = null;//对齐
        private ModuleName _sourceStation;
        private ModuleName _targetStation;

        public string Name = "Transfer";

        public int Notch1 { get; set; }

        public ModuleName SourceStation => _sourceStation;
        public ModuleName TargetStation => _targetStation;

        private readonly RobotBaseDevice robot;



        public StaticTransfer() {
            robot = DEVICE.GetDevice<RobotBaseDevice>("Robot");
            int IndexNum = 5;
            steps = new Queue<IRoutine>();
            pickRoutine = new PickRoutine[IndexNum];
            for (int index = 0; index < IndexNum; ++index)
            {
                //LogObject.Info(Name, $"第{index}个 PickRoutine开始实例化");
                pickRoutine[index] = new PickRoutine(ModuleName.System);
            }
            placeRoutine = new PlaceRoutine[IndexNum];
            for (int index = 0; index < IndexNum; ++index)
            {
                //LogObject.Info(Name, $"第{index}个 PickRoutine开始实例化");
                placeRoutine[index] = new PlaceRoutine(ModuleName.System);
            }
            alignRoutine = new AlignRoutine[2];
            for (int index = 0; index < 2; ++index)
            {
                alignRoutine[index] = new AlignRoutine();
            }
        }

        public bool Start(object[] objs)
        {
            LogObject.Info(Name, "transfer start");
            MoveType moveType;
            Enum.TryParse<MoveType>(objs[0].ToString(),out moveType);//mov类型
            LogObject.Info(Name, "transfer MoveType");
            MoveOption moveOption;
            Enum.TryParse<MoveOption>(objs[1].ToString(), out moveOption);//mov选项
            LogObject.Info(Name, "transfer MoveOption");
            //bool flag = (moveOption & MoveOption.Align) == MoveOption.Align || (moveOption & MoveOption.ReadID) == MoveOption.ReadID || (moveOption & MoveOption.ReadID2) == MoveOption.ReadID2;
            bool flag = false;
            Hand hand;
            Enum.TryParse<Hand>(objs[2].ToString(), out hand);//手臂
            LogObject.Info(Name, "transfer Hand");
            ModuleName moduleName1 = ModuleHelper.Converter(objs[3].ToString());
            LogObject.Info(Name, "transfer Source");
            _sourceStation = moduleName1;
            int num1 = Convert.ToInt32(objs[4]);
            LogObject.Info(Name, "transfer source slot");
            ModuleName moduleName2= ModuleHelper.Converter(objs[5].ToString());
            LogObject.Info(Name, "transfer destination");
            _targetStation = moduleName2;
            int num2 = Convert.ToInt32(objs[6]);
            LogObject.Info(Name, "transfer destiation slot");
            steps.Clear();
            switch (moveType)
            {
                case MoveType.Move:
                    //当目标不是robot的时候（也是就是ll lp等）装入pick队列
                    if (moduleName1 != ModuleName.Robot)
                    {
                        pickRoutine[0].Source = moduleName1;
                        pickRoutine[0].Slot = num1;
                        pickRoutine[0].Blade = hand;
                        steps.Enqueue(pickRoutine[0]);
                    }
                    //robot 上wafer 移动到下个目标
                    else {
                        placeRoutine[1].Station = moduleName2;
                        placeRoutine[1].Slot = num2;
                        placeRoutine[1].Blade = hand;
                        steps.Enqueue(placeRoutine[1]);
                        goto case MoveType.Swap;
                    }
                   
                    //当目标是Aligner或ReadID1、2时
                    if (flag)
                    {
                        //place的初始点是aligner slot槽是0 blade是hand
                        placeRoutine[0].Station = ModuleName.Aligner;
                        placeRoutine[0].Slot = 0;
                        placeRoutine[0].Blade = hand;
                        steps.Enqueue(placeRoutine[0]);
                        //align的选项是moveOption 缺口是motch
                        alignRoutine[0].Option = moveOption;
                        alignRoutine[0].Notch = Notch1;
                        steps.Enqueue(alignRoutine[0]);
                        switch (moduleName2)
                        {
                            //如果目标2是aligner
                            case ModuleName.Aligner:
                                goto label_32;
                            //是robot 从aligner上获取
                            case ModuleName.Robot:
                                pickRoutine[1].Source = ModuleName.Aligner;
                                pickRoutine[1].Slot = 0;
                                pickRoutine[1].Blade = (Hand)num2;
                                steps.Enqueue(pickRoutine[1]);
                                break;
                            //默认的
                            default:
                                pickRoutine[1].Source = ModuleName.Aligner;
                                pickRoutine[1].Slot = 0;
                                pickRoutine[1].Blade = hand;
                                steps.Enqueue(pickRoutine[1]);
                                placeRoutine[1].Station = moduleName2;
                                placeRoutine[1].Slot = num2;
                                placeRoutine[1].Blade = hand;
                                steps.Enqueue(placeRoutine[1]);
                                break;
                        }
                        goto case MoveType.Swap;
                    }
                    else
                    {
                        //如果modulename2不为robot
                        if (moduleName2 != ModuleName.Robot)
                        {
                            //place1的目标是module 
                            placeRoutine[1].Station = moduleName2;
                            placeRoutine[1].Slot = num2;
                            placeRoutine[1].Blade = hand;
                            steps.Enqueue(placeRoutine[1]);
                        }
                        goto case MoveType.Swap;
                    }
                case MoveType.Swap:
                label_32:
                    //没有入列 count为空
                    if (steps.Count == 0)
                    {
                        LogObject.Error(Name, "没有任务进入队列");
                        return false;
                    }
                    curStep = steps.Dequeue();
                    //开启当前步骤
                    if(curStep.Start(objs) != RState.Failed) 
                    {
                        LogObject.Info(Name, "开始当前步骤");
                        return true;
                    }
                    LogObject.Error(Name,"Failed start transfer");
                    return false;
                default:
                    ModuleName moduleName3 = (ModuleName)objs[7];
                    int num3 = (int)objs[8];
                    ModuleName moduleName4 = (ModuleName)objs[9];
                    int num4 = (int)objs[10];
                    //MoveType的数据类型 SPSP SPDP
                    if (moveType == MoveType.SPSP || moveType == MoveType.SPDP)
                    {
                        //如果 起始点、终止点都不是robot
                        if (moduleName1 != ModuleName.Robot && moduleName3 != ModuleName.Robot)
                        {
                            //从pick捡起modulename1 
                            pickRoutine[0].Source = moduleName1;
                            pickRoutine[0].Slot = num1;
                            pickRoutine[0].Blade = Hand.Blade1;
                            steps.Enqueue(pickRoutine[0]);
                            //从pick捡起modulename3
                            pickRoutine[1].Source = moduleName3;
                            pickRoutine[1].Slot = num3;
                            pickRoutine[1].Blade = Hand.Blade2;
                            steps.Enqueue(pickRoutine[1]);
                        }
                        else if (moduleName1 == ModuleName.Robot)
                        {
                            //如果是在robot上 源为m3 
                            pickRoutine[1].Source = moduleName3;
                            pickRoutine[1].Slot = num3;
                            pickRoutine[1].Blade = num1 != 0 ? Hand.Blade1 : Hand.Blade2;
                            steps.Enqueue(pickRoutine[1]);
                        }
                        else
                        {
                            //如果不是在robot上 则要先从1上取出来
                            pickRoutine[0].Source = moduleName1;
                            pickRoutine[0].Slot = num1;
                            pickRoutine[0].Blade = num3 != 0 ? Hand.Blade1 : Hand.Blade2;
                            steps.Enqueue(pickRoutine[0]);
                        }
                    }
                    else if (moduleName1 != ModuleName.Robot)
                    {
                        //双臂举起
                        pickRoutine[0].Source = moduleName1;
                        pickRoutine[0].Slot = num1;
                        pickRoutine[0].Blade = Hand.Both;
                        steps.Enqueue(pickRoutine[0]);
                    }
                    if (moveType == MoveType.SPSP || moveType == MoveType.DPSP)
                    {
                        if (moduleName2 != ModuleName.Robot && moduleName2 != ModuleName.Robot)
                        {
                            placeRoutine[1].Station = moduleName2;
                            placeRoutine[1].Slot = num2;
                            placeRoutine[1].Blade = Hand.Blade1;
                            steps.Enqueue(placeRoutine[1]);
                            placeRoutine[2].Station = moduleName4;
                            placeRoutine[2].Slot = num4;
                            placeRoutine[2].Blade = Hand.Blade2;
                            steps.Enqueue(placeRoutine[2]);
                        }
                        else if (moduleName2 == ModuleName.Robot)
                        {
                            placeRoutine[2].Station = moduleName4;
                            placeRoutine[2].Slot = num4;
                            placeRoutine[2].Blade = num3 != 0 ? Hand.Blade1 : Hand.Blade2;
                            steps.Enqueue(placeRoutine[2]);
                        }
                        else
                        {
                            placeRoutine[1].Station = moduleName2;
                            placeRoutine[1].Slot = num2;
                            placeRoutine[1].Blade = num1 != 0 ? Hand.Blade1 : Hand.Blade2;
                            steps.Enqueue(placeRoutine[1]);
                        }
                    }
                    else if (moduleName2 != ModuleName.Robot)
                    {
                        placeRoutine[1].Station = moduleName2;
                        placeRoutine[1].Slot = num2;
                        placeRoutine[1].Blade = Hand.Both;
                        steps.Enqueue(placeRoutine[1]);
                    }
                    goto case MoveType.Swap;
            }
        }

        /// <summary>
        /// monitor只管做队列的头部任务直到结束为止
        /// </summary>
        /// <param name="objs"></param>
        /// <returns>当前任务的执行结果</returns>
        public bool Monitor(object[] objs) 
        {
            RState result = RState.Failed;
            if(curStep!=null)
                result = curStep.Monitor();
            switch(result)
            {
                case RState.End:
                    curStep = steps.Count <= 0 ? null : steps.Dequeue();//出栈
                    //没有队列任务了
                    if (curStep == null)
                    {
                        LogObject.Info(Name, "所有Routine已经执行完毕");
                        return true;
                    }
                    //下一步任务start失败
                    if (curStep.Start() != RState.Failed)
                    {
                        //LogObject.Error(Name, "下一个Routine无法开始 请检查任务队列");
                        return false;
                    }
                    //不明确的发错误 可能是想把不包括的情况都认定为错误
                    PostMsg(RouteManager1.MSG.ERROR);
                    return true;
                 case RState.Failed:
                    LogObject.Error(Name, "当前Routine执行失败 置错误");
                    PostMsg(RouteManager1.MSG.ERROR);
                    return true;
                 default: 
                    return false;
            }
        }

        public bool Return(object[] objs)
        {
            steps.Clear();
            ModuleName lpModule = ModuleName.LP1;
            int slot = 0;
            if (Singleton<WaferManager>.Instance.CheckHasWafer(ModuleName.Robot, 0))
            {
                if (!FindEmptySlot(ref lpModule, ref slot))
                {
                    steps.Clear();
                    return false;
                }
                placeRoutine[0].Station = lpModule;
                placeRoutine[0].Slot = slot;
                placeRoutine[0].Blade = Hand.Blade1;
                steps.Enqueue(placeRoutine[0]);
            }
            if (Singleton<WaferManager>.Instance.CheckHasWafer(ModuleName.Robot, 1) || Singleton<WaferManager>.Instance.CheckHasWafer(ModuleName.Robot, 2) || Singleton<WaferManager>.Instance.CheckHasWafer(ModuleName.Robot, 3))
            {
                ++slot;
                if (!FindEmptySlotForMultiBlade(ref lpModule, ref slot))
                {
                    steps.Clear();
                    return false;
                }
                placeRoutine[1].Station = lpModule;
                placeRoutine[1].Slot = slot;
                placeRoutine[1].Blade = Hand.Blade2;
                steps.Enqueue(placeRoutine[1]);
            }
            if (Singleton<WaferManager>.Instance.CheckHasWafer(ModuleName.Aligner, 0))
            {
                ++slot;
                if (!FindEmptySlot(ref lpModule, ref slot))
                {
                    steps.Clear();
                    return false;
                }
                pickRoutine[0].Source = ModuleName.Aligner;
                pickRoutine[0].Slot = 0;
                pickRoutine[0].Blade = Hand.Blade1;
                steps.Enqueue(pickRoutine[0]);
                placeRoutine[2].Station = lpModule;
                placeRoutine[2].Slot = slot;
                placeRoutine[2].Blade = Hand.Blade1;
                steps.Enqueue(placeRoutine[2]);
            }
            if (steps.Count == 0)
                return false;
            curStep = steps.Dequeue();
            if (curStep.Start(objs) != RState.Failed)
                return true;
            EV.PostWarningLog(ModuleName.System.ToString(), "Failed start return");
            return false;
        }
        private bool FindEmptySlot(ref ModuleName lpModule, ref int slot)
        {
            LoadPortBaseDevice device = DEVICE.GetDevice<LoadPortBaseDevice>(lpModule.ToString());
            string reason;
            if (device.IsEnableTransferWafer(out reason))
            {
                for (int slot1 = slot; slot1 < 25; ++slot1)
                {
                    if (Singleton<WaferManager>.Instance.CheckNoWafer(device.Name, slot1))
                    {
                        slot = slot1;
                        return true;
                    }
                }
            }
            foreach (LoadPortBaseDevice allLoadPort in Singleton<DeviceManager>.Instance.GetAllLoadPorts())
            {
                if (!(allLoadPort.Name == lpModule.ToString()) && allLoadPort.IsEnableTransferWafer(out reason))
                {
                    for (int slot2 = 0; slot2 < 25; ++slot2)
                    {
                        if (Singleton<WaferManager>.Instance.CheckNoWafer(allLoadPort.Name, slot2))
                        {
                            lpModule = (ModuleName)Enum.Parse(typeof(ModuleName), allLoadPort.Name);
                            slot = slot2;
                            return true;
                        }
                    }
                }
            }
            return false;
        }

        private bool FindEmptySlotForMultiBlade(ref ModuleName lpModule, ref int slot)
        {
            LoadPortBaseDevice device = DEVICE.GetDevice<LoadPortBaseDevice>(lpModule.ToString());
            string reason;
            if (device.IsEnableTransferWafer(out reason))
            {
                for (int slot1 = slot; slot1 < 23; ++slot1)
                {
                    if (Singleton<WaferManager>.Instance.CheckNoWafer(device.Name, slot1) && Singleton<WaferManager>.Instance.CheckNoWafer(device.Name, slot1 + 1) && Singleton<WaferManager>.Instance.CheckNoWafer(device.Name, slot1 + 2))
                    {
                        slot = slot1;
                        return true;
                    }
                }
            }
            foreach (LoadPortBaseDevice allLoadPort in Singleton<DeviceManager>.Instance.GetAllLoadPorts())
            {
                if (!(allLoadPort.Name == lpModule.ToString()) && allLoadPort.IsEnableTransferWafer(out reason))
                {
                    for (int slot2 = 0; slot2 < 23; ++slot2)
                    {
                        if (Singleton<WaferManager>.Instance.CheckNoWafer(allLoadPort.Name, slot2) && Singleton<WaferManager>.Instance.CheckNoWafer(allLoadPort.Name, slot2 + 1) && Singleton<WaferManager>.Instance.CheckNoWafer(allLoadPort.Name, slot2 + 2))
                        {
                            lpModule = (ModuleName)Enum.Parse(typeof(ModuleName), allLoadPort.Name);
                            slot = slot2;
                            return true;
                        }
                    }
                }
            }
            return false;
        }

        public void Clear()
        {
            steps.Clear();
            curStep = null;
        }
        private void PostMsg(RouteManager1.MSG msg, params object[] objs) => Singleton<RouteManager1>.Instance.PostMsg(msg, objs);

    }
}