Kepler-Release/Venus/Venus_RT/Modules/RouteManager.cs

using System;
using System.Collections;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Threading.Tasks;
using Aitex.Core.RT.Fsm;
using Aitex.Core.Common;
using Aitex.Core.RT.DataCenter;
using Aitex.Core.RT.Event;
using Aitex.Core.RT.OperationCenter;
using Aitex.Core.RT.Routine;
using Aitex.Core.RT.SCCore;
using Aitex.Core.Util;
using MECF.Framework.Common.Equipment;
using MECF.Framework.Common.SubstrateTrackings;
using Venus_Core;
using Venus_RT.Modules.PMs;
using Aitex.Core.RT.Log;
namespace Venus_RT.Modules
{
    class RouteManager : Entity, IEntity
    {

        public enum MSG
        {
            MoveWafer,
            ReturnWafer,

            HomeUnit,

            PauseAuto,
            ResumeAuto,

            Stop,

            StartCycle,
            StopCycle,

            HOME,
            RESET,
            ABORT,
            ERROR,

            SetAutoMode,
            SetManualMode,

            ResetIdleCleanTime,
            ResetIdlePurgeTime,

            CreateJob,
            PauseJob,
            ResumeJob,
            StartJob,
            StopJob,
            AbortJob,
            JobDone,
            CassetteLeave,  //For unload light control off afer job done

            Map,
            ReturnAllWafer,
            TMCycle,
        }

        public PMEntity PMA { get; private set; }
        public PMEntity PMB { get; private set; }
        public PMEntity PMC { get; private set; }
        public PMEntity PMD { get; private set; }

        public TMEntity TM { get; private set; }

        public LLEntity LLA { get; private set; }

        public LLEntity LLB { get; private set; }

        public EfemEntity EFEM { get; private set; }

        public string Name { get; set; }

        private TMCycle _TMCycle;

        public RouteManager()
        {
            Name = "System";

            if (ModuleHelper.IsInstalled(ModuleName.PMA))
                PMA = new PMEntity(ModuleName.PMA);

            if (ModuleHelper.IsInstalled(ModuleName.PMB))
                PMB = new PMEntity(ModuleName.PMB);

            if (ModuleHelper.IsInstalled(ModuleName.PMC))
                PMC = new PMEntity(ModuleName.PMC);

            if (ModuleHelper.IsInstalled(ModuleName.PMD))
                PMD = new PMEntity(ModuleName.PMD);

            if (ModuleHelper.IsInstalled(ModuleName.TM))
                TM = new TMEntity();

            if (ModuleHelper.IsInstalled(ModuleName.LLA))
                LLA = new LLEntity(ModuleName.LLA);

            if (ModuleHelper.IsInstalled(ModuleName.LLB))
                LLB = new LLEntity(ModuleName.LLB);

            fsm = new StateMachine<RouteManager>(Name, (int)RtState.Init, 200);

            SubscribeOperation();
        }

        public bool Check(int msg, out string reason, params object[] args)
        {
            if (!fsm.FindTransition(fsm.State, msg))
            {
                reason = String.Format("{0} is in {1} state，can not do {2}", Name, 0, (MSG)msg);
                return false;
            }

            if (msg == (int)MSG.StartCycle)
            {
                //if (!IsAutoMode)
                {
                    reason = String.Format("can not do {0}, isn't auto mode.", msg.ToString());
                    return false;
                }
            }
            reason = "";

            return true;
        }
        void SubscribeOperation()
        {
            OP.Subscribe("CreateWafer", InvokeCreateWafer);

            OP.Subscribe("DeleteWafer", InvokeDeleteWafer);


            OP.Subscribe("System.Home", (cmd, args) => CheckToPostMessage((int)MSG.HOME, args));
            OP.Subscribe("TMCycle.Start", (cmd, args) => CheckToPostMessage((int)MSG.TMCycle, args));
            OP.Subscribe("TMCycle.Abort", (cmd, args) => CheckToPostMessage((int)MSG.StopCycle, args));


            DATA.Subscribe("SYSTEM.FsmState", () => (((RtState)fsm.State).ToString()));
            DATA.Subscribe("TMCycle.CycleIndex", () => (_TMCycle.CycleIndex));



        }
        public bool CheckToPostMessage(int msg, params object[] args)
        {
            if (!fsm.FindTransition(fsm.State, msg))
            {
                LOG.Write(eEvent.WARN_FSM_WARN, ModuleName.TM, $"TM is in {(RtState)fsm.State} state，can not do {(MSG)msg}");
                return false;
            }

            Running = true;
            fsm.PostMsg(msg, args);

            return true;
        }

        private bool InvokeCreateWafer(string arg1, object[] args)
        {
            ModuleName chamber = ModuleHelper.Converter(args[0].ToString());
            int slot = (int)args[1];
            WaferStatus state = WaferStatus.Normal;

            if (WaferManager.Instance.IsWaferSlotLocationValid(chamber, slot))
            {
                if (WaferManager.Instance.CheckHasWafer(chamber, slot))
                {
                    EV.PostInfoLog("System", string.Format("{0} slot {1} already has wafer.create wafer is not valid", chamber, slot));
                }
                else if (WaferManager.Instance.CreateWafer(chamber, slot, state) != null)
                {
                    //EV.PostMessage(ModuleName.System.ToString(), EventEnum.WaferCreate, chamber.ToString(), slot + 1, state.ToString());
                    LOG.Write(eEvent.EV_WAFER_CREATE, ModuleName.System, chamber.ToString(), (slot + 1).ToString(), state.ToString());
                }
            }
            else
            {
                EV.PostWarningLog("System", string.Format("Invalid position，{0}，{1}", chamber.ToString(), slot.ToString()));
                return false;
            }

            return true;
        }
        private bool InvokeDeleteWafer(string arg1, object[] args)
        {
            ModuleName chamber = ModuleHelper.Converter(args[0].ToString());
            int slot = (int)args[1];

            if (WaferManager.Instance.IsWaferSlotLocationValid(chamber, slot))
            {
                if (WaferManager.Instance.CheckHasWafer(chamber, slot))
                {
                    WaferManager.Instance.DeleteWafer(chamber, slot);
                    EV.PostMessage(ModuleName.System.ToString(), EventEnum.WaferDelete, chamber.ToString(), slot + 1);
                }
                else
                {
                    EV.PostInfoLog("System", string.Format("No wafer at {0} {1}, delete not valid", chamber.ToString(), slot + 1));
                }
            }
            else
            {
                EV.PostWarningLog("System", string.Format("Invalid position，{0}，{1}", chamber.ToString(), slot.ToString()));
                return false;
            }

            return true;
        }

        public PMEntity GetPM(ModuleName mod)
        {
            if (ModuleHelper.IsInstalled(mod))
            {
                switch (mod)
                {
                    case ModuleName.PMA:
                        return PMA;
                    case ModuleName.PMB:
                        return PMB;
                    case ModuleName.PMC:
                        return PMC;
                    case ModuleName.PMD:
                        return PMD;
                }
            }

            return null;
        }

        public LLEntity GetLL(ModuleName mod)
        {
            if (ModuleHelper.IsInstalled(mod))
            {
                switch (mod)
                {
                    case ModuleName.LLA:
                        return LLA;
                    case ModuleName.LLB:
                        return LLB;
                }
            }

            return null;
        }

        public TMEntity GetTM()
        {
            return TM;
        }
    

        protected override bool Init()
        {
            PMA?.Initialize();
            PMB?.Initialize();
            TM?.Initialize();
            LLA?.Initialize();
            LLB?.Initialize();

            _TMCycle = new TMCycle();

            BuildTransitionTable();

           

            return true;
        }
       
        private void BuildTransitionTable()
        {
            fsm = new StateMachine<RouteManager>(ModuleName.System.ToString(), (int)RtState.Init, 50);
            //Init sequence
            Transition(RtState.Init, MSG.HOME, FsmStartHome, RtState.Initializing);
            Transition(RtState.Idle, MSG.HOME, FsmStartHome, RtState.Initializing);
            Transition(RtState.Error, MSG.HOME, FsmStartHome, RtState.Initializing);

            ////  EnterExitTransition<RtState, FSM_MSG>(RtState.Initializing, fStartInit, FSM_MSG.NONE, null);
            ///
            Transition(RtState.Idle, FSM_MSG.TIMER, FsmMonitor, RtState.Idle);
            Transition(RtState.Init, FSM_MSG.TIMER, FsmMonitor, RtState.Init);

            Transition(RtState.Initializing, FSM_MSG.TIMER, FsmMonitorHome, RtState.Idle);
            Transition(RtState.Initializing, MSG.ERROR, FsmError, RtState.Error);
            Transition(RtState.Initializing, MSG.ABORT, FsmAbort, RtState.Init);


            // TM  Cycle
            Transition(RtState.Idle,        MSG.TMCycle,        FsmStartTMCycle,        RtState.TMCycle);
            Transition(RtState.TMCycle,     FSM_MSG.TIMER,      FsmMonitorTMCycle,      RtState.Idle);
            Transition(RtState.TMCycle,     MSG.StopCycle,      FsmStopTMCycle,               RtState.Idle);

        }

        private bool FsmMonitor(object[] objs)
        {
            _debugRoutine();
            return true;
        }

        private bool FsmStartHome(object[] objs)
        {
            PMA?.Invoke("Home");
            PMB?.Invoke("Home");
            PMC?.Invoke("Home");
            PMD?.Invoke("Home");
            TM?.Invoke("Home");
            LLA?.Invoke("Home");
            LLB?.Invoke("Home");

            return true;
        }

        private bool FsmMonitorHome(object[] objs)
        {
            bool CheckHomed(string name, bool bValid, bool bDone)
            {
                if (bValid && !bDone)
                {
                    if (fsm.ElapsedTime > 20 * 1000)
                    {
                        LOG.Write(eEvent.ERR_ROUTER, ModuleName.System, $"{name} home timeout");
                        PostMsg(MSG.ERROR);
                        return true;
                    }
                    else
                        return false;
                }

                return true;
            }

            return CheckHomed("PMA", PMA != null, PMA != null&&PMA.IsIdle) &&
                CheckHomed("PMB", PMB != null, PMB != null&&PMA.IsIdle) &&
                CheckHomed("PMC", PMC != null, PMC != null&&PMC.IsIdle) &&
                CheckHomed("PMD", PMD != null, PMD != null&&PMD.IsIdle) &&
                CheckHomed("LLA", LLA != null, LLA != null&&LLA.IsIdle) &&
                CheckHomed("LLB", LLB != null, LLB != null&&LLB.IsIdle) &&
                CheckHomed("TM", TM != null, TM != null&&TM.IsIdle);
        }

        private bool FsmError(object[] objs)
        {
            return true;
        }

        private bool FsmAbort(object[] objs)
        {
            return true;
        }

        private bool FsmStartTMCycle(object[] objs)
        {
            return _TMCycle.Start(objs) == RState.Running;
        }

        private bool FsmMonitorTMCycle(object[] objs)
        {
            RState ret = _TMCycle.Monitor();
            if (ret == RState.Failed || ret == RState.Timeout)
            {
                PostMsg(MSG.ERROR);
                return false;
            }

            return ret == RState.End;
        }
        private bool FsmStopTMCycle(object[] objs)
        {
            _TMCycle.Abort();
            return true;          
        }
        private void _debugRoutine()
        {
            int flag = 0;
            // Test Home routine
            if (flag == 1)
            {
                PostMsg(MSG.HOME);
            }
            else if (flag == 2)
            {
                PostMsg(MSG.TMCycle);
            }

        }

    }
}