JET-EFEM/athos/athosRT/Modules/LPs/LoadPortEntity.cs

using Aitex.Core.RT.Event;
using Aitex.Core.RT.Fsm;
using Aitex.Core.RT.OperationCenter;
using Aitex.Core.RT.Routine;
using Aitex.Core.Util;
using MECF.Framework.Common.Equipment;
using MECF.Framework.RT.EquipmentLibrary.HardwareUnits.Robots.RobotBase;
using System;
using athosRT.FSM;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Threading.Tasks;
using System.Diagnostics;
using System.Threading;
using athosRT.tool;
using OP = Common.OP.OP;
using MECF.Framework.RT.EquipmentLibrary.HardwareUnits.LoadPorts.LoadPortBase;
using Aitex.Core.RT.Device;
using Common.DataCenter;
using MECF.Framework.RT.EquipmentLibrary.HardwareUnits.Robot;

namespace athosRT.Modules.LPs
{
    public class LoadPortEntity : Entity, IEntity
    {
        private HomeRoutine homeRoutine = null;
        private LoadFoupRoutine loadRoutine = null;
        private UnloadFoupRoutine unloadRoutine = null;
        private ReadAndLoadRoutine readAndLoadRoutine = null;
        private ModuleName _chamber;
        private LoadPortBaseDevice _lp;

        private ModuleFsmDevice MFD = new ModuleFsmDevice();
        public string Name { get; set; }

        public bool IsIdle => fsm.State == (int)STATE.IDLE;

        public bool IsRunning => fsm.State != (int)STATE.INIT && fsm.State != (int)STATE.IDLE && fsm.State != (int)STATE.ERROR;

        public int FsmState => fsm.State;

        public bool IsAlarm => false;

        public bool IsWarning => false;

        public bool IsLoaded => _lp.IsLoaded;
        public bool IsDoorOpen => _lp.DoorState == Aitex.Sorter.Common.FoupDoorState.Open;
        public bool IsPresent => _lp.IsPresent;
        public bool IsReady => _lp.IsReady();

        public RobotBaseDevice _robot { get; set; }

        public LoadPortEntity(string name, RobotBaseDevice robot)
        {
            Name = name;
            _lp = DEVICE.GetDevice<LoadPortBaseDevice>(name);
            _chamber = (ModuleName)Enum.Parse(typeof(ModuleName), this.Name);
            fsm = new StateMachine<LoadPortEntity>(this.Name, 0, 50);
            AnyStateTransition<LoadPortEntity.STATE, LoadPortEntity.MSG>(LoadPortEntity.MSG.ERROR, new FsmFunc(this.fError), LoadPortEntity.STATE.ERROR);
            AnyStateTransition<LoadPortEntity.STATE, LoadPortEntity.MSG>(LoadPortEntity.MSG.ABORT, new FsmFunc(this.fError), LoadPortEntity.STATE.IDLE);
            AnyStateTransition(268435443, new FsmFunc(this.fError), 8);
            AnyStateTransition<LoadPortEntity.STATE, LoadPortEntity.MSG>(LoadPortEntity.MSG.RESET, new FsmFunc(this.fInit), LoadPortEntity.STATE.IDLE);
            Transition<LoadPortEntity.STATE, FSM_MSG>(LoadPortEntity.STATE.INIT, FSM_MSG.TIMER, new FsmFunc(this.fInit), LoadPortEntity.STATE.IDLE);
            Transition<LoadPortEntity.STATE, LoadPortEntity.MSG>(LoadPortEntity.STATE.INIT, LoadPortEntity.MSG.ERROR, new FsmFunc(this.fError), LoadPortEntity.STATE.ERROR);
            Transition<LoadPortEntity.STATE, LoadPortEntity.MSG>(LoadPortEntity.STATE.ERROR, LoadPortEntity.MSG.HOME, new FsmFunc(this.fStartHome), LoadPortEntity.STATE.HOME);
            Transition<LoadPortEntity.STATE, LoadPortEntity.MSG>(LoadPortEntity.STATE.IDLE, LoadPortEntity.MSG.HOME, new FsmFunc(this.fStartHome), LoadPortEntity.STATE.HOME);
            Transition<LoadPortEntity.STATE, LoadPortEntity.MSG>(LoadPortEntity.STATE.INIT, LoadPortEntity.MSG.HOME, new FsmFunc(this.fStartHome), LoadPortEntity.STATE.HOME);
            Transition<LoadPortEntity.STATE, FSM_MSG>(LoadPortEntity.STATE.HOME, FSM_MSG.TIMER, new FsmFunc(this.fHome), LoadPortEntity.STATE.IDLE);
            Transition<LoadPortEntity.STATE, LoadPortEntity.MSG>(LoadPortEntity.STATE.IDLE, LoadPortEntity.MSG.Load, new FsmFunc(this.fStartLoad), LoadPortEntity.STATE.LOAD);
            Transition<LoadPortEntity.STATE, FSM_MSG>(LoadPortEntity.STATE.LOAD, FSM_MSG.TIMER, new FsmFunc(this.fLoad), LoadPortEntity.STATE.IDLE);
            Transition<LoadPortEntity.STATE, LoadPortEntity.MSG>(LoadPortEntity.STATE.IDLE, LoadPortEntity.MSG.Unload, new FsmFunc(this.fStartUnload), LoadPortEntity.STATE.UNLOAD);
            Transition<LoadPortEntity.STATE, FSM_MSG>(LoadPortEntity.STATE.UNLOAD, FSM_MSG.TIMER, new FsmFunc(this.fUnload), LoadPortEntity.STATE.IDLE);
            Transition<LoadPortEntity.STATE, LoadPortEntity.MSG>(LoadPortEntity.STATE.IDLE, LoadPortEntity.MSG.ReadAndLoad, new FsmFunc(this.fStartReadAndLoad), LoadPortEntity.STATE.ReadAndLoad);
            Transition<LoadPortEntity.STATE, FSM_MSG>(LoadPortEntity.STATE.ReadAndLoad, FSM_MSG.TIMER, new FsmFunc(this.fReadAndLoad), LoadPortEntity.STATE.IDLE);
            Running = true;
            _robot = robot;

        }

        public bool Check(int msg, out string reason, object[] objs)
        {
            bool flag = true;
            reason = "";
            if (msg != 3 || this.fsm.State == 1)
                return flag;
            reason = string.Format("{0} is busy {1}，can't excute {2}", (object)this.Name, (object)this.State2String(this.fsm.State), (object)this.Msg2String(msg));
            return false;
        }

        private string Msg2String(int msg)
        {
            string str = "";
            switch (msg)
            {
                case 6:
                    str = "复位";
                    break;
                case 7:
                    str = "终止";
                    break;
            }
            return str;
        }

        private string State2String(int state)
        {
            string str = "";
            switch (state)
            {
                case 0:
                case 9:
                    str = "初始化";
                    break;
                case 1:
                    str = "就绪";
                    break;
                case 8:
                    str = "错误";
                    break;
            }
            return str;
        }

        protected override bool Init()
        {
            this.loadRoutine = new LoadFoupRoutine(_chamber);
            this.unloadRoutine = new UnloadFoupRoutine(_chamber, _robot);
            this.homeRoutine = new HomeRoutine(_chamber, _robot);
            this.readAndLoadRoutine = new ReadAndLoadRoutine(_chamber);
            OP.Subscribe(string.Format("{0}.LPReset", (object)this._chamber), (Func<string, object[], bool>)((cmd, args) => CheckToPostMsg(LoadPortEntity.MSG.RESET)));
            OP.Subscribe(string.Format("{0}.Load", (object)this._chamber), (Func<string, object[], bool>)((cmd, args) => CheckToPostMsg(LoadPortEntity.MSG.Load)));
            OP.Subscribe(string.Format("{0}.UnLoad", (object)this._chamber), (Func<string, object[], bool>)((cmd, args) => CheckToPostMsg(LoadPortEntity.MSG.Unload)));
            OP.Subscribe(string.Format("{0}.Home", (object)this._chamber), (Func<string, object[], bool>)((cmd, args) => CheckToPostMsg(LoadPortEntity.MSG.HOME)));
            OP.Subscribe(string.Format("{0}.Abort", (object)this._chamber), (Func<string, object[], bool>)((cmd, args) => CheckToPostMsg(LoadPortEntity.MSG.ABORT)));

            DATA.Subscribe($"{_chamber}.IsLoaded", () => IsLoaded);
            return true;
        }

        protected override void Term()
        {
        }

        private bool fStartHome(object[] objs)
        {
            Running = false;

            RState ret = MFD.StartRoutine(homeRoutine);
            if (ret == RState.Failed || ret == RState.End)
                return false;

            //_isInit = false;

            return ret == RState.Running;

        }

        private bool fHome(object[] objs)
        {
            RState ret = MFD.MonitorRoutine();
            Trace.WriteLine("执行情况"+ret);

            if (ret == RState.Failed)
            {
                PostMsg(MSG.ERROR);
                return false;
            }

            if (ret == RState.End)
            {
                //_isInit = true;
                return true;
            }

            return false;
        }

        private bool fStartLoad(object[] objs)
        {
            Running = false;
            switch (this.loadRoutine.Start(objs))
            {
                case RState.End:
                    return false;
                case RState.Failed:
                    return false;
                default:
                    return true;
            }
        }


        private bool fLoad(object[] objs)
        {
            switch (this.loadRoutine.Monitor())
            {
                case RState.End:
                    this.Running = true;
                    return true;
                case RState.Failed:
                    this.PostMsg<LoadPortEntity.MSG>(LoadPortEntity.MSG.ERROR);
                    return true;
                default:
                    return false;
            }
        }

        private bool fStartUnload(object[] objs)
        {
            this.Running = false;
            switch (this.unloadRoutine.Start(objs))
            {
                case RState.End:
                    return false;
                case RState.Failed:
                    return false;
                default:
                    return true;
            }
        }

        private bool fUnload(object[] objs)
        {
            switch (this.unloadRoutine.Monitor())
            {
                case RState.End:
                    this.Running = true;
                    return true;
                case RState.Failed:
                    this.PostMsg<LoadPortEntity.MSG>(LoadPortEntity.MSG.ERROR);
                    return true;
                default:
                    return false;
            }
        }

        private bool fStartReadAndLoad(object[] objs)
        {
            this.Running = false;
            switch (this.readAndLoadRoutine.Start(objs))
            {
                case RState.End:
                    return false;
                case RState.Failed:
                    return false;
                default:
                    return true;
            }
        }

        private bool fReadAndLoad(object[] objs)
        {
            switch (this.readAndLoadRoutine.Monitor())
            {
                case RState.End:
                    this.Running = true;
                    return true;
                case RState.Failed:
                    this.PostMsg<LoadPortEntity.MSG>(LoadPortEntity.MSG.ERROR);
                    return false;
                default:
                    return false;
            }
        }

        private bool fInit(object[] objs)
        {
            Trace.WriteLine("finit开始");
            return true;
        }

        private bool fError(object[] objs)
        {
            //出现错误的时候向上报 告知上层FSM处于错误状态
            Trace.WriteLine("fError开始");
            Singleton<RouteManager1>.Instance.CheckToPostMsg(RouteManager1.MSG.ERROR);
            return true;
        }

        private bool fAbort()
        {
            return true;
        }

        public bool CheckToPostMsg(LoadPortEntity.MSG msg)
        {
            Trace.WriteLine("当前状态机状态："+this.fsm.State);
            if (!this.fsm.FindTransition(this.fsm.State, (int)msg))
            {
                Trace.WriteLine("当前状态不能接受消息："+msg.ToString());
                LogObject.Error(_chamber.ToString(), $"当前状态{fsm.State}不能接受消息：{msg}");
                //EV.PostMessage<EventEnum>("System", EventEnum.DefaultWarning, (object)string.Format("{0} is in {1} state，can not do {2}", (object)this.Name, (object)(LoadPortEntity.STATE)this.fsm.State, (object)msg));
                return false;
            }
            LogObject.Info(_chamber.ToString(),"当前状态能接受消息：" + msg.ToString());
            this.PostMsg<LoadPortEntity.MSG>(msg);
            return true;
        }

        public enum STATE
        {
            INIT,
            IDLE,
            HOME,
            LOAD,
            UNLOAD,
            READ,
            WRITE,
            ReadAndLoad,
            ERROR,
            Reset,
        }

        public enum MSG
        {
            HOME,
            ReadRFID,
            WriteRFID,
            Load,
            Unload,
            ReadAndLoad,
            RESET,
            ABORT,
            ERROR,
        }
    }
}