Mars200VCE/FutureEfem/LPs/FutureEfemLoadPort.cs

using System;
using System.Collections;
using Aitex.Core.Common;
using Aitex.Core.RT.DataCenter;
using Aitex.Core.RT.Device;
using Aitex.Core.RT.Event;
using Aitex.Core.RT.Log;
using Aitex.Core.RT.OperationCenter;
using Aitex.Core.RT.SCCore;
using Aitex.Core.Util;
using Aitex.Sorter.Common;
using MECF.Framework.Common.Equipment;
using MECF.Framework.Common.FAServices;
using MECF.Framework.Common.SubstrateTrackings;
using MECF.Framework.RT.EquipmentLibrary.HardwareUnits.Efems.Rorzes;
using MECF.Framework.RT.EquipmentLibrary.HardwareUnits.LoadPorts;

namespace FutureEfemLib.LPs
{
    public class FutureEfemLoadPort : LoadPort, IEfemLoadPortCallback
    {
        public enum LoadPortStates
        {
            Undefined = 0,
            NotInitialized = 1,
            Initializing = 2,
            Idle = 3,
            Mapping = 4,
            MappingStation = 5,
            Homing = 6,
            Faulted = 7,
            Clamping = 8,
            Docking = 9,
            Unclamping = 10,
            Undocking = 11,
            OpeningDoor = 12,
            ClosingDoor = 13,
            Loading = 15,
            Unloading = 16,
            ReadingCarrierID = 17,
            Querying = 18,
            ChangeAccessMode = 19,
            ChangeTransferState = 20,
            ClearError,
            SetIndicator,
        }

        private LoadportCassetteState _cassetteState;
        public override LoadportCassetteState CassetteState
        {
            get { return _cassetteState; }
            set { _cassetteState = value; }
        }
        private FoupClampState _clampState;
        public override FoupClampState ClampState
        {
            get { return _clampState; }
            set { _clampState = value; }
        }

        private FoupDockState _dockState;
        public override FoupDockState DockState
        {
            get { return _dockState; }
            set { _dockState = value; }
        }
        private FoupDoorState _doorState;
        public override FoupDoorState DoorState
        {
            get { return _doorState; }
            set { _doorState = value; }
        }

        public override bool IsAutoReadCarrierID
        {
            get
            {
                return SC.ContainsItem($"EFEM.LoadPort.EnableAutoCarrierIdRead") ?
                        SC.GetValue<bool>($"EFEM.LoadPort.EnableAutoCarrierIdRead") : true;
            }
        }

        private RorzeEfem _efem;

        public override bool IsWaferProtrude { get; set; }

        private RD_TRIG _trigPresentAbsent = new RD_TRIG();
        private RD_TRIG _trigPresentAbsentDely = new RD_TRIG();

        private RD_TRIG _trigPlacement = new RD_TRIG();

        private R_TRIG _trigWaferProtrude = new R_TRIG();
        private LoadPortStates _loadPortState;

        public WaferSize WaferSize { get; set; }
        public string LastMapResult { get; set; }
        public override bool IsBusy => _loadPortState != LoadPortStates.Idle;

        private DeviceTimer _deviceTimer = new DeviceTimer();
        private int _timeDelayNotifyCassettePresent = 100;    //ms

        public override WaferSize GetCurrentWaferSize()
        {
            return WaferSize;
        }

        //private bool _present4;
        //private bool _present6;

        private string _efemName;

        //private bool _indicatorPlaced;
        //private bool _indicatorError;

        //private bool _isIntialized;

        public bool IsError
        {
            get;
            set;
        }

        public FutureEfemLoadPort(string module, string name, string efem)
        {
            base.Module = module;
            base.Name = name;
            base.Display = name;
            base.DeviceID = "";

            _efemName = efem;

            IsMapWaferByLoadPort = false;

            _loadPortState = LoadPortStates.NotInitialized;
        }

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

            //DATA.Subscribe($"{Module}.IndicatorPlaced", () => _indicatorPlaced);
            //DATA.Subscribe($"{Module}.IndicatorError", () => _indicatorError);

            DATA.Subscribe($"{Module}.IsWaferProtrude", () => IsWaferProtrude);
            //DATA.Subscribe($"{Module}.IsPresent4", () => _present4);
            //DATA.Subscribe($"{Module}.IsPresent6", () => _present6);
            DATA.Subscribe($"{Module}.WaferSize", () => WaferSize.ToString());
            DATA.Subscribe($"{Module}.LastMapResult", () => LastMapResult);

            if (SC.ContainsItem("EFEM.LoadPort.TimeDelayNotifyCassettePresent"))
            {
                _timeDelayNotifyCassettePresent = SC.GetValue<int>("EFEM.LoadPort.TimeDelayNotifyCassettePresent");
            }

            return base.Initialize();
        }

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

            _trigWaferProtrude.RST = true;
        }

        public override bool IsEnableMapWafer()
        {
            return IsPlacement && !IsWaferProtrude;
        }

        public bool IsEnableMapWafer(out string reason)
        {
            if (_loadPortState != LoadPortStates.Idle)
            {
                reason = "Cassette is busy";
                return false;
            }

            if (!IsPlacement)
            {
                reason = "Cassette not properly placed";
                return false;
            }

            if (IsWaferProtrude)
            {
                reason = "Found wafer protrude";
                return false;
            }

            if (CassetteState != LoadportCassetteState.Normal)
            {
                reason = "Cassette is abnormal";
                return false;
            }

            reason = string.Empty;
            return true;
        }

        public override bool IsEnableTransferWafer()
        {
            return IsEnableTransferWafer(out _);
        }

        public override bool IsEnableTransferWafer(out string reason)
        {
            if (_loadPortState != LoadPortStates.Idle)
            {
                reason = "Cassette is busy";
                return false;
            }

            if (!IsPlacement)
            {
                reason = "No cassette present";
                return false;
            }

            if (IsWaferProtrude)
            {
                reason = "Found wafer protrude";
                return false;
            }

            if (!_isMapped)
            {
                reason = "Cassette not mapped";
                return false;
            }

            if (DoorState != FoupDoorState.Open)
            {
                reason = "Cassette not open";
                return false;
            }

            if (CassetteState != LoadportCassetteState.Normal)
            {
                reason = "Cassette is abnormal";
                return false;
            }

            reason = "";
            return true;
        }

        public virtual void NoteStatus(string data1, string data2)
        {
            uint result1 = Convert.ToUInt32(data1, 16);
            uint result2 = Convert.ToUInt32(data2, 16);
            BitArray bitData1 = new BitArray(new int[] { Convert.ToInt32(data1, 16) });
            BitArray bitData2 = new BitArray(new int[] { Convert.ToInt32(data2, 16) });


            //placement bit 0
            //present bit 1
            //access sw bit 2
            //clampState  bit 3
            //doorState  bit 4
            //dockState  bit 5
            //wafer size 8  bit 6
            //wafer size 12  bit 7

            bool placement = (result1 & 0x00000001u) == 0x00000001u;
            bool present = !((result1 & 0x00000002u) == 0x00000002u);

            SetPresent(present);
            SetPlaced(placement);

            _isAccessSwPressed = (result1 & 0x00000004u) == 0x00000004u;
            _clampState = (result1 & 0x00000008u) == 0x00000008u ? FoupClampState.Close : FoupClampState.Open;
            _doorState = (result1 & 0x00000010u) == 0x00000010u ? FoupDoorState.Open : FoupDoorState.Close;
            _dockState = (result1 & 0x00000020u) == 0x00000020u ? FoupDockState.Docked : FoupDockState.Undocked;

            bool isWS8 = (result1 & 0x00000040u) == 0x00000040u;
            bool isWS12 = (result1 & 0x00000080u) == 0x00000080u;

            if (IsPlacement)
            {
                if (isWS8 == isWS12)
                {
                    EV.PostAlarmLog(LPModuleName.ToString(), "Get WaferSize Data Abnormal , pls check config");
                }
                else if (isWS8)
                {
                    WaferSize = WaferSize.WS8;
                    CarrierManager.Instance.UpdateWaferSize(LPModuleName, 0, WaferSize);
                }
                else if (isWS12)
                {
                    WaferSize = WaferSize.WS12;
                    CarrierManager.Instance.UpdateWaferSize(LPModuleName, 0, WaferSize);
                }
            }


            //E84Signal.VALID = (result1 & 0x01000000u) == 0x01000000u  //bit 24
            //E84Signal.CS_0 = (result1 & 0x02000000u) == 0x02000000u  //bit 25
            //E84Signal.CS_1 = (result1 & 0x04000000u) == 0x04000000u  //bit 26
            //E84Signal.TR_REQ = (result1 & 0x10000000u) == 0x10000000u  //bit 28
            //E84Signal.BUSY = (result1 & 0x20000000u) == 0x20000000u  //bit 29
            //E84Signal.COMPT = (result1 & 0x40000000u) == 0x40000000u  //bit 30
            //E84Signal.CONT = (result1 & 0x80000000u) == 0x80000000u  //bit 31

            //check presence light bit 0
            //check placement light bit 1
            //check load light bit 2
            //check unload light bit 3
            //check manual mode light bit 4
            //check error light bit 5
            //check clamp/unclamp light bit 6
            //check dock/undock light bit 7
            //check access switch light bit 8
            IndicatiorPresence = GetIndicatorState(bitData2[0]);
            IndicatiorPlacement = GetIndicatorState(bitData2[1]);
            IndicatiorLoad = GetIndicatorState(bitData2[2]);
            IndicatiorUnload = GetIndicatorState(bitData2[3]);
            IndicatiorManualMode = GetIndicatorState(bitData2[4]);
            IndicatorAlarm = GetIndicatorState(bitData2[5]);
            IndicatiorClampUnclamp = GetIndicatorState(bitData2[6]);
            IndicatiorDockUndock = GetIndicatorState(bitData2[7]);
            IndicatiorOpAccess = GetIndicatorState(bitData2[8]);

            //E84Signal.L_REQ = bitData2[24]  //bit 24
            //E84Signal.U_REQ = bitData2[25]  //bit 25
            //E84Signal.READY = bitData2[27]  //bit 27
            //E84Signal.HO_AVBL = bitData2[30]  //bit 30
            //E84Signal.ES = bitData2[31]  //bit 31

            CassetteState = IsPlacement ? LoadportCassetteState.Normal : LoadportCassetteState.None;

            if (bitData2[5])
            {
                Error = true;
            }
            else
            {
                if (_loadPortState == LoadPortStates.Faulted)
                    Error = true;
                else
                    Error = false;
            }
        }

        /*
         *Report the wafer presence of all slots.
            0   =No wafer
            1   =Wafer presence
            2   =Abnormal thickness (Wafer is thick)
            3	=Cross slotted wafer
            4	=Front down wafer
            7	=Multiple wafers are in the same slot
            8	=Abnormal thickness (Wafer is thin)
         */

        public virtual void NoteSlotMap(string slotMap)
        {
            slotMap = slotMap.Replace('3', '2');
            slotMap = slotMap.Replace('4', 'W');
            slotMap = slotMap.Replace('7', 'W');
            slotMap = slotMap.Replace('8', 'W');
            slotMap = slotMap.Replace('2', 'W');
            LastMapResult = slotMap;
            base.OnSlotMapRead(slotMap);
        }

        private IndicatorState GetIndicatorState(bool flag)
        {
            if (flag)
                return IndicatorState.ON;
            else
                return IndicatorState.OFF;
        }

        public void ResetData()
        {
            _isMapped = false;
        }

        public void NoteComplete()
        {
            //if(_loadPortState == LoadPortStates.Homing)
            //    _isIntialized = true;

            _loadPortState = LoadPortStates.Idle;
        }

        public void NoteCancel(string error)
        {
            IsBusy = false;
            EV.PostAlarmLog(Module, $"{Module} is canceled since {error}");
        }

        public void NoteCarrierID(string carrierID)
        {
            base.OnCarrierIdRead(ModuleHelper.Converter(Module), Name, carrierID);
        }

        public override bool FALoad(out string reason)  //map and loads
        {
            reason = ""; 
            OP.DoOperation($"{Name}.Load");

            return true;
        }

        public override bool FAUnload(out string reason)  
        {
            reason = "";
            OP.DoOperation($"{Name}.Unload");

            return true;
        }

        public override bool Home(out string reason)
        {
            reason = string.Empty;
            if (_efem == null || !_efem.Connection.IsConnected)
            {
                reason = "efem not connected";
                return false;
            }

            _loadPortState = LoadPortStates.Homing;
            //_isIntialized = false;
            _isMapped = false;
            if (!_efem.HomeLoadPort(Module, out reason))
            {
                _loadPortState = LoadPortStates.Faulted;
                return false;
            }
            return true;
        }

        public override bool ClearError(out string reason)
        {
            reason = string.Empty;
            if (_efem == null || !_efem.Connection.IsConnected)
            {
                reason = "efem not connected";
                return false;
            }

            //_loadPortState = LoadPortStates.ClearError;
            //if (!_efem.ClearAlarm(Module, out reason))
            //{
            //    _loadPortState = LoadPortStates.Faulted;
            //    return false;
            //}
            return true;
        }

        public override bool Clamp(out string reason)
        {
            reason = string.Empty;
            if (_efem == null || !_efem.Connection.IsConnected)
            {
                reason = "efem not connected";
                return false;
            }

            if (!IsPlacement)
            {
                reason = "no carrier at load port";
                return false;
            }

            if (ClampState == FoupClampState.Close)
            {
                return true;
            }

            _loadPortState = LoadPortStates.Clamping;
            if (!_efem.ClampCarrier(Module, out reason))
            {
                _loadPortState = LoadPortStates.Faulted;
                return false;
            }
            return true;
        }

        public override bool Unclamp(out string reason)
        {
            reason = string.Empty;
            if (_efem == null || !_efem.Connection.IsConnected)
            {
                reason = "efem not connected";
                return false;
            }

            if (!IsPlacement)
            {
                reason = "no carrier at load port";
                return false;
            }
            //if(DoorState != FoupDoorState.Close)
            //{
            //    reason = "cassette not closed";
            //    return false;
            //}
            //if(DockState != FoupDockState.Undocked)
            //{
            //    reason = "cassette not undocked";
            //    return false;
            //}

            if (ClampState == FoupClampState.Open)
            {
                return true;
            }

            _loadPortState = LoadPortStates.Unclamping;
            if (!_efem.UnclampCarrier(Module, out reason))
            {
                _loadPortState = LoadPortStates.Faulted;
                return false;
            }
            _isMapped = false;
            return true;
        }

        public override bool Dock(out string reason)
        {
            reason = string.Empty;
            if (_efem == null || !_efem.Connection.IsConnected)
            {
                reason = "efem not connected";
                return false;
            }

            if (!IsPlacement)
            {
                reason = "no carrier at load port";
                return false;
            }

            //if (ClampState != FoupClampState.Close)
            //{
            //    reason = "cassette not clamped";
            //    return false;
            //}

            if (DockState == FoupDockState.Docked)
            {
                return true;
            }

            _loadPortState = LoadPortStates.Docking;
            if (!_efem.MoveCarrierPort(Module, "Dock", out reason))
            {
                _loadPortState = LoadPortStates.Faulted;
                return false;
            }
            return true;
        }

        public override bool Undock(out string reason)
        {
            reason = string.Empty;
            if (_efem == null || !_efem.Connection.IsConnected)
            {
                reason = "efem not connected";
                return false;
            }

            if (!IsPlacement)
            {
                reason = "no carrier at load port";
                return false;
            }

            //if (DoorState != FoupDoorState.Close)
            //{
            //    reason = "cassette not closed";
            //    return false;
            //}

            if (DockState == FoupDockState.Undocked)
            {
                return true;
            }

            _loadPortState = LoadPortStates.Undocking;
            if (!_efem.MoveCarrierPort(Module, "Undock", out reason))
            {
                _loadPortState = LoadPortStates.Faulted;
                return false;
            }
            _isMapped = false;
            return true;
        }

        public override bool OpenDoor(out string reason)
        {
            reason = string.Empty;
            if (_efem == null || !_efem.Connection.IsConnected)
            {
                reason = "efem not connected";
                return false;
            }

            if (!IsPlacement)
            {
                reason = "no carrier at load port";
                return false;
            }

            //if (ClampState != FoupClampState.Close)
            //{
            //    reason = "cassette not clamped";
            //    return false;
            //}

            //if (DockState != FoupDockState.Docked)
            //{
            //    reason = "cassette not docked";
            //    return false;
            //}

            if (DoorState == FoupDoorState.Open)
            {
                return true;
            }

            _loadPortState = LoadPortStates.OpeningDoor;
            if (!_efem.OpenCarrierDoor(Module, out reason))
            {
                _loadPortState = LoadPortStates.Faulted;
                return false;
            }
            return true;
        }

        public override bool CloseDoor(out string reason)
        {
            reason = string.Empty;
            if (_efem == null || !_efem.Connection.IsConnected)
            {
                reason = "efem not connected";
                return false;
            }

            if (!IsPlacement)
            {
                reason = "no carrier at load port";
                return false;
            }

            //if (ClampState != FoupClampState.Close)
            //{
            //    reason = "cassette not clamped";
            //    return false;
            //}

            //if (DockState != FoupDockState.Docked)
            //{
            //    reason = "cassette not docked";
            //    return false;
            //}

            if (DoorState == FoupDoorState.Close)
            {
                return true;
            }

            _loadPortState = LoadPortStates.ClosingDoor;
            if (!_efem.CloseCarrierDoor(Module, out reason))
            {
                _loadPortState = LoadPortStates.Faulted;
                return false;
            }
            _isMapped = false;
            return true;
        }

        public override bool ReadRfId(out string reason)
        {
            reason = string.Empty;
            if (_efem == null || !_efem.Connection.IsConnected)
            {
                reason = "efem not connected";
                return false;
            }

            if (!IsPlacement)
            {
                reason = "no carrier at load port";
                return false;
            }
            _loadPortState = LoadPortStates.ReadingCarrierID;
            if (!_efem.ReadCarrierId(Module, out string carrierId, out reason))
            {
                _loadPortState = LoadPortStates.Faulted;
                return false;
            }
            return true;
        }

        public override bool ChangeAccessMode(bool auto, out string reason)
        {
            reason = string.Empty;
            if (_efem == null || !_efem.Connection.IsConnected)
            {
                reason = "efem not connected";
                return false;
            }

            _loadPortState = LoadPortStates.ChangeAccessMode;
            if (!_efem.SetLoadPortLight(ModuleHelper.Converter(Module), IndicatorType.AccessManual, auto ? IndicatorState.OFF : IndicatorState.ON, out reason))
            {
                _loadPortState = LoadPortStates.Faulted;
                return false;
            }
            return true;
        }

        public override bool SetIndicator(IndicatorType light, IndicatorState state)
        {
            if (_efem == null || !_efem.Connection.IsConnected)
            {
                return false;
            }

            if (!LoadPortIndicatorLightMap.ContainsKey(light))
            {
                EV.PostWarningLog(Module, $"Not supported indicator {light}");
                return false;
            }
            _loadPortState = LoadPortStates.SetIndicator;
            if (!_efem.SetLoadPortLight(ModuleHelper.Converter(Module), light, state, out string reason))
            {
                _loadPortState = LoadPortStates.Faulted;
                LOG.Write(reason);
                return false;
            }

            return true;
        }

        public override bool QueryState(out string reason)
        {
            reason = string.Empty;
            if (_efem == null || !_efem.Connection.IsConnected)
            {
                reason = "efem not connected";
                return false;
            }

            _loadPortState = LoadPortStates.Querying;
            if (!_efem.GetLoadPortStatus(Module, out _cassetteState, out _clampState, out _dockState, out _doorState, out reason))
            {
                _loadPortState = LoadPortStates.Faulted;
                return false;
            }

            return true;
        }

        public override bool QueryWaferMap(out string reason)
        {
            reason = string.Empty;
            if (_efem == null || !_efem.Connection.IsConnected)
            {
                reason = "efem not connected";
                return false;
            }

            if (!IsPlacement)
            {
                reason = "no carrier at load port";
                return false;
            }

            if (_efem.CheckIsBusy(ModuleName.EfemRobot))
            {
                reason = "efem robot is busy";
                return false;
            }

            //if (ClampState != FoupClampState.Close)
            //{
            //    reason = "cassette not clamped";
            //    return false;
            //}

            //if (DockState != FoupDockState.Docked)
            //{
            //    reason = "cassette not docked";
            //    return false;
            //}

            if (DoorState != FoupDoorState.Open)
            {
                reason = "cassette not open";
                return false;
            }

            _loadPortState = LoadPortStates.Mapping;
            if (!_efem.MapCarrier(Module, out string slotMap, out reason))
            {
                _loadPortState = LoadPortStates.Faulted;
                return false;
            }

            return true;
        }

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

            if (!IsPlacement)
            {
                reason = "no carrier at load port";
                return false;
            }

            _loadPortState = LoadPortStates.Querying;
            if (!_efem.QueryMapResult(Module, out reason, false))
            {
                _loadPortState = LoadPortStates.Faulted;
                return false;
            }

            return true;
        }

        public override bool Stop(out string reason)
        {
            reason = string.Empty;
            _loadPortState = LoadPortStates.Idle;

            return true;
        }

        public void CarrierProcessStartEventNotify()
        {
            EV.Notify(UniversalEvents.CarrierProcessStart, new SerializableDictionary<string, object>()
            {
                { DataVariables.PortID, Module},
                { DataVariables.CarrierID, _carrierId},
            });
        }

        public void CarrierProcessCompleteEventNotify()
        {
            EV.Notify(UniversalEvents.CarrierProcessComplete, new SerializableDictionary<string, object>()
            {
                { DataVariables.PortID, Module},
                { DataVariables.CarrierID, _carrierId},
            });
        }
    }
}