Kepler-Release/Venus/Venus_RT/Modules/TM/VenusEntity/SEMFPMPlaceRoutine.cs

using Aitex.Core.RT.Log;
using Aitex.Core.RT.Routine;
using Aitex.Core.RT.SCCore;
using Aitex.Core.Util;
using Aitex.Sorter.Common;
using MECF.Framework.Common.DBCore;
using MECF.Framework.Common.Equipment;
using MECF.Framework.Common.Schedulers;
using MECF.Framework.Common.SubstrateTrackings;
using MECF.Framework.RT.EquipmentLibrary.HardwareUnits.Robot;
using MECF.Framework.RT.EquipmentLibrary.HardwareUnits.TMs;
using System;
using System.Collections.Generic;
using System.Linq;
using System.Reflection;
using System.Text;
using System.Threading.Tasks;
using Venus_Core;
using Venus_RT.Devices;
using Venus_RT.Devices.TM;
using Venus_RT.Modules.PMs;

namespace Venus_RT.Modules.TM.VenusEntity
{
    public class SEMFPMPlaceRoutine : ModuleRoutineBase, IRoutine
    {
        private enum PlaceStep
        {
            WaitPMReady,
            PMPrepare,
            ArmExtend,
            QueryAWC,
            LiftUpWafer,
            PlaceDelay,
            PlaceDelay1,
            PlaceDelay2,
            ArmRetract,
            SavePlaceData,
            NotifyDone,
            CloseDoor,
            EndDelay
        }

        private readonly TMBase _TM;
        private readonly ITransferRobot _robot;

        private int _ExtendTimeout = 120 * 1000;
        private int _RetractTimeout = 120 * 1000;
        private int _placeDelayTime = 0;
        private ModuleName _targetModule;
        private PMEntity _pmModule;
        private int _targetSlot;
        private Hand _hand;

        private DateTime _starttime;
        private bool _queryAwc;

        public SEMFPMPlaceRoutine(TMBase honghutm, ITransferRobot robot,ModuleName module) : base(module)
        {
            _TM = honghutm;
            _robot = robot;
            Name = "Place to PM";

            _queryAwc = false;
        }

        public RState Start(params object[] objs)
        {
            _starttime = DateTime.Now;
            if (!_robot.IsHomed)
            {
                LOG.Write(eEvent.ERR_TM, Module, $"TM Robot is not homed, please home it first");
                return RState.Failed;
            }

            var placeItem = (Queue<MoveItem>)objs[0];
            _targetModule = placeItem.Peek().DestinationModule;
            _targetSlot = placeItem.Peek().DestinationSlot;
            _hand = placeItem.Peek().RobotHand;

            if (ModuleHelper.IsPm(_targetModule) && ModuleHelper.IsInstalled(_targetModule))
            {
                _pmModule = Singleton<RouteManager>.Instance.GetPM(_targetModule);
            }
            else
            {
                LOG.Write(eEvent.ERR_TM, Module, $"Invalid target module : {_targetModule} for placing action");
                return RState.Failed;
            }

            if (WaferManager.Instance.CheckNoWafer(ModuleName.TMRobot, (int)_hand))
            {
                LOG.Write(eEvent.ERR_TM, Module, $"Cannot Place as TM Robot Arm: {_hand} has no wafer");
                return RState.Failed;
            }

            if (WaferManager.Instance.CheckHasWafer(_targetModule, _targetSlot))
            {
                LOG.Write(eEvent.ERR_TM, Module, $"Cannot Place as {_targetModule} Slot {_targetSlot + 1} already has a wafer");
                return RState.Failed;
            }

            var wafer = WaferManager.Instance.GetWafer(ModuleName.TMRobot, (int)_hand);
            LOG.Write(eEvent.INFO_TM_ROBOT, ModuleName.TMRobot, $"{wafer.WaferOrigin} will be move from TM Robot {_hand}  to {_targetModule} {_targetSlot + 1}");

            Reset();
            _ExtendTimeout = SC.GetValue<int>($"{Module}.ExtendTimeout") * 1000;
            _RetractTimeout = SC.GetValue<int>($"{Module}.RetractTimeout") * 1000;
            _placeDelayTime = SC.GetValue<int>($"{_targetModule}.PlaceDelayTime");

            return Runner.Start(Module, $"Place to {_targetModule}");
        }

        public RState Monitor()
        {
            Runner.Wait(PlaceStep.WaitPMReady, () => _pmModule.IsIdle, _delay_60s)
                .Run(PlaceStep.PMPrepare, ModulePrepare, IsModulePrepareReady, _delay_60s)
                .Delay(PlaceStep.PlaceDelay, _placeDelayTime)
                .Run(PlaceStep.ArmExtend, ArmExtend, WaitRobotExtendDone, _ExtendTimeout)
                .Run(PlaceStep.QueryAWC, QueryAWC, WaitRobotQueryDone, _delay_1s)
                .Run(PlaceStep.LiftUpWafer, NotifyPMPlaceWafer, WaitPMWaferLiftUp, _delay_30s)
                .Delay(PlaceStep.PlaceDelay1, _placeDelayTime)
                .Run(PlaceStep.ArmRetract, ArmRetract, WaitRobotRetractDone, _RetractTimeout)
                .Run(PlaceStep.SavePlaceData, RecordAWCData, NullFun)
                .Run(PlaceStep.NotifyDone, NotifyPMDone, _delay_50ms)
                .Delay(PlaceStep.PlaceDelay2, _delay_50ms)
                .Run(PlaceStep.CloseDoor, PMDoorClose, WaitPMDoorClose)
                .End(PlaceStep.EndDelay, NullFun, _delay_50ms);

            return Runner.Status;
        }
        private bool ModulePrepare()
        {
            _pmModule.PostMsg(PMEntity.MSG.PreparePlace);
            //_TM.TurnSlitDoor(_targetModule, true);
            return true;
        }

        private bool IsModulePrepareReady()
        {
            return _pmModule.Status == PMEntity.PMStatus.Ready_For_Place && _pmModule.IsSlitDoorOpen;
        }


        private bool ArmExtend()
        {
            if (!_pmModule.IsSlitDoorOpen)
            {
                LOG.Write(eEvent.ERR_TM, Module, $"Cannot place as {_targetModule} Door is not Open");
                return false;
            }
            return _robot.PlaceExtend(_targetModule, _targetSlot, _hand);
        }
        private bool ArmRetract()
        {
            return _robot.PlaceRetract(_targetModule, _targetSlot, _hand);
        }
        private bool QueryAWC()
        {
            if (!_queryAwc)
                return true;
            else
                return _robot.QueryAwc();
        }
        private bool WaitRobotExtendDone()
        {
            if (_robot.Status == RState.Running)
            {
                return false;
            }
            else if (_robot.Status == RState.End)
            {
                return true;
            }
            else
            {
                Runner.Stop($"TM Robot Place Extend failed, {_robot.Status}");
                Singleton<RouteManager>.Instance.GetPM(_targetModule).PostMsg(PMEntity.MSG.Error);
                return true;
            }
        }

        private bool RecordAWCData()
        {
            if (!_queryAwc)
                return true;

            //已经move后的数据
            string _origin_module = $"LP{WaferManager.Instance.GetWafer(_targetModule, _targetSlot).OriginStation}";
            int _origin_slot = WaferManager.Instance.GetWafer(_targetModule, _targetSlot).OriginSlot;
            //查询完毕 插入数据
            OffsetDataRecorder.RecordOffsetData(
                Guid.NewGuid().ToString(),
                ModuleName.TMRobot, 0,
                _targetModule, _targetSlot,
                _origin_module, _origin_slot,
                _hand, RobotArmPan.None,
                _robot.Offset_X, _robot.Offset_Y, _robot.Offset_D,
                _starttime, DateTime.Now);
            return true;
        }

        private bool WaitRobotQueryDone()
        {
            if (!_queryAwc)
                return true;

            if (_robot.Status == RState.Running)
            {
                return false;
            }
            else if (_robot.Status == RState.End)
            {
                return true;
            }
            else
            {
                Runner.Stop($"TM Robot Query Awc failed, {_robot.Status}");
                Singleton<RouteManager>.Instance.GetPM(_targetModule).PostMsg(PMEntity.MSG.Error);
                return true;
            }
        }
        private bool NotifyPMPlaceWafer()
        {
            _pmModule.PostMsg(PMEntity.MSG.LiftUpWafer);
            return true;
        }

        private bool WaitPMWaferLiftUp()
        {
            return _pmModule.Status == PMEntity.PMStatus.Exchange_Ready;
        }

        private bool WaitRobotRetractDone()
        {
            if (_robot.Status == RState.Running)
            {
                return false;
            }
            else if (_robot.Status == RState.End)
            {

                WaferManager.Instance.WaferMoved(ModuleName.TMRobot, (int)_hand, _targetModule, _targetSlot);
                return true;
            }
            else
            {
                Runner.Stop($"TM Robot Place Retract failed, {_robot.Status}");
                Singleton<RouteManager>.Instance.GetPM(_targetModule).PostMsg(PMEntity.MSG.Error);
                return true;
            }
        }
        private bool NotifyPMDone()
        {
            _pmModule.PostMsg(PMEntity.MSG.PlaceReady);
            //_TM.TurnSlitDoor(_targetModule, false);
            return true;
        }

        private bool PMDoorClose()
        {
            LOG.Write(eEvent.WARN_TM, Module, $"PMPlace Close Door Again");
            return _TM.TurnSlitDoor(_targetModule, false);
        }

        private bool WaitPMDoorClose()
        {
            if (_TM.CheckSlitValveClose(_targetModule))
            {
                LOG.Write(eEvent.WARN_TM, Module, $"PMPlace Check Door Close");
                return true;
            }
            else
            {
                LOG.Write(eEvent.WARN_TM, Module, $"PMPlace Check not Close Door");
                return false;
            }
        }

        public void Abort()
        {
            _robot.Halt();
        }
    }
}