Mars200/JetVirgoPM/PMs/Routines/PMPrepareTransferRoutine.cs

using System;
using Aitex.Core.Common;
using Aitex.Core.RT.Routine;
using Aitex.Core.RT.SCCore;
using MECF.Framework.Common.Equipment;
using MECF.Framework.Common.Schedulers;
using MECF.Framework.Common.SubstrateTrackings;
using JetVirgoPM.Devices;
using MECF.Framework.RT.EquipmentLibrary.HardwareUnits.PMs;
using Aitex.Sorter.Common;

namespace JetVirgoPM.PMs.Routines
{
    class PMPrepareTransferRoutine : PMRoutineBase, IStepRoutine
    {
        enum RoutineStep
        {
            LiftUpDown,
            Vent,
            VentDelay,
            SetGuidePin,
            CheckCoolantTemp1,
            CheckCoolantTemp2,
            CheckTemp1,
            CheckTemp2,
            CheckLETemp,
            SetSlitDoor,
            SlitDoorDelay,
            PrepareTransferPlace,
            PrepareTransferPick,
            kEnd
        }

        private EnumTransferType _TransferType;
        private EnumDualPM _pos;

        private int _timeout;
        private readonly VentRoutine _ventRoutine;
        private WaferSize _ws;
        private double _temp;
        private double _tolerance;
        private double _Chiller1OffsetTemp = 0.0f;
        private double _Chiller2OffsetTemp = 0.0f;
        private double _TargetTemp1 = 0.0f;
        private double _TargetTemp2 = 0.0f;
        private bool _enableCheckTemp = false;
        private int _checkChamberTempTimeout = 60;
        private bool _isATMMode;

        public bool _Chamber1Disabled;
        public bool _Chamber2Disabled;
        private bool _enableChiller1;
        private bool _enableChiller2;
        private bool _enableLE1;
        private bool _enableLE2;
        private bool _isVented = false;

        public bool GuidePinInstalled;

        public PMPrepareTransferRoutine(JetDualPM chamber, VentRoutine _vRoutine) : base(chamber)
        {
            Name = "PrepareTransfer";

            _ventRoutine = _vRoutine;
        }

        public RState Init(EnumTransferType type, EnumDualPM pos, WaferSize size, double temp1, double temp2, bool EnableCheckTemp)
        {
            if (type == EnumTransferType.Place)
            {
                Name = $"Prepare Place {_ws}";
            }
            else if (type == EnumTransferType.Pick)
            {
                size = WaferManager.Instance.GetWafer(_chamber.Module, pos == EnumDualPM.Left ? 0 : 1).Size;
                Name = $"Prepare Pick {_ws}";
            }

            _TargetTemp1 = temp1;
            _TargetTemp2 = temp2;
            _enableCheckTemp = EnableCheckTemp;

            _pos = pos;
            _TransferType = type;
            _ws = size;

            return RState.End;
        }
        public RState Init(EnumTransferType type, int[] slot, double temp1, double temp2, bool EnableCheckTemp, int handSlot = -1, EnumDualPM autoPos= EnumDualPM.None)
        {
            EnumDualPM pos = (slot.Length > 1) ? EnumDualPM.Both : (slot[0] == 0) ? EnumDualPM.Left : EnumDualPM.Right;
            if(autoPos != EnumDualPM.None)
            {
                pos = autoPos;
            }
            if (SC.IsDoubleFork) pos = EnumDualPM.Both;
            WaferSize ws = WaferSize.WS0;
            if(handSlot != -1 && type == EnumTransferType.Place)
            {
                Hand hand = (Hand)handSlot;
                if (hand == Hand.Both)
                {
                    ws = WaferManager.Instance.GetWafer(ModuleName.TMRobot, (int)Hand.Blade1).Size;
                }
                else
                {
                    ws = WaferManager.Instance.GetWafer(ModuleName.TMRobot, (int)hand).Size;
                }
            }
            else if (type == EnumTransferType.Pick)
            {
                if(pos == EnumDualPM.Left || pos == EnumDualPM.Both)
                {
                    ws = WaferManager.Instance.GetWafer(_chamber.Module, (int)EnumDualPM.Left - 1).Size;
                }
                else if(pos == EnumDualPM.Right)
                {
                    ws = WaferManager.Instance.GetWafer(_chamber.Module, (int)EnumDualPM.Right - 1).Size;
                }
            }

            _TargetTemp1 = temp1;
            _TargetTemp2 = temp2;
            _enableCheckTemp = EnableCheckTemp;

            return Init(type, pos, ws, temp1, temp2, EnableCheckTemp);
        }

        public RState Start(params object[] objs)
        {
            Reset();

            _timeout = SC.GetValue<int>($"{Module}.PrepareTransferTimeout");

            _Chamber1Disabled = SC.GetValue<bool>($"System.SetUp.{Module}Chamber1Disabled.IsInstalled");
            _Chamber2Disabled = SC.GetValue<bool>($"System.SetUp.{Module}Chamber2Disabled.IsInstalled");
            _enableChiller1 = SC.GetValue<bool>($"{Module}.Chiller1.EnableChiller");
            _enableChiller2 = SC.GetValue<bool>($"{Module}.Chiller2.EnableChiller");

            GuidePinInstalled = SC.GetValue<bool>($"{Module}.GuidePin.IsInstalled");
            if(GuidePinInstalled && _ws == WaferSize.WS0)
            {
                Stop($"GuidePin 开启后，检查到Wafer size is {_ws.ToString()}");
                return RState.Failed;
            }
            _checkChamberTempTimeout = SC.GetValue<int>($"{Module}.CheckChamberTempTimeout");

            _temp = SC.GetValue<double>($"{Module}.ChamberBaseTemperatureThreshold");
            _tolerance = SC.GetValue<double>($"System.MaxTemperatureToleranceToTarget");
            _Chiller1OffsetTemp = SC.GetValue<double>($"{Module}.Chiller1.ChillerTemperatureOffset");
            _Chiller2OffsetTemp = SC.GetValue<double>($"{Module}.Chiller2.ChillerTemperatureOffset");
            if (CheckAlreadyReadyForTransfer())
            {
                return RState.End;
            }
            _isATMMode = SC.IsATMMode;
            if (_isATMMode && !_chamber.CheckAtm())
            {
                Stop($"Running in ATMmode,{_chamber.DeviceID} not in atmos now!");
                return RState.Failed;
            }
            Notify($"开始, 准备 {(_TransferType == EnumTransferType.Place ? "放" : _TransferType == EnumTransferType.Pick ? "取" : "动作未知")}{_ws} 寸片, ");
            _enableLE1 = true;
            _enableLE2 = true;
            return Runner.Start(_chamber.Module.ToString(), Name);
        }

        public RState Monitor()
        {
            Runner.Run(RoutineStep.Vent,                   Vent,            CheckVent)
                    .Run(RoutineStep.CheckCoolantTemp1,    SetCoolant1Temp, CheckCoolant1Temp,   _checkChamberTempTimeout * 1000)
                    .Run(RoutineStep.CheckCoolantTemp2,    SetCoolant2Temp, CheckCoolant2Temp,   _checkChamberTempTimeout * 1000)
                    .Run(RoutineStep.CheckLETemp,          SetLETemp,       CheckLETemp,         _checkChamberTempTimeout * 1000)
                    .Run(RoutineStep.CheckTemp1,           SetLETemp1,      CheckLETemp1,        _checkChamberTempTimeout * 1000)
                    .Run(RoutineStep.CheckTemp2,           SetLETemp2,      CheckLETemp2,        _checkChamberTempTimeout * 1000)
                    .Run(RoutineStep.PrepareTransferPlace, PMPreparePlace,  CheckPMPreparePlace, _timeout * 1000)
                    .Run(RoutineStep.PrepareTransferPick,  PMPreparePick,   CheckPMPreparePick,  _timeout * 1000)
                    .End(RoutineStep.kEnd,                 EndFunc,         _delay_0s);

            return Runner.Status;
        }

        public override void Abort()
        {
        }

        bool Vent()
        {
            _isVented = SC.IsATMMode || _chamber.CheckSlitDoor1Open() || _chamber.CheckSlitDoor2Open();
            if (!_isVented)
            {
                var status = _ventRoutine.Start();
                _isVented = status == RState.End;
                if (!_isVented) return status == RState.Running;
            }
            return _isVented;
        }
        bool CheckVent()
        {
            if (_isVented) return true;
            var status = _ventRoutine.Monitor();
            if (status == RState.End)
                return true;
            else if (status == RState.Failed || status == RState.Timeout)
            {
                Runner.Stop($"Vent failed.");
                return true;
            }
            return false;
        }

        bool SetCoolant1Temp()
        {
            if (_TransferType == EnumTransferType.Place && !SC.IsATMMode && _enableCheckTemp && !_Chamber1Disabled && _TargetTemp1 > 0 && _enableChiller1)
            {
                _enableLE1 = false;
                return SetCoolant1Temp(_TargetTemp1, _Chiller1OffsetTemp, _tolerance);
            }
            return true;
        }
        bool CheckCoolant1Temp()
        {
            if (_TransferType == EnumTransferType.Place && !SC.IsATMMode && _enableCheckTemp && !_Chamber1Disabled && _TargetTemp1 > 0 && _enableChiller1)
            {
                return CheckCoolant1Temp(_TargetTemp1, _Chiller1OffsetTemp, _tolerance);
            }
            return true;
        }

        bool SetCoolant2Temp()
        {
            if(_TransferType == EnumTransferType.Place && !SC.IsATMMode && _enableCheckTemp && !_Chamber2Disabled && _TargetTemp2 > 0 && _enableChiller2)
            {
                _enableLE2 = false;
                return SetCoolant2Temp(_TargetTemp2, _Chiller2OffsetTemp, _tolerance);
            }
            return true;
        }
        bool CheckCoolant2Temp()
        {
            if (_TransferType == EnumTransferType.Place && !SC.IsATMMode && _enableCheckTemp && !_Chamber2Disabled && _TargetTemp2 > 0 && _enableChiller2)
            {
                return CheckCoolant2Temp(_TargetTemp2, _Chiller2OffsetTemp, _tolerance);
            }
            return true;
        }

        bool SetLETemp()
        {
            if(_TransferType == EnumTransferType.Place && !SC.IsATMMode && (_enableLE1 && !_Chamber1Disabled && _TargetTemp1 > 0) && (_enableLE2 && !_Chamber2Disabled && _TargetTemp2 > 0))
            {
                return SetLETemp(_TargetTemp1, _TargetTemp2, _tolerance, _enableLE1, _enableLE2);
            }
            return true;
        }
        bool CheckLETemp()
        {
            if (_TransferType == EnumTransferType.Place && !SC.IsATMMode && (_enableLE1 && !_Chamber1Disabled && _TargetTemp1 > 0) && (_enableLE2 && !_Chamber2Disabled && _TargetTemp2 > 0))
            {
                return CheckLETemp(_TargetTemp1, _TargetTemp2, _tolerance, _enableLE1, _enableLE2);
            }
            return true;
        }

        bool SetLETemp1()
        {
            if (_TransferType == EnumTransferType.Place && !SC.IsATMMode && _enableLE1 && !_Chamber1Disabled && _TargetTemp1 > 0)
            {
                return SetLETemp(_TargetTemp1, 0, _tolerance, _enableLE1, false);
            }
            return true;
        }
        bool CheckLETemp1()
        {
            if (_TransferType == EnumTransferType.Place && !SC.IsATMMode && _enableLE1 && !_Chamber1Disabled && _TargetTemp1 > 0)
            {
                return CheckLETemp(_TargetTemp1, 0, _tolerance, _enableLE1, false);
            }
            return true;
        }
        bool SetLETemp2()
        {
            if (_TransferType == EnumTransferType.Place && !SC.IsATMMode && _enableLE2 && !_Chamber2Disabled && _TargetTemp2 > 0)
            {
                return SetLETemp(0, _TargetTemp2, _tolerance, false, _enableLE2);
            }
            return true;
        }
        bool CheckLETemp2()
        {
            if (_TransferType == EnumTransferType.Place && !SC.IsATMMode && _enableLE2 && !_Chamber2Disabled && _TargetTemp2 > 0)
            {
                return CheckLETemp(0, _TargetTemp2, _tolerance, false, _enableLE2);
            }
            return true;
        }

        bool CheckAlreadyReadyForTransfer()
        {
            if (_pos == EnumDualPM.Left)
            {
                if (_TransferType == EnumTransferType.Pick)
                {
                    if (!_chamber.CheckSlitDoor1Open())
                    {
                        return false;
                    }
                    if (!_chamber.CheckLift1Up())
                    {
                        return false;
                    }

                    return _chamber.CheckSlitDoor1Open() && _chamber.CheckLift1Up();
                }
                else if (_TransferType == EnumTransferType.Place)
                {
                    if (!_chamber.CheckSlitDoor1Open())
                    {
                        return false;
                    }
                    if (!_chamber.CheckLift1Down())
                    {
                        return false;
                    }
                    return _chamber.CheckSlitDoor1Open() && _chamber.CheckLift1Down();
                }
            }

            if (_pos == EnumDualPM.Right)
            {
                if (_TransferType == EnumTransferType.Pick)
                {
                    if (!_chamber.CheckSlitDoor2Open())
                    {
                        return false;
                    }
                    if (!_chamber.CheckLift2Up())
                    {
                        return false;
                    }
                    return _chamber.CheckSlitDoor2Open() && _chamber.CheckLift2Up();
                }
                else if (_TransferType == EnumTransferType.Place)
                {
                    if (!_chamber.CheckSlitDoor2Open())
                    {
                        return false;
                    }
                    if (!_chamber.CheckLift2Down())
                    {
                        return false;
                    }
                    return _chamber.CheckSlitDoor2Open() && _chamber.CheckLift2Down();
                }
            }

            if (_pos == EnumDualPM.Both)
            {
                bool checkSlitDoorBothResult = _chamber.CheckSlitDoor1Open() && _chamber.CheckSlitDoor2Open();
                if (!checkSlitDoorBothResult)
                {
                    return checkSlitDoorBothResult;
                }
                if (_TransferType == EnumTransferType.Pick)
                {
                    return _chamber.CheckLift1Up() && _chamber.CheckLift2Up();
                }
                else if (_TransferType == EnumTransferType.Place)
                {
                    return _chamber.CheckLift1Down() && _chamber.CheckLift2Down();
                }
            }
            return false;
        }

        bool PMPreparePlace()
        {
            if(_TransferType == EnumTransferType.Place)
            {
                return SetLiftPinAndSlitDoorAndGuidePin(false, _ws, true, GuidePinInstalled);
            }
            return true;
        }

        bool CheckPMPreparePlace()
        {
            if (_TransferType == EnumTransferType.Place)
            {
                return CheckLiftPinAndSlitDoorAndGuidePin(false, _ws, true, GuidePinInstalled);
            }
            return true;
        }

        bool SetLiftPinAndSlitDoorAndGuidePin(bool isUp, WaferSize ws, bool isOpen, bool _guidePinInstalled)
        {
            Notify($"设置  {_chamber.Name}{_pos}  liftPin {(isUp ? "升" : "降")}, 设置 {ws} Pin 升, 设置  {_chamber.Name}{_pos} SlitDoor {(isOpen ? "开" : "关")}");

            if (_pos == EnumDualPM.Left || _pos == EnumDualPM.Both)
            {
                if (!_chamber.SetLiftPin1(isUp ? MovementPosition.Up : MovementPosition.Down, out string reason))
                {
                    Stop(reason);
                    return false;
                }

                if (GuidePinInstalled)
                {
                    _chamber.PrepareGuidePinForPlaceLeft(ws);
                }


                _chamber.SetSlitDoor1(isOpen, out string reason1);
            }
            if (_pos == EnumDualPM.Right || _pos == EnumDualPM.Both)
            {
                if (!_chamber.SetLiftPin2(isUp ? MovementPosition.Up : MovementPosition.Down, out string reason))
                {
                    Stop(reason);
                    return false;
                }

                if (GuidePinInstalled)
                {
                    _chamber.PrepareGuidePinForPlaceRight(ws);
                }

                _chamber.SetSlitDoor2(isOpen, out string reason2);
            }
            return true;
        }

        bool CheckLiftPinAndSlitDoorAndGuidePin(bool isUp, WaferSize ws, bool isOpen, bool _guidePinInstalled)
        {
            bool Check1()
            {
                bool res1 = isUp ? _chamber.CheckLift1Up() : _chamber.CheckLift1Down();
                bool res2 = isOpen ? _chamber.CheckSlitDoor1Open() : _chamber.CheckSlitDoor1Close();
                bool res3 = _guidePinInstalled ? _chamber.CheckGuidePinIsReadyForTransferLeft(ws) : true;

                return res1 && res2 && res3;
            }

            bool Check2()
            {
                bool res1 = isUp ? _chamber.CheckLift2Up() : _chamber.CheckLift2Down();
                bool res2 = isOpen ? _chamber.CheckSlitDoor2Open() : _chamber.CheckSlitDoor2Close();
                bool res3 = _guidePinInstalled ? _chamber.CheckGuidePinIsReadyForTransferRight(ws) : true;


                return res1 && res2 && res3;
            }
            return ((_pos != EnumDualPM.Left && _pos != EnumDualPM.Both) || Check1()) && ((_pos != EnumDualPM.Right && _pos != EnumDualPM.Both) || Check2());
        }

        bool PMPreparePick()
        {
            if (_TransferType == EnumTransferType.Pick)
            {
                return SetLiftPinAndSlitDoorAndGuidePin(true, _ws, true, false);
            }
            return true;
        }
        bool CheckPMPreparePick()
        {
            if (_TransferType == EnumTransferType.Pick)
            {
                return CheckLiftPinAndSlitDoorAndGuidePin(true, _ws, true, false);
            }
            return true;
        }

    }
}