Kepler-Release/Venus/Venus_RT/Modules/TM/VenusEntity/SEMFPMExtendRoutine.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.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.Modules.PMs;
using Venus_RT.Modules.VCE;

namespace Venus_RT.Modules.TM.VenusEntity
{
    public class SEMFPMExtendRoutine : ModuleRoutineBase, IRoutine
    {
        //Extend的步骤
        private enum ExtendStep
        {
            ArmExtend,
            End,
        }

        private readonly TMBase _TM;
        private readonly ITransferRobot _robot;
        private IPreAlign _vpa;
        //private bool _queryAwc;
        private ModuleName _targetModule;
        private PMEntity _pmModule;
        private VceEntity _vceModule;
        //private bool _VCEFlag = false; //是否考虑VCE slot对齐准备
        private int _targetSlot;
        private Hand _hand;
        private int _extendingTimeout = 120 * 1000;

        public SEMFPMExtendRoutine(TMBase honghutm, ITransferRobot robot, IPreAlign vpa,ModuleName module) : base(module)
        {
            _TM = honghutm;
            _robot = robot;
            Name = "Extend to PM VCE VPA";
            _vpa = vpa;
            //_queryAwc = false;
        }
        //开始执行
        public RState Start(params object[] objs)
        {
            //检查robot home
            if (!_robot.IsHomed)
            {
                LOG.Write(eEvent.ERR_TM, Module, $"TM Robot is not homed, please home it first");
                return RState.Failed;
            }
            _targetModule = (ModuleName)objs[0];
            _targetSlot = (int)objs[1];
            _hand = (Hand)objs[2];
            //检查targetModule是否合法
            if (ModuleHelper.IsPm(_targetModule) && ModuleHelper.IsInstalled(_targetModule))
            {
                _pmModule = Singleton<RouteManager>.Instance.GetPM(_targetModule);
                //检查开关门状态
                if (_pmModule.IsSlitDoorClose)
                {
                    LOG.Write(eEvent.ERR_TM, Module, $"{_targetModule} slit door closed, can not extend robot arm");
                    return RState.Failed;
                }
            }
            else if (ModuleHelper.IsVCE(_targetModule) && ModuleHelper.IsInstalled(_targetModule))
            {
                //_VCEFlag = true;
                _vceModule = Singleton<RouteManager>.Instance.GetVCE(_targetModule);
                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;
                }
                //检查槽位置
                if (_targetSlot != _vceModule.CurrentSlot)
                {
                    LOG.Write(eEvent.ERR_TM, Module, $"VCE current slot is {_vceModule.CurrentSlot} ,cannot be {_targetSlot}. Please check it first.");
                    return RState.Failed;
                }
                //检查开关门状态
                if (_TM.VCESlitDoorClosed(_targetModule))
                {

                    LOG.Write(eEvent.ERR_TM, Module, $"{_targetModule} slit door closed, can not extend robot arm");
                    return RState.Failed;
                }
            }
            else if (ModuleHelper.IsVPA(_targetModule) && ModuleHelper.IsInstalled(_targetModule))
            {
                //LOG.Write(eEvent.ERR_TM, Module, $"{_targetModule}");
            }
            else
            {
                LOG.Write(eEvent.ERR_TM, Module, $"Invalid target module : {_targetModule} for extending action");
                return RState.Failed;
            }
            //检查Robot和targetModule的wafer状态
            if (WaferManager.Instance.CheckHasWafer(_targetModule, _targetSlot))
            {
                if (WaferManager.Instance.CheckHasWafer(ModuleName.TMRobot, (int)_hand))
                {
                    LOG.Write(eEvent.ERR_TM, Module, $"Both {_targetModule} and robot arm {_hand} have wafers");
                    return RState.Failed;
                }
                if (_pmModule.LiftPinIsDown && ModuleHelper.IsPm(_targetModule) && ModuleHelper.IsInstalled(_targetModule))
                {
                    LOG.Write(eEvent.ERR_TM, Module, $"{_targetModule} has a wafer and Lift Pin is down, can not extend robot arm");
                    return RState.Failed;
                }
            }
            Reset();
            _extendingTimeout = SC.GetValue<int>($"{Module}.ExtendTimeout") * 1000;
            return Runner.Start(Module, $"Extend to {_targetModule}");

        }

        //状态监控
        public RState Monitor()
        {
            Runner.Run(ExtendStep.ArmExtend, ArmExtend, WaitRobotExtendDone)
                  .End(ExtendStep.End, NullFun, _delay_50ms);


            return Runner.Status;
        }
        private bool ArmExtend()
        {
            return _robot.PickExtend(_targetModule, _targetSlot, _hand);
        }

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

    }
}