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

using System;
using System.Collections.Generic;
using System.Linq;

using Aitex.Core.Common;
using Aitex.Core.RT.Routine;
using Aitex.Core.RT.SCCore;
using Aitex.Sorter.Common;
using Aitex.Core.RT.Log;
using Aitex.Core.Util;
using Aitex.Core.RT.DataCenter;
using Aitex.Core.RT.RecipeCenter;
using Aitex.Core.RT.Fsm;

using MECF.Framework.Common.Jobs;
using MECF.Framework.Common.Routine;
using MECF.Framework.Common.Equipment;
using MECF.Framework.Common.SubstrateTrackings;
using MECF.Framework.Common.Schedulers;
using MECF.Framework.Common.DBCore;

using Venus_Core;

using Venus_RT.Modules.Schedulers;
using Venus_RT.Scheduler;

namespace Venus_RT.Modules
{
    public class ManualTransfer : IRoutine
    {
        SchedulerTMRobot _tmRobot = (SchedulerTMRobot)Singleton<TransferModule>.Instance.GetScheduler(ModuleName.TMRobot);
        SchedulerEfemRobot _efemRobot = (SchedulerEfemRobot)Singleton<TransferModule>.Instance.GetScheduler(ModuleName.EfemRobot);

        private Queue<MoveItem> _moveTaskQueue = new Queue<MoveItem>();
        private MoveItem _move_item = new MoveItem(ModuleName.System, 0, ModuleName.System, 0, Hand.None);
        private MoveItem _current_item = new MoveItem(ModuleName.System, 0, ModuleName.System, 0, Hand.None);

        private Guid _wafer_id;
        private R_TRIG _wafer_arrive_trig = new R_TRIG();
        private MovingStatus _moving_status = MovingStatus.Idle;

        private int _tmRobotSingleArmOption = 0;
        private int _efemRobotSingleArmOption = 0;

        public ManualTransfer()
        {
            _tmRobotSingleArmOption = SC.GetValue<int>("TM.SingleArmOption");
            _efemRobotSingleArmOption = SC.GetValue<int>("EFEM.SingleArmOption");
        }

        public RState Start(params object[] objs)
        {
            _tmRobotSingleArmOption = SC.GetValue<int>("TM.SingleArmOption");
            _efemRobotSingleArmOption = SC.GetValue<int>("EFEM.SingleArmOption");

            // rounding the single arm option
            if (_tmRobotSingleArmOption > 2)
                _tmRobotSingleArmOption = 0;
            if (_efemRobotSingleArmOption > 2)
                _efemRobotSingleArmOption = 0;

            // RESET
            _moveTaskQueue.Clear();
            _moving_status = MovingStatus.Idle;
            _wafer_arrive_trig.RST = true ;

            _move_item.SourceModule = (ModuleName)objs[0];
            _move_item.SourceSlot = (int)objs[1];
            _move_item.DestinationModule = (ModuleName)objs[2];
            _move_item.DestinationSlot = (int)objs[3];

            _wafer_id = WaferManager.Instance.GetWafer(_move_item.SourceModule, _move_item.SourceSlot).InnerId;

            if (ModuleHelper.IsLoadPort(_move_item.DestinationModule) && !Singleton<TransferModule>.Instance.GetScheduler(_move_item.DestinationModule).IsAvailable)
            {
                LOG.Write(eEvent.ERR_ROUTER, _move_item.DestinationModule, $"The destination Loadport {_move_item.DestinationModule} is not ready for move wafer.");
                return RState.Failed;
            }

            if (!CheckSingleArmOption(_move_item.DestinationModule, _move_item.DestinationSlot))
                return RState.Failed;

            if (!CheckSingleArmOption(_move_item.SourceModule, _move_item.SourceSlot))
                return RState.Failed;

            if (IsCrossTransfer(_move_item))
            {
                var slot = SelectLLFreeSlot();
                if (slot.Module == ModuleName.System)
                    return RState.Failed;

                // vac to atm
                if (ModuleHelper.IsPm(_move_item.SourceModule) || ModuleHelper.IsTMRobot(_move_item.SourceModule))
                {
                    _moveTaskQueue.Enqueue(new MoveItem(_move_item.SourceModule, _move_item.SourceSlot, slot.Module, slot.Slot, Hand.Blade1));
                    if(ModuleHelper.IsEFEMRobot(_move_item.DestinationModule))
                    {
                        _moveTaskQueue.Enqueue(new MoveItem(slot.Module, slot.Slot, _move_item.DestinationModule, _move_item.DestinationSlot, (Hand)_move_item.DestinationSlot));
                    }
                    else
                    {
                        Hand hand = SelectEfemRobotFreeHand();
                        if(hand == Hand.None)
                        {
                            LOG.Write(eEvent.WARN_ROUTER, ModuleName.EfemRobot, "No free efem robot arm for wafer move.");
                            return RState.Failed;
                        }
                        _moveTaskQueue.Enqueue(new MoveItem(slot.Module, slot.Slot, ModuleName.EfemRobot, (int)hand, hand));
                        _moveTaskQueue.Enqueue(new MoveItem(ModuleName.EfemRobot, (int)hand, _move_item.DestinationModule, _move_item.DestinationSlot, hand));
                    }
                }
                // atm to vac
                else
                {
                    if (ModuleHelper.IsEFEMRobot(_move_item.SourceModule))
                    {
                        _moveTaskQueue.Enqueue(new MoveItem(_move_item.SourceModule, _move_item.SourceSlot, slot.Module, slot.Slot, (Hand)_move_item.SourceSlot));
                    }
                    else
                    {
                        Hand hand = SelectEfemRobotFreeHand();
                        if (hand == Hand.None)
                        {
                            LOG.Write(eEvent.WARN_ROUTER, ModuleName.EfemRobot, "No free efem robot arm for wafer move.");
                            return RState.Failed;
                        }
                        _moveTaskQueue.Enqueue(new MoveItem(_move_item.SourceModule, _move_item.SourceSlot, ModuleName.EfemRobot, (int)hand, hand));
                        _moveTaskQueue.Enqueue(new MoveItem(ModuleName.EfemRobot, (int)hand, slot.Module, slot.Slot, hand));
                    }

                    _moveTaskQueue.Enqueue(new MoveItem(slot.Module, slot.Slot, _move_item.DestinationModule, _move_item.DestinationSlot, Hand.Blade1));
                }
            }
            else if(IsVacTransfer(_move_item))
            {
                _moveTaskQueue.Enqueue(_move_item);
            }
            else // atm transfer
            {
                if(ModuleHelper.IsEFEMRobot(_move_item.SourceModule))
                {
                    _moveTaskQueue.Enqueue(new MoveItem(_move_item.SourceModule, _move_item.SourceSlot, _move_item.DestinationModule, _move_item.DestinationSlot, (Hand)_move_item.SourceSlot));
                }
                else if (ModuleHelper.IsEFEMRobot(_move_item.DestinationModule))
                {
                    _moveTaskQueue.Enqueue(new MoveItem(_move_item.SourceModule, _move_item.SourceSlot, _move_item.DestinationModule, _move_item.DestinationSlot, (Hand)_move_item.DestinationSlot));
                }
                else
                {
                    Hand hand = SelectEfemRobotFreeHand();
                    if (hand == Hand.None)
                    {
                        LOG.Write(eEvent.WARN_ROUTER, ModuleName.EfemRobot, "No free efem robot arm for wafer move.");
                        return RState.Failed;
                    }
                    _moveTaskQueue.Enqueue(new MoveItem(_move_item.SourceModule, _move_item.SourceSlot, ModuleName.EfemRobot, (int)hand, hand));
                    _moveTaskQueue.Enqueue(new MoveItem(ModuleName.EfemRobot, (int)hand, _move_item.DestinationModule, _move_item.DestinationSlot, hand));
                }
            }

            _current_item = _moveTaskQueue.Dequeue();
            _moving_status = MovingStatus.Waiting;
            return RState.Running;
        }

        public RState Monitor()
        {
            return MoveWaferForward();
        }

        public void Abort()
        {

        }

        public void Clear()
        {
            _moveTaskQueue.Clear();
            Singleton<TransferModule>.Instance.GetScheduler(ModuleName.TMRobot).ResetTask();
            Singleton<TransferModule>.Instance.GetScheduler(ModuleName.EfemRobot).ResetTask();
        }

        private RState MoveWaferForward()
        {
            switch(_moving_status)
            {
                case MovingStatus.Waiting:
                    {
                        if(IsCurrentModuleReady())
                        {
                            // Post current item
                            if(IsVacTransfer(_current_item))
                            {
                                _tmRobot.PostMoveItems(new MoveItem[1] { _current_item });
                            }
                            else
                            {
                                _efemRobot.PostMoveItems(new MoveItem[1] { _current_item });
                            }

                            _moving_status = MovingStatus.Moving;
                        }
                    }
                    break;
                case MovingStatus.Moving:
                    {
                        _wafer_arrive_trig.CLK = IsArriveCurrentTarget();
                        if (_wafer_arrive_trig.Q)
                        {
                            _moving_status = MovingStatus.Idle;
                        }
                    }
                    break;
                case MovingStatus.Idle:
                    {
                        if(IsCurrentModuleReady())
                        {
                            if(_moveTaskQueue.Count > 0)
                            {
                                _current_item = _moveTaskQueue.Dequeue();
                                _moving_status = MovingStatus.Waiting;
                            }
                        }
                        break;
                    }
            }

            return TransferStatus();
        }

        private bool IsVacTransfer(MoveItem item)
        {
            return ModuleHelper.IsPm(item.SourceModule) || 
                ModuleHelper.IsTMRobot(item.SourceModule) || 
                ModuleHelper.IsPm(item.DestinationModule) || 
                ModuleHelper.IsTMRobot(item.DestinationModule);
        }

        private bool IsCrossTransfer(MoveItem item)
        {
            if (ModuleHelper.IsLoadLock(item.DestinationModule) || ModuleHelper.IsLoadLock(item.SourceModule))
                return false;

            if (((ModuleHelper.IsPm(item.SourceModule) || ModuleHelper.IsTMRobot(item.SourceModule)) &&
                !ModuleHelper.IsPm(item.DestinationModule) && !ModuleHelper.IsTMRobot(item.DestinationModule)) ||
                ((ModuleHelper.IsPm(item.DestinationModule) || ModuleHelper.IsTMRobot(item.DestinationModule)) &&
                !ModuleHelper.IsPm(item.SourceModule) && !ModuleHelper.IsTMRobot(item.SourceModule)))
                return true;

            return false;
        }

        private bool IsArriveCurrentTarget()
        {
            var wafer = WaferManager.Instance.GetWafer(_current_item.DestinationModule, _current_item.DestinationSlot);
            return !wafer.IsEmpty && wafer.InnerId == _wafer_id;
        }

        private bool IsCurrentModuleReady()
        {
            return (IsVacTransfer(_current_item) ? _tmRobot.IsAvailable : _efemRobot.IsAvailable) && 
                _isModuleReady(_current_item.SourceModule) && 
                _isModuleReady(_current_item.DestinationModule);
        }

        private bool IsTransferError()
        {
            return (IsVacTransfer(_current_item) ? _tmRobot.IsError : _efemRobot.IsError) ||
                _isModuleError(_current_item.SourceModule) ||
                _isModuleError(_current_item.DestinationModule);
        }

        private bool _isModuleReady(ModuleName module)
        {
            return Singleton<TransferModule>.Instance.GetScheduler(module).IsAvailable;
        }

        private bool _isModuleError(ModuleName module)
        {
            return Singleton<TransferModule>.Instance.GetScheduler(module).IsError;
        }

        private Hand SelectEfemRobotFreeHand()
        {
            if (WaferManager.Instance.CheckNoWafer(ModuleName.EfemRobot, 0))
                return Hand.Blade1;
            else if (WaferManager.Instance.CheckNoWafer(ModuleName.EfemRobot, 1))
                return Hand.Blade2;
            else
                return Hand.None;
        }

        private SlotItem SelectLLFreeSlot()
        {
            foreach(var ll in new ModuleName[2] { ModuleName.LLA, ModuleName.LLB})
            {
                if (ModuleHelper.IsInstalled(ll) && _isModuleReady(ll))
                {
                    for (int i = 0; i < 4; i++)
                    {
                        if (WaferManager.Instance.CheckNoWafer(ll, i))
                            return new SlotItem(ll, i);
                    }
                }
            }

            LOG.Write(eEvent.WARN_ROUTER, ModuleName.System, "Cannot move wafer as no valid Loadlock slot");
            return new SlotItem(ModuleName.System, -1);
        }

        private RState TransferStatus()
        {
            if (IsTransferError())
                return RState.Failed;

            if (IsCurrentModuleReady() && _moveTaskQueue.Count == 0 && _moving_status == MovingStatus.Idle)
                return RState.End;

            return RState.Running;
        }

        private bool CheckSingleArmOption(ModuleName robot, int slot)
        {
            if(ModuleHelper.IsTMRobot(robot))
            {
                if (_tmRobotSingleArmOption != 0 && _tmRobotSingleArmOption != slot + 1)
                {
                    LOG.Write(eEvent.ERR_ROUTER, ModuleName.TMRobot, $"Cannot move the wafer as TM Robot {(Hand)slot} is disabled.");
                    return false;
                }
            }
            else if(ModuleHelper.IsEFEMRobot(robot))
            {
                if (_efemRobotSingleArmOption != 0 && _efemRobotSingleArmOption != slot + 1)
                {
                    LOG.Write(eEvent.ERR_ROUTER, ModuleName.EfemRobot, $"Cannot move the wafer as EFEM Robot {(Hand)slot} is disabled.");
                    return false;
                }
            }

            return true;
        }

        public int GetSingleArmOption(ModuleName robot)
        {
            return ModuleHelper.IsTMRobot(robot) ? _tmRobotSingleArmOption : _efemRobotSingleArmOption;
        }
    }

    public class ReturnAllWafer : IRoutine
    {
        private List<ModuleName> _moduleList = new List<ModuleName> { ModuleName.EfemRobot, ModuleName.Aligner1, ModuleName.Aligner, ModuleName.LLA, ModuleName.LLB, ModuleName.TMRobot, ModuleName.PMA, ModuleName.PMB, ModuleName.PMC, ModuleName.PMD };
        private ManualTransfer _manualTransfer;
        private Queue<MoveItem> _returnTaskQueue = new Queue<MoveItem>();
        private MoveItem _current_item;
        public ReturnAllWafer(ManualTransfer manualTransfer)
        {
            _manualTransfer = manualTransfer;
        }

        public RState Start(params object[] objs)
        {
            Singleton<TransferModule>.Instance.GetScheduler(ModuleName.TMRobot).ResetTask();
            Singleton<TransferModule>.Instance.GetScheduler(ModuleName.EfemRobot).ResetTask();
            foreach(var mod in _moduleList)
            {
                if (ModuleHelper.IsInstalled(mod) && Singleton<TransferModule>.Instance.GetScheduler(mod).IsAvailable)
                {
                    if (ModuleHelper.IsEFEMRobot(mod) || ModuleHelper.IsTMRobot(mod))
                    {
                        if (_manualTransfer.GetSingleArmOption(mod) != 2)
                            PushWaferToReturnQueqe(mod, 0);

                        if (_manualTransfer.GetSingleArmOption(mod) != 1)
                            PushWaferToReturnQueqe(mod, 1);
                    }
                    else if (ModuleHelper.IsLoadLock(mod))
                    {
                        int nSlotNumber = SC.GetValue<int>($"{mod}.SlotNumber");
                        for (int i = 0; i < nSlotNumber; i++)
                        {
                            PushWaferToReturnQueqe(mod, i);
                        }
                    }
                    else
                    {
                        PushWaferToReturnQueqe(mod, 0);
                    }
                }
            }

            if (_returnTaskQueue.Count == 0)
                return RState.Failed;

            _current_item = _returnTaskQueue.Dequeue();
            _manualTransfer.Start(_current_item.SourceModule, _current_item.SourceSlot, _current_item.DestinationModule, _current_item.DestinationSlot);
            return RState.Running;
        }

        public RState Monitor()
        {
            var ret = _manualTransfer.Monitor();
            if (ret == RState.End)
            {
                if (_returnTaskQueue.Count > 0)
                {
                    _current_item = _returnTaskQueue.Dequeue();
                    _manualTransfer.Start(_current_item.SourceModule, _current_item.SourceSlot, _current_item.DestinationModule, _current_item.DestinationSlot);
                }
                else
                    return RState.End;
            }
            else if (ret == RState.Failed || ret == RState.Timeout)
            {
                LOG.Write(eEvent.ERR_ROUTINE_FAILED, ModuleName.System,"Manual Transfer",  $"Return Wafer {_current_item.SourceModule}{_current_item.SourceSlot} failed");
                return RState.Failed;
            }


            return RState.Running;
        }

        public void Abort()
        {

        }

        public void Clear()
        {
            _returnTaskQueue.Clear();
            Singleton<TransferModule>.Instance.GetScheduler(ModuleName.TMRobot).ResetTask();
            Singleton<TransferModule>.Instance.GetScheduler(ModuleName.EfemRobot).ResetTask();
        }

        private void PushWaferToReturnQueqe(ModuleName mod, int nSlot)
        {
            var wafer = WaferManager.Instance.GetWafer(mod, nSlot);
            if (!wafer.IsEmpty)
            {
                _returnTaskQueue.Enqueue(new MoveItem(mod, nSlot, (ModuleName)wafer.OriginStation, wafer.OriginSlot, Hand.Blade1));
            }
        }
    }
}