Mars200/Mars/JetEfem/Aligners/JetEfemAligner.cs

using Aitex.Core.Common;
using Aitex.Core.RT.Device;
using Aitex.Core.RT.Event;
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 MECF.Framework.RT.EquipmentLibrary.HardwareUnits.Aligners;
using MECF.Framework.RT.EquipmentLibrary.HardwareUnits.Efems.Rorzes;
using MECF.Framework.RT.EquipmentLibrary.LogicUnits;
using static JetEfemLib.Efems.EfemModule;

namespace JetEfemLib.Aligners
{
    public class FutureAligner : AlignerBase, ITransferTarget, IEfemAlignerCallback
    {
        private RorzeEfem _efem;
        private string _efemName;
        private bool _actionDone = false;
        private EfemType _efemType;

        public FutureAligner(string module, string name, string efemName):base(module, name, module, module)
        {
            base.Module = module;
            base.Name = name;
            base.Display = name;
            base.DeviceID = "";

            _efemName = efemName;
            _efemType = (EfemType)SC.GetValue<int>($"EFEM.EfemType");
            //IsMapWaferByLoadPort = false;
        }

        public override bool IsBusy
        {
            get
            {
                if (_efemType != EfemType.FutureEfem3P)
                    return _efem.CheckIsBusy(ModuleHelper.Converter(Module)) && !_actionDone;
                else
                    return _efem.CheckIsBusy(ModuleName.Aligner) && !_actionDone;
            }
        }

        public override bool Initialize()
        {
            if (_efem == null && !string.IsNullOrEmpty(_efemName))
            {
                _efem = DEVICE.GetDevice<RorzeEfem>(_efemName);
                _efem.SetAlignerCallback(ModuleHelper.Converter(Module), this);
            }
            //base.Initialize();

            return true;
        }

        private void _aligner_AlarmGenerated(string moduleName, EventLevel level, string message)
        {
            if (moduleName == Module)
                IsError = true;
        }

        public override bool Home(out string reason)
        {
            reason = string.Empty;
            if (!_efem.HomeWaferAligner(ModuleHelper.Converter(Module),out reason))
            {
                OnError();
                return false;
            }
            _actionDone = false;
            return true;
        }

        public override bool Align(double angle, out string reason)
        {
            reason = string.Empty;
            if (!_efem.AlignWafer(ModuleHelper.Converter(Module), angle, out reason))
            {
                OnError();
                return false;
            }
            _actionDone = false;
            return true;
        }

        public override bool Lift(string Position, out string reason)
        {
            reason = string.Empty;
            if(_efemType != EfemType.FutureEfem3P)
            {
                if (!_efem.Lift(ModuleHelper.Converter(Module), Position, out reason))
                {
                    OnError();
                    return false;
                }
                _actionDone = false;
            }
            else
                _actionDone = true;
            return true;
        }

        public override bool QueryWaferPresence(out string reason)
        {
            reason = string.Empty;

            if (!_efem.AlignerMapWaferPresence(out string slotMap, out reason))
            {
                return false;
            }

            //bool hasWafer = slotMap.Substring(0, 1) == "1";

            //if (hasWafer &&
            //    WaferManager.Instance.CheckNoWafer(Module, 0))
            //{
            //    EV.PostInfoLog(Module, $"found map wafer, created wafer at {Module}");
            //    WaferManager.Instance.CreateWafer(ModuleHelper.Converter(Module), 0, WaferStatus.Normal);
            //}

            //if (!hasWafer &&
            //    WaferManager.Instance.CheckHasWafer(ModuleHelper.Converter(Module), 0))
            //{
            //    EV.PostInfoLog(Module, $"did not find wafer, delete wafer from {Module}  ");
            //    WaferManager.Instance.DeleteWafer(ModuleHelper.Converter(Module), 0);
            //}

            return true;
        }

        public bool PrepareTransfer(ModuleName robot, Hand blade, int[] targetSlot, EnumTransferType transferType, out string reason)
        {
            throw new System.NotImplementedException();
        }

        public bool TransferHandoff(ModuleName robot, Hand blade, int[] targetSlot, EnumTransferType transferType, out string reason)
        {
            throw new System.NotImplementedException();
        }

        public bool PostTransfer(ModuleName robot, Hand blade, int[] targetSlot, EnumTransferType transferType, out string reason)
        {
            throw new System.NotImplementedException();
        }

        public bool CheckReadyForTransfer(ModuleName robot, Hand blade, int targetSlot, EnumTransferType transferType,
            out string reason)
        {
            reason=string.Empty;
            if (transferType == EnumTransferType.Pick)
            {
                return WaferManager.Instance.CheckHasWafer(Module,targetSlot);
            }
            if (transferType == EnumTransferType.Place)
            {
                return WaferManager.Instance.CheckNoWafer(Module,targetSlot);
            }

            return false;
        }

        public bool NoteTransferStart(ModuleName robot, Hand blade, int targetSlot, EnumTransferType transferType, out string reason)
        {
            reason = string.Empty;
            return true;
        }

        public bool NoteTransferStop(ModuleName robot, Hand blade, int targetSlot, EnumTransferType transferType, out string reason)
        {
            reason = string.Empty;
            return true;
        }

        public void NoteTransferStart(ModuleName robot, Hand blade, int targetSlot, EnumTransferType transferType)
        {
             
        }

        public void NoteTransferStop(ModuleName robot, Hand blade, int targetSlot, EnumTransferType transferType)
        {
             
        }

        public void NoteComplete()
        {
            _actionDone = true;
        }

        public void NoteCancel(string error)
        {
             
        }
    }
}