Kepler-Release/Venus/Venus_RT/Modules/TM/MFPMSwapRoutine.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 MFPMSwapRoutine : ModuleRoutineBase, IRoutine
    {
        private enum SwapStep
        {
            WaitPMReady,
            PreRotation,
            PickPrepare,
            PickExtend,
            DropDownWafer,
            PickDelay,
            PickRetract,
            PlacePrepare,
            PlaceExtend,
            LiftUpWafer,
            PlaceDelay,
            PlaceRetract,
            NotifyDone,
        }

        private readonly JetTM _JetTM;
        private readonly ITransferRobot _robot;

        private int _swapingTimeout = 120 * 1000;
        private int _placeDelayTime = 0;
        private int _pickDelayTime = 0;
        private ModuleName _targetModule;
        private PMEntity _pmModule;
        private int _targetSlot;
        private Hand _pickHand;
        private Hand _placeHand;

        private Dictionary<ModuleName, ModuleName> _rotateModules = new Dictionary<ModuleName, ModuleName>();

        public MFPMSwapRoutine(JetTM tm, ITransferRobot robot) : base(ModuleName.TMRobot)
        {
            _JetTM = tm;
            _robot = robot;
            Name = "Swap with PM";

            foreach (var mod in new List<ModuleName> { ModuleName.PMA, ModuleName.PMB, ModuleName.PMC, ModuleName.PMD })
            {
                string rotateModule = SC.GetStringValue($"TM.PreRotation.{mod}");
                if (rotateModule.Length == 3)
                {
                    ModuleName rotModule = ModuleHelper.Converter(rotateModule);
                    if (ModuleHelper.IsPm(rotModule) || ModuleHelper.IsLoadLock(rotModule))
                    {
                        _rotateModules.Add(mod, rotModule);
                    }
                }
            }
        }
        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 swapItem = (Queue<MoveItem>)objs[0];
            _targetModule = swapItem.Peek().SourceModule;
            _targetSlot = swapItem.Peek().SourceSlot;
            _pickHand = swapItem.Peek().RobotHand;
            _placeHand = _pickHand == Hand.Blade2 ? Hand.Blade1 : Hand.Blade2;

            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 swap action");
                return RState.Failed;
            }

            if (WaferManager.Instance.CheckNoWafer(ModuleName.TMRobot, (int)_placeHand))
            {
                LOG.Write(eEvent.ERR_TM, Module, $"Cannot Swap Wafer as TM Robot Arm: {_placeHand} has no wafer");
                return RState.Failed;
            }

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

            if (WaferManager.Instance.CheckNoWafer(_targetModule, _targetSlot))
            {
                LOG.Write(eEvent.ERR_TM, Module, $"Cannot Swap Wafer as {_targetModule} Slot {_targetSlot + 1} has no wafer");
                return RState.Failed;
            }

            Reset();
            _swapingTimeout = SC.GetValue<int>($"TM.SwapTimeout") * 1000;
            _pickDelayTime = SC.GetValue<int>($"{_targetModule}.PickDelayTime");
            _placeDelayTime = SC.GetValue<int>($"{_targetModule}.PlaceDelayTime");

            return Runner.Start(Module, $"Swap with {_targetModule}");
        }

        public RState Monitor()
        {
            Runner.Wait(SwapStep.WaitPMReady,   () => _pmModule.IsIdle,                         _delay_60s)
                .RunIf(SwapStep.PreRotation,    _rotateModules.ContainsKey(_targetModule),      RotateArm,      WaitRotateDone)
                .Run(SwapStep.PickPrepare,      PickPrepare,                                    IsModuleReadyForPick)
                .Run(SwapStep.PickExtend,       PickExtend,                                     WaitRobotExtendDone)
                .Run(SwapStep.DropDownWafer,    NotifyPMPickWafer,                              WaitPMWaferDropDown)
                .Delay(SwapStep.PickDelay,      _pickDelayTime)
                .Run(SwapStep.PickRetract,      PickRetract,                                    WaitRobotRetractDone)
                .Run(SwapStep.PlacePrepare,     PlacePrepare,                                   IsModuleReadyForPlace)
                .Run(SwapStep.PlaceExtend,      PlaceExtend,                                    WaitRobotExtendDone)
                .Run(SwapStep.LiftUpWafer,      NotifyLiftUpWafer,                              WaitPMWaferLiftUp)
                .Delay(SwapStep.PlaceDelay,     _placeDelayTime)
                .Run(SwapStep.PlaceRetract,     PlaceRetract,           WaitRobotRetractDone)
                .End(SwapStep.NotifyDone,       NotifyPMDone,           _delay_50ms);

            return Runner.Status;
        }

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

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

        private bool PickExtend()
        {
            return _robot.PickExtend(_targetModule, _targetSlot, _pickHand);
        }
        private bool PickRetract()
        {
            return _robot.PickRetract(_targetModule, _targetSlot, _pickHand);
        }

        private bool PlacePrepare()
        {
            _pmModule.PostMsg(PMEntity.MSG.PreparePlace);
            return true;
        }

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

        private bool PlaceExtend()
        {
            return _robot.PlaceExtend(_targetModule, _targetSlot, _placeHand);
        }
        private bool PlaceRetract()
        {
            return _robot.PlaceRetract(_targetModule, _targetSlot, _placeHand);
        }

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

        private bool RotateArm()
        {
            _pmModule.PostMsg(PMEntity.MSG.PreparePick); // Notify PM to Serv pressure in advance for throughput enhancement
            return _robot.Goto(_rotateModules[_targetModule], 0, _placeHand);
        }

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

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

        private bool WaitPMWaferDropDown()
        {
            if (_pmModule.Status == PMEntity.PMStatus.Exchange_Ready)
            {
                WaferManager.Instance.WaferMoved(_targetModule, _targetSlot, ModuleName.TMRobot, (int)_pickHand);
                return true;
            }

            return false;
        }

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

        private bool NotifyLiftUpWafer()
        {
            _pmModule.PostMsg(PMEntity.MSG.LiftUpWafer);
            return true;
        }
        private bool WaitPMWaferLiftUp()
        {
            if(_pmModule.Status == PMEntity.PMStatus.Exchange_Ready)
            {
                WaferManager.Instance.WaferMoved(ModuleName.TMRobot, (int)_placeHand, _targetModule, _targetSlot);
                return true;
            }

            return false;
        }

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

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