enhance routing algorithm.

Venus/Venus_RT/Modules/AutoCycle.cs

@@ -56,10 +56,13 @@ namespace Venus_RT.Modules
         public ModulePriority Priority { get; set; }
         public MovingStatus MovingStatus { get; set; }
 
+        public bool InUsed { get; set; }
+
         public ModuleFlag(ModulePriority _priority)
         {
             Priority = _priority;
             MovingStatus = MovingStatus.Idle;
+            InUsed = true;
         }
     }
 
@@ -80,10 +83,10 @@ namespace Venus_RT.Modules
         SchedulerTMRobot _tmRobot = (SchedulerTMRobot)Singleton<TransferModule>.Instance.GetScheduler(ModuleName.TMRobot);
         SchedulerEfemRobot _efemRobot = (SchedulerEfemRobot)Singleton<TransferModule>.Instance.GetScheduler(ModuleName.EfemRobot);
 
-        List<SlotItem>  _vacReadyOutSlots   = new List<SlotItem>();
-        List<SlotItem>  _vacReadyInSlots    = new List<SlotItem>();
-        List<SlotItem>  _atmReadyOutSlots   = new List<SlotItem>();
-        List<SlotItem>  _atmReadyInSlots    = new List<SlotItem>();
+        Dictionary<SlotItem, long>  _vacReadyOutSlots   = new Dictionary<SlotItem, long>();
+        Dictionary<SlotItem, long>  _vacReadyInSlots    = new Dictionary<SlotItem, long>();
+        Dictionary<SlotItem, long>  _atmReadyOutSlots   = new Dictionary<SlotItem, long>();
+        Dictionary<SlotItem, long>  _atmReadyInSlots    = new Dictionary<SlotItem, long>();
 
         List<int> _LLAInSlot = new List<int> { 0, 1, 2, 3 };
         List<int> _LLAOutSlot = new List<int> { 0, 1, 2, 3 };
@@ -605,7 +608,7 @@ namespace Venus_RT.Modules
 
                             if(WaferManager.Instance.CheckHasWafer(mod.Key, slot) && IsVacWaferReadyOut(mod.Key, slot))
                             {
-                                _vacReadyOutSlots.Add(new SlotItem(mod.Key, slot));
+                                _vacReadyOutSlots.Add(new SlotItem(mod.Key, slot), mod.Value.WaferArrivedTicks(slot));
                             }
                         }
 
@@ -617,7 +620,7 @@ namespace Venus_RT.Modules
 
                             if (WaferManager.Instance.CheckNoWafer(mod.Key, slot))
                             {
-                                _vacReadyInSlots.Add(new SlotItem(mod.Key, slot));
+                                _vacReadyInSlots.Add(new SlotItem(mod.Key, slot), mod.Value.WaferArrivedTicks(slot));
                             }
                         }
                     }
@@ -625,15 +628,17 @@ namespace Venus_RT.Modules
                     {
                         if(WaferManager.Instance.CheckHasWafer(mod.Key, 0) && IsVacWaferReadyOut(mod.Key, 0))  // processed?
                         {
-                            _vacReadyOutSlots.Add(new SlotItem(mod.Key, 0));
+                            _vacReadyOutSlots.Add(new SlotItem(mod.Key, 0), mod.Value.WaferArrivedTicks(0));
                         }
                         else if(WaferManager.Instance.CheckNoWafer(mod.Key, 0))
                         {
-                            _vacReadyInSlots.Add(new SlotItem(mod.Key, 0));
+                            _vacReadyInSlots.Add(new SlotItem(mod.Key, 0), mod.Value.WaferArrivedTicks(0));
                         }
                     }
                 }
             }
+
+            _vacReadyOutSlots = _vacReadyOutSlots.OrderByDescending(item => item.Value).ToDictionary(k => k.Key, v => v.Value);
         }
 
         bool SearchWaferDestination(SlotItem outSlot, out SlotItem destSlot)
@@ -651,12 +656,14 @@ namespace Venus_RT.Modules
                     if (_movingItems.Exists(mItem => mItem.DestinationModule == next_module && mItem.DestinationSlot == nSlot))
                         continue;
 
-                    var ready_in = _vacReadyInSlots.Find(item => item.Module == next_module && item.Slot == nSlot);
-                    if (ready_in != null && _vacModules[ready_in.Module].MovingStatus != MovingStatus.Moving)
+                    foreach(var inItem in _vacReadyInSlots)
                     {
-                        destSlot.Module = ready_in.Module;
-                        destSlot.Slot = nSlot;
-                        return true;
+                        if(inItem.Key.Module == next_module && inItem.Key.Slot == nSlot && _vacModules[next_module].MovingStatus != MovingStatus.Moving)
+                        {
+                            destSlot.Module = next_module;
+                            destSlot.Slot = nSlot;
+                            return true;
+                        }
                     }
                 }
             }
@@ -721,24 +728,24 @@ namespace Venus_RT.Modules
             var validSlots = GetModuleValidSlots(inModule);
             foreach(var slot in _vacReadyOutSlots)
             {
-                if (slot.Module == inModule && _vacModules[slot.Module].MovingStatus == MovingStatus.Moving)
+                if (slot.Key.Module == inModule && _vacModules[slot.Key.Module].MovingStatus == MovingStatus.Moving)
                     continue;
 
-                if (IsLoadLockReservedByEFEM(slot.Module))
+                if (IsLoadLockReservedByEFEM(slot.Key.Module))
                     continue;
 
-                var wafer = GetCloneWafer(slot.Module, slot.Slot);
+                var wafer = GetCloneWafer(slot.Key.Module, slot.Key.Slot);
 
                 if (wafer.IsEmpty || wafer.ProcessJob == null || wafer.ProcessJob.Sequence == null || wafer.NextSequenceStep >= wafer.ProcessJob.Sequence.Steps.Count)
                     continue;
 
                 foreach (var next_module in wafer.ProcessJob.Sequence.Steps[wafer.NextSequenceStep].StepModules)
                 {
-                    if(next_module == inModule && validSlots.Count > 0 && !_movingItems.Exists(item => item.SourceModule == slot.Module && item.SourceSlot == slot.Slot))
+                    if(next_module == inModule && validSlots.Count > 0 && !_movingItems.Exists(item => item.SourceModule == slot.Key.Module && item.SourceSlot == slot.Key.Slot))
                     {
-                        if(!inSlots.Exists(item => item.SourceModule == slot.Module && item.SourceSlot == slot.Slot))
+                        if(!inSlots.Exists(item => item.SourceModule == slot.Key.Module && item.SourceSlot == slot.Key.Slot))
                         {
-                            inSlots.Add(new MoveItem(slot.Module, slot.Slot, inModule, validSlots.First(), Hand.None));
+                            inSlots.Add(new MoveItem(slot.Key.Module, slot.Key.Slot, inModule, validSlots.First(), Hand.None));
                         }
                         
                         validSlots.RemoveAt(0);
@@ -781,34 +788,36 @@ namespace Venus_RT.Modules
 
                 foreach(var slot in _vacReadyOutSlots)
                 {
-                    if (_vacModules[slot.Module].MovingStatus != MovingStatus.Idle)
+                    if (_vacModules[slot.Key.Module].MovingStatus != MovingStatus.Idle)
                         continue;
 
-                    if (ModuleHelper.IsLoadLock(slot.Module))
+                    if (ModuleHelper.IsLoadLock(slot.Key.Module))
                     {
-                        if (IsLoadLockReservedByEFEM(slot.Module))
+                        if (IsLoadLockReservedByEFEM(slot.Key.Module))
                             continue;
 
-                        if(SearchWaferDestination(slot, out SlotItem destSlot))
+                        if(SearchWaferDestination(slot.Key, out SlotItem destSlot))
                         {
-                            _movingItems.Add(new MoveItem(slot.Module, slot.Slot, destSlot.Module, destSlot.Slot, Hand.None));
-                            UpdateModuleMovingStatus(slot.Module);
+                            _movingItems.Add(new MoveItem(slot.Key.Module, slot.Key.Slot, destSlot.Module, destSlot.Slot, Hand.None));
+                            UpdateModuleMovingStatus(slot.Key.Module);
                             UpdateModuleMovingStatus(destSlot.Module);
 
                             // check whether match double pick pattern
-                            var out_slot_2 = _vacReadyOutSlots.Find(item => item.Module == slot.Module && item.Slot != slot.Slot);
-                            if (out_slot_2 != null)
+                            foreach(var item in _vacReadyOutSlots)
                             {
-                                if(SearchWaferDestination(out_slot_2, out SlotItem destSlot_2))
+                                if(item.Key.Module == slot.Key.Module && item.Key.Slot != slot.Key.Slot)
                                 {
-                                    _movingItems.Add(new MoveItem(out_slot_2.Module, out_slot_2.Slot, destSlot_2.Module, destSlot_2.Slot, Hand.None));
-                                    UpdateModuleMovingStatus(out_slot_2.Module);
-                                    UpdateModuleMovingStatus(destSlot_2.Module);
+                                    if (SearchWaferDestination(item.Key, out SlotItem destSlot_2))
+                                    {
+                                        _movingItems.Add(new MoveItem(item.Key.Module, item.Key.Slot, destSlot_2.Module, destSlot_2.Slot, Hand.None));
+                                        UpdateModuleMovingStatus(item.Key.Module);
+                                        UpdateModuleMovingStatus(destSlot_2.Module);
+                                    }
                                 }
                             }
 
                             // check whether match swap pattern
-                            var in_slots = SearchWaitInSlots(slot.Module);
+                            var in_slots = SearchWaitInSlots(slot.Key.Module);
                             foreach(var in_slot in in_slots)
                             {
                                 if(_vacModules[in_slot.Module].MovingStatus == MovingStatus.Idle)
@@ -823,14 +832,14 @@ namespace Venus_RT.Modules
                     }
                     else // PM
                     {
-                        if(SearchWaferDestination(slot, out SlotItem destSlot))
+                        if(SearchWaferDestination(slot.Key, out SlotItem destSlot))
                         {
-                            _movingItems.Add(new MoveItem(slot.Module, slot.Slot, destSlot.Module, destSlot.Slot, Hand.None));
-                            UpdateModuleMovingStatus(slot.Module);
+                            _movingItems.Add(new MoveItem(slot.Key.Module, slot.Key.Slot, destSlot.Module, destSlot.Slot, Hand.None));
+                            UpdateModuleMovingStatus(slot.Key.Module);
                             UpdateModuleMovingStatus(destSlot.Module);
 
                             // check whether match swap pattern
-                            var in_slots = SearchWaitInSlots(slot.Module);
+                            var in_slots = SearchWaitInSlots(slot.Key.Module);
                             if(in_slots.Count >= 1)
                             {
                                 _movingItems.Add(in_slots.First());
@@ -1116,7 +1125,7 @@ namespace Venus_RT.Modules
             int empty = 0;
             foreach (var module in _vacModules)
             {
-                if (ModuleHelper.IsPm(module.Key))
+                if (ModuleHelper.IsPm(module.Key) && _vacSchedulers[module.Key].IsOnline && module.Value.InUsed)
                 {
                     if (WaferManager.Instance.CheckHasWafer(module.Key, 0))
                         exist++;
@@ -1183,7 +1192,7 @@ namespace Venus_RT.Modules
             int nCount = 0;
             foreach(var atmModule in _atmModules)
             {
-                if (!ModuleHelper.IsEFEMRobot(atmModule.Key) && WaferManager.Instance.CheckHasWafer(atmModule.Key, 0))
+                if (!ModuleHelper.IsEFEMRobot(atmModule.Key) && !ModuleHelper.IsLoadPort(atmModule.Key) && WaferManager.Instance.CheckHasWafer(atmModule.Key, 0))
                     nCount++;
             }
 
@@ -1296,11 +1305,13 @@ namespace Venus_RT.Modules
                             {
                                 if (CheckWaferNeedProcessAndPMAvailable(pjSlotWafer.Item1, pjSlotWafer.Item2))
                                 {
-                                    //return new SlotItem(pjSlotWafer.Item1, pjSlotWafer.Item2);
                                     var wafer = WaferManager.Instance.GetWafer(pjSlotWafer.Item1, pjSlotWafer.Item2);
                                     if(!wafer.IsEmpty && wafer.NextSequenceStep == 0)
                                     {
                                         inSlots.Add(pjSlotWafer.Item2);
+
+                                        if (inSlots.Count >= 2)
+                                            return inSlots;
                                     }
                                 }
 
@@ -1567,7 +1578,7 @@ namespace Venus_RT.Modules
                     var pm = _vacSchedulers[stepModule] as SchedulerPM;
                     if (pm != null)
                     {
-                        if (pm.IsAvailable || (pm.IsOnline && pm.Task != SchedulerModule.TaskType.PreJobProcess))
+                        if (_vacModules[stepModule].InUsed)
                         {
                             hasPmAvailable = true;
                             break;
@@ -1690,6 +1701,9 @@ namespace Venus_RT.Modules
                         {
                             // 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))
                             {
@@ -1735,6 +1749,10 @@ namespace Venus_RT.Modules
                         {
                             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);
+
                             _atmWaferTargets.Remove(tar.Key);
 
                             if(ModuleHelper.IsAligner(tar.Key.Module))
@@ -1859,21 +1877,39 @@ namespace Venus_RT.Modules
         }
         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);
                 if (wafer.IsEmpty)
-                    return false;
+                    continue;
 
-                if (checkAllProcessed && IsWaferNeedGotoModule(wafer, ModuleName.PMA) || IsWaferNeedGotoModule(wafer, ModuleName.PMB))
-                    return false;
+                foreach(var mod in _vacModules)
+                {
+                    if(ModuleHelper.IsPm(mod.Key))
+                    {
+                        if (checkAllProcessed && IsWaferNeedGotoModule(wafer, mod.Key))
+                        {
+                            mod.Value.InUsed = true;
+                            allWaferReturn = false;
+                        }
+                    }
+                }
             }
 
-            return true;
+            return allWaferReturn;
         }
 
         private void UpdateProcessJobStatus()
         {
+            foreach(var mod in _vacModules)
+            {
+                if (ModuleHelper.IsPm(mod.Key))
+                {
+                    mod.Value.InUsed = false;
+                }
+            }
+
             foreach (var pj in _lstProcessJobs)
             {
                 if (pj.State == EnumProcessJobState.Processing)

Venus/Venus_RT/Modules/Schedulers/SchedulerModule.cs

@@ -124,8 +124,7 @@ namespace Venus_RT.Scheduler
         {
             _module = module;
             WaferArriveTicks = new Dictionary<int, long>();
-            WaferArriveTicks[0] = DateTime.Now.Ticks;
-            WaferArriveTicks[1] = WaferArriveTicks[0];
+            WaferArriveTicks[3] = WaferArriveTicks[2] = WaferArriveTicks[1] = WaferArriveTicks[0] = DateTime.Now.Ticks;
         }
         protected void LogTaskStart(TaskType cmd, string message)
         {
@@ -262,6 +261,17 @@ namespace Venus_RT.Scheduler
         {
             return 0;
         }
+
+        public virtual void WaferArrived(int slot)
+        {
+            WaferArriveTicks[slot] = DateTime.Now.Ticks;
+        }
+
+        public virtual long WaferArrivedTicks(int slot)
+        {
+            return DateTime.Now.Ticks - WaferArriveTicks[slot];
+        }
+
         #endregion
     }