Kepler-Release/Venus/Venus_RT/Modules/VCE/VceEntity.cs

using Aitex.Core.RT.DataCenter;
using Aitex.Core.RT.Device;
using Aitex.Core.RT.Fsm;
using Aitex.Core.RT.Log;
using Aitex.Core.RT.OperationCenter;
using Aitex.Core.Utilities;
using MECF.Framework.Common.Equipment;
using MECF.Framework.Common.Schedulers;
using MECF.Framework.Common.SubstrateTrackings;
using MECF.Framework.RT.ModuleLibrary.VceModules;
using System;
using System.Collections.Generic;
using System.Linq;
using System.Reflection;
using System.Text;
using System.Threading.Tasks;
using System.Windows;
using Venus_Core;
using Venus_RT.Devices;
using Venus_RT.Devices.VCE;
using Venus_RT.Modules.PMs;
using Venus_RT.Modules.TM;
using Venus_RT.Modules.TM.VenusEntity;

namespace Venus_RT.Modules.VCE
{
    #region 状态和消息
    public enum VceSTATE
    {
        Init,//初始化
        Idle,//空闲
        Error,//错误
        Homing,//home操作 对应HM
        DoorOpenning,//开门操作 对应DC
        DoorClosing,//关门操作 对应DO
        Loading,//取cassette操作 包括开门关门 对应LOAD,
        UnLoading,
        Mapping,//扫片
        ReadingMap, //对应MP 包括三种格式 hex binary 智能(只有智能模式可以判断复杂情况)
        Goting,//指定槽到达窗口 对应 GC
        GotingLP,
        Resetting,//重置
        LoadingWithoutSMIF,//没有SMIF的load
        LoadPreparing,//准备
        SafeLoading,
        SafeUnloading,
        Pumping,
        Venting,
        Unknown
    }

    public enum VceMSG
    {
        Home,
        Error,
        DoorOpen,
        DoorClose,
        Map,
        ReadMap,
        Load,
        UnLoad,
        LoadPrepare,
        LoadWithoutSMIF,
        Reset,
        Goto,
        GotoLP,
        SafeLoad,
        SafeUnload,
        Pump,
        Vent,
        Abort,
        None
    }
    #endregion

    public class VceEntity : Entity, IEntity, IModuleEntity
    {
        private ModuleName _modulename;
        private readonly VceModuleBase _vce;
        private bool _vceoutdoorclosed;

        public bool IsIdle => fsm.State == (int)VceSTATE.Idle;

        public bool IsInit => fsm.State == (int)VceSTATE.Init || fsm.State == (int)VceSTATE.Unknown;

        public bool IsBusy => !IsInit && !IsError && !IsIdle;

        public bool IsError => fsm.State == (int)VceSTATE.Error;

        public bool VCEOutDoorClosed => _vceoutdoorclosed;

        private int currentSlot;
        private int targetSlot;
        private LoadRoutine _loadRoutine;
        private LoadPrepareRoutine _prepareRoutine;
        private UnloadRoutine _unloadRoutine;

        private readonly SEMFPumpRoutine _pumpRoutine;
        private readonly SEMFVentRoutine _ventRoutine;
        public VceEntity(ModuleName moduleName)
        {
        	currentSlot = 0;
            _modulename = moduleName;
            _vce = new HongHuVce(25, _modulename);
            _vceoutdoorclosed = true;//初始状态outdoor是关闭

            _loadRoutine = new LoadRoutine(_modulename,_vce);
            _prepareRoutine = new LoadPrepareRoutine(_modulename,_vce);
            _unloadRoutine = new UnloadRoutine(_modulename, _vce);
            _pumpRoutine = new SEMFPumpRoutine(DEVICE.GetDevice<HongHuTM>("SETM"), _modulename);
            _ventRoutine = new SEMFVentRoutine(DEVICE.GetDevice<HongHuTM>("SETM"), _modulename);
            InitFsmMap();
        }

        protected override bool Init()
        {
            DATA.Subscribe($"{_modulename}.VCEOutDoorClosed", () => !VCEOutDoorClosed);
            DATA.Subscribe($"{_modulename}.CurrentSlot", () => currentSlot);

            DATA.Subscribe($"{_modulename}.FsmState", () => ((VceSTATE)fsm.State).ToString());
            //DATA.Subscribe($"{_modulename}.IsRunning", () => IsIdle);
            //DATA.Subscribe($"{_modulename}.IsRunning", () => IsIdle);

            OP.Subscribe($"{_modulename}.HOME", (cmd,args) => { PostMsg(VceMSG.Home);return true; });
            OP.Subscribe($"{_modulename}.DoorOpen", (cmd,args) => { PostMsg(VceMSG.DoorOpen);return true; });
            OP.Subscribe($"{_modulename}.DoorClose", (cmd,args) => { PostMsg(VceMSG.DoorClose);return true; });
            OP.Subscribe($"{_modulename}.Map", (cmd,args) => { PostMsg(VceMSG.Map);return true; });
            OP.Subscribe($"{_modulename}.ReadMap", (cmd,args) => { PostMsg(VceMSG.ReadMap);return true; });
            OP.Subscribe($"{_modulename}.Load", (cmd,args) => { PostMsg(VceMSG.Load);return true; });
            OP.Subscribe($"{_modulename}.UnLoad", (cmd,args) => { PostMsg(VceMSG.UnLoad);return true; });
            OP.Subscribe($"{_modulename}.Reset", (cmd,args) => { PostMsg(VceMSG.Reset);return true; });
            OP.Subscribe($"{_modulename}.Goto", (cmd,args) => { PostMsg(VceMSG.Goto, args[0]);return true; });
            OP.Subscribe($"{_modulename}.GotoLP", (cmd, args) => { PostMsg(VceMSG.GotoLP); return true; });
            OP.Subscribe($"{_modulename}.Abort", (cmd, args) => { PostMsg(VceMSG.Abort); return true; });
            OP.Subscribe($"{_modulename}.PumpDown", (cmd, args) => { PostMsg(VceMSG.Pump); return true; });
            OP.Subscribe($"{_modulename}.Vent", (cmd, args) => { PostMsg(VceMSG.Vent); return true; });


            OP.Subscribe($"{_modulename}.LoadPrepare", (cmd, args) => { PostMsg(VceMSG.LoadPrepare); return true; });
            OP.Subscribe($"{_modulename}.SafeLoad", (cmd, args) => { PostMsg(VceMSG.SafeLoad); return true; });
            OP.Subscribe($"{_modulename}.SafeUnload", (cmd, args) => { PostMsg(VceMSG.SafeUnload); return true; });

            return true;
        }

        /// <summary>
        /// 定义状态机的迁移表
        /// </summary>
        private void InitFsmMap()
        {
            fsm = new StateMachine<VceEntity>(_modulename.ToString(), (int)VceSTATE.Init, 50);
            fsm.EnableRepeatedMsg(true);

            AnyStateTransition(VceMSG.Error, fnError, VceSTATE.Error);
            AnyStateTransition(VceMSG.Abort, fnAbort, VceSTATE.Idle);
            AnyStateTransition(VceMSG.Home, fnStartHome, VceSTATE.Homing);
            //HOME init->homing idle->homing
            Transition(VceSTATE.Init, VceMSG.Home, fnStartHome, VceSTATE.Homing);
            Transition(VceSTATE.Idle, VceMSG.Home, fnStartHome, VceSTATE.Homing);
            Transition(VceSTATE.Error, VceMSG.Home, fnStartHome, VceSTATE.Homing);
            Transition(VceSTATE.Homing, FSM_MSG.TIMER, fnHomeTimeout, VceSTATE.Idle);

            //Open Door 开门
            Transition(VceSTATE.Idle, VceMSG.DoorOpen, fnStartOpenDoor, VceSTATE.DoorOpenning);
            Transition(VceSTATE.DoorOpenning, FSM_MSG.TIMER, fnOpenDoorTimeout, VceSTATE.Idle);
            //Close Door 关门
            Transition(VceSTATE.Idle, VceMSG.DoorClose, fnStartCloseDoor, VceSTATE.DoorClosing);
            Transition(VceSTATE.DoorClosing, FSM_MSG.TIMER, fnCloseDoorTimeout, VceSTATE.Idle);

            //Map 扫片
            Transition(VceSTATE.Idle, VceMSG.Map, fnStartMapping, VceSTATE.Mapping);
            Transition(VceSTATE.Mapping, FSM_MSG.TIMER, fnMappingTimeout, VceSTATE.Idle);

            //Load 取cassette
            Transition(VceSTATE.Idle, VceMSG.Load, fnStartLoading, VceSTATE.Loading);
            Transition(VceSTATE.Loading, FSM_MSG.TIMER, fnLoadingTimeout, VceSTATE.Idle);

            //UnLoad 放cassette
            Transition(VceSTATE.Idle, VceMSG.UnLoad, fnStartUnLoading, VceSTATE.UnLoading);
            Transition(VceSTATE.UnLoading, FSM_MSG.TIMER, fnUnLoadingTimeout, VceSTATE.Idle);

            //Goto 指定槽对准窗口
            Transition(VceSTATE.Idle, VceMSG.Goto, fnStartGoto, VceSTATE.Goting);
            Transition(VceSTATE.Goting, FSM_MSG.TIMER, fnGotingTimeout, VceSTATE.Idle);

            //ReadMap
            Transition(VceSTATE.Idle, VceMSG.ReadMap, fnStartReadingMap, VceSTATE.ReadingMap);
            Transition(VceSTATE.ReadingMap, FSM_MSG.TIMER, fnReadingMapTimeout, VceSTATE.Idle);

            //Load Prepare
            Transition(VceSTATE.Idle, VceMSG.LoadPrepare,fnStartLoadPrepare,VceSTATE.LoadPreparing) ;
            Transition(VceSTATE.LoadPreparing, FSM_MSG.TIMER, fnLoadingPrepareTimeout,VceSTATE.Idle) ;

            //Safe Load
            Transition(VceSTATE.Idle,VceMSG.SafeLoad,fnStartSafeLoad,VceSTATE.SafeLoading) ;
            Transition(VceSTATE.SafeLoading, FSM_MSG.TIMER,fnSafeLoadTimeout,VceSTATE.Idle);

            //Safe UnLoad
            Transition(VceSTATE.Idle, VceMSG.SafeUnload, fnStartSafeUnLoad, VceSTATE.SafeUnloading);
            Transition(VceSTATE.SafeUnloading, FSM_MSG.TIMER, fnSafeUnLoadTimeout, VceSTATE.Idle);

            //Goto LP
            Transition(VceSTATE.Idle, VceMSG.GotoLP, fnStartGotoLP, VceSTATE.GotingLP);
            Transition(VceSTATE.GotingLP, FSM_MSG.TIMER, fnGotoLPTimeout, VceSTATE.Idle);

            //Pump down

            //Pump
            Transition(VceSTATE.Idle, VceMSG.Pump, fnStartPump, VceSTATE.Pumping);
            Transition(VceSTATE.Pumping, FSM_MSG.TIMER, fnPumpTimeout, VceSTATE.Idle);
            Transition(VceSTATE.Pumping, VceMSG.Abort, fnAbortPump, VceSTATE.Idle);

            //Vent
            Transition(VceSTATE.Idle, VceMSG.Vent, fnStartVent, VceSTATE.Venting);
            Transition(VceSTATE.Venting, FSM_MSG.TIMER, fnVentTimeout, VceSTATE.Idle);
            Transition(VceSTATE.Venting, VceMSG.Abort, fnAbortVent, VceSTATE.Idle);

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

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

            Running = true;
        }

        private bool fnAbortVent(object[] param)
        {
            _ventRoutine.Abort();
            return true;
        }

        private bool fnVentTimeout(object[] param)
        {
            RState ret = _ventRoutine.Monitor();
            if (ret == RState.Timeout || ret == RState.Failed)
            {
                PostMsg(VceMSG.Error);
                return false;
            }
            return ret == RState.End;
        }

        private bool fnStartVent(object[] param)
        {
            return _ventRoutine.Start(param) == RState.Running;
        }

        private bool fnAbortPump(object[] param)
        {
            _pumpRoutine.Abort();
            return true;
        }

        private bool fnPumpTimeout(object[] param)
        {
            RState ret = _pumpRoutine.Monitor();
            if (ret == RState.Timeout || ret == RState.Failed)
            {
                PostMsg(VceMSG.Error);
                return false;
            }
            return ret == RState.End;
        }

        private bool fnStartPump(object[] param)
        {
            return _pumpRoutine.Start(param) == RState.Running;
        }

        private bool fnGotoLPTimeout(object[] param)
        {
            if (_vce.Status == RState.Timeout || _vce.Status == RState.Failed)
            {
                PostMsg(VceMSG.Error);
                return false;
            }
            if (_vce.Status == RState.End)
            {
                currentSlot = targetSlot;
            }
            return _vce.Status == RState.End;
        }

        private bool fnStartGotoLP(object[] param)
        {
         	if (_vce.GotoLP())
            {
                targetSlot = -1;
                return true;
            }
            else
                return false;

        }

        private bool fnSafeUnLoadTimeout(object[] param)
        {
            RState ret = _unloadRoutine.Monitor();
            if (ret == RState.Timeout || ret == RState.Failed)
            {
                PostMsg(VceMSG.Error);
                return false;
            }
            return ret == RState.End;
        }

        private bool fnStartSafeUnLoad(object[] param)
        {
            return _unloadRoutine.Start(param) == RState.Running;
        }

        private bool fnSafeLoadTimeout(object[] param)
        {
            RState ret = _loadRoutine.Monitor();
            if (ret == RState.Timeout || ret == RState.Failed)
            {
                PostMsg(VceMSG.Error);
                return false;
            }
            return ret == RState.End;
        }

        private bool fnStartSafeLoad(object[] param)
        {
            return _loadRoutine.Start(param) == RState.Running;
        }

        private bool fnLoadingPrepareTimeout(object[] param)
        {
            RState ret = _prepareRoutine.Monitor();
            if (ret == RState.Timeout || ret == RState.Failed)
            {
                PostMsg(VceMSG.Error);
                return false;
            }
            return ret == RState.End;
        }

        private bool fnStartLoadPrepare(object[] param)
        {
            return _prepareRoutine.Start(param) == RState.Running;
        }

        private bool fnReadingMapTimeout(object[] param)
        {
            if (_vce.Status == RState.Timeout || _vce.Status == RState.Failed)
            {
                PostMsg(VceMSG.Error);
                return false;
            }

            return _vce.Status == RState.End;
        }

        private bool fnStartReadingMap(object[] param)
        {
            return _vce.ReadMap();
        }

        //急停
        private bool fnAbort(object[] param)
        {
            return true;
        }
        //升降到槽位
        private bool fnStartGoto(object[] param)
        {
            if (_vce.Goto(Convert.ToInt32(param[0])))
            {
                targetSlot = Convert.ToInt32(param[0]);
                return true;
            }
            else
                return false;
                    }

        private bool fnGotingTimeout(object[] param)
        {
            if (_vce.Status == RState.Timeout || _vce.Status == RState.Failed)
            {
                PostMsg(VceMSG.Error);
                return false;
            }
            if(_vce.Status == RState.End)
                currentSlot = targetSlot;
            return _vce.Status == RState.End;
        }

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

        private bool fnStartHome(object[] param)
        {
            return _vce.HomeALL();
        }

        private bool fnHomeTimeout(object[] param)
        {
            if (_vce.Status == RState.Timeout || _vce.Status == RState.Failed)
            {
                PostMsg(VceMSG.Error);
                return false;
            }

            return _vce.Status == RState.End;
        }

        private bool fnStartOpenDoor(object[] param)
        {
            return _vce.OpenDoor();
        }

        private bool fnOpenDoorTimeout(object[] param)
        {
            if (_vce.Status == RState.Timeout || _vce.Status == RState.Failed)
            {
                PostMsg(VceMSG.Error);
                return false;
            }

            if (_vce.Status == RState.End)
            {
                _vceoutdoorclosed = false;
            }

            return _vce.Status == RState.End;
        }

        private bool fnStartCloseDoor(object[] param)
        {
            return _vce.CloseDoor();
        }

        private bool fnCloseDoorTimeout(object[] param)
        {
            if (_vce.Status == RState.Timeout || _vce.Status == RState.Failed)
            {
                PostMsg(VceMSG.Error);
                return false;
            }
            //关门成功
            if (_vce.Status == RState.End)
            {
                _vceoutdoorclosed = true;
            }

            return _vce.Status == RState.End;
        }

        private bool fnStartMapping(object[] param)
        {
            return _vce.Map();
        }

        private bool fnMappingTimeout(object[] param)
        {
            if(_vce.Status == RState.Timeout || _vce.Status == RState.Failed)
            {
                PostMsg(VceMSG.Error);
                return false;
            }

            return _vce.Status == RState.End;
        }

        private bool fnStartLoading(object[] param)
        {
            return _vce.Load();
        }

        private bool fnLoadingTimeout(object[] param)
        {
            if (_vce.Status == RState.Timeout || _vce.Status == RState.Failed)
            {
                PostMsg(VceMSG.Error);
                return false;
            }

            return _vce.Status == RState.End;
        }

        private bool fnStartUnLoading(object[] param)
        {
            return _vce.UnLoad();
        }

        private bool fnUnLoadingTimeout(object[] param)
        {
            if (_vce.Status == RState.Timeout || _vce.Status == RState.Failed)
            {
                PostMsg(VceMSG.Error);
                return false;
            }

            return _vce.Status == RState.End;
        }

        public bool Check(int msg, out string reason, params object[] args)
        {
            reason = "";
            return true;
        }

        public int Invoke(string function, params object[] args)
        {
            switch (function)
            {
                case "Home":
                    CheckToPostMessage((int)VceMSG.Home);
                    return (int)VceMSG.Home;
            }
            return (int)VceMSG.None;
        }

        public bool CheckToPostMessage(int msg, params object[] args)
        {
            if (!fsm.FindTransition(fsm.State, msg))
            {
                LOG.Write(eEvent.WARN_FSM_WARN, _modulename, $"{_modulename} is in {(VceSTATE)fsm.State} state，can not do {(VceMSG)msg}");
                return false;
            }

            Running = true;
            fsm.PostMsg(msg, args);

            return true;
        }

        public bool CheckAcked(int msg)
        {
            return fsm.CheckExecuted(msg);
        }

        public bool IsPrepareTransferReady(ModuleName module, EnumTransferType transferType, int slot)
        {
            return false;
        }
    }
}