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

using Aitex.Core.Common;
using Aitex.Core.RT.Device.Unit;
using Aitex.Core.RT.Fsm;
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.Equipment;
using MECF.Framework.Common.Schedulers;
using MECF.Framework.Common.SubstrateTrackings;
using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Threading.Tasks;
using Venus_Core;
using Venus_RT.Modules.Schedulers;

namespace Venus_RT.Modules
{
    public class SEManualTransfer : IRoutine
    {

        SchedulerSETMRobot _tmrobot;
        
        private List<MoveItem> _moveQueue = new List<MoveItem>();
        private MovingStatus _moving_status = MovingStatus.Idle;
        private RState _transferstate = RState.Init;

        private ModuleName source_station;
        private int source_slot;
        private ModuleName destination_station;
        private int destination_slot;
        private ModuleName original_station;
        private int original_slot;
        private float align_angle;
        public SEManualTransfer()
        {
            _tmrobot = Singleton<TransferModule>.Instance.GetScheduler(ModuleName.TMRobot) as SchedulerSETMRobot;
        }

        public RState Start(params object[] objs)
        {
            _moveQueue.Clear();
            // obj is enable && robot is usable
            if (objs.Length > 6)
            {
                _transferstate = RState.Running;

                //get where we from and where we go
                source_station = (ModuleName)Enum.Parse(typeof(ModuleName),objs[0].ToString());
                source_slot = Convert.ToInt32(objs[1]);
                destination_station = (ModuleName)Enum.Parse(typeof(ModuleName), objs[2].ToString());
                destination_slot = Convert.ToInt32(objs[3]);

                WaferInfo waferInfo = WaferManager.Instance.GetWafer(source_station,source_slot);
                original_station = (ModuleName)waferInfo.OriginStation;
                original_slot = waferInfo.OriginSlot;

                if ((bool)objs[4])
                {
                    align_angle = float.Parse(objs[5].ToString());
                    _moving_status = MovingStatus.WaitAlign;
                }
                else
                    _moving_status = MovingStatus.Waiting;



                //if (ModuleHelper.IsVCE(source_station)  && _tmrobot.IsVCESlitDoorClosed)
                //{
                //    LOG.Write(eEvent.ERR_TM, ModuleName.TMRobot, $"cannot transfer from {source_station} as VCE InnerDoor is close.");
                //    _transferstate = RState.Failed;
                //}

                //if (ModuleHelper.IsVCE(destination_station) && _tmrobot.IsVCESlitDoorClosed)
                //{
                //    LOG.Write(eEvent.ERR_TM, ModuleName.TMRobot, $"cannot transfer to {destination_station} as VCE InnerDoor is close.");
                //    _transferstate = RState.Failed;
                //}

                //from tm to tm
                if (source_station == destination_station && ModuleHelper.IsTMRobot(source_station))
                {
                    LOG.Write(eEvent.ERR_TM,ModuleName.TMRobot,"cannot transfer from TMRobot to TMRobot.");
                    _transferstate = RState.Failed;
                }

                if(WaferManager.Instance.CheckNoWafer(source_station,source_slot))
                {
                    LOG.Write(eEvent.ERR_TM, ModuleName.TMRobot, "cannot transfer cause wafer has no wafer.");
                    _transferstate = RState.Failed;
                }

                if (WaferManager.Instance.CheckHasWafer(destination_station, destination_slot))
                {
                    LOG.Write(eEvent.ERR_TM, ModuleName.TMRobot, "cannot transfer cause wafer has wafer.");
                    _transferstate = RState.Failed;
                }

            }
            else 
            {
                _transferstate = RState.Failed;
            }

            return _transferstate;
        }

        public RState Monitor()
        {
            //if tm is free
            if (_tmrobot.IsAvailable)
            {
                CheckTransferOver();
                WaferNextGoto();
                TMRobotTask();
            }

            return _transferstate;
        }

        private void CheckTransferOver()
        {
            //when the transfer is over?
            //the wafer has arrived the targetModule and targetSlot
            if (WaferManager.Instance.CheckHasWafer(destination_station,destination_slot) 
                && (ModuleName)WaferManager.Instance.GetWafer(destination_station, destination_slot).OriginStation == original_station
                && WaferManager.Instance.GetWafer(destination_station, destination_slot).OriginSlot == original_slot && _moving_status == MovingStatus.Waiting)
            {
                _moving_status = MovingStatus.Idle;
                _transferstate = RState.End;
            }
        }

        private void WaferNextGoto()
        {
                switch(_moving_status)
                {
                    case MovingStatus.WaitAlign:
                        _moveQueue.Add(new MoveItem(source_station, source_slot, ModuleName.VPA, 0, 0));
                        _moving_status = MovingStatus.StartAlign;
                        break;
                    case MovingStatus.StartAlign:
                        _tmrobot.Align(align_angle);
                        _moving_status = MovingStatus.Aligning;
                        break;
                    case MovingStatus.Aligning:
                        if (destination_station != ModuleName.VPA)
                        {
                            _moveQueue.Add(new MoveItem(ModuleName.VPA, 0, destination_station, destination_slot, 0));
                            _moving_status = MovingStatus.Waiting;
                        }
                        else
                            _moving_status = MovingStatus.Waiting;
                    break;
                    //goto slot need to go
                    case MovingStatus.Waiting:
                        if (destination_station != ModuleName.VPA)
                            _moveQueue.Add(new MoveItem(source_station, source_slot, destination_station, destination_slot, 0));
                        break;
                }
            
        }

        private void TMRobotTask()
        {
            if (_tmrobot.IsAvailable)
            {
                if (_moveQueue.Count > 0 && _tmrobot.PostMoveItems(_moveQueue.ToArray()))
                {
                    foreach (var item in _moveQueue)
                    {
                        var wafer = WaferManager.Instance.GetWafer(item.SourceModule, item.SourceSlot);
                        if (wafer.IsEmpty && _tmrobot.IsAvailable)
                        {
                            // post alarm
                            _transferstate = RState.Failed;
                            LOG.Write(eEvent.ERR_ROUTER, ModuleName.System, $"Cannot run TM moving task as Get {item.SourceModule}{item.SourceSlot} Wafer Info failed");
                            return;
                        }

                    }
                    _moveQueue.Clear();
                }
            }
        }

        public void Abort()
        {
            _transferstate = RState.End;
            _tmrobot._entityTaskToken = (int)FSM_MSG.NONE;
            _tmrobot.Abort();
            _moveQueue.Clear();
            _moving_status = MovingStatus.Idle;
        }
    }

    public class SEReturnWafer : IRoutine
    {
        //target:
        //1. 1 wafer return as a Queue
        //2. all wafers return as a Queue
        private SEManualTransfer _transfer = null;
        private Queue<MoveItem> _ReturnQueue = new Queue<MoveItem> ();//all wafer enqueue
        private List<ModuleName> modulelist = new List<ModuleName>();
        private bool _alignflag;
        private float _alignangle;
        public SEReturnWafer(SEManualTransfer transfer)
        {
            _transfer = transfer;
            string[] InstalledModules = SC.GetStringValue("System.InstalledModules").ToString().Split(',');
            foreach (string module in InstalledModules)
            {
                //module without vce
                if(Enum.TryParse(module,out ModuleName mod) && !ModuleHelper.IsVCE(mod) && mod!=ModuleName.SETM)
                    modulelist.Add(mod);
            }
        }
        public RState Start(params object[] objs)
        {
            _ReturnQueue.Clear();
            //单个wafer
            if (objs.Length >= 4)
            {
                if (bool.TryParse(objs[2].ToString(), out bool alignflag) && float.TryParse(objs[3].ToString(), out float alignangle))
                {
                    _alignflag = alignflag;
                    _alignangle = alignangle;
                }
            }
            //all wafer return

            AllWaferBack();

            return RState.Running;
        }
        public RState Monitor()
        {
            while (_ReturnQueue.Count > 0 || _transfer.Monitor() == RState.Running)
            {
                switch (_transfer.Monitor())
                {
                    case RState.Init:
                    case RState.End:
                        MoveItem moveItem = _ReturnQueue.Dequeue();
                        return _transfer.Start(moveItem.SourceModule,moveItem.SourceSlot,moveItem.DestinationModule,moveItem.DestinationSlot, _alignflag, _alignangle, false,1,"");
                    case RState.Running:
                        return RState.Running;
                    case RState.Timeout:
                    case RState.Failed:
                        return RState.Failed;
                }
            }

            return RState.End;
        }

        private void AllWaferBack()
        {
            //Firstly,robot wafer back
            //Then,chamber wafer back
            CheckWaferEnqueue(ModuleName.TMRobot, 0);
            CheckWaferEnqueue(ModuleName.TMRobot, 1);

            foreach (ModuleName mod in modulelist)
            {
                if (mod == ModuleName.TMRobot)
                    continue;
                else
                    CheckWaferEnqueue(mod,0);
            }
        }

        //wafer back vce
        //1. has wafer
        //2. vce isinstalled and slot no wafer
        //3. robot check hand && chamber check 0
        private void CheckWaferEnqueue(ModuleName source_module,int source_slot)
        {
            if (WaferManager.Instance.CheckHasWafer(source_module, source_slot))
            {
                WaferInfo waferInfo = WaferManager.Instance.GetWafer(source_module, source_slot);
                if (ModuleHelper.IsVCE((ModuleName)waferInfo.OriginStation) 
                    && ModuleHelper.IsInstalled((ModuleName)waferInfo.OriginStation) 
                    && WaferManager.Instance.CheckNoWafer((ModuleName)waferInfo.OriginStation, waferInfo.OriginSlot))
                {
                    if(source_module == ModuleName.TMRobot)
                        _ReturnQueue.Enqueue(new MoveItem(source_module, source_slot, (ModuleName)waferInfo.OriginStation, waferInfo.OriginSlot, (Hand)source_slot));
                    else
                        _ReturnQueue.Enqueue(new MoveItem(source_module, source_slot, (ModuleName)waferInfo.OriginStation, waferInfo.OriginSlot, 0));
                }
            }
        }


        public void Abort()
        {
            _transfer.Abort();
            _ReturnQueue.Clear();
        }
    }
}