Kepler-Release/Venus/Venus_RT/Modules/LPs/LoadPortModule.cs

using Aitex.Core.RT.DataCenter;
using Aitex.Core.RT.Fsm;
using Aitex.Core.RT.OperationCenter;
using Aitex.Core.RT.Routine;
using Aitex.Core.Utilities;
using Aitex.Core.Util;
using Aitex.Sorter.Common;
using MECF.Framework.Common.Equipment;
using MECF.Framework.Common.Schedulers;
using MECF.Framework.RT.ModuleLibrary.LPModules;
using System;
using Aitex.Core.RT.SCCore;
using Venus_RT.Devices;
using Venus_RT.Devices.EFEM;
using Venus_Core;

namespace Venus_RT.Modules.LPs
{
    /// <summary>
    /// LP entity
    /// </summary>
    sealed class LoadPortModule : LoadPortModuleBase
    {
        public event Action<string> OnEnterError;

        private enum STATE
        {
            Unknown,
            Idle,            // 1

            Init,
            Error,

            Homing,    // 2

            Mapping,         // 4
            Loading,
            ReadingCarrierId,
            Unloading,
            Docking,
            Undocking,
            Clamping,
            Unclamping,
            WritingCarrierId,
            ReadingTagData,
            WritingTagData,
        }

        public enum MSG
        {
            Home,            // 0
            Map,             // 1
            ActionDone,      // 2


            Abort,           // 5
            Online,          // 6
            Error,           // 7

            Reset,

            ReadCarrierId,
            WriteCarrierID,
            Load,
            Unload,
            Dock,
            Undock,
            Clamp,
            Unclamp,

            ToInit,
            ToIdle,

            ReadTagData,
            WriteTagData,

            CloseDoor,
            OpenDoor,
        }

        private readonly EfemBase _efem;


        private Loadport _lpDevice;
        public Loadport LPDevice
        {
            get
            {
                return _lpDevice;
            }
        }

        public override bool IsReady
        {
            get { return FsmState == (int)STATE.Idle && CheckAllMessageProcessed(); }
        }

        public override bool IsError
        {
            get { return FsmState == (int)STATE.Error; }
        }

        public override bool IsInit
        {
            get { return FsmState == (int)STATE.Init; }
        }

        public bool IsRobotIdle
        {
            get { return Singleton<RouteManager>.Instance.EFEM.RobotStatus == RState.End; }
        }

        private LoadPortHomeRoutine _home;
        //private LoadPortCloseDoorRoutine _closeDoor;
        private LoadPortClampRoutine _clamp;
        private LoadPortReadCarrierIdRoutine _readCarrierId;
        private LoadPortWriteCarrierIdRoutine _writeCarrierId;
        private LoadPortReadTagDataRoutine _readTag;
        private LoadPortWriteTagDataRoutine _writeTag;
        private LoadPortUnclampRoutine _unclamp;

        private LoadPortDockRoutine _dock;
        private LoadPortUnDockRoutine _undock;

        private LoadPortLoadRoutine _load;
        private LoadPortUnloadRoutine _unload;

        private bool _isInit;

        public LoadPortModule(ModuleName module, EfemBase efem) : base(SC.GetValue<int>("EFEM.LoadPort.SlotNumber"))
        {
            Name = module.ToString();

            Module = module.ToString();

            _efem = efem;


            InitFsmMap();

            OP.Subscribe($"{Module}.ReadCarrierId", (cmd, args) => { PostMsg(MSG.ReadCarrierId); return true; });
            OP.Subscribe($"{Module}.WriteCarrierID", (cmd, args) => { PostMsg(MSG.WriteCarrierID, args[0]); return true; });
            OP.Subscribe($"{Module}.ReadTagData", (cmd, args) => { PostMsg(MSG.ReadTagData); return true; });
            OP.Subscribe($"{Module}.WriteTagData", (cmd, args) => { PostMsg(MSG.WriteTagData, args[0]); return true; });
            OP.Subscribe($"{Module}.Load", (cmd, args) => { PostMsg(MSG.Load); return true; });
            OP.Subscribe($"{Module}.Unload", (cmd, args) => { PostMsg(MSG.Unload); return true; });
            OP.Subscribe($"{Module}.Clamp", (cmd, args) => { PostMsg(MSG.Clamp); return true; });
            OP.Subscribe($"{Module}.Unclamp", (cmd, args) => { PostMsg(MSG.Unclamp); return true; });
            OP.Subscribe($"{Module}.Dock", (cmd, args) => { PostMsg(MSG.Dock); return true; });
            OP.Subscribe($"{Module}.Undock", (cmd, args) => { PostMsg(MSG.Undock); return true; });

            OP.Subscribe($"{Module}.Home", (cmd, args) => { PostMsg(MSG.Home); return true; });
            OP.Subscribe($"{Module}.Abort", (cmd, args) => { PostMsg(MSG.Abort); return true; });
            OP.Subscribe($"{Module}.Online", (cmd, args) => { PostMsg(MSG.Online); return true; });

            OP.Subscribe($"{Name}.OpenDoor", (string cmd, object[] args) =>{return CheckToPostMessage((int)MSG.OpenDoor);});

            OP.Subscribe($"{Name}.CloseDoor", (string cmd, object[] args) =>{return CheckToPostMessage((int)MSG.CloseDoor);});

            OP.Subscribe($"{Module}.ReSet", (cmd, args) => { PostMsg(MSG.Reset); return true; });



            DATA.Subscribe($"{Module}.Status", () => ((STATE)FsmState).ToString(), Aitex.Core.Util.SubscriptionAttribute.FLAG.IgnoreSaveDB);
            DATA.Subscribe($"{Module}.FsmState", () => ((STATE)FsmState).ToString(), Aitex.Core.Util.SubscriptionAttribute.FLAG.IgnoreSaveDB);
            DATA.Subscribe($"{Module}.FsmPrevState", () => ((STATE)FsmPreviousState).ToString(), Aitex.Core.Util.SubscriptionAttribute.FLAG.IgnoreSaveDB);
            DATA.Subscribe($"{Module}.FsmLastMessage", GetFsmLastMessage, Aitex.Core.Util.SubscriptionAttribute.FLAG.IgnoreSaveDB);

            _lpDevice = efem[module] as Loadport;

            InitRoutine();

        }
        private void InitRoutine()
        {
            _home = new LoadPortHomeRoutine(this);
            //_closeDoor = new LoadPortCloseDoorRoutine(this);
            _clamp = new LoadPortClampRoutine(this);
            _dock = new LoadPortDockRoutine(this);
            //_map = new LoadPortMapRoutine(this);
            //_openDoor = new LoadPortOpenDoorRoutine(this);
            _readCarrierId = new LoadPortReadCarrierIdRoutine(this);
            _writeCarrierId = new LoadPortWriteCarrierIdRoutine(this);
            _readTag = new LoadPortReadTagDataRoutine(this);
            _writeTag = new LoadPortWriteTagDataRoutine(this);
            _unclamp = new LoadPortUnclampRoutine(this);
            _undock = new LoadPortUnDockRoutine(this);
            //_MapDT = new LoadPortGetMapInfoRoutine(this);
            _load = new LoadPortLoadRoutine(this);
            _unload = new LoadPortUnloadRoutine(this);
        }
        private string GetFsmLastMessage()
        {
            int msg = FsmLastMessage;
            if (msg >= (int)MSG.Home && msg <= (int)MSG.Error)
                return ((MSG)msg).ToString();

            if (msg == (int)FSM_MSG.TIMER)
                return "Timer";

            return msg.ToString();
        }

        private void InitFsmMap()
        {


            EnableFsm(50, STATE.Idle);

            //online
            AnyStateTransition(MSG.Online, fnOnline, FSM_STATE.SAME);

            //Error
            AnyStateTransition(MSG.Error, FsmOnError, STATE.Error);
            Transition(STATE.Error, MSG.Reset, FsmReset, STATE.Idle);
            EnterExitTransition<STATE, FSM_MSG>(STATE.Error, FsmEnterError, FSM_MSG.NONE, FsmExitError);

            //Init
            Transition(STATE.Init, MSG.Home, FsmStartHome, STATE.Homing);
            Transition(STATE.Error, MSG.Home, FsmStartHome, STATE.Homing);
            Transition(STATE.Idle, MSG.Home, FsmStartHome, STATE.Homing);
            Transition(STATE.Homing, FSM_MSG.TIMER, FsmMonitorHomeTask, STATE.Idle);
            Transition(STATE.Homing, MSG.Error, null, STATE.Init);
            Transition(STATE.Homing, MSG.Abort, FsmAbortTask, STATE.Init);

            //load
            Transition(STATE.Idle, MSG.Load, FsmStartLoad, STATE.Loading);
            Transition(STATE.Loading, FSM_MSG.TIMER, FsmMonitorTask, STATE.Idle);
            Transition(STATE.Loading, MSG.Abort, FsmAbortTask, STATE.Idle);

            //unload
            Transition(STATE.Idle, MSG.Unload, FsmStartUnload, STATE.Unloading);
            Transition(STATE.Unloading, FSM_MSG.TIMER, FsmMonitorTask, STATE.Idle);
            Transition(STATE.Unloading, MSG.Abort, FsmAbortTask, STATE.Idle);

            //read carrier id
            Transition(STATE.Idle, MSG.ReadCarrierId, FsmStartReadCarrierId, STATE.ReadingCarrierId);
            Transition(STATE.ReadingCarrierId, FSM_MSG.TIMER, FsmMonitorTask, STATE.Idle);
            Transition(STATE.ReadingCarrierId, MSG.Abort, FsmAbortTask, STATE.Idle);

            //clamp
            Transition(STATE.Idle, MSG.Clamp, FsmStartClamp, STATE.Clamping);
            Transition(STATE.Clamping, FSM_MSG.TIMER, FsmMonitorTask, STATE.Idle);
            Transition(STATE.Clamping, MSG.Abort, FsmAbortTask, STATE.Idle);

            //unclamp
            Transition(STATE.Idle, MSG.Unclamp, FsmStartUnclamp, STATE.Unclamping);
            Transition(STATE.Unclamping, FSM_MSG.TIMER, FsmMonitorTask, STATE.Idle);
            Transition(STATE.Unclamping, MSG.Abort, FsmAbortTask, STATE.Idle);

            //dock
            Transition(STATE.Idle, MSG.Dock, FsmStartDock, STATE.Docking);
            Transition(STATE.Docking, FSM_MSG.TIMER, FsmMonitorTask, STATE.Idle);
            Transition(STATE.Docking, MSG.Abort, FsmAbortTask, STATE.Idle);

            //undock
            Transition(STATE.Idle, MSG.Undock, FsmStartUndock, STATE.Undocking);
            Transition(STATE.Undocking, FSM_MSG.TIMER, FsmMonitorTask, STATE.Idle);
            Transition(STATE.Undocking, MSG.Abort, FsmAbortTask, STATE.Idle);

            //write carrier id
            Transition(STATE.Idle, MSG.WriteCarrierID, FsmStartWriteCarrierId, STATE.WritingCarrierId);
            Transition(STATE.WritingCarrierId, FSM_MSG.TIMER, FsmMonitorTask, STATE.Idle);
            Transition(STATE.WritingCarrierId, MSG.Abort, FsmAbortTask, STATE.Idle);


            //read tag data
            Transition(STATE.Idle, MSG.ReadTagData, FsmStartReadTagData, STATE.ReadingTagData);
            Transition(STATE.ReadingTagData, FSM_MSG.TIMER, FsmMonitorTask, STATE.Idle);
            Transition(STATE.ReadingTagData, MSG.Abort, FsmAbortTask, STATE.Idle);

            //write tag data
            Transition(STATE.Idle, MSG.WriteTagData, FsmStartWriteTagData, STATE.WritingTagData);
            Transition(STATE.WritingTagData, FSM_MSG.TIMER, FsmMonitorTask, STATE.Idle);
            Transition(STATE.WritingTagData, MSG.Abort, FsmAbortTask, STATE.Idle);

            EnumLoop<STATE>.ForEach((item) =>
            {
                MapState((int)item, item.ToString());
            });

            EnumLoop<MSG>.ForEach((item) =>
            {
                MapMessage((int)item, item.ToString());
            });
        }

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

        private bool FsmReset(object[] param)
        {
            if (!_isInit)
            {
                PostMsg(MSG.ToInit);
                return false;
            }
            return true;
        }

        private bool FsmOnError(object[] param)
        {
            if (FsmState == (int)STATE.Error)
            {
                return false;
            }

            AbortRoutine();

            if (FsmState == (int)STATE.Init)
                return false;

            return true;
        }

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

        private bool FsmEnterError(object[] param)
        {
            if (OnEnterError != null)
                OnEnterError(Module);
            return true;
        }

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

            return ret == RState.End;
        }


        private bool FsmStartHome(object[] param)
        {
            RState ret = StartRoutine(_home);
            if (ret == RState.Failed || ret == RState.End)
                return false;

            _isInit = false;

            return ret == RState.Running;
        }


        private bool FsmMonitorHomeTask(object[] param)
        {
            RState ret = MonitorRoutine();
            if (ret == RState.Failed)
            {
                PostMsg(MSG.Error);
                return false;
            }

            if (ret == RState.End)
            {
                _isInit = true;
                return true;
            }

            return false;
        }

        private bool FsmStartUndock(object[] param)
        {
            RState ret = StartRoutine(_undock);
            if (ret == RState.Failed || ret == RState.End)
            {
                return false;
            }
            return ret == RState.Running;
        }

        private bool FsmStartDock(object[] param)
        {
            RState ret = StartRoutine(_dock);
            if (ret == RState.Failed || ret == RState.End)
            { 
                return false;
            }
            return ret == RState.Running;
        }

        private bool FsmStartUnclamp(object[] param)
        {
            RState ret = StartRoutine(_unclamp);
            if (ret == RState.Failed || ret == RState.End)
                return false;
            return ret == RState.Running;
        }

        private bool FsmStartClamp(object[] param)
        {
            _clamp.IsUnloadClamp = false;

            RState ret = StartRoutine(_clamp);
            if (ret == RState.Failed || ret == RState.End)
                return false;
            return ret == RState.Running;
        }

        private bool FsmStartReadCarrierId(object[] param)
        {
            RState ret = StartRoutine(_readCarrierId);
            if (ret == RState.Failed || ret == RState.End)
                return false;
            return ret == RState.Running;
        }

        private bool FsmStartWriteCarrierId(object[] param)
        {
            _writeCarrierId.CarrierIdSetPoint = (string) param[0];
            RState ret = StartRoutine(_writeCarrierId);
            if (ret == RState.Failed || ret == RState.End)
                return false;
            return ret == RState.Running;
        }

        private bool FsmStartReadTagData(object[] param)
        {
            RState ret = StartRoutine(_readTag);
            if (ret == RState.Failed || ret == RState.End)
                return false;
            return ret == RState.Running;
        }

        private bool FsmStartWriteTagData(object[] param)
        {
            _writeTag.TagDataSetPoint = (string)param[0];
            RState ret = StartRoutine(_writeTag);
            if (ret == RState.Failed || ret == RState.End)
                return false;
            return ret == RState.Running;
        }

        private bool FsmStartUnload(object[] param)
        {
            RState ret = StartRoutine(_unload);
            if (ret == RState.Failed || ret == RState.End)
                return false;
            if(ret == RState.Running)
            {
                _lpDevice.UnloadStart();
            }
            return ret == RState.Running;
        }

        private bool FsmStartLoad(object[] param)
        {
            RState ret = StartRoutine(_load);
            if (ret == RState.Failed || ret == RState.End)
                return false;
            if (ret == RState.Running)
            {
                _lpDevice.LoadStart();
            }
            return ret == RState.Running;
        }

        private bool fnOnline(object[] param)
        {
            bool online = (bool)param[0];
            //_efem.SetOnline(ModuleHelper.Converter(Module), online);
            return true;
        }


        public bool IsPrepareTransferReady(ModuleName module, EnumTransferType type, int slot)
        {
            if (type == EnumTransferType.Pick)
            {
                //需要补充：判断LP 放好了，而且已经map过。
                //return _efem[module].HasCassette && _efem[module].IsMapped && _efem[module].IsThicknessValid;
            }
            else if (type == EnumTransferType.Place)
            {
                //需要补充：判断LP 放好了，而且已经map过。
                //return _efem[module].HasCassette && _efem[module].IsMapped && _efem[module].IsThicknessValid;
            }

            return false;
        }

        internal bool CheckReadyRunNewJob(ModuleName module)
        {
            return _efem[module].HasCassette && _efem[module].IsMapped && _efem[module].IsThicknessValid;
        }

        internal bool CheckReadyTransfer(ModuleName module)
        {
            return _efem[module].HasCassette && _efem[module].IsMapped && _efem[module].IsThicknessValid;
        }




        public override bool Home(out string reason)
        {
            throw new NotImplementedException();
        }

        public override void NoteJobStart()
        {
            throw new NotImplementedException();
        }

        public override void NoteJobComplete()
        {
            throw new NotImplementedException();
        }

        public override bool PrepareTransfer(ModuleName robot, Hand blade, int targetSlot, EnumTransferType transferType, out string reason)
        {
            throw new NotImplementedException();
        }

        public override bool TransferHandoff(ModuleName robot, Hand blade, int targetSlot, EnumTransferType transferType, out string reason)
        {
            throw new NotImplementedException();
        }

        public override bool PostTransfer(ModuleName robot, Hand blade, int targetSlot, EnumTransferType transferType, out string reason)
        {
            throw new NotImplementedException();
        }

        public override bool CheckReadyForTransfer(ModuleName robot, Hand blade, int targetSlot, EnumTransferType transferType,
            out string reason)
        {
            throw new NotImplementedException();
        }

        public override void NoteTransferStart(ModuleName robot, Hand blade, int targetSlot, EnumTransferType transferType)
        {
            throw new NotImplementedException();
        }

        public override void NoteTransferStop(ModuleName robot, Hand blade, int targetSlot, EnumTransferType transferType)
        {
            throw new NotImplementedException();
        }

        public override bool CheckReadyForMap(ModuleName robot, Hand blade, out string reason)
        {
            throw new NotImplementedException();
        }

    }

}