Kepler-Release/Venus/Venus_RT/Modules/LLs/LLEntity.cs

using System;
using Aitex.Core.Util;
using Aitex.Core.RT.Fsm;
using Aitex.Core.RT.Log;
using MECF.Framework.Common.Equipment;
using MECF.Framework.Common.SubstrateTrackings;
using Venus_RT.Modules.TM;
using Venus_RT.Devices;
using Venus_Core;
using Aitex.Core.RT.DataCenter;
using Aitex.Core.RT.OperationCenter;
using Aitex.Core.RT.Device;
using Aitex.Core.RT.SCCore;

namespace Venus_RT.Modules
{
    class LLEntity : Entity, IEntity, IModuleEntity
    {
        public enum LLStatus
        {
            Not_Ready,
            Ready_For_TM,
            Ready_For_EFEM,
        }

        public enum STATE
        {
            Unknown,
            Init,
            Initializing,
            Idle,
            Error,
            Pumping,
            Venting,
            Purging,
            LeakCheck,
            Prepare_For_TM,
            Prepare_For_EFEM,
            Ready_For_TM,
            Ready_For_EFEM,
        }

        public enum MSG
        {
            Home,
            Online,
            Offline,
            Pump,
            Vent,
            Purge,
            CyclePurge,
            LeakCheck,
            Prepare_TM,
            Prepare_EFEM,
            TM_Exchange_Ready,
            EFEM_Exchange_Ready,
            Error,
            Abort,
        }

        public ModuleName Module { get; private set; }

        public LLStatus Status { get; private set; }

        public bool Check(int msg, out string reason, params object[] args)
        {
            throw new NotImplementedException();
        }
        public bool IsIdle
        {
            get { return fsm.State == (int)STATE.Idle; }
        }

        public bool IsError
        {
            get { return fsm.State == (int)STATE.Error; }
        }

        public bool IsInit
        {
            get { return fsm.State == (int)STATE.Unknown || fsm.State == (int)STATE.Init; }
        }

        public bool IsBusy
        {
            get { return !IsInit && !IsError && !IsIdle; }
        }

        public bool IsOnline { get; internal set; }

        private readonly JetTM _JetTM;
        private readonly MFPumpRoutine _pumpingRoutine;
        private readonly MFVentRoutine _ventingRoutine;
        private readonly MFLeakCheckRoutine _leakCheckRoutine;
        private readonly MFPurgeRoutine _purgeRoutine;
        private bool _isATMMode;
        public LLEntity(ModuleName module)
        {
            Module = module;
            //_JetTM = Singleton<JetTM>.Instance;
            _JetTM= DEVICE.GetDevice<JetTM>("TM");

            _pumpingRoutine     = new MFPumpRoutine(_JetTM, Module);
            _ventingRoutine     = new MFVentRoutine(_JetTM, Module);
            _leakCheckRoutine   = new MFLeakCheckRoutine(_JetTM, Module);
            _purgeRoutine       = new MFPurgeRoutine(_JetTM, Module);

            _isATMMode = SC.GetValue<bool>("System.IsATMMode");

            var soltCount= SC.GetValue<int>($"{module.ToString()}.SlotNumber");
            WaferManager.Instance.SubscribeLocation(Module, soltCount);

            InitFsmMap();
        }
        protected override bool Init()
        {

            OP.Subscribe($"{Module}.Home", (cmd, args) => CheckToPostMessage((int)MSG.Home));
            OP.Subscribe($"{Module}.{RtOperation.Pump}", (cmd, args) => CheckToPostMessage((int)MSG.Pump));
            OP.Subscribe($"{Module}.{RtOperation.Vent}", (cmd, args) => CheckToPostMessage((int)MSG.Vent));
            OP.Subscribe($"{Module}.{RtOperation.Purge}", (cmd, args) => CheckToPostMessage((int)MSG.Purge));
            OP.Subscribe($"{Module}.{RtOperation.Abort}", (cmd, args) => CheckToPostMessage((int)MSG.Abort));
            OP.Subscribe($"{Module}.{RtOperation.LeakCheck}", (cmd, args) => CheckToPostMessage((int)MSG.LeakCheck));



            DATA.Subscribe($"{Module}.FsmState", () => (((STATE)fsm.State).ToString()));
            DATA.Subscribe($"{Module}.FsmPrevState", () => (((PMState)fsm.PrevState).ToString()));
            DATA.Subscribe($"{Module}.FsmLastMessage", () => (((MSG)fsm.LastMsg).ToString()));
            return true;
        }
        private void InitFsmMap()
        {
            fsm = new StateMachine<LLEntity>(Module.ToString(), (int)STATE.Init, 50);
            fsm.EnableRepeatedMsg(true);

            EnterExitTransition<STATE, FSM_MSG>(STATE.Ready_For_TM,     fnEnterTMReady,     FSM_MSG.NONE,   fnExitTMReady);
            EnterExitTransition<STATE, FSM_MSG>(STATE.Ready_For_EFEM,   fnEnterEFEMReady,   FSM_MSG.NONE,   fnExitEFEMReady);

            //AnyStateTransition(FSM_MSG.TIMER,   fnMonitor,          FSM_STATE.SAME);


            AnyStateTransition(MSG.Error,       fnError,            STATE.Error);
            AnyStateTransition(MSG.Online,      fnOnline,           FSM_STATE.SAME);
            AnyStateTransition(MSG.Offline,     fnOffline,          FSM_STATE.SAME);
            AnyStateTransition(MSG.Home,        fnHome,             STATE.Initializing);

            // Home
            Transition(STATE.Initializing,      FSM_MSG.TIMER,      fnHoming,           STATE.Idle);

            Transition(STATE.Idle,              FSM_MSG.TIMER,      fnMonitor,          STATE.Idle);
            Transition(STATE.Init,              FSM_MSG.TIMER,      fnMonitor,          STATE.Init);

            //vent sequence
            Transition(STATE.Idle,              MSG.Vent,           FnStartVent,        STATE.Venting);
            Transition(STATE.Venting,           FSM_MSG.TIMER,      FnVentTimeout,      STATE.Idle);
            Transition(STATE.Venting,           MSG.Abort,          FnAbortVent,        STATE.Idle);

            //Pump sequence
            Transition(STATE.Idle,              MSG.Pump,           FnStartPump,        STATE.Pumping);
            Transition(STATE.Pumping,           FSM_MSG.TIMER,      FnPumpTimeout,      STATE.Idle);
            Transition(STATE.Pumping,           MSG.Abort,          FnAbortPump,        STATE.Idle);

            // Purge sequence
            Transition(STATE.Idle,              MSG.Purge,     FnStartPurge,       STATE.Purging);
            Transition(STATE.Purging,           FSM_MSG.TIMER,      FnPurgeTimeout,     STATE.Idle);
            Transition(STATE.Purging,           MSG.Abort,          FnAbortPurge,       STATE.Idle);

            // Leak check sequence
            Transition(STATE.Idle,              MSG.LeakCheck,      FnStartLeakCheck,   STATE.LeakCheck);
            Transition(STATE.LeakCheck,         FSM_MSG.TIMER,      FnLeakCheckTimeout, STATE.Idle);
            Transition(STATE.LeakCheck,         MSG.Abort,          FnAbortLeakCheck,   STATE.Idle);

            // Prepare TM Transfer
            Transition(STATE.Idle,              MSG.Prepare_TM,         FnStartPrepareTM,       STATE.Prepare_For_TM);
            Transition(STATE.Prepare_For_TM,    FSM_MSG.TIMER,          FnPreparaTMTimeout,     STATE.Ready_For_TM);
            Transition(STATE.Ready_For_TM,      MSG.TM_Exchange_Ready,  null,                   STATE.Idle);

            // Prepare EFEM Transfer
            Transition(STATE.Idle,              MSG.Prepare_EFEM,       FnStartPrepareEFEM,     STATE.Prepare_For_EFEM);
            Transition(STATE.Prepare_For_EFEM,  FSM_MSG.TIMER,          FnPrepareEFEMTimeout,   STATE.Ready_For_EFEM);
            Transition(STATE.Ready_For_EFEM,    MSG.EFEM_Exchange_Ready, null,                  STATE.Idle);


            Running = true;
        }

        public int Invoke(string function, params object[] args)
        {
            switch (function)
            {
                case "Home":
                    CheckToPostMessage((int)MSG.Home);
                    return (int)MSG.Home;
            }

            return (int)FSM_MSG.NONE;
        }

        public bool CheckAcked(int msg)
        {
            return fsm.CheckExecuted(msg);
        }

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

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

            return true;
        }

        private bool fnEnterTMReady(object[] param)
        {
            Status = LLStatus.Ready_For_TM;
            return true;
        }

        private bool fnExitTMReady(object[] param)
        {
            Status = LLStatus.Not_Ready;
            return true;
        }

        private bool fnEnterEFEMReady(object[] param)
        {
            Status = LLStatus.Ready_For_EFEM;
            return true;
        }

        private bool fnExitEFEMReady(object[] param)
        {
            Status = LLStatus.Not_Ready;
            return true;
        }

        private bool fnMonitor(object[] param)
        {
            _debugRoutine();
            return true;
        }

        private bool fnError(object[] param)
        {
            IsOnline = false;
            return true;
        }

        private bool fnOnline(object[] param)
        {
            IsOnline = true;
            return true;
        }

        private bool fnOffline(object[] param)
        {
            IsOnline = false;
            return true;
        }

        private bool fnAbort(object[] param)
        {
            return true;
        }

        private bool fnHome(object[] param)
        {
            return true;
        }

        private bool fnHoming(object[] param)
        {
            return true;
        }

        private bool FnStartVent(object[] param)
        {
            return _ventingRoutine.Start() == RState.Running;
        }

        private bool FnVentTimeout(object[] param)
        {
            RState ret = _ventingRoutine.Monitor();
            if (ret == RState.Failed || ret == RState.Timeout)
            {
                PostMsg(MSG.Error);
                return false;
            }

            return ret == RState.End;
        }

        private bool FnAbortVent(object[] param)
        {
            _ventingRoutine.Abort();
            return true;
        }

        private bool FnStartPump(object[] param)
        {
            return _pumpingRoutine.Start() == RState.Running;
        }

        private bool FnPumpTimeout(object[] param)
        {
            RState ret = _pumpingRoutine.Monitor();
            if (ret == RState.Failed || ret == RState.Timeout)
            {
                PostMsg(MSG.Error);
                return false;
            }

            return ret == RState.End;
        }

        private bool FnAbortPump(object[] param)
        {
            _pumpingRoutine.Abort();
            return true;
        }

        private bool FnStartPurge(object[] param)
        {
            return _purgeRoutine.Start() == RState.Running;
        }

        private bool FnPurgeTimeout(object[] param)
        {
            RState ret = _purgeRoutine.Monitor();
            if (ret == RState.Failed || ret == RState.Timeout)
            {
                PostMsg(MSG.Error);
                return false;
            }

            return ret == RState.End;
        }

        private bool FnAbortPurge(object[] param)
        {
            _purgeRoutine.Abort();
            return true;
        }

        private bool FnStartLeakCheck(object[] param)
        {
            return _leakCheckRoutine.Start() == RState.Running;
        }

        private bool FnLeakCheckTimeout(object[] param)
        {
            RState ret = _leakCheckRoutine.Monitor();
            if (ret == RState.Failed || ret == RState.Timeout)
            {
                PostMsg(MSG.Error);
                return false;
            }

            return ret == RState.End;
        }

        private bool FnAbortLeakCheck(object[] param)
        {
            _leakCheckRoutine.Abort();
            return true;
        }

        private bool FnStartPrepareTM(object[] param)
        {
            if (_isATMMode)
                return true;

            return _pumpingRoutine.Start() == RState.Running;
        }

        private bool FnPreparaTMTimeout(object[] param)
        {
            if(_isATMMode)
            {
                if (fsm.ElapsedTime > 10000)
                {
                    LOG.Write(eEvent.ERR_TM, Module, $"Cannot transfer wafer as {Module} is not ATM.");
                    PostMsg(MSG.Error);
                    return true;
                }
                    

                return _JetTM.IsModuleATM(Module);
            }

            RState ret = _pumpingRoutine.Monitor();
            if (ret == RState.Failed || ret == RState.Timeout)
            {
                PostMsg(MSG.Error);
                return false;
            }

            return ret == RState.End;
        }

        private bool FnStartPrepareEFEM(object[] param)
        {
            if (_isATMMode)
                return true;

            return _ventingRoutine.Start() == RState.Running;
        }

        private bool FnPrepareEFEMTimeout(object[] param)
        {
            if (_isATMMode)
            {
                if (fsm.ElapsedTime > 10000)
                {
                    LOG.Write(eEvent.ERR_TM, Module, $"Cannot transfer wafer as {Module} is not ATM.");
                    PostMsg(MSG.Error);
                    return true;
                }

                return _JetTM.IsModuleATM(Module);
            }

            RState ret = _ventingRoutine.Monitor();
            if (ret == RState.Failed || ret == RState.Timeout)
            {
                PostMsg(MSG.Error);
                return false;
            }

            return ret == RState.End;
        }

        private void _debugRoutine()
        {
            int flag = 0;
            // Test Home routine
            if (flag == 1)
            {
                PostMsg(MSG.Home);
            }
            else if (flag == 2)
            {
                PostMsg(MSG.Vent);
            }
            else if (flag == 3)
            {
                PostMsg(MSG.Pump);
            }
            //else if (flag == 4)
            //{
            //    PostMsg(MSG.PumpLoadLock);
            //}
            //else if (flag == 5)
            //{
            //    PostMsg(MSG.VentLoadLock);
            //}
            //else if (flag == 6)
            //{
            //    PostMsg(MSG.PurgeLoadLock);
            //}
            //else if (flag == 7)
            //{
            //    PostMsg(MSG.LaunchPump);
            //}
            //else if (flag == 8)
            //{
            //    PostMsg(MSG.LaunchTurboPump);
            //}
            //else if (flag == 9)
            //{
            //    PostMsg(MSG.LoadLockLeakCheck);
            //}
            else if (flag == 10)
            {
                PostMsg(MSG.CyclePurge);
            }
            //else if (flag == 11)
            //{
            //    PostMsg(MSG.GasLinePurge);
            //}
            //else if (flag == 12)
            //{
            //    PostMsg(MSG.LeakCheck);
            //}
            //else if (flag == 13)
            //{
            //    PostMsg(MSG.GasLeakCheck);
            //}
            //else if (flag == 14)
            //{
            //    PostMsg(MSG.LLPlace);
            //}
            //else if (flag == 15)
            //{
            //    PostMsg(MSG.LLPick);
            //}
            //else if (flag == 16)
            //{
            //    PostMsg(MSG.RunRecipe, "7777");
            //}
            //else if (flag == 17)
            //{
            //    PostMsg(MSG.MFCVerification, "MFC2", (double)50, 10);
            //}
        }
    }
}