Kepler-Release/Venus/Venus_RT/Modules/EFEM/EfemPlaceRoutine.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 MECF.Framework.Common.Schedulers;
using System.Collections.Generic;
using Venus_RT.Devices.EFEM;

namespace Venus_RT.Modules.EFEM
{
    class EfemPlaceRoutine : ModuleRoutineBase, IRoutine
    {
        private enum PlaceStep
        {
            WaitModuleReady,
            Placing1,
            Placing2,
            End,
        }

        private int _moveTimeout = 20 * 1000;
        private ModuleName _targetModule = ModuleName.System;
        int _targetSlot;
        int _targetSlot2;
        Hand _hand;
        Hand _hand2;
        EfemBase _efem;
        bool _bDoublePlace = false;

        public EfemPlaceRoutine(EfemBase efem) : base(ModuleName.EfemRobot)
        {
            _efem = efem;
        }

        public RState Start(params object[] objs)
        {
            if (!_efem.IsHomed)
            {
                LOG.Write(eEvent.ERR_EFEM_ROBOT, Module, $"EFEM is not homed, please home it first");
                return RState.Failed;
            }

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

            if (WaferManager.Instance.CheckNoWafer(ModuleName.EfemRobot, (int)_hand))
            {
                LOG.Write(eEvent.ERR_EFEM_ROBOT, Module, $"Efem robot arm{_hand} already has no wafer, cannot do the place action");
                return RState.Failed;
            }

            if (WaferManager.Instance.CheckHasWafer(_targetModule, _targetSlot))
            {
                LOG.Write(eEvent.ERR_EFEM_ROBOT, Module, $"The target: {_targetModule}{_targetSlot} has a wafer, cannot do the place action");
                return RState.Failed;
            }

            if (placeItem.Count >= 2)
            {
                if (!ModuleHelper.IsLoadPort(_targetModule))
                {
                    LOG.Write(eEvent.ERR_EFEM_ROBOT, Module, $"Wrong double place command, target is not loadport");
                    return RState.Failed;
                }

                _hand2 = _hand != Hand.Blade1 ? Hand.Blade1 : Hand.Blade2;
                if (WaferManager.Instance.CheckNoWafer(ModuleName.EfemRobot, (int)_hand2))
                {
                    LOG.Write(eEvent.ERR_EFEM_ROBOT, Module, $"Efem robot arm{_hand2} has no wafer, cannot do the double place action");
                    return RState.Failed;
                }

                _targetSlot2 = placeItem.ToArray()[1].DestinationSlot;
                if (WaferManager.Instance.CheckHasWafer(_targetModule, _targetSlot2))
                {
                    LOG.Write(eEvent.ERR_EFEM_ROBOT, Module, $"The target: {_targetModule}{_targetSlot2} has a wafer, cannot do the double pick action");
                    return RState.Failed;
                }

                _bDoublePlace = true;
            }

            _moveTimeout = SC.GetValue<int>($"EFEM.MotionTimeout") * 1000;
            return Runner.Start(Module, $"Place to {_targetModule}");
        }

        public RState Monitor()
        {
            if (_bDoublePlace)
            {
                Runner.Wait((int)PlaceStep.WaitModuleReady,     WaitModuleReady)
                        .Run((int)PlaceStep.Placing1,           Place1,         Place1Done,     _moveTimeout)
                        .Run((int)PlaceStep.Placing2,           Place2,         Place2Done,     _moveTimeout)
                        .End((int)PlaceStep.End,                ActionDone);
            }
            else
            {
                Runner.Wait((int)PlaceStep.WaitModuleReady, WaitModuleReady)
                        .Run((int)PlaceStep.Placing1,           Place1,         Place1Done,     _moveTimeout)
                        .End((int)PlaceStep.End,                ActionDone);
            }

            return Runner.Status;
        }

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

        private bool WaitModuleReady()
        {
            return true;
        }

        private bool Place1()
        {
            return _efem.Place(_targetModule, _targetSlot, _hand);
        }

        private bool Place1Done()
        {
            if (_efem.Status == RState.End)
            {
                WaferManager.Instance.WaferMoved(ModuleName.EfemRobot, (int)_hand, _targetModule, _targetSlot);
                return true;
            }
            else if (_efem.Status != RState.Running)
            {
                LOG.Write(eEvent.ERR_EFEM_ROBOT, Module, $"Efem robot place failed: {_efem.Status}");
                return true;
            }

            return false;
        }

        private bool Place2()
        {
            return _efem.Place(_targetModule, _targetSlot2, _hand2);
        }

        private bool Place2Done()
        {
            if (_efem.Status == RState.End)
            {
                WaferManager.Instance.WaferMoved(ModuleName.EfemRobot, (int)_hand2, _targetModule, _targetSlot2);
                return true;
            }
            else if (_efem.Status != RState.Running)
            {
                LOG.Write(eEvent.ERR_EFEM_ROBOT, Module, $"Efem robot place failed: {_efem.Status}");
                return true;
            }

            return false;
        }

        private bool ActionDone()
        {
            return true;
        }
    }
}