Mars200/Metis/EfemDualSchedulerLib/ReturnAllWafer.cs

using System;
using System.Collections.Generic;
using System.Linq;
using Aitex.Core.Common;
using Aitex.Core.RT.Event;
using Aitex.Core.RT.Routine;
using Aitex.Core.RT.SCCore;
using Aitex.Sorter.Common;
using MECF.Framework.Common.Equipment;
using MECF.Framework.Common.Schedulers;
using MECF.Framework.Common.SubstrateTrackings;
using MECF.Framework.RT.ModuleLibrary.SystemModules;
using EfemDualSchedulerLib.Schedulers;

namespace EfemDualSchedulerLib
{
    public class ReturnAllWafer : SchedulerModuleFactory, IRoutine
    {

        Dictionary<ModuleName, int> _checkPosition = new Dictionary<ModuleName, int>()
            {
                {ModuleName.EfemRobot, 2},
                {ModuleName.Aligner, 1},
                {ModuleName.LLA, 8},
                {ModuleName.LLB, 8},
                {ModuleName.TMRobot, 2},
                {ModuleName.PMA, 2},
                {ModuleName.PMB, 2},
            };

        private List<SchedulerPM> _lstPms = new List<SchedulerPM>();
        private List<SchedulerLoadPort> _lstLps = new List<SchedulerLoadPort>();
        private List<SchedulerLoadLock> _lstLls = new List<SchedulerLoadLock>();

        Queue<Action> tmRobotActions = new Queue<Action>() { };
        public ReturnAllWafer(EquipmentManager equipment) : base()
        {
            if (SC.GetValueOrDefault<bool>("System.SetUp.PMA.IsInstalled"))
                _lstPms.Add(_pm1);
            if (SC.GetValueOrDefault<bool>("System.SetUp.PMB.IsInstalled"))
                _lstPms.Add(_pm2);
            //if (SC.GetValueOrDefault<bool>("System.SetUp.PMC.IsInstalled"))
            //    _lstPms.Add(_pm3);

            if (SC.GetValueOrDefault<bool>("System.SetUp.LLA.IsInstalled"))
                _lstLls.Add(_loadlockA);
            if (SC.GetValueOrDefault<bool>("System.SetUp.LLB.IsInstalled"))
                _lstLls.Add(_loadlockB);

            if (SC.GetValueOrDefault<bool>("System.SetUp.LP1.IsInstalled"))
                _lstLps.Add(_lp1);
            if (SC.GetValueOrDefault<bool>("System.SetUp.LP2.IsInstalled"))
                _lstLps.Add(_lp2);
            if (SC.GetValueOrDefault<bool>("System.SetUp.LP3.IsInstalled"))
                _lstLps.Add(_lp3);

            tmRobotActions.Enqueue(MonitorTMRobotPMATask);
            tmRobotActions.Enqueue(MonitorTMRobotPMBTask);
            tmRobotActions.Enqueue(MonitorTMRobotLoadLockTask);
        }

        public Result Start(params object[] objs)
        {

            foreach (var positions in _checkPosition)
            {
                for (int i = 0; i < positions.Value; i++)
                {
                    WaferInfo wafer = WaferManager.Instance.GetWafer(positions.Key, i);
                    if (!wafer.IsEmpty)
                    {
                        ModuleName originLoadPort = (ModuleName)wafer.OriginStation;
                        if (!ModuleHelper.IsLoadPort(originLoadPort))
                        {
                            EV.PostWarningLog("System", $"Wafer {positions.Key}.{i + 1} can not return, origin is not LP");
                            return Result.FAIL;
                        }

                        if (wafer.Status == WaferStatus.Dummy)
                        {
                            EV.PostWarningLog("System", $"Wafer {positions.Key}.{i + 1} can not return, wafer is dummy");
                            return Result.FAIL;
                        }

                        if (WaferManager.Instance.CheckHasWafer(originLoadPort, wafer.OriginSlot))
                        {
                            EV.PostWarningLog("System", $"Wafer {positions.Key}.{i + 1} can not return, origin has wafer");
                            return Result.FAIL;
                        }

                        if (!(GetModule(originLoadPort.ToString()) as SchedulerLoadPort).IsReadyForPlace(ModuleName.EfemRobot, Hand.Blade1, wafer.OriginSlot))
                        {
                            EV.PostWarningLog("System", $"{originLoadPort} not ready to place Wafer");
                            return Result.FAIL;
                        }

                        EV.PostInfoLog("System", $"Wafer return, {positions.Key}.{i + 1}=>{(ModuleName)wafer.OriginStation}.{wafer.OriginSlot + 1}");
                    }

                }
            }

            return Result.RUN;
        }

        public Result Monitor()
        {
            MonitorModuleTasks();

            if (MonitorTaskDone())
            {
                return Result.DONE;
            }


            return Result.RUN;
        }

        public void Clear()
        {

        }

        public void Abort()
        {

        }

        public Result MonitorModuleTasks()
        {
            MonitorPMTask();

            MonitorTMRobotTask();

            MonitorEfemRobotTask();


            return Result.RUN;
        }

        private void MonitorTMRobotTask()
        {
            if (!_tmRobot.IsAvailable)
                return;

            //_tmRobot is idle, release all the target 

            foreach (var ll in _lstLls)
            {
                if (ll.IsWaitTransfer(ModuleName.TMRobot))
                    ll.StopWaitTransfer(ModuleName.TMRobot);
            }

            foreach (var pm in _lstPms)
            {
                if (pm.IsWaitTransfer(ModuleName.TMRobot))
                    pm.StopWaitTransfer(ModuleName.TMRobot);
            }


            if (!_tmRobot.IsAvailable)
                return;

            var act = tmRobotActions.Peek();
            act.Invoke();

            if (!_tmRobot.IsAvailable)
                return;

            if (act == MonitorTMRobotLoadLockTask && _lstLls.Any(x => !x.IsAvailable))
                return;

            tmRobotActions.Enqueue(tmRobotActions.Dequeue());

            //MonitorTMRobotPMATask();

            //if (!_tmRobot.IsAvailable)
            //    return;

            //MonitorTMRobotPMBTask();

            //if (!_tmRobot.IsAvailable)
            //    return;

            //MonitorTMRobotLoadLockTask();

        }

        private void MonitorTMRobotLoadLockTask()
        {
            if (!_tmRobot.IsAvailable)
                return;

            //place to loadlock

            {
                bool blade1HasWafer = _tmRobot.Blade1Enable && WaferManager.Instance.CheckHasWafer(ModuleName.TMRobot, 0);
                bool blade2HasWafer = _tmRobot.Blade2Enable && WaferManager.Instance.CheckHasWafer(ModuleName.TMRobot, 1);

                if (blade1HasWafer || blade2HasWafer)
                {
                    Hand placeBlade = blade1HasWafer ? Hand.Blade1 : Hand.Blade2;

                    foreach (var ll in _lstLls)
                    {
                        if (!ll.IsAvailable)
                            continue;
                        var slot = GetSlotCouldBePlace(ll.Module);
                        if (slot != null && ll.IsReadyForPlace(ModuleName.TMRobot, placeBlade, (int)slot))
                        {
                            if (_tmRobot.Place(ll.Module, (int)slot, placeBlade, 0, 0, false))
                            {
                                ll.WaitTransfer(ModuleName.TMRobot);
                                return;
                            }
                        }


                    }


                }
            }
        }

        private void MonitorTMRobotPMATask()
        {
            if (!_tmRobot.IsAvailable)
                return;

            //pick from pm

            {
                bool blade1Empty = _tmRobot.Blade1Enable && WaferManager.Instance.CheckNoWafer(ModuleName.TMRobot, 0);
                bool blade2Empty = _tmRobot.Blade2Enable && WaferManager.Instance.CheckNoWafer(ModuleName.TMRobot, 1);

                if (blade1Empty || blade2Empty)
                {
                    Hand pickBlade = blade1Empty ? Hand.Blade1 : Hand.Blade2;

                    //foreach (var pm in _lstPms)
                    {
                        var pm = _pm1;
                        if (!pm.IsAvailable)
                            return;
                        var slot = GetWaferCouldBeReturn(pm.Module);
                        if (slot != null /*&& pm.IsReadyForPick(ModuleName.TMRobot, pickBlade, (int)slot)*/)
                        {
                            if (_tmRobot.Pick(pm.Module, (int)slot, pickBlade, 0, 0, false))
                            {
                                pm.WaitTransfer(ModuleName.TMRobot);
                                return;
                            }
                        }


                    }


                }
            }
        }

        private void MonitorTMRobotPMBTask()
        {
            if (!_tmRobot.IsAvailable)
                return;

            //pick from pm

            {
                bool blade1Empty = _tmRobot.Blade1Enable && WaferManager.Instance.CheckNoWafer(ModuleName.TMRobot, 0);
                bool blade2Empty = _tmRobot.Blade2Enable && WaferManager.Instance.CheckNoWafer(ModuleName.TMRobot, 1);

                if (blade1Empty || blade2Empty)
                {
                    Hand pickBlade = blade1Empty ? Hand.Blade1 : Hand.Blade2;

                    //foreach (var pm in _lstPms)
                    {
                        var pm = _pm2;
                        if (!pm.IsAvailable)
                            return;
                        var slot = GetWaferCouldBeReturn(pm.Module);
                        if (slot != null /*&& pm.IsReadyForPick(ModuleName.TMRobot, pickBlade, (int)slot)*/)
                        {
                            if (_tmRobot.Pick(pm.Module, (int)slot, pickBlade, 0, 0, false))
                            {
                                pm.WaitTransfer(ModuleName.TMRobot);
                                return;
                            }
                        }


                    }


                }
            }
        }

        private bool MonitorTaskDone()
        {
            foreach (var positions in _checkPosition)
            {
                for (int i = 0; i < positions.Value; i++)
                {
                    if (CheckWaferCouldBeReturn(positions.Key, i))
                    {
                        return false;
                    }
                }
            }

            foreach (var lp in _lstLps)
            {
                if (!lp.IsAvailable)
                    return false;
            }
            if (!_tmRobot.IsAvailable)
                return false;
            if (!_efem.IsAvailable)
                return false;

            return true;
        }

        private void MonitorPMTask()
        {
            foreach (var pm in _lstPms)
            {
                if (!pm.IsAvailable)
                    continue;
                var wafers = WaferManager.Instance.GetWafers(pm.Module);
                for (int i = 0; i < wafers.Length; i++)
                {
                    if (!pm.IsAvailable)
                        break;
                    if (CheckWaferCouldBeReturn(pm.Module, i))
                    {
                        if (!pm.IsReadyForPick(ModuleName.TMRobot, Hand.Blade1, i))
                        {
                            pm.PrepareTransfer(ModuleName.TMRobot, EnumTransferType.Pick, i);
                        }
                    }
                }
            }
        }


        private void MonitorEfemRobotTask()
        {
            if (!_efem.IsAvailable)
                return;

            //efem robot is idle, release all the target 

            if (_aligner.IsWaitTransfer(ModuleName.EfemRobot))
                _aligner.StopWaitTransfer(ModuleName.EfemRobot);

            foreach (var ll in _lstLls)
            {
                if (ll.IsWaitTransfer(ModuleName.EfemRobot))
                    ll.StopWaitTransfer(ModuleName.EfemRobot);
            }

            foreach (var lp in _lstLps)
            {
                if (lp.IsWaitTransfer(ModuleName.EfemRobot))
                    lp.StopWaitTransfer(ModuleName.EfemRobot);
            }

            MonitorEfemRobotAlignerTask();

            if (!_efem.IsAvailable)
                return;

            MonitorEfemRobotLoadLockTask();

            MonitorEfemRobotLoadPortTask();
        }

        private void MonitorEfemRobotLoadPortTask()
        {
            if (!_efem.IsAvailable)
                return;

            //place
            bool blade0HasWaferAndProcessed = _efem.Blade1Enable && CheckWaferCouldBeReturn(ModuleName.EfemRobot, 0);
            bool blade1HasWaferAndProcessed = _efem.Blade2Enable && CheckWaferCouldBeReturn(ModuleName.EfemRobot, 1);
            if (blade0HasWaferAndProcessed || blade1HasWaferAndProcessed)
            {
                Hand placeBlade = blade0HasWaferAndProcessed ? Hand.Blade1 : Hand.Blade2;
                if (blade0HasWaferAndProcessed && blade1HasWaferAndProcessed)
                {
                    if (WaferManager.Instance.GetWafer(ModuleName.EfemRobot, 1).OriginSlot <
                        WaferManager.Instance.GetWafer(ModuleName.EfemRobot, 0).OriginSlot)
                    {
                        placeBlade = Hand.Blade2;
                    }
                }

                SlotItem destination = GetWaferReturnLoadPort(ModuleName.EfemRobot, (int)placeBlade);
                if (destination != null)
                {
                    SchedulerLoadPort lp = (SchedulerLoadPort)GetModule(destination.Module.ToString());
                    if (lp.IsReadyForPlace(ModuleName.EfemRobot, Hand.Blade1, destination.Slot))
                    {
                        if (_efem.Place(destination.Module, destination.Slot, (Hand)placeBlade))
                        {
                            lp.WaitTransfer(ModuleName.EfemRobot);
                            return;
                        }

                    }
                }
            }
        }


        private void MonitorEfemRobotLoadLockTask()
        {
            if (!_efem.IsAvailable)
                return;

            foreach (var ll in _lstLls)
            {
                if (!ll.IsAvailable)
                    continue;

                {
                    bool blade1Empty = _efem.Blade1Enable && WaferManager.Instance.CheckNoWafer(ModuleName.EfemRobot, 0);
                    bool blade2Empty = _efem.Blade2Enable && WaferManager.Instance.CheckNoWafer(ModuleName.EfemRobot, 1);

                    if (blade1Empty || blade2Empty)
                    {
                        Hand pickBlade = blade1Empty ? Hand.Blade1 : Hand.Blade2;

                        var slot = GetWaferCouldBeReturn(ll.Module);
                        if (slot != null)
                        {
                            if (ll.IsReadyForPick(ModuleName.EfemRobot, pickBlade, (int)slot))
                            {
                                if (_efem.Pick(ll.Module, (int)slot, pickBlade))
                                {
                                    ll.WaitTransfer(ModuleName.EfemRobot);
                                    return;
                                }
                            }
                        }

                    }
                }
            }


        }


        private void MonitorEfemRobotAlignerTask()
        {
            if (!_efem.IsAvailable)
                return;

            if (!_aligner.IsAvailable)
                return;

            //pick from aligner
            if (WaferManager.Instance.CheckHasWafer(ModuleName.Aligner, 0))
            {
                bool blade1Empty = _efem.Blade1Enable && WaferManager.Instance.CheckNoWafer(ModuleName.EfemRobot, 0);
                bool blade2Empty = _efem.Blade2Enable && WaferManager.Instance.CheckNoWafer(ModuleName.EfemRobot, 1);

                if (blade1Empty || blade2Empty)
                {
                    Hand pickBlade = blade1Empty ? Hand.Blade1 : Hand.Blade2;

                    if (_aligner.IsReadyForPick(ModuleName.EfemRobot, pickBlade, 0))
                    {
                        if (_efem.Pick(_aligner.Module, 0, pickBlade))
                        {
                            _aligner.WaitTransfer(ModuleName.EfemRobot);
                            return;
                        }
                    }

                }
            }
        }

        private int? GetWaferCouldBeReturn(ModuleName module)
        {
            var wafers = WaferManager.Instance.GetWafers(module);
            for (int i = 0; i < wafers.Length; i++)
            {
                if (CheckWaferCouldBeReturn(wafers[i]))
                    return i;
            }

            return null;
        }

        private int? GetSlotCouldBePlace(ModuleName module)
        {
            var wafers = WaferManager.Instance.GetWafers(module);
            for (int i = 0; i < wafers.Length; i++)
            {
                if (wafers[i].IsEmpty)
                    return i;
            }

            return null;
        }

        private bool CheckWaferCouldBeReturn(WaferInfo wafer)
        {
            if (!wafer.IsEmpty)
            {
                return ModuleHelper.IsLoadPort((ModuleName)wafer.OriginStation)
                       && wafer.Status != WaferStatus.Dummy
                        && WaferManager.Instance.CheckNoWafer((ModuleName)wafer.OriginStation, wafer.OriginSlot);
            }

            return false;
        }

        private bool CheckWaferCouldBeReturn(ModuleName module, int slot)
        {
            WaferInfo wafer = WaferManager.Instance.GetWafer(module, slot);
            if (!wafer.IsEmpty)
            {
                return ModuleHelper.IsLoadPort((ModuleName)wafer.OriginStation)
                       && wafer.Status != WaferStatus.Dummy
                        && WaferManager.Instance.CheckNoWafer((ModuleName)wafer.OriginStation, wafer.OriginSlot);
            }

            return false;
        }


        private SlotItem GetWaferReturnLoadPort(ModuleName module, int slot)
        {
            WaferInfo wafer = WaferManager.Instance.GetWafer(module, slot);
            if (!wafer.IsEmpty)
            {
                return new SlotItem((ModuleName)wafer.OriginStation, wafer.OriginSlot);
            }

            return null;
        }
    }

}