Mars200VCE/FutureEfem/Efems/EfemPickAndPlaceRoutine.cs

using System;
using Aitex.Core.RT.Event;
using Aitex.Core.RT.Routine;
using Aitex.Core.RT.SCCore;
using Aitex.Core.Util;
using Aitex.Sorter.Common;
using MECF.Framework.Common.Equipment;
using MECF.Framework.Common.Schedulers;
using MECF.Framework.Common.SubstrateTrackings;
using MECF.Framework.RT.EquipmentLibrary.HardwareUnits.Robots;
using MECF.Framework.RT.EquipmentLibrary.LogicUnits;
using MECF.Framework.RT.ModuleLibrary.PMModules;
using MECF.Framework.RT.ModuleLibrary.SystemModules;

namespace FutureEfemLib.Efems
{
    public class EfemPickAndPlaceRoutine : ModuleRoutine, IRoutine
    {
        enum RoutineStep
        {
            CheckBeforePick,
            PickWafer,
            CheckBeforePlace,
            PlaceWafer,
            PostTransfer,


            PickExtend,
            PickRetract,
            PlaceExtend,
            PlaceRetract,
            PickLiftUp,
            PickLiftDown,
            PlaceLiftUp,
            PlaceLiftDown,
        }

        private EfemModule _robotModule;

        private ITransferTarget _target;

        private Hand _pickBlade;
        private Hand _placeBlade;
        private ModuleName _targetModule;
        private int _pickSlot;
        private int _placeSlot;
        private int _pickTimeout;
        private int _placeTimeout;
        private int _postTransferTimeout;

        public EfemPickAndPlaceRoutine(EfemModule robotModule)
        {
            Module = "EfemRobot";
            Name = "Pick";

            _robotModule = robotModule;
        }

        public Result Start(params object[] objs)
        {
            _pickTimeout = SC.GetValue<int>("EFEM.EfemRobot.PickTimeout");
            _placeTimeout = SC.GetValue<int>("EFEM.EfemRobot.PlaceTimeout");
            if (ModuleHelper.IsPm(_targetModule))
            {
                _postTransferTimeout = SC.GetValue<int>($"PM.PostTransferTimeout");
            }
            Reset();


            if (!WaferManager.Instance.CheckNoWafer(ModuleName.EfemRobot, (int)_pickBlade))
            {
                EV.PostWarningLog(Module, $"Can not pick by {_pickBlade}, found wafer on");
                return Result.FAIL;
            }

            if (!WaferManager.Instance.CheckHasWafer(ModuleName.EfemRobot, (int)_placeBlade))
            {
                EV.PostWarningLog(Module, $"Can not place by {_placeBlade}, no wafer on");
                return Result.FAIL;
            }

            if (_pickSlot != _placeSlot)
            {
                if (!WaferManager.Instance.CheckHasWafer(_targetModule, _pickSlot))
                {
                    EV.PostWarningLog(Module, $"Can not pick from {_targetModule} slot {_pickSlot + 1}, no wafer on");
                    return Result.FAIL;
                }
                if (!WaferManager.Instance.CheckNoWafer(_targetModule, _placeSlot))
                {
                    EV.PostWarningLog(Module, $"Can not place to {_targetModule} slot {_placeSlot + 1}, found wafer on");
                    return Result.FAIL;
                }
            }
            else
            {
                if (!WaferManager.Instance.CheckHasWafer(_targetModule, _placeSlot))
                {
                    {
                        EV.PostWarningLog(Module, $"Can not pick&place from {_targetModule} slot {_placeSlot + 1}, no wafer on");
                        return Result.FAIL;
                    }
                }
            }

            Notify($"Start, swap wafer,pick: {_pickBlade} slot {_pickSlot + 1}, place: {_placeBlade} slot {_placeSlot+1}");

            return Result.RUN;
        }

        public void Init(ModuleName targetModule, Hand pickBlade, int pickSlot, Hand placeBlade, int placeSlot)
        {
            _pickBlade = pickBlade;
            _placeBlade = placeBlade;
            _targetModule = targetModule;
            _pickSlot = pickSlot;
            _placeSlot = placeSlot;

            //_target = Singleton<EquipmentManager>.Instance.Modules[targetModule] as ITransferTarget;
        }


        public void Abort()
        {
            if (_target != null)
            {
                _target.NoteTransferStop(ModuleName.EfemRobot, Hand.Blade1, 0, EnumTransferType.Pick);
            }
            _target = null;

            Notify("Abort");
        }


        public Result Monitor()
        {
            try
            {
                CheckBeforePick((int)RoutineStep.CheckBeforePick, _targetModule, _pickSlot, _pickBlade);


                if (ModuleHelper.IsPm(_targetModule))
                {
                    RobotExtend((int)RoutineStep.PickExtend, _targetModule, _pickSlot, _pickBlade, RobotPostionEnum.PickExtendLow, _pickTimeout);

                    MovePinDown((int)RoutineStep.PickLiftDown, _target as PMModuleBase, EnumTransferType.Extend, _pickTimeout);

                    RobotRetract((int)RoutineStep.PickRetract, _targetModule, _pickSlot, _pickBlade, RobotPostionEnum.PickRetracted, _pickTimeout);

                    //MovePinDown((int)RoutineStep.PickLiftDown, _target as PMModuleBase, EnumTransferType.Retract, _pickTimeout);

                    RobotExtend((int)RoutineStep.PlaceExtend, _targetModule, _placeSlot, _placeBlade, RobotPostionEnum.PlaceExtendUp, _pickTimeout);

                    MovePinUp((int)RoutineStep.PlaceLiftUp, _target as PMModuleBase, EnumTransferType.Extend, _pickTimeout);

                    RobotRetract((int)RoutineStep.PlaceRetract, _targetModule, _placeSlot, _placeBlade, RobotPostionEnum.PlaceRetract, _pickTimeout);

                    //LiftPinDown((int)RoutineStep.PlaceLiftDown, _target as PMModuleBase, EnumTransferType.Retract, _pickTimeout);
                }
                else
                {
                    PickWafer((int)RoutineStep.PickWafer, _targetModule, _pickSlot, _pickBlade, _pickTimeout);

                    CheckBeforePlace((int)RoutineStep.CheckBeforePlace, _targetModule, _placeSlot, _placeBlade);

                    PlaceWafer((int)RoutineStep.PlaceWafer, _targetModule, _placeSlot, _placeBlade, _pickTimeout);
                }

                if (ModuleHelper.IsPm(_targetModule))
                {
                    PostTransfer((int)RoutineStep.PostTransfer, _target as PMModuleBase, EnumTransferType.Place, _postTransferTimeout);
                }

            }
            catch (RoutineBreakException)
            {
                return Result.RUN;
            }
            catch (RoutineFaildException)
            {
                return Result.FAIL;
            }
            _target.NoteTransferStop(ModuleName.EfemRobot, Hand.Blade1, 0, EnumTransferType.Pick);

            Notify($"complete, swap wafer,pick: {_pickBlade} slot {_pickSlot + 1}, place: {_placeBlade} slot {_placeSlot + 1}");

            return Result.DONE;
        }


        public void CheckBeforePick(int id, ModuleName source, int slot, Hand blade)
        {
            Tuple<bool, Result> ret = Execute(id, () =>
            {
                Notify("Check pick is enabled");
                string reason = string.Empty;

                if (!_target.CheckReadyForTransfer(ModuleName.EfemRobot, blade, slot, EnumTransferType.Pick, out reason))
                {
                    Stop(reason);
                    return false;
                }

                if (blade == Hand.Blade1)
                {
                    if (!WaferManager.Instance.CheckHasWafer(source, slot))
                    {
                        Stop("Source no wafer");
                        return false;
                    }

                    if (!WaferManager.Instance.CheckNoWafer(ModuleName.EfemRobot, 0))
                    {
                        Stop("Blade has wafer");
                        return false;
                    }
                }
                else if (blade == Hand.Blade2)
                {
                    if (!WaferManager.Instance.CheckHasWafer(source, slot))
                    {
                        Stop("Source no wafer");
                        return false;
                    }

                    if (!WaferManager.Instance.CheckNoWafer(ModuleName.EfemRobot, 1))
                    {
                        Stop("Blade has wafer");
                        return false;
                    }
                }
                else
                {
                    for (int i = 0; i < 2; i++)
                    {
                        if (!WaferManager.Instance.CheckHasWafer(source, slot + i))
                        {
                            Stop("Source no wafer");
                            return false;
                        }

                        if (!WaferManager.Instance.CheckNoWafer(ModuleName.EfemRobot, i))
                        {
                            Stop("Blade has wafer");
                            return false;
                        }
                    }
                }

                return true;
            });

            if (ret.Item1)
            {
                if (ret.Item2 == Result.FAIL)
                {
                    throw (new RoutineFaildException());
                }
            }
        }


        public void PickWafer(int id, ModuleName chamber, int slot, Hand hand, int timeout)
        {
            Tuple<bool, Result> ret = ExecuteAndWait(id, () =>
            {
                Notify("robot execute pick command");

                _target.NoteTransferStart(ModuleName.EfemRobot, hand, slot, EnumTransferType.Pick);

                string reason;
                if (!_robotModule.RobotDevice.Pick(chamber, hand, slot, out reason))
                {
                    Stop(reason);
                    return false;
                }
                return true;
            }, () =>
                {
                    if (_robotModule.RobotDevice.IsError)
                        return null;
                    if (_robotModule.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 CheckBeforePlace(int id, ModuleName source, int slot, Hand blade)
        {
            Tuple<bool, Result> ret = Execute(id, () =>
            {
                Notify("Check place condition");
                string reason = string.Empty;

                if (!_target.CheckReadyForTransfer(ModuleName.EfemRobot, blade, slot, EnumTransferType.Place, out reason))
                {
                    Stop(reason);
                    return false;
                }

                if (blade == Hand.Blade1)
                {
                    if (!WaferManager.Instance.CheckNoWafer(source, slot))
                    {
                        Stop("Source has wafer");
                        return false;
                    }

                    if (!WaferManager.Instance.CheckHasWafer(ModuleName.EfemRobot, 0))
                    {
                        Stop("Blade 1 no wafer");
                        return false;
                    }
                }
                else if (blade == Hand.Blade2)
                {
                    if (!WaferManager.Instance.CheckNoWafer(source, slot))
                    {
                        Stop("Source has wafer");
                        return false;
                    }

                    if (!WaferManager.Instance.CheckHasWafer(ModuleName.EfemRobot, 1))
                    {
                        Stop("Blade no wafer");
                        return false;
                    }
                }
                else
                {
                    for (int i = 0; i < 2; i++)
                    {
                        if (!WaferManager.Instance.CheckNoWafer(source, slot + i))
                        {
                            Stop("Source has wafer");
                            return false;
                        }

                        if (!WaferManager.Instance.CheckHasWafer(ModuleName.EfemRobot, i))
                        {
                            Stop("Blade no wafer");
                            return false;
                        }
                    }
                }

                return true;
            });

            if (ret.Item1)
            {
                if (ret.Item2 == Result.FAIL)
                {
                    throw (new RoutineFaildException());
                }
            }
        }


        public void PlaceWafer(int id, ModuleName chamber, int slot, Hand hand, int timeout)
        {
            Tuple<bool, Result> ret = ExecuteAndWait(id, () =>
            {
                Notify("robot start execute place command");
                string reason;

                _target.NoteTransferStart(ModuleName.EfemRobot, hand, slot, EnumTransferType.Place);

                if (!_robotModule.RobotDevice.Place(chamber, hand, slot, out reason))
                {
                    Stop(reason);
                    return false;
                }
                return true;
            }, () =>
            {
                if (_robotModule.RobotDevice.IsError)
                    return null;

                if (_robotModule.RobotDevice.IsIdle)
                    return true;

                return false;
            }, timeout * 1000);

            if (ret.Item1)
            {
                if (ret.Item2 == Result.FAIL)
                {
                    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 PostTransfer(int id, PMModuleBase pm, EnumTransferType type, int timeout)
        {
            Tuple<bool, Result> ret = ExecuteAndWait(id, () =>
            {
                Notify($"{pm.Name} post transfer ");

                if (!pm.PostTransfer(ModuleName.EfemRobot, Hand.Blade1, 0, type, out string reason))
                {
                    Stop(reason);
                    return false;
                }

                return true;
            }, () =>
            {
                if (pm.IsError)
                {
                    return null;
                }

                return pm.IsReady;

            }, timeout * 1000);

            if (ret.Item1)
            {
                if (ret.Item2 == Result.FAIL)
                {
                    Stop($"{pm.Name} error");
                    throw (new RoutineFaildException());
                }
                else if (ret.Item2 == Result.TIMEOUT) //timeout
                {
                    Stop($"{pm.Name} post transfer timeout, over {timeout} seconds");
                    throw (new RoutineFaildException());
                }
                else
                    throw (new RoutineBreakException());
            }
        }


        public void RobotExtend(int id, ModuleName chamber, int slot, Hand hand, RobotPostionEnum robotPostion, int timeout)
        {
            Tuple<bool, Result> ret = ExecuteAndWait(id, () =>
            {
                Notify("robot execute goto command");

                //string reason;
                //if (!_robotModule.RobotDevice.GotoRE(chamber, hand, slot, robotPostion, out reason))
                //{
                //    Stop(reason);
                //    return false;
                //}
                return true;
            }, () =>
            {
                if (_robotModule.RobotDevice.IsError)
                    return null;
                if (_robotModule.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 RobotRetract(int id, ModuleName chamber, int slot, Hand hand, RobotPostionEnum robotPostion, int timeout)
        {
            Tuple<bool, Result> ret = ExecuteAndWait(id, () =>
            {
                Notify("robot execute goto command");

                //string reason;

                //if (!_robotModule.RobotDevice.GotoRE(chamber, hand, slot, robotPostion, out reason))
                //{
                //    Stop(reason);
                //    return false;
                //}
                return true;
            }, () =>
            {
                if (_robotModule.RobotDevice.IsError)
                    return null;
                if (_robotModule.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 MovePinUp(int id, PMModuleBase pm, EnumTransferType type, int timeout)
        {
            Tuple<bool, Result> ret = ExecuteAndWait(id, () =>
            {
                Notify($"{pm.Name} lift pin up ");

                //if (!pm.ChamberLiftPin.MoveUp(out string reason))
                //{
                //    Stop(reason);
                //    return false;
                //}

                return true;
            }, () =>
            {
                //if (pm.ChamberLiftPin.IsUp)
                //    return true;

                return false;

            }, timeout * 1000);

            if (ret.Item1)
            {
                if (ret.Item2 == Result.FAIL)
                {
                    throw (new RoutineFaildException());
                }
                else if (ret.Item2 == Result.TIMEOUT) //timeout
                {
                    Stop($"{pm.Name} move lift pin up timeout, over {timeout} seconds");
                    throw (new RoutineFaildException());
                }
                else
                    throw (new RoutineBreakException());
            }
        }

        public void MovePinDown(int id, PMModuleBase pm, EnumTransferType type, int timeout)
        {
            Tuple<bool, Result> ret = ExecuteAndWait(id, () =>
            {
                Notify($"{pm.Name} lift pin down");

                //if (!pm.ChamberLiftPin.MoveDown(out string reason))
                //{
                //    Stop(reason);
                //    return false;
                //}
                return true;
            }, () =>
            {
                //if (pm.ChamberLiftPin.IsDown)
                //    return true;
                return false;

            }, timeout * 1000);

            if (ret.Item1)
            {
                if (ret.Item2 == Result.FAIL)
                {
                    throw (new RoutineFaildException());
                }
                else if (ret.Item2 == Result.TIMEOUT) //timeout
                {
                    Stop($"{pm.Name} move down lift pin timeout, over {timeout} seconds");
                    throw (new RoutineFaildException());
                }
                else
                    throw (new RoutineBreakException());
            }
        }
    }
}