Kepler-Release/Venus/Venus_RT/Modules/Schedulers/SchedulerEfemRobot.cs

using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Threading.Tasks;
using Aitex.Core.RT.Fsm;
using Aitex.Core.RT.Log;
using Aitex.Core.Util;
using Aitex.Core.RT.SCCore;
using Aitex.Sorter.Common;
using MECF.Framework.Common.Schedulers;
using MECF.Framework.Common.Equipment;
using MECF.Framework.Common.SubstrateTrackings;
using Venus_RT.Modules;
using Venus_Core;

namespace Venus_RT.Scheduler
{
    class SchedulerItem
    {
        public EfemEntity.MSG MoveType { get; set; }
        public ModuleName target { get; set; }

        public Queue<MoveItem> moveList { get; set; }

        public RState Status { get; set; }

    }
    public class SchedulerEfemRobot : SchedulerModule
    {
        public override bool IsAvailable
        {
            get { return _entity.IsIdle && (_entity.IsOnline || !Singleton<RouteManager>.Instance.IsAutoMode) && CheckTaskDone() && RunSchedulers(); }
        }
        public override bool IsOnline
        {
            get { return _entity.IsOnline; }

        }
        public override bool IsError
        {
            get { return _entity.IsError; }

        }

        public override bool IsIdle
        {
            get { return _entity.IsIdle; }
        }

        public RState RobotStatus
        {
            get { return _entity.RobotStatus; }
        }

        private EfemEntity _entity = null;


        private SchedulerItem _currentScheduler = null;
        private int _entityTaskToken = (int)FSM_MSG.NONE;
        private int _alignAngle = 0;
        private int _increasingAngle = 0;


        public ModuleName PreviousTarget { get; set; }

        public SchedulerEfemRobot() : base(ModuleName.EfemRobot.ToString())
        {
            _entity = Singleton<RouteManager>.Instance.EFEM;
            PreviousTarget = ModuleName.System;

            _alignAngle = SC.GetValue<int>($"EFEM.Aligner.AlignAngle");
            _increasingAngle = SC.GetValue<int>($"EFEM.Aligner.IncreasingAngle");
        }

        public bool Goto(ModuleName target, int slot )
        {
            _entityTaskToken = _entity.InvokeGoto(target, slot );
            PreviousTarget = target;

            LogTaskStart(_task, $"Robot goto {target}.{slot + 1}");

            return true;
        }

        public bool Map(ModuleName destination )
        {
            _entityTaskToken = _entity.InvokeMap(destination.ToString());
            LogTaskStart(_task, $"{Module} mapping");
            PreviousTarget = destination;

            return true;
        }
        public bool Monitor()
        {
            return true;
        }

        public bool CheckTaskDone()
        {
            bool ret = false;
            switch (_entityTaskToken)
            {
                case (int)FSM_MSG.NONE:
                    ret = true;
                    break;
                case (int)EfemEntity.MSG.Pick:
                case (int)EfemEntity.MSG.Place:
                case (int)EfemEntity.MSG.Swap:
                    ret = IsAllWafersArrived();
                    break;

                case (int)EfemEntity.MSG.Map:
                    ret = _entity.CheckAcked(_entityTaskToken) && _entity.IsIdle;
                    break;
                case (int)EfemEntity.MSG.Goto:
                    ret = _entity.CheckAcked(_entityTaskToken) && _entity.IsIdle;
                    break;
                case (int)EfemEntity.MSG.Align:
                    ret = _entity.CheckAcked(_entityTaskToken) && _entity.IsIdle;
                    break;

            }

            if (ret && _task != TaskType.None)
            {
                LogTaskDone(_task, "");
                _task = TaskType.None;
            }

            return ret;
        }

        public bool PostMoveItems(MoveItem[] items)
        {
            foreach (var item in items)
            {
                LOG.Write(eEvent.EV_ROUTER, ModuleName.EfemRobot, $"Post Moving Item: {item.SourceModule} Slot {item.SourceSlot + 1} => {item.DestinationModule} Slot {item.DestinationSlot + 1}");
            }

            if (ModuleHelper.IsLoadLock(items.First().Module))
            {
                _currentScheduler = new SchedulerItem();
                _currentScheduler.MoveType = EfemEntity.MSG.Swap;
                _currentScheduler.target = items.First().Module;
                _currentScheduler.Status = RState.Init;
                _currentScheduler.moveList = new Queue<MoveItem>(items);
                
            }
            else
            {
                _currentScheduler = new SchedulerItem();
                _currentScheduler.MoveType = items.First().TransferType == EnumMoveType.Pick ? EfemEntity.MSG.Pick : EfemEntity.MSG.Place;
                _currentScheduler.target = items.First().Module;
                _currentScheduler.Status = RState.Init;
                _currentScheduler.moveList = new Queue<MoveItem>(items);
            }

            RunSchedulers();
            return true;
        }

        bool RunSchedulers()
        {
            if (_currentScheduler == null)
                return true;

            if (_entity.IsIdle)
            {
                if(_currentScheduler.Status == RState.Init)
                {
                    foreach (var item in _currentScheduler.moveList)
                    {
                        LOG.Write(eEvent.EV_EFEM_ROBOT, ModuleName.EfemRobot, $"EFEM Robot Moving Items: {item.SourceModule} Slot {item.SourceSlot + 1} => {item.DestinationModule} Slot {item.DestinationSlot + 1}");
                    }

                    if (_entity.CheckToPostMessage((int)_currentScheduler.MoveType, _currentScheduler.moveList))
                    {
                        _currentScheduler.Status = RState.Running;
                        _entityTaskToken = (int)_currentScheduler.MoveType;
                    }
                    else
                        _entityTaskToken = (int)FSM_MSG.NONE;
                }
                else if(_currentScheduler.Status == RState.Running)
                {
                    if (IsAllWafersArrived())
                    {
                        if( _entityTaskToken == (int)EfemEntity.MSG.Pick || 
                            _entityTaskToken == (int)EfemEntity.MSG.Place || 
                            _entityTaskToken == (int)EfemEntity.MSG.Swap)
                        {
                            _entityTaskToken = (int)FSM_MSG.NONE;
                        }

                        _currentScheduler.Status = RState.End;
                    }
                }
            }

            return _currentScheduler.Status == RState.End;
        }

        private bool IsAllWafersArrived()
        {
            foreach(var item in _currentScheduler.moveList)
            {
                if (WaferManager.Instance.CheckNoWafer(item.DestinationModule, item.DestinationSlot))
                    return false;
            }

            return true;
        }

        public override void ResetTask()
        {
            base.ResetTask();

            _entityTaskToken = (int)FSM_MSG.NONE;
            if(_currentScheduler != null)
            {
                _alignAngle = SC.GetValue<int>($"EFEM.Aligner.AlignAngle");
                _increasingAngle = SC.GetValue<int>($"EFEM.Aligner.IncreasingAngle");
                _currentScheduler.moveList.Clear();
                _currentScheduler.Status = RState.End;
            }
        }

        public override bool Align(float angle)
        {
            _task = TaskType.Align;

            LogTaskStart(_task, $"Aligning");

            _increasingAngle = SC.GetValue<int>($"EFEM.Aligner.IncreasingAngle");
            if(_increasingAngle == 0)
            {
                // enable change align angle only with increasing function disable to avoid logic confuse
                _alignAngle = SC.GetValue<int>($"EFEM.Aligner.AlignAngle");
            }

            _alignAngle = (_alignAngle + _increasingAngle) % 360;
            _entityTaskToken = _entity.InvokeAlign(ModuleName.Aligner1.ToString(),0, _alignAngle);

            return _entityTaskToken == (int)EfemEntity.MSG.Align;
        }
    }
}