Mars200/Mars/EfemDualSchedulerLib/Schedulers/SchedulerTM.cs

using Aitex.Core.Common;
using Aitex.Core.RT.Log;
using Aitex.Core.RT.SCCore;
using Aitex.Core.Util;
using Aitex.Sorter.Common;
using MECF.Framework.Common.Equipment;
using MECF.Framework.Common.SubstrateTrackings;
using MECF.Framework.RT.ModuleLibrary.EfemModules;
using MECF.Framework.RT.ModuleLibrary.SystemModules;
using MECF.Framework.RT.ModuleLibrary.TMModules;
using System;
using System.Linq;

namespace EfemDualSchedulerLib.Schedulers
{
    public class SchedulerTM : SchedulerModule
    {
        public override bool IsAvailable
        {
            get { return _tm.IsReady && _tm.IsOnline && CheckTaskDone(); }
        }

        public override bool IsOnline
        {
            get { return _tm.IsOnline; }

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

        }

        public bool Blade1Enable
        {
            get => SC.GetValueOrDefault<bool>($"TM.TMRobot.LowerBladeEnable");
        }

        public bool Blade2Enable
        {
            get => SC.GetValueOrDefault<bool>($"TM.TMRobot.UpperBladeEnable");
        }

        private TMModuleBase _tm = null;

        private Hand _hand;


        private Hand _taskSwapPickHand;
        private Hand _taskSwapPlaceHand;
        private int[] _taskSwapPickSlot;
        private int[] _taskSwapPlaceSlot;
        private int[] _slots;
        private Pan _pan;
        private Pan _placePan;
        public ModuleName PreviousTarget { get; set; }

        public SchedulerTM(TMModuleBase moduleDevice) : base(ModuleName.TM.ToString())
        {
            _tm = moduleDevice;

            PreviousTarget = ModuleName.System;
        }

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

            PreviousTarget = ModuleName.System;
        }

        public override WaferInfo GetWaferInfo(int slot)
        {
            return WaferManager.Instance.GetWafer(ModuleName.TMRobot, slot);
        }

        public override bool HasWafer(int slot)
        {
            return WaferManager.Instance.CheckHasWafer(ModuleName.TMRobot, slot);
        }

        public override bool NoWafer(int slot)
        {
            return Converter.MapBladeToSlots(Converter.MapSlotToHand(slot)).All(p=> WaferManager.Instance.CheckNoWafer(ModuleName.TMRobot, p));
        }

        public override bool CheckWaferNextStepIsThisModule(ModuleName module, int slot)
        {
            if (!WaferManager.Instance.CheckHasWafer(module, slot))
                return false;

            WaferInfo wafer = WaferManager.Instance.GetWafer(module, slot);

            if (wafer.ProcessJob == null || wafer.ProcessJob.Sequence == null)
                return false;

            if (wafer.NextSequenceStep >= wafer.ProcessJob.Sequence.Steps.Count)
                return false;

            if (!wafer.ProcessJob.Sequence.Steps[wafer.NextSequenceStep].StepModules.Contains(ModuleName.TMRobot))
                return false;

            return true;
        }

        public override bool CheckWaferNextStepIsThisModuleSlot(ModuleName module, int slot, int thisSlot)
        {
            if (!WaferManager.Instance.CheckHasWafer(module, slot))
                return false;

            WaferInfo wafer = WaferManager.Instance.GetWafer(module, slot);

            if (wafer.ProcessJob == null || wafer.ProcessJob.Sequence == null)
                return false;

            if (wafer.NextSequenceStep >= wafer.ProcessJob.Sequence.Steps.Count)
                return false;

            if (!wafer.ProcessJob.Sequence.Steps[wafer.NextSequenceStep].StepModules.Contains(ModuleName.TMRobot))
                return false;

            if (!wafer.ProcessJob.Sequence.Steps[wafer.NextSequenceStep].StepParameter["SlotSelection"].ToString().Contains(thisSlot.ToString()))
                return false;

            return true;
        }

        public bool IsReadyForPick(Hand blade)
        {
            return Converter.MapBladeToSlots(blade).All(p=> WaferManager.Instance.CheckNoWafer(ModuleName.TMRobot, p));
        }

        public bool IsReadyForPlace(Hand blade)
        {
            return Converter.MapBladeToSlots(blade).Any(p=> WaferManager.Instance.CheckHasWafer(ModuleName.TMRobot, p));
        }

        public bool Pick(ModuleName source, int[] slot, Hand hand, Pan pan, double temp1, double temp2, bool enableCheckTemp)
        {
            _task = TaskType.Pick;
            _hand = hand;
            _slots = slot;
            _pan = pan;
            if (!_tm.Pick(source, hand, pan, slot, temp1, temp2, enableCheckTemp, out string reason))
            {
                LOG.Write(reason);
            }

            PreviousTarget = source;
            Array.ForEach(slot, p => LogTaskStart(_task, $"{source}.{p + 1}=>{Module}.{hand}"));
            return true;
        }

        public bool Place(ModuleName destination, int[] slot, Hand hand, Pan pan, double temp1, double temp2, bool enableCheckTemp)
        {
            _task = TaskType.Place;
            _hand = hand;
            _slots = slot;
            _pan = pan;
            if (!_tm.Place(destination, hand, pan, slot, temp1, temp2, enableCheckTemp, out string reason))
            {
                LOG.Write(reason);
            }

            PreviousTarget = destination;
            Array.ForEach(slot,p=> LogTaskStart(_task, $"{Module}.{hand}=>{destination}.{p + 1}"));
         
            return true;
        }

        public bool Map(ModuleName destination)
        {
            _task = TaskType.Map;
            if (!_tm.Map(destination, out string reason))
            {
                LOG.Write(reason);
            }

            PreviousTarget = destination;
            LogTaskStart(_task, $"mapping {Module}");

            return true;
        }

        public bool PickAndPlace(ModuleName target, Hand pickHand, Pan pickPan, int[] pickSlot, Hand placeHand, Pan placePan, int[] placeSlot,double targetTemp1, double targetTemp2)
        {
            PreviousTarget = target;
            _task = TaskType.PickAndPlace;
            _taskSwapPickHand = pickHand;
            _pan = pickPan;
            _taskSwapPickSlot = pickSlot;

            _taskSwapPlaceHand = placeHand;
            _placePan = placePan;
            _taskSwapPlaceSlot = placeSlot;

            LogTaskStart(_task, $" {target}.[{string.Join(",", pickSlot.Select(p => p + 1).ToArray())}]=>{Module}.{pickHand}.{pickPan} && {Module}.{placeHand}.{placePan}=>{target}.[{string.Join(",", placeSlot.Select(p => p + 1).ToArray())}]");
            return _tm.PickAndPlace(target, pickHand, pickPan, pickSlot, target, placeHand, placePan, placeSlot, targetTemp1, targetTemp2, out _);
        }

        public bool Goto(ModuleName target, int[] slot, Hand pickHand, Pan pickPan)
        {
            PreviousTarget = target;
            _task = TaskType.Goto;
            _hand = pickHand;
            _slots = slot;
            _pan = pickPan;
            if (!_tm.Goto(target, pickHand, slot, out string reason,_pan))
            {
                LOG.Write(reason);
            }
            Array.ForEach(slot, p => LogTaskStart(_task, $"robot {pickHand} goto {target}"));
            return true;
        }
        private bool CheckPickDone(Hand hand, Pan pan)
        {
            var res = Converter.MapBladeAndPanToSlot(hand, pan)?.All(p => WaferManager.Instance.CheckHasWafer(ModuleName.TMRobot, p));
            return res == null ? false : res.Value;
        }
        private bool CheckPlaceDone(Hand hand,Pan pan)
        {
            var res = Converter.MapBladeAndPanToSlot(hand, pan)?.All(p => WaferManager.Instance.CheckNoWafer(ModuleName.TMRobot, p));
            return res == null ? false : res.Value;
        }
        public bool CheckTaskDone()
        {
            bool ret = false;
            switch (_task)
            {
                case TaskType.None:
                    ret = true;
                    break;
                case TaskType.Pick:
                    ret = CheckPickDone(_hand, _pan);
                    break;
                case TaskType.Place:
                    ret = CheckPlaceDone(_hand, _pan);
                    break;
                case TaskType.Map:
                    ret = _tm.IsReady;
                    break;
                case TaskType.Goto:
                    ret = _tm.IsReady;
                    break;
                case TaskType.PickAndPlace:
                    ret = CheckPickDone(_taskSwapPickHand, _pan) && CheckPlaceDone(_taskSwapPlaceHand, _placePan);
                    break;
            }

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

            return ret;
        }
    }
}