Enhance throughput.

Venus/Venus_RT/Modules/AutoCycle.cs

@@ -40,6 +40,7 @@ namespace Venus_RT.Modules
         Idle,
         Waiting,
         Moving,
+        Moved,
 
         // PM Status
         WaitProcess,
@@ -152,6 +153,7 @@ namespace Venus_RT.Modules
             _cycleSetPoint = _isCycleMode ? SC.GetValue<int>("System.CycleCount") : 0;
             _cycledWafer = 0;
             _cycledCount = 0;
+            _throughput = 0;
             _cycleWatch.Stop();
 
             return RState.Running;
@@ -525,11 +527,8 @@ namespace Venus_RT.Modules
 
             _lstControlJobs.Clear();
             _lstProcessJobs.Clear();
+            _cycleState = RState.End;
 
-            //_mapTarget.Clear();
-
-            //queMoveAction.Clear();
-            //_curAction.state = ActionState.Done;
         }
 
 
@@ -658,7 +657,7 @@ namespace Venus_RT.Modules
         bool SearchWaferDestination(SlotItem outSlot, out SlotItem destSlot)
         {
             destSlot = new SlotItem(ModuleName.System, -1);
-            var wafer = GetCloneWafer(outSlot.Module, outSlot.Slot);
+            var wafer = WaferManager.Instance.GetWafer(outSlot.Module, outSlot.Slot);
             if (wafer.IsEmpty || wafer.ProcessJob == null || wafer.ProcessJob.Sequence == null || wafer.NextSequenceStep >= wafer.ProcessJob.Sequence.Steps.Count)
                 return false;
 
@@ -748,7 +747,7 @@ namespace Venus_RT.Modules
                 if (IsLoadLockReservedByEFEM(slot.Key.Module))
                     continue;
 
-                var wafer = GetCloneWafer(slot.Key.Module, slot.Key.Slot);
+                var wafer = WaferManager.Instance.GetWafer(slot.Key.Module, slot.Key.Slot);
 
                 if (wafer.IsEmpty || wafer.ProcessJob == null || wafer.ProcessJob.Sequence == null || wafer.NextSequenceStep >= wafer.ProcessJob.Sequence.Steps.Count)
                     continue;
@@ -970,7 +969,7 @@ namespace Venus_RT.Modules
 
         private bool IsVacWaferReadyOut(ModuleName mod, int slot)
         {
-            var wafer = GetCloneWafer(mod, slot);
+            var wafer =  WaferManager.Instance.GetWafer(mod, slot);
 
             if (wafer.IsEmpty)
                 return false;
@@ -1059,7 +1058,7 @@ namespace Venus_RT.Modules
                 if (_efemRobotSingleArmOption != 0 && _efemRobotSingleArmOption != i + 1)
                     continue;
 
-                var wafer = GetCloneWafer(ModuleName.EfemRobot, i);
+                var wafer = WaferManager.Instance.GetWafer(ModuleName.EfemRobot, i);
                 if (wafer.IsEmpty)
                     continue;
 
@@ -1084,7 +1083,7 @@ namespace Venus_RT.Modules
 
         bool IsAtmWaferReadyOut(ModuleName mod, int slot)
         {
-            var wafer = GetCloneWafer(mod, slot);
+            var wafer = WaferManager.Instance.GetWafer(mod, slot);
 
             if (wafer.IsEmpty)
                 return false;
@@ -1208,10 +1207,18 @@ namespace Venus_RT.Modules
 
         private bool IsLoadLockReservedByTM(ModuleName ll)
         {
-            if (_movingItems.Exists(item => item.DestinationModule == ll || item.SourceModule == ll))
-                return true;
+            List<ModuleName> unfinished = new List<ModuleName>();
+            foreach (var item in _vacWaferTargets)
+            {
+                var moving = _movingItems.Find(m_item => m_item.DestinationModule == item.Key.Module && m_item.DestinationSlot == item.Key.Slot);
+                if (!unfinished.Contains(moving.SourceModule))
+                    unfinished.Add(moving.SourceModule);
 
-            return false;
+                if (!unfinished.Contains(moving.DestinationModule))
+                    unfinished.Add(moving.DestinationModule);
+            }
+
+            return unfinished.Contains(ll);
         }
 
         private Tuple<int, int>  GetLLProcessStatusCount(ModuleName ll)
@@ -1271,14 +1278,14 @@ namespace Venus_RT.Modules
             else if(_LLInOutPath == SequenceLLInOutPath.AInAOut || (_LLInOutPath == SequenceLLInOutPath.DInDOut && _vacSchedulers[ModuleName.LLA].IsOnline && !_vacSchedulers[ModuleName.LLB].IsOnline))
             {
                 return llaWaferStatus.Item1 > 0 ? 0 :
-                    (_LLASlotNumber) / 2 + pmWaferStatus.Item2 - llaWaferStatus.Item2 
+                    _LLASlotNumber / 2 + pmWaferStatus.Item2 - llaWaferStatus.Item2 
                     - GetTMRobotWaferCount() - GetEfemRoborWaferCount() - GetAtmInerWaferCount();
                 
             }
             else if (_LLInOutPath == SequenceLLInOutPath.BInBOut || (_LLInOutPath == SequenceLLInOutPath.DInDOut && !_vacSchedulers[ModuleName.LLA].IsOnline && _vacSchedulers[ModuleName.LLB].IsOnline))
             {
                 return llbWaferStatus.Item1 > 0 ? 0 : 
-                    (_LLBSlotNumber) / 2 + pmWaferStatus.Item2 - llbWaferStatus.Item2
+                    _LLBSlotNumber / 2 + pmWaferStatus.Item2 - llbWaferStatus.Item2
                         -GetTMRobotWaferCount() - GetEfemRoborWaferCount() - GetAtmInerWaferCount();
             }
             else if(_LLInOutPath == SequenceLLInOutPath.DInDOut && _vacSchedulers[ModuleName.LLA].IsOnline && _vacSchedulers[ModuleName.LLB].IsOnline)
@@ -1298,7 +1305,7 @@ namespace Venus_RT.Modules
 
         private bool IsForwardPathBlocking(ModuleName mod, int slot)
         {
-            var wafer = GetCloneWafer(mod, slot);
+            var wafer = WaferManager.Instance.GetWafer(mod, slot);
             if (wafer.IsEmpty || wafer.ProcessJob == null || wafer.ProcessJob.Sequence == null || wafer.NextSequenceStep >= wafer.ProcessJob.Sequence.Steps.Count)
                 return false;
 
@@ -1630,7 +1637,7 @@ namespace Venus_RT.Modules
 
         private bool CheckWaferNeedProcessAndPMAvailable(ModuleName waferModule, int waferSlot, ModuleName processIn = ModuleName.System)
         {
-            WaferInfo wafer = GetCloneWafer(waferModule, waferSlot);
+            WaferInfo wafer = WaferManager.Instance.GetWafer(waferModule, waferSlot);
 
             if (wafer.IsEmpty)
                 return false;
@@ -1749,8 +1756,7 @@ namespace Venus_RT.Modules
                         if (wafer.NextSequenceStep < wafer.ProcessJob.Sequence.Steps.Count && wafer.ProcessJob.Sequence.Steps[wafer.NextSequenceStep].StepModules.Contains(item.DestinationModule))
                             wafer.NextSequenceStep++;
                     }
-                    
-                    if(wafer.IsEmpty || wafer.ProcessJob == null)
+                    else
                     {
                         // should not go here
                         LOG.Write(eEvent.ERR_ROUTER, ModuleName.System, $"UpateSequenceStep() failed, location: {item.DestinationModule}:{item.DestinationSlot + 1}, NextSequenceStep: {wafer.NextSequenceStep}");
@@ -1758,50 +1764,67 @@ namespace Venus_RT.Modules
                 }
             }
         }
+
         private void CheckWaferArrived()
         {
             if (_cycleState != RState.Running)
                 return;
 
-            foreach (var mod in _vacSchedulers.Append(new KeyValuePair<ModuleName, SchedulerModule>( ModuleName.TMRobot, _tmRobot)))
+            foreach (var mod in _vacSchedulers.Append(new KeyValuePair<ModuleName, SchedulerModule>(ModuleName.TMRobot, _tmRobot)))
             {
-                //if (mod.Value.IsAvailable)
+                var tars = _vacWaferTargets.Where(item => item.Key.Module == mod.Key).ToArray();
+                foreach (var tar in tars)
                 {
-                    var tars = _vacWaferTargets.Where(item => item.Key.Module == mod.Key).ToArray();
-                    foreach (var tar in tars)
+                    var wafer = WaferManager.Instance.GetWafer(tar.Key.Module, tar.Key.Slot);
+                    if (wafer.IsEmpty || wafer.ProcessJob == null || wafer.ProcessJob.Sequence == null)
+                        continue;
+
+                    if (wafer.InnerId == tar.Value)
                     {
-                        var wafer = WaferManager.Instance.GetWafer(tar.Key.Module, tar.Key.Slot);
-                        if (wafer.IsEmpty)
-                            continue;
+                        // wafer arrive
+                        _vacWaferTargets.Remove(tar.Key);
+                        if (!ModuleHelper.IsTMRobot(tar.Key.Module))
+                            _vacSchedulers[tar.Key.Module].WaferArrived(tar.Key.Slot);
 
-                        if (wafer.InnerId == tar.Value)
+                        //LOG.Write(eEvent.EV_ROUTER, ModuleName.System, $"wafer {wafer.WaferOrigin}: {wafer.InnerId} arrived {tar.Key.Module}{tar.Key.Slot + 1}");
+                        if (ModuleHelper.IsPm(tar.Key.Module))
                         {
-                            // wafer arrive
-                            _vacWaferTargets.Remove(tar.Key);
-                            if(!ModuleHelper.IsTMRobot(tar.Key.Module))
-                                _vacSchedulers[tar.Key.Module].WaferArrived(tar.Key.Slot);
-
-                            //LOG.Write(eEvent.EV_ROUTER, ModuleName.System, $"wafer {wafer.WaferOrigin}: {wafer.InnerId} arrived {tar.Key.Module}{tar.Key.Slot + 1}");
-                            if (ModuleHelper.IsPm(tar.Key.Module))
-                            {
-                                _vacModules[tar.Key.Module].MovingStatus = MovingStatus.WaitProcess;
-                            }
+                            _vacModules[tar.Key.Module].MovingStatus = MovingStatus.WaitProcess;
                         }
                     }
                 }
+
+                if(ModuleHelper.IsLoadLock(mod.Key))
+                {
+                    List<ModuleName> unfinished = new List<ModuleName>();
+                    foreach(var item in _vacWaferTargets)
+                    {
+                        var moving = _movingItems.Find(m_item => m_item.DestinationModule == item.Key.Module && m_item.DestinationSlot == item.Key.Slot);
+                        if (!unfinished.Contains(moving.SourceModule))
+                            unfinished.Add(moving.SourceModule);
+
+                        if (!unfinished.Contains(moving.DestinationModule))
+                            unfinished.Add(moving.DestinationModule);
+                    }
+
+                    if(!unfinished.Contains(mod.Key) && mod.Value.IsAvailable)
+                    {
+                        _vacModules[mod.Key].MovingStatus = MovingStatus.Idle;
+                    }
+                }
             }
 
-            _vacMoveFinishTrig.CLK = _vacWaferTargets.Count == 0;
+            _vacMoveFinishTrig.CLK = _vacWaferTargets.Count == 0 && _tmRobot.RobotStatus != RState.Running;
             if (_vacMoveFinishTrig.Q)
             {
-                foreach(var item in _movingItems)
+                foreach (var item in _movingItems)
                 {
-                    if(_vacModules[item.DestinationModule].MovingStatus == MovingStatus.Moving)
+                    if (_vacModules[item.DestinationModule].MovingStatus == MovingStatus.Moving)
                     {
                         _vacModules[item.DestinationModule].MovingStatus = MovingStatus.Idle;
                     }
 
-                    if(_vacModules[item.SourceModule].MovingStatus == MovingStatus.Moving)
+                    if (_vacModules[item.SourceModule].MovingStatus == MovingStatus.Moving)
                     {
                         _vacModules[item.SourceModule].MovingStatus = MovingStatus.Idle;
                     }
@@ -1811,42 +1834,41 @@ namespace Venus_RT.Modules
                 _movingItems.Clear();
             }
 
+
             foreach (var mod in _atmSchedulers.Append(new KeyValuePair<ModuleName, SchedulerModule>(ModuleName.EfemRobot, _efemRobot)))
             {
-                //if (mod.Value.IsAvailable)
+                var tars = _atmWaferTargets.Where(item => item.Key.Module == mod.Key).ToArray();
+                foreach (var tar in tars)
                 {
-                    var tars = _atmWaferTargets.Where(item => item.Key.Module == mod.Key).ToArray();
-                    foreach (var tar in tars)
-                    {
-                        var wafer = WaferManager.Instance.GetWafer(tar.Key.Module, tar.Key.Slot);
-                        if (wafer.IsEmpty)
-                            continue;
+                    var wafer = WaferManager.Instance.GetWafer(tar.Key.Module, tar.Key.Slot);
+                    if (wafer.IsEmpty || wafer.ProcessJob == null || wafer.ProcessJob.Sequence == null)
+                        continue;
 
-                        if (wafer.InnerId == tar.Value)
-                        {
-                            //LOG.Write(eEvent.EV_ROUTER, ModuleName.System, $"wafer {wafer.WaferOrigin}: {wafer.InnerId} arrived {tar.Key.Module}{tar.Key.Slot + 1}");
-                            // wafer arrive
+                    if (wafer.InnerId == tar.Value)
+                    {
+                        //LOG.Write(eEvent.EV_ROUTER, ModuleName.System, $"wafer {wafer.WaferOrigin}: {wafer.InnerId} arrived {tar.Key.Module}{tar.Key.Slot + 1}");
+                        // wafer arrive
 
-                            if(!ModuleHelper.IsLoadPort(tar.Key.Module) && !ModuleHelper.IsEFEMRobot(tar.Key.Module))
-                                _atmSchedulers[tar.Key.Module].WaferArrived(tar.Key.Slot);
+                        if (!ModuleHelper.IsLoadPort(tar.Key.Module) && !ModuleHelper.IsEFEMRobot(tar.Key.Module))
+                            _atmSchedulers[tar.Key.Module].WaferArrived(tar.Key.Slot);
 
-                            _atmWaferTargets.Remove(tar.Key);
+                        _atmWaferTargets.Remove(tar.Key);
 
-                            if(ModuleHelper.IsAligner(tar.Key.Module))
-                            {
-                                _atmModules[tar.Key.Module].MovingStatus = MovingStatus.WaitAlign;
-                            }
+                        if (ModuleHelper.IsAligner(tar.Key.Module))
+                        {
+                            _atmModules[tar.Key.Module].MovingStatus = MovingStatus.WaitAlign;
                         }
                     }
                 }
+
             }
 
-            _atmMoveFinishTrig.CLK = _atmWaferTargets.Count == 0;
-            if(_atmMoveFinishTrig.Q)
+            _atmMoveFinishTrig.CLK = _atmWaferTargets.Count == 0 && _efemRobot.RobotStatus != RState.Running;
+            if (_atmMoveFinishTrig.Q)
             {
-                foreach(var item in _efemMovingItems)
+                foreach (var item in _efemMovingItems)
                 {
-                    if(ModuleHelper.IsLoadLock(item.Module))
+                    if (ModuleHelper.IsLoadLock(item.Module))
                     {
                         _vacModules[item.Module].MovingStatus = MovingStatus.Idle;
                     }
@@ -1855,6 +1877,8 @@ namespace Venus_RT.Modules
                 UpateSequenceStep(_efemMovingItems);
                 _efemMovingItems.Clear();
             }
+            
+
         }
         private void PreJobClean(ControlJobInfo cj)
         {
@@ -1952,12 +1976,13 @@ namespace Venus_RT.Modules
 
             return false;
         }
+
         private bool CheckAllWaferReturned(ProcessJobInfo pj, bool checkAllProcessed)
         {
             bool allWaferReturn = true;
             for (int i = 0; i < pj.SlotWafers.Count; ++i)
             {
-                WaferInfo wafer = GetCloneWafer(pj.SlotWafers[i].Item1, pj.SlotWafers[i].Item2);
+                WaferInfo wafer = WaferManager.Instance.GetWafer(pj.SlotWafers[i].Item1, pj.SlotWafers[i].Item2);
                 if (wafer.IsEmpty)
                     continue;
 
@@ -1979,6 +2004,9 @@ namespace Venus_RT.Modules
 
         private void UpdateProcessJobStatus()
         {
+            if (_efemRobot.RobotStatus == RState.Running)
+                return;
+
             foreach(var mod in _vacModules)
             {
                 if (ModuleHelper.IsPm(mod.Key))
@@ -2022,6 +2050,9 @@ namespace Venus_RT.Modules
             if (_lstControlJobs.Count == 0)
                 return;
 
+            if (_efemRobot.RobotStatus == RState.Running)
+                return;
+
             bool allControlJobComplete = true;
             List<ControlJobInfo> cjRemoveList = new List<ControlJobInfo>();
             foreach (var cj in _lstControlJobs)
@@ -2096,16 +2127,24 @@ namespace Venus_RT.Modules
                     foreach (var pjSlotWafer in pj.SlotWafers)
                     {
                         countPerCycle++;
-                        WaferInfo wafer = GetCloneWafer(pjSlotWafer.Item1, pjSlotWafer.Item2);
+                        WaferInfo wafer = WaferManager.Instance.GetWafer(pjSlotWafer.Item1, pjSlotWafer.Item2);
                         if (!wafer.IsEmpty && !IsWaferNeedGotoModule(wafer, ModuleName.PMA) && !IsWaferNeedGotoModule(wafer, ModuleName.PMB) && !IsWaferNeedGotoModule(wafer, ModuleName.PMC) && !IsWaferNeedGotoModule(wafer, ModuleName.PMD))
                             countProcessed++;
                     }
                 }
 
-                _cycledWafer = _cycledCount * countPerCycle + countProcessed;
-                if(_cycledWafer >= 25)
+                int totalCycleWafer = _cycledCount * countPerCycle + countProcessed;
+                if(_cycledWafer != totalCycleWafer)
                 {
-                    _throughput = (float)(_cycledWafer / _cycleWatch.Elapsed.TotalHours);
+                    _cycledWafer = totalCycleWafer;
+                    if(_cycledWafer >= 25)
+                    {
+                        _throughput = (float)(_cycledWafer / _cycleWatch.Elapsed.TotalHours);
+                    }
+                    else
+                    {
+                        _throughput = 0;
+                    }
                 }
 
                 if (allControlJobComplete)

Venus/Venus_RT/Modules/EFEM/EfemEntity.cs

@@ -1,4 +1,5 @@
 using System;
+using System.Diagnostics;
 using System.Collections.Generic;
 using Aitex.Core.Common;
 using Aitex.Core.RT.DataCenter;
@@ -7,6 +8,7 @@ using Aitex.Core.RT.Fsm;
 using Aitex.Core.RT.OperationCenter;
 using Aitex.Core.RT.SCCore;
 using Aitex.Core.Utilities;
+using Aitex.Core.Util;
 using Aitex.Sorter.Common;
 using MECF.Framework.Common.Equipment;
 using MECF.Framework.Common.Schedulers;
@@ -112,6 +114,22 @@ namespace Venus_RT.Modules
 
         public bool IsOnline { get; internal set; }
 
+        public RState RobotStatus
+        {
+            get
+            {
+                if (_efem.Status != RState.Running)
+                {
+                    if (_robotWatch.ElapsedMilliseconds < 100)
+                        return RState.Running;
+                    else
+                        return _efem.Status;
+                }
+                else
+                    return RState.Running;
+            }
+        }
+
         public bool Check(int msg, out string reason, params object[] args)
         {
             throw new NotImplementedException();
@@ -134,6 +152,9 @@ namespace Venus_RT.Modules
         private readonly EFEMAlignRoutine _alignRoutine;
         private string LiftMessage;
 
+        private Stopwatch _robotWatch = new Stopwatch();
+        private R_TRIG _robotIdleTrigger = new R_TRIG();
+
         // Constructor
         //
         public EfemEntity()
@@ -215,6 +236,7 @@ namespace Venus_RT.Modules
             DATA.Subscribe($"{Name}.FsmLastMessage", GetFsmLastMessage, Aitex.Core.Util.SubscriptionAttribute.FLAG.IgnoreSaveDB);
             DATA.Subscribe($"{Name}.RobotMoveAction", () => (_efem.TMRobotMoveInfo), Aitex.Core.Util.SubscriptionAttribute.FLAG.IgnoreSaveDB);
 
+            _robotWatch.Restart();
             return true;
         }
 
@@ -223,7 +245,7 @@ namespace Venus_RT.Modules
             fsm = new StateMachine<EfemEntity>("EFEM", (int)STATE.Unknown, 50);
             fsm.EnableRepeatedMsg(true);
 
-            //AnyStateTransition(FSM_MSG.TIMER,               fnMonitor,          FSM_STATE.SAME);
+            AnyStateTransition(FSM_MSG.TIMER,               fnMonitor,          FSM_STATE.SAME);
             AnyStateTransition(MSG.TurnOffBuzzer,           fnTurnOffBuzzer,    FSM_STATE.SAME);
             AnyStateTransition(MSG.Recover,                 fnRecover,          STATE.Idle);
             AnyStateTransition(MSG.Error,                   fnError,            STATE.Error);
@@ -362,8 +384,14 @@ namespace Venus_RT.Modules
 
         private bool fnMonitor(object[] param)
         {
+            // robot idle check
+            _robotIdleTrigger.CLK = _efem.Status != RState.Running;
+            if (_robotIdleTrigger.Q)
+            {
+                _robotWatch.Restart();
+            }
+
             _efem.Monitor();
-            _debugRoutine();
             return true;
         }
  

Venus/Venus_RT/Modules/Schedulers/SchedulerEfemRobot.cs

@@ -41,6 +41,12 @@ namespace Venus_RT.Scheduler
             get { return _entity.IsError; }
 
         }
+
+        public RState RobotStatus
+        {
+            get { return _entity.RobotStatus; }
+        }
+
         private EfemEntity _entity = null;
 
 

Venus/Venus_RT/Modules/TM/TMEntity.cs

@@ -107,7 +107,7 @@ namespace Venus_RT.Modules
             {
                 if (_robot.Status != RState.Running)
                 {
-                    if (_robotWatch.ElapsedMilliseconds < 500)
+                    if (_robotWatch.ElapsedMilliseconds < 100)
                         return RState.Running;
                     else
                         return _robot.Status;
@@ -151,7 +151,7 @@ namespace Venus_RT.Modules
         private bool stopControlPressureFlag = true;
 
         private Stopwatch _robotWatch = new Stopwatch();
-        R_TRIG _robotIdleTrigger = new R_TRIG();
+        private R_TRIG _robotIdleTrigger = new R_TRIG();
 
         //private readonly Timer controlPressureTimer;
         public TMEntity()