Mars200/JetMainframe/TMs/TMModule.cs

using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Threading.Tasks;
using Aitex.Core.RT.DataCenter;
using Aitex.Core.RT.Device;
using Aitex.Core.RT.Event;
using Aitex.Core.RT.Fsm;
using Aitex.Core.RT.OperationCenter;
using Aitex.Core.RT.Routine;
using Aitex.Core.Utilities;
using Aitex.Sorter.Common;
using MECF.Framework.Common.Equipment;
using MECF.Framework.Common.Event;
using MECF.Framework.Common.SubstrateTrackings;
using MECF.Framework.RT.EquipmentLibrary.HardwareUnits.Robots.RobotBase;
using MECF.Framework.RT.ModuleLibrary.TMModules;

namespace JetMainframe.TMs
{
    public partial class TMModule : TMModuleBase
    {
        public enum STATE
        {
            NotInstall,

            Init,

            Idle,

            Homing,

            Picking,

            Placing,

            RobotGoto,

            Swapping,

            Mapping,

            Load,
            Unload,

            Error,

            NotConnect,
        }

        public enum MSG
        {
            Home,

            Connected,
            Disconnected,

            Map,

            Pick,

            PickAndPlace,
            Place,
            Goto,

            Reset,
            Abort,
            Error,

            ToInit,
        }

        public override bool IsReady
        {
            get { return FsmState == (int)STATE.Idle && CheckAllMessageProcessed(); }
        }

        public override bool IsError
        {
            get { return FsmState == (int)STATE.Error; }
        }

        public override bool IsInit
        {
            get { return FsmState == (int)STATE.Init; }
        }

        public bool IsBusy
        {
            get { return !IsInit && !IsError && !IsReady; }
        }

        public event Action<string> OnEnterError;

        public bool IsEfemRobotHomed { get; set; }

        public RobotBaseDevice RobotDevice { get; set; }

        protected TMHomeRoutine _homeRoutine = null;
        protected TMPickRoutine _pickRoutine = null;
        protected TMPlaceRoutine _placeRoutine = null;
        protected TMGotoRoutine _gotoRoutine = null;
        protected TMMapRoutine _mapRoutine = null;
        protected TMPickAndPlaceRoutine _pickAndPlaceRoutine = null;

        //private bool _isInit;

        public TMModule(ModuleName module, int slotCount = 2) : base(slotCount)
        {
            Module = module.ToString();
            Name = module.ToString();
            IsOnline = true;
        }

        public override bool Initialize()
        {
            InitRoutine();

            InitDevice();

            InitFsm();

            InitOp();

            InitData();

            return base.Initialize();
        }

        protected virtual void InitRoutine()
        {
            _homeRoutine = new TMHomeRoutine(this);
            _pickRoutine = new TMPickRoutine(this);
            _placeRoutine = new TMPlaceRoutine(this);
            _gotoRoutine = new TMGotoRoutine(this);
            _mapRoutine = new TMMapRoutine(this);
            _pickAndPlaceRoutine = new TMPickAndPlaceRoutine(this);
        }



        private void InitData()
        {
            DATA.Subscribe($"{Module}.Status", () => StringFsmStatus);
            DATA.Subscribe($"{Module}.IsOnline", () => IsOnline);
            DATA.Subscribe($"{Module}.IsHomed", () => IsEfemRobotHomed);
            DATA.Subscribe($"{Module}.IsError", () => IsError);

            DATA.Subscribe($"{Module}.WaferSize", () => WaferManager.Instance.GetWaferSize(ModuleHelper.Converter(Module), 0).ToString());
        }

        private void InitOp()
        {
            OP.Subscribe($"{Name}.Home", (string cmd, object[] args) =>
            {
                return CheckToPostMessage((int)MSG.Home);
            });

            OP.Subscribe($"{Name}.Abort", (string cmd, object[] args) =>
            {
                return CheckToPostMessage((int)MSG.Abort);
            });

            OP.Subscribe($"{Name}.Reset", (string cmd, object[] args) =>
            {
                return CheckToPostMessage((int)MSG.Reset);
            });

            OP.Subscribe($"{Name}.Pick", (string cmd, object[] args) =>
            {
                return CheckToPostMessage((int)MSG.Pick, args);
            });

            OP.Subscribe($"{Name}.Place", (string cmd, object[] args) =>
            {
                return CheckToPostMessage((int)MSG.Place, args);
            });

            OP.Subscribe($"{Name}.Goto", (string cmd, object[] args) =>
            {
                return CheckToPostMessage((int)MSG.Goto, args[0]);
            });

            OP.Subscribe($"{Name}.Map", (string cmd, object[] args) =>
            {
                return CheckToPostMessage((int)MSG.Map, args[0]);
            });

            OP.Subscribe($"{Name}.SetOnline", (string cmd, object[] args) =>
            {
                IsOnline = true;
                return true;
            });

            OP.Subscribe($"{Name}.SetOffline", (string cmd, object[] args) =>
            {
                IsOnline = false;
                return true;
            });

            //OP.Subscribe("EFEM.Initialize", (method, objects) =>
            //{
            //    Init();

            //    return true;
            //});

            //OP.Subscribe("EFEM.ClearError", (method, objects) =>
            //{
            //    ClearError();

            //    return true;
            //});
        }

        private void InitFsm()
        {
            EnumLoop<STATE>.ForEach((item) =>
            {
                MapState((int)item, item.ToString());
            });

            EnumLoop<MSG>.ForEach((item) =>
            {
                MapMessage((int)item, item.ToString());
            });
            EnableFsm(50, IsInstalled ? STATE.Init : STATE.NotInstall);

            //Error
            AnyStateTransition(MSG.Error, FsmOnError, STATE.Error);
            Transition(STATE.Error, MSG.Reset, FsmReset, STATE.Idle);
            EnterExitTransition<STATE, FSM_MSG>(STATE.Error, FsmEnterError, FSM_MSG.NONE, FsmExitError);
            AnyStateTransition(FSM_MSG.WARNING, fWarning, FSM_STATE.SAME);
            AnyStateTransition((int)FSM_MSG.ALARM, fAlarm, (int)STATE.Error);

            //connection
            AnyStateTransition(MSG.Disconnected, FsmOnDisconnected, STATE.NotConnect);
            Transition(STATE.NotConnect, MSG.Connected, FsmOnConnected, STATE.Init);
            Transition(STATE.NotConnect, MSG.Reset, FsmResetConnect, STATE.NotConnect);

            //Init
            Transition(STATE.Init, MSG.Home, FsmStartHome, STATE.Homing);
            Transition(STATE.Error, MSG.Home, FsmStartHome, STATE.Homing);
            Transition(STATE.Idle, MSG.Home, FsmStartHome, STATE.Homing);
            Transition(STATE.Homing, FSM_MSG.TIMER, FsmMonitorHomeTask, STATE.Idle);
            Transition(STATE.Homing, MSG.Error, null, STATE.Init);
            Transition(STATE.Homing, MSG.Abort, FsmAbortTask, STATE.Init);
            EnterExitTransition<STATE, FSM_MSG>(STATE.Idle, FsmEnterIdle, FSM_MSG.NONE, FsmExitIdle);

            AnyStateTransition(MSG.ToInit, FsmToInit, STATE.Init);


            //robot home
            Transition(STATE.Idle, MSG.Map, FsmStartMap, STATE.Mapping);
            Transition(STATE.Mapping, FSM_MSG.TIMER, FsmMonitorTask, STATE.Idle);
            Transition(STATE.Mapping, MSG.Abort, FsmAbortTask, STATE.Idle);

            //robot pick
            Transition(STATE.Idle, MSG.Pick, FsmStartRobotPick, STATE.Picking);
            Transition(STATE.Picking, FSM_MSG.TIMER, FsmMonitorTask, STATE.Idle);
            Transition(STATE.Picking, MSG.Abort, FsmAbortTask, STATE.Idle);

            //robot pickAndplace
            Transition(STATE.Idle, MSG.PickAndPlace, FsmStartPickAndPlace, STATE.Swapping);
            Transition(STATE.Swapping, FSM_MSG.TIMER, FsmMonitorTask, STATE.Idle);
            Transition(STATE.Swapping, MSG.Abort, FsmAbortTask, STATE.Idle);

            //robot place
            Transition(STATE.Idle, MSG.Place, FsmStartRobotPlace, STATE.Placing);
            Transition(STATE.Placing, FSM_MSG.TIMER, FsmMonitorTask, STATE.Idle);
            Transition(STATE.Placing, MSG.Abort, FsmAbortTask, STATE.Idle);

            //robot goto
            Transition(STATE.Idle, MSG.Goto, FsmStartRobotGoto, STATE.RobotGoto);
            Transition(STATE.RobotGoto, FSM_MSG.TIMER, FsmMonitorTask, STATE.Idle);
            Transition(STATE.RobotGoto, MSG.Abort, FsmAbortTask, STATE.Idle);
        }

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

        private bool FsmResetConnect(object[] param)
        {
            //if (!EfemDevice.Connection.IsConnected)
            //{
            //    EfemDevice.Connect();
            //    return false;
            //}

            //if (!EfemDevice.EmoAlarm.IsAcknowledged)
            //{
            //    EfemDevice.ClearError();
            //    return false;
            //}

            return true;
        }

        private bool FsmOnConnected(object[] param)
        {
            //SignalTowerDevice.ResetData();

            //LP1Device.ResetData();
            //LP2Device.ResetData();
            //LP3Device.ResetData();
            //LP4Device.ResetData();

            //EfemDevice.ResetData();

            return true;
        }

        private bool FsmOnDisconnected(object[] param)
        {

            return true;
        }

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

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

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

        private bool FsmEnterError(object[] param)
        {
            if (OnEnterError != null)
                OnEnterError(Module);
            return true;
        }

        private bool fWarning(object[] objs)
        {
            //IsWarning = false;
            return true;
        }

        private bool fAlarm(object[] objs)
        {
            if (FsmState == (int)STATE.Init)
                return false;

            return true;
        }

        private bool FsmStartHome(object[] param)
        {
            Result ret = StartRoutine(_homeRoutine);
            if (ret == Result.FAIL)
            {
                PostMsg(MSG.Error);
                return false;
            }
            if (ret == Result.DONE)
                return false;

            //_isInit = false;
            IsEfemRobotHomed = false;

            return ret == Result.RUN;
        }

        private bool FsmStartRobotPick(object[] param)
        {
            if (param.Length == 6)
            {
                _pickRoutine.Init(ModuleHelper.Converter((string)param[0]), (int)param[1], (Hand)param[2], (double)param[3], (double)param[4], (bool)param[5]);
            }
            else
            {
                _pickRoutine.Init(ModuleHelper.Converter((string)param[0]), (int)param[1], (double)param[2], (double)param[3], (bool)param[4]);
            }

            Result ret = StartRoutine(_pickRoutine);
            if (ret == Result.FAIL)
            {
                PostMsg(MSG.Error);
                return false;
            }
            if (ret == Result.DONE)
                return false;
            return ret == Result.RUN;
        }

        private bool FsmStartPickAndPlace(object[] param)
        {
            _pickAndPlaceRoutine.Init(ModuleHelper.Converter((string)param[0]), (Hand)param[1], (int)param[2], (Hand)param[3], (int)param[4]);

            Result ret = StartRoutine(_pickAndPlaceRoutine);
            if (ret == Result.FAIL)
            {
                PostMsg(MSG.Error);
                return false;
            }
            if (ret == Result.DONE)
                return false;
            return ret == Result.RUN;
        }

        private bool FsmStartRobotPlace(object[] param)
        {
            if (param.Length == 6)
            {

                _placeRoutine.Init(ModuleHelper.Converter((string)param[0]), (int)param[1], (Hand)param[2], (double)param[3], (double)param[4], (bool)param[5]);
            }
            else
            {
                _placeRoutine.Init(ModuleHelper.Converter((string)param[0]), (int)param[1], (double)param[2], (double)param[3], (bool)param[4]);
            }

            Result ret = StartRoutine(_placeRoutine);
            if (ret == Result.FAIL)
            {
                PostMsg(MSG.Error);
                return false;
            }
            if (ret == Result.DONE)
                return false;
            return ret == Result.RUN;
        }

        private bool FsmStartRobotGoto(object[] param)
        {
            _gotoRoutine.Init(ModuleHelper.Converter((string)param[0]), (int)param[1], (Hand)param[2]);

            Result ret = StartRoutine(_gotoRoutine);
            if (ret == Result.FAIL)
            {
                PostMsg(MSG.Error);
                return false;
            }
            if (ret == Result.DONE)
                return false;
            return ret == Result.RUN;
        }

        private bool FsmStartMap(object[] param)
        {
            _mapRoutine.Init(ModuleHelper.Converter((string)param[0]));

            Result ret = StartRoutine(_mapRoutine);
            if (ret == Result.FAIL)
            {
                PostMsg(MSG.Error);
                return false;
            }
            if (ret == Result.DONE)
                return false;
            return ret == Result.RUN;
        }

        private bool FsmAbortTask(object[] param)
        {
            AbortRoutine();
            if (!RobotDevice.IsIdle)
            {
                RobotDevice.PostMsg(RobotBaseDevice.RobotMsg.Stop);
            }
            return true;
        }

        private bool FsmMonitorHomeTask(object[] param)
        {
            Result ret = MonitorRoutine();
            if (ret == Result.FAIL)
            {
                PostMsg(MSG.Error);
                return false;
            }

            if (ret == Result.DONE)
            {
                OP.DoOperation($"{Module}.ResetTask");
                //_isInit = true;
                return true;
            }

            return false;
        }

        private bool FsmMonitorTask(object[] param)
        {
            Result ret = MonitorRoutine();
            if (ret == Result.FAIL)
            {
                PostMsg(MSG.Error);
                return false;
            }

            return ret == Result.DONE;
        }


        private bool FsmOnError(object[] param)
        {
            if (FsmState == (int)STATE.Error)
            {
                return false;
            }

            if (FsmState == (int)STATE.Picking)
            {
                _pickRoutine.Abort();

            }
            if (FsmState == (int)STATE.Placing)
            {
                _placeRoutine.Abort();
            }

            if (FsmState == (int)STATE.RobotGoto)
            {
                _gotoRoutine.Abort();
            }

            if (FsmState == (int)STATE.Init)
                return false;

            return true;
        }

        private bool FsmReset(object[] param)
        {

            //if (!EfemDevice.Connection.IsConnected)
            //{
            //    EfemDevice.Connect();
            //    return false;
            //}

            //if (!EfemDevice.EmoAlarm.IsAcknowledged)
            //{
            //    EfemDevice.ClearError();
            //    return false;
            //}

            //if (!_isInit)
            //{
            //    PostMsg(MSG.ToInit);
            //    return false;
            //}

            if (RobotDevice.IsError)
            {
                EV.PostWarningLog(Module, $"Robot in error, home to recover");
                RobotDevice.PostMsg(RobotBaseDevice.RobotMsg.Reset);
                //return false;
            }

            return true;
        }

        #region Service functions

        public override bool Home(out string reason)
        {
            if (!CheckToPostMessage((int)MSG.Home))
            {
                reason = $"Can not home in {StringFsmStatus} status";
                return false;
            }
            reason = string.Empty;
            return true;
        }


        public override void Reset()
        {
            if (IsError)
            {
                //if (RobotDevice.IsError)
                //{
                //    RobotDevice.Reset();
                //}
                //else if (RobotDevice.RobotState != RobotStateEnum.Idle && RobotDevice.RobotState != RobotStateEnum.Init)
                //{
                //    EV.PostWarningLog(Module, $"Robot in {RobotDevice.RobotState}, need home to reset error");
                //    return;
                //}

                CheckToPostMessage((int)MSG.Reset);
            }

        }

        public override bool Pick(ModuleName target, Hand blade, int targetSlot, out string reason)
        {

            reason = string.Empty;
            return true;
        }

        public override bool Place(ModuleName target, Hand blade, int targetSlot, out string reason)
        {

            reason = string.Empty;
            return true;
        }

        public override bool Pick(ModuleName target, Hand blade, int targetSlot, double temp1, double temp2, bool EnableCheck, out string reason)
        {
            CheckToPostMessage((int)MSG.Pick, target.ToString(), targetSlot, blade, temp1, temp2, EnableCheck);
            reason = string.Empty;
            return true;
        }

        public override bool Place(ModuleName target, Hand blade, int targetSlot, double temp1, double temp2, bool EnableCheck, out string reason)
        {
            CheckToPostMessage((int)MSG.Place, target.ToString(), targetSlot, blade, temp1, temp2, EnableCheck);
            reason = string.Empty;
            return true;
        }

        public override bool PickAndPlace(ModuleName pickTarget, Hand pickHand, int pickSlot, ModuleName placeTarget, Hand placeHand,
            int placeSlot, out string reason)
        {
            CheckToPostMessage((int)MSG.PickAndPlace, pickTarget.ToString(), pickHand, pickSlot, placeHand, placeSlot);

            reason = string.Empty;
            return true;
        }

        public override bool Goto(ModuleName target, Hand blade, int targetSlot, out string reason)
        {
            CheckToPostMessage((int)MSG.Goto, target.ToString(), targetSlot, blade);
            reason = string.Empty;
            return true;
        }

        public override bool Map(ModuleName target, out string reason)
        {
            if (!CheckToPostMessage((int)MSG.Map, target.ToString()))
            {
                reason = $"Can not support map in {StringFsmStatus}";
                return false;
            }
            reason = string.Empty;
            return true;
        }

        private void EfemDevice_OnDeviceAlarmStateChanged(string module, AlarmEventItem alarmItem)
        {
            if (IsInit)
                return;

            if (!alarmItem.IsAcknowledged)
            {
                if (alarmItem.Level == EventLevel.Warning)
                {
                    EV.PostWarningLog(Module, alarmItem.Description);
                }
                else
                {
                    EV.PostAlarmLog(Module, alarmItem.Description);
                }

                //if (alarmItem.EventEnum == EfemDevice.IsMaintain.EventEnum
                //|| alarmItem.EventEnum == EfemDevice.EmoAlarm.EventEnum
                //|| alarmItem.EventEnum == EfemDevice.DoorOpen.EventEnum)
                //{
                //    _isInit = false;
                //    PostMsg(MSG.Error);
                //}
                //else if (alarmItem.Level == EventLevel.Alarm)
                //{
                //    PostMsg(MSG.Error);
                //}
            }
            else
            {
                if (IsError)
                    CheckToPostMessage((int)MSG.Reset);
            }
        }

        private void Connection_OnError(string obj)
        {
            PostMsg(MSG.Disconnected);
        }

        private void Connection_OnDisconnected()
        {

            PostMsg(MSG.Disconnected);
        }

        private void Connection_OnConnected()
        {
            PostMsg(MSG.Connected);
        }
        #endregion

    }
}