Mars200VCE/FutureEfem/LPs/LoadPortLoadRoutine.cs

using System;
using Aitex.Core.Common;
using Aitex.Core.RT.Device;
using Aitex.Core.RT.Event;
using Aitex.Core.RT.Log;
using Aitex.Core.RT.Routine;
using Aitex.Core.RT.SCCore;
using FutureEfemLib.Efems;
using MECF.Framework.Common.Equipment;
using MECF.Framework.Common.SubstrateTrackings;
using MECF.Framework.RT.EquipmentLibrary.HardwareUnits.LoadPorts;
using MECF.Framework.RT.ModuleLibrary.SystemModules;

namespace FutureEfemLib.LPs
{
    class LoadPortLoadRoutine : ModuleRoutine, IRoutine
    {
        enum RoutineStep
        {
            Clamp,
            Dock,
            OpenDoor,
            QueryStatus1,
            WaitRobotIdle,
            Map,
            GetWaferInfo,
            QueryStatus2,
        }

        private int _timeout = 0;

        LoadPort _lp = null;
        private LoadPortModule _lpModule;
        private EfemModule _efem;
        public LoadPortLoadRoutine(LoadPortModule lpModule)
        {
            _lpModule = lpModule;
            _efem = EquipmentManager.Modules[ModuleName.EFEM] as EfemModule;
             Module = lpModule.Module;

            Name = "Load";

            _lp = DEVICE.GetDevice<LoadPort>($"{Module}");
        }


        public bool Initalize()
        {
            return true;
        }

        public Result Start(params object[] objs)
        {
            Reset();

            _timeout = SC.GetValue<int>("EFEM.LoadPort.HomeTimeout");

            var waferSize = _lp.GetCurrentWaferSize();
            if (waferSize != WaferSize.WS8 && waferSize != WaferSize.WS12)
            {
                EV.PostWarningLog(Module, $"{Module} get wafer size abnormal, can not load");
                return Result.FAIL;
            }

            if (!_lp.IsPresent || !_lp.IsPlacement)
            {
                EV.PostWarningLog(Module, $"{Module} not found carrier, can not load");
                return Result.FAIL;
            }

            Notify($"Start");

            return Result.RUN;
        }


        public Result Monitor()
        {
            try
            {
                Clamp((int)RoutineStep.Clamp, _lp, _timeout);
                //Dock((int)RoutineStep.Dock, _lp, _timeout);
                OpenDoor((int)RoutineStep.OpenDoor, _lp, _timeout);

                //if (_lp.GetCurrentWaferSize()!=WaferSize.WS12)
                //{
                //    QueryStatus((int)RoutineStep.QueryStatus1, _lp, _timeout);
                //    WaitRobotIdle((int)RoutineStep.WaitRobotIdle, _lp, _timeout);
                //    Map((int)RoutineStep.Map, _lp, _timeout);
                //}

                if (_lp.GetCurrentWaferSize() == WaferSize.WS12)
                {
                    QueryMapInfo((int)RoutineStep.GetWaferInfo, _lp, _timeout);
                }

                QueryStatus((int)RoutineStep.QueryStatus2, _lp, _timeout);
            }
            catch (RoutineBreakException)
            {
                return Result.RUN;
            }
            catch (RoutineFaildException ex)
            {
                LOG.Write(ex);
                return Result.FAIL;
            }

            Notify("Finished");
            return Result.DONE;
        }

        public void OpenDoor(int id, LoadPort lp, int timeout)
        {
            Tuple<bool, Result> ret = ExecuteAndWait(id, () =>
                {
                    Notify($"Start OpenDoorAndMap {lp.Name}");
                    string reason;

                    if (!lp.OpenDoor(out reason))
                    {
                        Stop(reason);
                        return false;
                    }
                    return true;
                }, () =>
                {
                    if (_lp.Error)
                        return false;
                    if (_lp.IsBusy)
                        return false;
                    return true;
                }, timeout * 1000);

            if (ret.Item1)
            {
                if (ret.Item2 == Result.FAIL)
                {
                    Stop(string.Format("failed."));
                    throw (new RoutineFaildException());
                }
                else if (ret.Item2 == Result.TIMEOUT) //timeout
                {
                    Stop(string.Format("timeout, can not complete in {0} seconds", timeout));
                    throw (new RoutineFaildException());
                }
                else
                    throw (new RoutineBreakException());
            }
        }

        public void Dock(int id, LoadPort lp, int timeout)
        {
            Tuple<bool, Result> ret = ExecuteAndWait(id, () =>
                {
                    Notify($"Start Dock {lp.Name}");
                    string reason;

                    if (!lp.Dock(out reason))
                    {
                        Stop(reason);
                        return false;
                    }
                    return true;
                }, () =>
                {
                    if (_lp.Error)
                        return false;
                    if (_lp.IsBusy)
                        return false;
                    return true;
                }, timeout * 1000);

            if (ret.Item1)
            {
                if (ret.Item2 == Result.FAIL)
                {
                    Stop(string.Format("failed."));
                    throw (new RoutineFaildException());
                }
                else if (ret.Item2 == Result.TIMEOUT) //timeout
                {
                    Stop(string.Format("timeout, can not complete in {0} seconds", timeout));
                    throw (new RoutineFaildException());
                }
                else
                    throw (new RoutineBreakException());
            }
        }

        public void WaitRobotIdle(int id, LoadPort lp, int timeout)
        {
            Tuple<bool, Result> ret = Wait(id, () =>
            {
                if(WaferManager.Instance.CheckHasWafer(ModuleName.EfemRobot,0))
                    return false;
                if(_efem.IsBusy)
                    return false;
                if (_lp.Error)
                    return false;
                if (_lp.IsBusy)
                    return false;
                if (_efem.RobotDevice.IsError)
                    return null;
                if (_efem.RobotDevice.IsIdle)
                    return true;
                return false;
            }, timeout * 1000);

            if (ret.Item1)
            {
                if (ret.Item2 == Result.FAIL)
                {
                    Stop(string.Format("failed."));
                    throw (new RoutineFaildException());
                }
                else if (ret.Item2 == Result.TIMEOUT) //timeout
                {
                    Stop(string.Format("timeout, can not complete in {0} seconds", timeout));
                    throw (new RoutineFaildException());
                }
                else
                    throw (new RoutineBreakException());
            }
        }

        public void Map(int id, LoadPort lp, int timeout)
        {
            Tuple<bool, Result> ret = ExecuteAndWait(id, () =>
            {
                Notify($"Start map {lp.Name}");
                string reason;

                if (!_efem.RobotDevice.Map(ModuleHelper.Converter(_lp.Module), 0, out reason))
                {
                    Stop(reason);
                    return false;
                }
                return true;
            }, () =>
            {
                if (_efem.RobotDevice.IsError)
                    return false;
                if (_efem.RobotDevice.IsIdle)
                    return true;
                return false;
            }, timeout * 1000);

            if (ret.Item1)
            {
                if (ret.Item2 == Result.FAIL)
                {
                    Stop(string.Format("failed."));
                    throw (new RoutineFaildException());
                }
                else if (ret.Item2 == Result.TIMEOUT) //timeout
                {
                    Stop(string.Format("timeout, can not complete in {0} seconds", timeout));
                    throw (new RoutineFaildException());
                }
                else
                    throw (new RoutineBreakException());
            }
        }

        public void Clamp(int id, LoadPort lp, int timeout)
        {
            Tuple<bool, Result> ret = ExecuteAndWait(id, () =>
                {
                    Notify($"Start clamp {lp.Name}");
                    string reason;

                    if (!lp.Clamp(out reason))
                    {
                        Stop(reason);
                        return false;
                    }
                    return true;
                }, () =>
                {
                    if (_lp.Error)
                        return false;
                    if (_lp.IsBusy)
                        return false;
                    return true;
                }, timeout * 1000);

            if (ret.Item1)
            {
                if (ret.Item2 == Result.FAIL)
                {
                    Stop(string.Format("failed."));
                    throw (new RoutineFaildException());
                }
                else if (ret.Item2 == Result.TIMEOUT) //timeout
                {
                    Stop(string.Format("timeout, can not complete in {0} seconds", timeout));
                    throw (new RoutineFaildException());
                }
                else
                    throw (new RoutineBreakException());
            }
        }

        public void QueryMapInfo(int id, LoadPort lp, int timeout)
        {
            Tuple<bool, Result> ret = ExecuteAndWait(id, () =>
            {
                Notify($"Start to get wafer info {lp.Name}");
                //string reason;

                if (!lp.GetMapInfo(out string reason))
                {
                    Stop(reason);
                    return false;
                }
                return true;
            }, () =>
            {
                if (_lp.Error)
                    return false;
                if (_lp.IsBusy)
                    return false;
                return true;
            }, timeout * 1000);

            if (ret.Item1)
            {
                if (ret.Item2 == Result.FAIL)
                {
                    Stop(string.Format("failed."));
                    throw (new RoutineFaildException());
                }
                else if (ret.Item2 == Result.TIMEOUT) //timeout
                {
                    Stop(string.Format("timeout, can not complete in {0} seconds", timeout));
                    throw (new RoutineFaildException());
                }
                else
                    throw (new RoutineBreakException());
            }
        }

        public void QueryStatus(int id, LoadPort lp, int timeout)
        {
            Tuple<bool, Result> ret = ExecuteAndWait(id, () =>
                {
                    Notify($"Start query status {lp.Name}");
                    string reason;

                    if (!lp.QueryState(out reason))
                    {
                        Stop(reason);
                        return false;
                    }
                    return true;
                }, () =>
                {
                    if (_lp.Error)
                        return false;
                    if (_lp.IsBusy)
                        return false;
                    return true;
                }, timeout * 1000);

            if (ret.Item1)
            {
                if (ret.Item2 == Result.FAIL)
                {
                    Stop(string.Format("Query status failed."));
                    throw (new RoutineFaildException());
                }
                else if (ret.Item2 == Result.TIMEOUT) //timeout
                {
                    Stop(string.Format("Home timeout, can not complete in {0} seconds", timeout));
                    throw (new RoutineFaildException());
                }
                else
                    throw (new RoutineBreakException());
            }
        }

        public void Abort()
        {

        }

    }
}