Kepler-Release/Venus/Venus_RT/Modules/TM/VenusEntity/SEMFPlaceRoutine.cs

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

namespace Venus_RT.Modules.TM.VenusEntity
{
    public class SEMFPlaceRoutine : ModuleRoutineBase, IRoutine
    {
        private enum PlaceStep
        {
            seWaitModuleReady,
            sePrepareModule,
            seDoorOpen,
            sePlacing,
            seNotifyDone
        }

        private TMBase _tm;
        private ITransferRobot _robot;
        private IPreAlign _vpa;

        private VceEntity _vceModule;
        private ModuleName _targetModule;
        private int _targetSlot;
        private int _placingTimeout;

        public int currentStepNo;

        Hand _hand;

        public SEMFPlaceRoutine(TMBase tm, ITransferRobot robot, IPreAlign vpa, ModuleName module) : base(module)
        {
            _tm = tm;
            _robot = robot;
            _vpa = vpa;
        }
        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;
            }

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

            //如果目标是Vce 获取vce
            if (ModuleHelper.IsVCE(_targetModule) && ModuleHelper.IsInstalled(_targetModule))
            {
                _vceModule = Singleton<RouteManager>.Instance.GetVCE(_targetModule);
                //如果vce有错误 报错
                if (_vceModule.IsError)
                {
                    LOG.Write(eEvent.ERR_TM, Module, $"Invalid target module : {_targetModule} is Error! Please solve Error first!");
                    return RState.Failed;
                }

                if (_targetSlot < 0)
                {
                    LOG.Write(eEvent.ERR_TM, Module, $"VCE target slot cannot be {_targetSlot}. Please check it first.");
                    return RState.Failed;
                }

                //if (_tm.VCESlitDoorClosed)
                //{
                //    LOG.Write(eEvent.ERR_TM, Module, $"cannot place cause vce slitdoor not open.");
                //    return RState.Failed;
                //}
                //如果VCE门是关闭的 说明还未进行pump 无法取片等
                //if (_tm.VCESlitDoorClosed)
                //{
                //    LOG.Write(eEvent.ERR_TM, Module, $"Invalid target module : {_targetModule} slitdoor not open! Please pump down vce and open it first!");
                //    return RState.Failed;
                //}
            }
            //如果目标又不是VPA 报错
            else if (!ModuleHelper.IsVPA(_targetModule))
            {
                LOG.Write(eEvent.ERR_TM, Module, $"Invalid target module : {_targetModule} for placing action");
                return RState.Failed;
            }

            //检查目标手臂上有wafer
            if (WaferManager.Instance.CheckNoWafer(ModuleName.TMRobot, (int)_hand))
            {
                LOG.Write(eEvent.ERR_TM, Module, $"Cannot place as TM Robot Arm: {_hand} has no wafer");
                return RState.Failed;
            }

            //检查目标槽位上没有wafer
            if (WaferManager.Instance.CheckHasWafer(_targetModule, _targetSlot))
            {
                LOG.Write(eEvent.ERR_TM, Module, $"Cannot place as {_targetModule} Slot {_targetSlot + 1} has a wafer");
                return RState.Failed;
            }

            //2023/10/13 朱永吉 atm mode的判断不允许自动pump vent 信号不满足手动pump vent
            //if (RouteManager.IsATMMode && _targetModule == ModuleName.VCE1)
            //{
            //    if (!_tm.IsVCEATM)
            //    {
            //        LOG.Write(eEvent.ERR_TM, Module, $"System in ATM Mode but VCE is not ATM!");
            //        return RState.Failed;
            //    }
            //
            //    if (!_tm.IsTMATM)
            //    {
            //        LOG.Write(eEvent.ERR_TM, Module, $"System in ATM Mode but TM is not ATM!");
            //        return RState.Failed;
            //    }
            //}
            //else
            //{
            //    if (_tm.IsVCEATM)
            //    {
            //        LOG.Write(eEvent.ERR_TM, Module, $"System not in ATM Mode but VCE is ATM!");
            //        return RState.Failed;
            //    }
            //
            //    if (_tm.IsTMATM)
            //    {
            //        LOG.Write(eEvent.ERR_TM, Module, $"System not in ATM Mode but TM is ATM!");
            //        return RState.Failed;
            //    }
            //}

            Reset();
            _placingTimeout = SC.GetValue<int>($"{Module}.PlaceTimeout") * 1000;

            return Runner.Start(Module, $"Place to {_targetModule}");
        }

        public RState Monitor()
        {
            Runner.Wait(PlaceStep.seWaitModuleReady,        CheckModuleReady,       _delay_60s)
                .Run(PlaceStep.sePrepareModule,             PrepareModule,          CheckModuleReady)
                .RunIf(PlaceStep.seDoorOpen, ModuleHelper.IsVCE(_targetModule), VCEDoorOpen, CheckVCEDoorOpen)
                .Run(PlaceStep.sePlacing,                   Placing,                WaitPlaceDone,       _placingTimeout)
                .End(PlaceStep.seNotifyDone,                NullFun,                500);

            return Runner.Status;
        }

        private bool PrepareModule()
        {
            switch (_targetModule)
            {
                case ModuleName.VCE1:
                case ModuleName.VCEA:
                case ModuleName.VCEB:
                    _vceModule.PostMsg(VceMSG.Goto, _targetSlot);
                    return true;//移动到目标槽位
                case ModuleName.VPA:
                    return true;//10/17暂时为true 后可能要求旋转
                default:
                    return false;
            }
        }

        private bool WaitPlaceDone()
        {
            if (_robot.Status == RState.Running)
            {
                return false;
            }
            else if (_robot.Status == RState.End)
            {
                WaferManager.Instance.WaferMoved(ModuleName.TMRobot, (int)_hand, _targetModule, _targetSlot);
                return true;
            }
            // timeout failed
            else
            {
                Runner.Stop($"TM Robot Placing failed, {_robot.Status}");
                return true;
            }
        }
        private bool VCEDoorOpen()
        {
            return _tm.TurnSlitDoor(_targetModule, true);
        }

        private bool CheckVCEDoorOpen()
        {
            return _tm.CheckSlitValveOpen(_targetModule);
        }

        private bool Placing()
        {
            return _robot.Place(_targetModule, 0, _hand);
        }

        private bool CheckModuleReady()
        {
            switch (_targetModule)
            {
                case ModuleName.VCE1:
                case ModuleName.VCEA:
                case ModuleName.VCEB:
                    return _vceModule.IsIdle;
                case ModuleName.VPA:
                    return _vpa.Status == RState.End;
                default:
                    return false;
            }
        }

        public void Abort()
        {

        }
    }
}