Mars200/Metis/EfemDualSchedulerLib/TMCycle.cs

using System;
using System.Collections.Generic;
using System.Linq;
using Aitex.Core.Common;
using Aitex.Core.RT.DataCenter;
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 TMCycle : SchedulerModuleFactory, IRoutine
    {
        Dictionary<ModuleName, int> _checkPosition = new Dictionary<ModuleName, int>()
        {
            {ModuleName.TMRobot, 2},
            {ModuleName.PMA, 2},
            {ModuleName.PMB, 2},
        };
        Queue<Action> tmRobotActions = new Queue<Action>() { };

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

        public bool PMAIsInstalled
        {
            get
            {
                return SC.GetValueOrDefault<bool>("System.SetUp.PMA.IsInstalled");
            }
        }

        public bool PMBIsInstalled
        {
            get
            {
                return SC.GetValueOrDefault<bool>("System.SetUp.PMB.IsInstalled");
            }
        }

        public TMCycle(EquipmentManager equipment) : base()
        {
            DATA.Subscribe("TMCylce.RemainedCycleCount", () =>
            {
                return cycleCount - 1;
            });

            //有优先级，先处理pmb后pma
            if (PMBIsInstalled)
                _lstPms.Add(_pm2);
            if (PMAIsInstalled)
                _lstPms.Add(_pm1);

            _lstLls.Add(_loadlockA);
            _lstLls.Add(_loadlockB);

            tmRobotActions.Enqueue(MonitorTmRobotLoadLockPickTask);
            tmRobotActions.Enqueue(MonitorTMRobotPMPlaceTask);
            tmRobotActions.Enqueue(MonitorTMRobotPMPickTask);
            tmRobotActions.Enqueue(MonitorTmRobotLoadLockPlaceTask);
        }

        List<string> tmCycleRoutine = new List<string>() { "LLA", "PMA", "PMB", "LLB" };
        int cycleCount = 1;

        public Result Start(params object[] objs)
        {
            if (objs.Length == 2)
            {
                tmCycleRoutine = ((string[])objs[0]).ToList();
                cycleCount = (int)objs[1];
            }

            //if (!PMAIsInstalled && !PMBIsInstalled)
            //{
            //    EV.PostWarningLog("System", $"TM Cycle, PMA & PMB Both UnInstalled.");
            //    return Result.FAIL;
            //}
            if (!PMAIsInstalled && tmCycleRoutine.Contains("PMA"))
            {
                EV.PostWarningLog("System", $"TM Cycle, PMA is UnInstalled.");
                return Result.FAIL;
            }

            if (!PMBIsInstalled && tmCycleRoutine.Contains("PMB"))
            {
                EV.PostWarningLog("System", $"TM Cycle, PMB is UnInstalled.");
                return Result.FAIL;
            }

            foreach (var positions in _checkPosition)
            {
                for (int i = 0; i < positions.Value; i++)
                {
                    WaferInfo wafer = WaferManager.Instance.GetWafer(positions.Key, i);
                    if (!wafer.IsEmpty)
                    {
                        EV.PostWarningLog("System", $"TM Cycle, {positions.Key}.{i + 1} can not has wafer.");
                        return Result.FAIL;
                    }
                }
            }

            WaferInfo[] OriginWafers = WaferManager.Instance.GetWafers(ModuleHelper.Converter(tmCycleRoutine.First()));
            WaferInfo[] DestinationWafers = WaferManager.Instance.GetWafers(ModuleHelper.Converter(tmCycleRoutine.Last()));
            for (int i = 0; i < OriginWafers.Length; i++)
            {
                if (!OriginWafers[i].IsEmpty)
                {
                    OriginWafers[i].OriginStation = (int)ModuleHelper.Converter(tmCycleRoutine.First());
                    OriginWafers[i].OriginSlot = i;
                    OriginWafers[i].ProcessState = EnumWaferProcessStatus.InProcess;
                    OriginWafers[i].NextSequenceStep = 0;
                    if (tmCycleRoutine.First() != tmCycleRoutine.Last() && !DestinationWafers[i].IsEmpty)
                    {
                        EV.PostWarningLog("System", $"TM Cycle, {tmCycleRoutine.Last()}.{i + 1} already has wafer.");
                        return Result.FAIL;
                    }
                }

            }

            if (tmCycleRoutine.First() != tmCycleRoutine.Last())
            {
                tmCycleRoutine.Add(tmCycleRoutine.First());
            }

            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();

            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;

            tmRobotActions.Enqueue(tmRobotActions.Dequeue());


            //MonitorTMRobotPMTask();

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

            //MonitorTMRobotLoadLockTask();

        }


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

            //place to ll
            bool blade0HasWaferAndProcessed = _tmRobot.Blade1Enable && WaferManager.Instance.CheckHasWafer(ModuleName.TMRobot, 0);
            bool blade1HasWaferAndProcessed = _tmRobot.Blade2Enable && WaferManager.Instance.CheckHasWafer(ModuleName.TMRobot, 1);

            if (blade0HasWaferAndProcessed || blade1HasWaferAndProcessed)
            {
                Hand placeBlade = blade0HasWaferAndProcessed ? Hand.Blade1 : Hand.Blade2;

                foreach (var ll in _lstLls)
                {
                    if (!ll.IsAvailable)
                        continue;
                    if (!CheckWaferNextStep(ModuleName.TMRobot, (int)placeBlade, ll.Module))
                        continue;

                    var wafer = WaferManager.Instance.GetWafer(ModuleName.TMRobot, (int)placeBlade);
                    var slot = wafer.OriginSlot;

                    if (ll.IsReadyForPlace(ModuleName.TMRobot, placeBlade, (int)slot))
                    {
                        if (_tmRobot.Place(ll.Module, (int)slot, placeBlade, 0, 0, false))
                        {
                            if (wafer.NextSequenceStep >= tmCycleRoutine.Count-1)
                                wafer.ProcessState = EnumWaferProcessStatus.Completed;
                            ll.WaitTransfer(ModuleName.TMRobot);
                            return;
                        }
                    }
                }

            }

        }

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

            //pick from ll

            if (WaferManager.Instance.CheckNoWafer(ModuleName.TMRobot, 0) || WaferManager.Instance.CheckNoWafer(ModuleName.TMRobot, 1))
            {
                Hand pickBlade;
                if (_tmRobot.Blade1Enable && WaferManager.Instance.CheckNoWafer(ModuleName.TMRobot, 0))
                {
                    pickBlade = Hand.Blade1;
                }
                else if (_tmRobot.Blade2Enable && WaferManager.Instance.CheckNoWafer(ModuleName.TMRobot, 1))
                {
                    pickBlade = Hand.Blade2;
                }
                else
                {
                    return;
                }


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

                    var wafers = WaferManager.Instance.GetWafers(ll.Module);

                    for (int pickSlot = 0; pickSlot < wafers.Length; pickSlot++)
                    {
                        if (wafers[pickSlot].NextSequenceStep == 0)
                        {
                            ModuleName nextModule = ModuleHelper.Converter(tmCycleRoutine[1]);
                            if (WaferManager.Instance.GetWafers(nextModule).All(x => !x.IsEmpty))
                                return;
                        }
                        if (wafers[pickSlot].ProcessState != EnumWaferProcessStatus.InProcess)
                            continue;

                        if (ll.IsReadyForPick(ModuleName.TMRobot, pickBlade, pickSlot))
                        {
                            if (_tmRobot.Pick(ll.Module, pickSlot, pickBlade, 0, 0, false))
                            {
                                wafers[pickSlot].NextSequenceStep++;
                                ll.WaitTransfer(ModuleName.TMRobot);
                                return;
                            }
                        }
                    }

                }


            }
        }

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

            //place to llb

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

                if (blade1HasWafer || blade2HasWafer)
                {
                    Hand placeBlade = blade1HasWafer ? Hand.Blade1 : Hand.Blade2;
                    var wafer = WaferManager.Instance.GetWafer(ModuleName.TMRobot, (int)placeBlade);

                    {
                        if (!_loadlockB.IsAvailable)
                            return;

                        var slot = wafer.OriginSlot;
                        if (_loadlockB.IsReadyForPlace(ModuleName.TMRobot, placeBlade, (int)slot))
                        {
                            if (_tmRobot.Place(_loadlockB.Module, (int)slot, placeBlade, 0, 0, false))
                            {
                                _loadlockB.WaitTransfer(ModuleName.TMRobot);
                                return;
                            }
                        }


                    }


                }
            }

            if (!_tmRobot.IsAvailable)
                return;

            //pick from lla
            if (PMAIsInstalled && PMBIsInstalled && WaferManager.Instance.CheckHasWafer(ModuleName.PMA, 0) && WaferManager.Instance.CheckHasWafer(ModuleName.PMA, 1))
                return;

            if (WaferManager.Instance.CheckNoWafer(ModuleName.TMRobot, 0) || WaferManager.Instance.CheckNoWafer(ModuleName.TMRobot, 1))
            {
                Hand pickBlade;
                if (_tmRobot.Blade2Enable && WaferManager.Instance.CheckNoWafer(ModuleName.TMRobot, 1))
                {
                    pickBlade = Hand.Blade2;
                }
                else if (_tmRobot.Blade1Enable && WaferManager.Instance.CheckNoWafer(ModuleName.EfemRobot, 0))
                {
                    pickBlade = Hand.Blade1;
                }
                else
                {
                    return;
                }

                {
                    if (!_loadlockA.IsAvailable)
                        return;

                    var wafers = WaferManager.Instance.GetWafers(_loadlockA.Module);

                    for (int pickSlot = 0; pickSlot < wafers.Length; pickSlot++)
                    {
                        if (_loadlockA.IsReadyForPick(ModuleName.TMRobot, pickBlade, pickSlot))
                        {
                            if (_tmRobot.Pick(_loadlockA.Module, pickSlot, pickBlade, 0, 0, false))
                            {
                                _loadlockA.WaitTransfer(ModuleName.TMRobot);
                                return;
                            }
                        }
                    }



                }

            }

        }

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

            //place to pm
            bool blade0HasWafer = _tmRobot.Blade1Enable && WaferManager.Instance.CheckHasWafer(ModuleName.TMRobot, 0);
            bool blade1HasWafer = _tmRobot.Blade2Enable && WaferManager.Instance.CheckHasWafer(ModuleName.TMRobot, 1);

            if (blade0HasWafer || blade1HasWafer)
            {
                Hand placeBlade = blade0HasWafer ? Hand.Blade1 : Hand.Blade2;
                var wafer = WaferManager.Instance.GetWafer(ModuleName.TMRobot, (int)placeBlade);
                foreach (var schedulerPm in _lstPms)
                {
                    if (!schedulerPm.IsAvailable)
                        continue;
                    if (!CheckWaferNextStep(ModuleName.TMRobot, (int)placeBlade, schedulerPm.Module))
                        continue;

                    var pmWafer0 = WaferManager.Instance.GetWafer(schedulerPm.Module, 0);
                    var pmWafer1 = WaferManager.Instance.GetWafer(schedulerPm.Module, 1);

                    //如果腔体中两片都满了，则不允许放入
                    if (!pmWafer0.IsEmpty && !pmWafer1.IsEmpty)
                        continue;

                    if (WaferManager.Instance.CheckNoWafer(schedulerPm.Module, 0))
                    {
                        if (_tmRobot.Place(schedulerPm.Module, 0, placeBlade, 0, 0, false))
                        {
                            schedulerPm.WaitTransfer(ModuleName.TMRobot);
                            return;
                        }
                    }

                    if (WaferManager.Instance.CheckNoWafer(schedulerPm.Module, 1))
                    {
                        if (_tmRobot.Place(schedulerPm.Module, 1, placeBlade, 0, 0, false))
                        {
                            schedulerPm.WaitTransfer(ModuleName.TMRobot);
                            return;
                        }
                    }


                }

            }

        }

        private void MonitorTMRobotPMPickTask()
        {
            //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)
                    {
                        if (!pm.IsAvailable)
                            continue;
                        var wafers = WaferManager.Instance.GetWafers(pm.Module);
                        for (int slot = 0; slot < wafers.Length; slot++)
                        {
                            if (pm.IsReadyForPick(ModuleName.TMRobot, pickBlade, slot))
                            {
                                if (_tmRobot.Pick(pm.Module, slot, pickBlade, 0, 0, false))
                                {
                                    wafers[slot].NextSequenceStep++;

                                    pm.WaitTransfer(ModuleName.TMRobot);
                                    return;
                                }
                            }
                        }
                    }
                }
            }


        }

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

            //place to pm
            bool blade0HasWafer = _tmRobot.Blade1Enable && WaferManager.Instance.CheckHasWafer(ModuleName.TMRobot, 0);
            bool blade1HasWafer = _tmRobot.Blade2Enable && WaferManager.Instance.CheckHasWafer(ModuleName.TMRobot, 1);

            if (blade0HasWafer || blade1HasWafer)
            {
                Hand placeBlade = blade0HasWafer ? Hand.Blade1 : Hand.Blade2;
                var wafer = WaferManager.Instance.GetWafer(ModuleName.TMRobot, (int)placeBlade);
                foreach (var schedulerPm in _lstPms)
                {
                    if (!schedulerPm.IsAvailable)
                        continue;
                    if (wafer.NextStation != (int)schedulerPm.Module)
                        continue;

                    var pmWafer0 = WaferManager.Instance.GetWafer(schedulerPm.Module, 0);
                    var pmWafer1 = WaferManager.Instance.GetWafer(schedulerPm.Module, 1);

                    //如果腔体中两片都满了，则不允许放入
                    if (!pmWafer0.IsEmpty && !pmWafer1.IsEmpty)
                        continue;

                    if (WaferManager.Instance.CheckNoWafer(schedulerPm.Module, 0))
                    {
                        if (_tmRobot.Place(schedulerPm.Module, 0, placeBlade, 0, 0, false))
                        {
                            schedulerPm.WaitTransfer(ModuleName.TMRobot);
                            return;
                        }
                    }

                    if (WaferManager.Instance.CheckNoWafer(schedulerPm.Module, 1))
                    {
                        if (_tmRobot.Place(schedulerPm.Module, 1, placeBlade, 0, 0, false))
                        {
                            schedulerPm.WaitTransfer(ModuleName.TMRobot);
                            return;
                        }
                    }


                }

            }


            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)
                    {
                        if (!pm.IsAvailable)
                            continue;
                        var wafers = WaferManager.Instance.GetWafers(pm.Module);
                        for (int slot = 0; slot < wafers.Length; slot++)
                        {
                            if (pm.IsReadyForPick(ModuleName.TMRobot, pickBlade, slot))
                            {
                                if (_tmRobot.Pick(pm.Module, slot, pickBlade, 0, 0, false))
                                {
                                    wafers[slot].NextSequenceStep++;

                                    pm.WaitTransfer(ModuleName.TMRobot);
                                    return;
                                }
                            }
                        }
                    }
                }
            }


        }

        private bool MonitorTaskDone()
        {
            foreach (var positions in _checkPosition)
            {
                for (int i = 0; i < positions.Value; i++)
                {
                    WaferInfo wafer = WaferManager.Instance.GetWafer(positions.Key, i);
                    if (!wafer.IsEmpty)
                    {
                        return false;
                    }
                }
            }

            foreach (var ll in _lstLls)
            {
                var llWafers = WaferManager.Instance.GetWafers(ll.Module);
                for (int i = 0; i < llWafers.Length; i++)
                {
                    if (!llWafers[i].IsEmpty && llWafers[i].ProcessState != EnumWaferProcessStatus.Completed)
                        return false;
                }
            }

            if (!_tmRobot.IsAvailable)
                return false;

            WaferInfo[] originWafers = WaferManager.Instance.GetWafers(ModuleHelper.Converter(tmCycleRoutine.First()));
            if (cycleCount > 1 && originWafers.All(x => x.IsEmpty || x.ProcessState == EnumWaferProcessStatus.Completed))
            {
                cycleCount--;
                foreach (WaferInfo wafer in originWafers)
                {
                    wafer.NextSequenceStep = 0;
                    wafer.ProcessState = EnumWaferProcessStatus.InProcess;
                }
                return false;
            }


            return true;
        }

        private void MonitorPMTask()
        {
            foreach (var pm in _lstPms)
            {
                if (!pm.IsAvailable)
                    continue;
                if (pm.Module == ModuleName.PMA && !PMAIsInstalled)
                    continue;
                if (pm.Module == ModuleName.PMB && !PMBIsInstalled)
                    continue;
                var wafers = WaferManager.Instance.GetWafers(pm.Module);
                for (int i = 0; i < wafers.Length; i++)
                {
                    if (!pm.IsAvailable)
                        break;

                    if (!wafers[i].IsEmpty && !pm.IsReadyForPick(ModuleName.TMRobot, Hand.Blade1, i))
                    {
                        pm.PrepareTransfer(ModuleName.TMRobot, EnumTransferType.Pick, i);
                        return;
                    }

                    if (wafers[i].IsEmpty && !pm.IsReadyForPlace(ModuleName.TMRobot, Hand.Blade1, i))
                    {
                        pm.PrepareTransfer(ModuleName.TMRobot, EnumTransferType.Place, i);
                        return;
                    }

                }
            }
        }


        private bool CheckWaferNextStep(ModuleName module, int slot, ModuleName nextModule)
        {
            if (!WaferManager.Instance.CheckHasWafer(module, slot))
                return false;

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

            if (wafer.NextSequenceStep >= tmCycleRoutine.Count)
                return false;

            if (tmCycleRoutine[wafer.NextSequenceStep] != nextModule.ToString())
                return false;

            return true;
        }
    }

}