Kepler-Release/Venus/Venus_RT/Modules/TM/MFPMPickRoutine.cs

using Aitex.Core.RT.Routine;
using Aitex.Core.RT.SCCore;
using Aitex.Sorter.Common;
using Venus_RT.Devices;
using MECF.Framework.Common.Routine;
using MECF.Framework.Common.Equipment;
using MECF.Framework.Common.SubstrateTrackings;
using Venus_Core;
using Aitex.Core.RT.Log;
using Aitex.Core.Util;
using Venus_RT.Modules.PMs;
using MECF.Framework.Common.Schedulers;
using System.Collections.Generic;

namespace Venus_RT.Modules.TM
{
    class MFPMPickRoutine : ModuleRoutineBase, IRoutine
    {
        private enum PickStep
        {
            WaitPMReady,
            PMPrepare,
            ArmExtend,
            DropDownWafer,
            PickDelay,
            ArmRetract,
            NotifyDone,
        }

        private readonly JetTM _JetTM;
        private readonly ITransferRobot _robot;

        private int _pickingTimeout = 120 * 1000;
        private int _pickDelayTime = 0;
        private ModuleName _targetModule;
        private PMEntity  _pmModule;
        private int _targetSlot;
        private Hand _hand;

        public MFPMPickRoutine(JetTM tm, ITransferRobot robot) : base(ModuleName.TMRobot)
        {
            _JetTM = tm;
            _robot = robot;
            Name = "Pick from PM";
        }
        public RState Start(params object[] objs)
        {
            if (!_robot.IsHomed)
            {
                LOG.Write(eEvent.ERR_TM, Module, $"TM Robot is not homed, please home it first");
                return RState.Failed;
            }

            var pickItem = (Queue<MoveItem>)objs[0];
            _targetModule = pickItem.Peek().SourceModule;
            _targetSlot = pickItem.Peek().SourceSlot;
            _hand = pickItem.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 picking action");
                return RState.Failed;
            }

            if (WaferManager.Instance.CheckHasWafer(ModuleName.TMRobot, (int)_hand))
            {
                LOG.Write(eEvent.ERR_TM, Module, $"Cannot pick as TM Robot Arm: {_hand} already has a wafer");
                return RState.Failed;
            }

            if (WaferManager.Instance.CheckNoWafer(_targetModule, _targetSlot))
            {
                LOG.Write(eEvent.ERR_TM, Module, $"Cannot pick as {_targetModule} Slot {_targetSlot} has no wafer");
                return RState.Failed;
            }

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

            Reset();
            _pickingTimeout = SC.GetValue<int>("TM.PickTimeout") * 1000;
            _pickDelayTime = SC.GetValue<int>($"{_targetModule}.PickDelayTime");

            return Runner.Start(Module, $"Pick from {_targetModule}");
        }

        public RState Monitor()
        {
            Runner.Wait((int)PickStep.WaitPMReady,  () => _pmModule.IsIdle,     _delay_60s)
                .Run((int)PickStep.PMPrepare,       ModulePrepare,              IsModulePrepareReady)
                .Run((int)PickStep.ArmExtend,       ArmExtend,                  WaitRobotExtendDone)
                .Run((int)PickStep.DropDownWafer,   NotifyPMPickWafer,          WaitPMWaferDropDown)
                .Delay((int)PickStep.PickDelay,     _pickDelayTime)
                .Run((int)PickStep.ArmRetract,      ArmRetract,                 WaitRobotRetractDone)
                .End((int)PickStep.NotifyDone,      NotifyPMDone,               _delay_50ms);

            return Runner.Status;
        }

        private bool ModulePrepare()
        {
            _pmModule.PostMsg(PMEntity.MSG.PreparePick);
            return true;
        }

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

        private bool ArmExtend()
        {
            return _robot.PickExtend(_targetModule, _targetSlot, _hand);
        }
        private bool ArmRetract()
        {
            return _robot.PickRetract(_targetModule, _targetSlot, _hand);
        }

        private bool WaitRobotExtendDone()
        {
            if (_robot.Status == RState.Running)
            {
                return false;
            }
            else if (_robot.Status == RState.End)
            {
                WaferManager.Instance.WaferMoved(_targetModule, _targetSlot, ModuleName.TMRobot, (int)_hand);
                return true;
            }
            else
            {
                Runner.Stop($"TM Robot Pick Extend failed, {_robot.Status}");
                return true;
            }
        }

        private bool NotifyPMPickWafer()
        {
            _pmModule.PostMsg(PMEntity.MSG.DropDownWafer);
            return true;
        }

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

        private bool WaitRobotRetractDone()
        {
            if (_robot.Status == RState.Running)
            {
                return false;
            }
            else if (_robot.Status == RState.End)
            {
                return true;
            }
            else
            {
                Runner.Stop($"TM Robot Pick Retract failed, {_robot.Status}");
                return true;
            }
        }

        private bool NotifyPMDone()
        {
            _pmModule.PostMsg(PMEntity.MSG.PickReady);
            return true;
        }

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