Mars200VCE/FutureEfem/Efems/EfemPickRoutine.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 EfemPickRoutine : ModuleRoutine, IRoutine
    {
        enum RoutineStep
        {
            CheckBeforePick,
            PickWafer,
            CheckBeforePick2,
            PickWafer2,

            PostTransfer,
            PrepareTransfer,

            PickExtend,

            PickRetract,

            LiftDown,
        }

        private int _pickTimeout;
        private ModuleName _source;
        private int _sourceSlot;
        private Hand _hand;
        private bool _autoHand;

        private EfemModule _robotModule;

        private ITransferTarget _target;
        private int _postTransferTimeout;


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

            _robotModule = robotModule;
        }

        public Result Start(params object[] objs)
        {
            _pickTimeout = SC.GetValue<int>("EFEM.EfemRobot.PickTimeout");

            Reset();

            if (_autoHand)
            {
                if (WaferManager.Instance.CheckNoWafer(ModuleName.EfemRobot, 0))
                {
                    _hand = Hand.Blade1;
                }
                else if (WaferManager.Instance.CheckNoWafer(ModuleName.EfemRobot, 1))
                {
                    _hand = Hand.Blade2;
                }
                else
                {
                    EV.PostWarningLog(Module, $"Can not pick, Robot both arm has wafer");
                    return Result.FAIL;
                }
            }

            if (_hand == Hand.Both)
            {
                if (!SC.GetValueOrDefault<bool>("EFEM.EfemRobot.LowerBladeEnable"))
                {
                    EV.PostAlarmLog(Module, $"Can not pick, Lower Blade is Disabled");
                    return Result.FAIL;
                }

                if (!SC.GetValueOrDefault<bool>("EFEM.EfemRobot.UpperBladeEnable"))
                {
                    EV.PostAlarmLog(Module, $"Can not pick, Upper Blade is Disabled");
                    return Result.FAIL;
                }

                if (WaferManager.Instance.GetWafers(_source).Length < 2)
                {
                    EV.PostWarningLog(Module, $"Can not pick use both arm, Only one slot at {_source}");
                    return Result.FAIL;
                }

                if (!WaferManager.Instance.CheckHasWafer(_source, _sourceSlot))
                {
                    EV.PostWarningLog(Module, $"Can not pick, No wafer at {_source}, {_sourceSlot + 1}");
                    return Result.FAIL;
                }
                if (!WaferManager.Instance.CheckHasWafer(_source, _sourceSlot + 1))
                {
                    EV.PostWarningLog(Module, $"Can not pick, No wafer at {_source}, {_sourceSlot + 1 + 1}");
                    return Result.FAIL;
                }

                if (!WaferManager.Instance.CheckNoWafer(Module, (int)Hand.Blade1))
                {
                    EV.PostWarningLog(Module, $"Can not pick, Robot arm 1 has wafer");
                    return Result.FAIL;
                }

                if (!WaferManager.Instance.CheckNoWafer(Module, (int)Hand.Blade2))
                {
                    EV.PostWarningLog(Module, $"Can not pick, Robot arm 2 has wafer");
                    return Result.FAIL;
                }
            }
            else
            {
                if (_hand == Hand.Blade1 && !SC.GetValueOrDefault<bool>("EFEM.EfemRobot.LowerBladeEnable"))
                {
                    EV.PostAlarmLog(Module, $"Can not pick, Lower Blade is Disabled");
                    return Result.FAIL;
                }

                if (_hand == Hand.Blade2 && !SC.GetValueOrDefault<bool>("EFEM.EfemRobot.UpperBladeEnable"))
                {
                    EV.PostAlarmLog(Module, $"Can not pick, Upper Blade is Disabled");
                    return Result.FAIL;
                }

                if (!WaferManager.Instance.CheckHasWafer(_source, _sourceSlot))
                {
                    EV.PostWarningLog(Module, $"Can not pick, No wafer at {_source}, {_sourceSlot + 1}");
                    return Result.FAIL;
                }

                if (!WaferManager.Instance.CheckNoWafer(Module, (int)_hand))
                {
                    EV.PostWarningLog(Module, $"Can not pick, Robot arm {(int)_hand + 1} has wafer");
                    return Result.FAIL;
                }
            }

            Notify($"Start, Pick from {_source} slot {_sourceSlot + 1}, by {_hand}");

            return Result.RUN;
        }


        public void Init(ModuleName source, int slot, Hand hand)
        {
            _autoHand = false;

            _source = source;
            _sourceSlot = slot;
            _hand = hand;

            if (ModuleHelper.IsPm(source))
                _postTransferTimeout = SC.GetValue<int>($"PM.PostTransferTimeout");

            _target = EquipmentManager.Modules[source] as ITransferTarget;
        }

        public void Init(ModuleName source, int slot)
        {
            _autoHand = true;

            _source = source;
            _sourceSlot = slot;

            if (ModuleHelper.IsPm(source))
                _postTransferTimeout = SC.GetValue<int>($"PM.PostTransferTimeout");

            _target = EquipmentManager.Modules[source] 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
            {
                if (ModuleHelper.IsPm(_source))
                {
                    if (!_target.CheckReadyForTransfer(ModuleName.EfemRobot, _hand, _sourceSlot, EnumTransferType.Pick, out _))
                    {
                        PrepareTransfer((int)RoutineStep.PrepareTransfer, _target as PMModuleBase, EnumTransferType.Pick, _postTransferTimeout);
                    }
                }
                if (_hand == Hand.Both)
                {
                    CheckBeforePick((int)RoutineStep.CheckBeforePick, _source, _sourceSlot, Hand.Blade1);

                    PickWafer((int)RoutineStep.PickWafer, _source, _sourceSlot, Hand.Blade1, _pickTimeout);

                    CheckBeforePick((int)RoutineStep.CheckBeforePick2, _source, _sourceSlot + 1, Hand.Blade2);

                    PickWafer((int)RoutineStep.PickWafer2, _source, _sourceSlot + 1, Hand.Blade2, _pickTimeout);
                }
                else
                {
                    CheckBeforePick((int)RoutineStep.CheckBeforePick, _source, _sourceSlot, _hand);

                    if (ModuleHelper.IsPm(_source))
                    {
                        RobotExtend((int)RoutineStep.PickExtend, _source, _sourceSlot, _hand, RobotPostionEnum.PickExtendLow, _pickTimeout);

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

                        RobotRetract((int)RoutineStep.PickRetract, _source, _sourceSlot, _hand, RobotPostionEnum.PickRetracted, _pickTimeout);

                        //放到process过程中，提高产能
                        //LiftPinDown((int)RoutineStep.LiftDown, _target as PMModuleBase, EnumTransferType.Retract, _pickTimeout);
                    }
                    else
                    {
                        PickWafer((int)RoutineStep.PickWafer, _source, _sourceSlot, _hand, _pickTimeout);
                    }
                }
                if (ModuleHelper.IsPm(_source))
                {
                    PostTransfer((int)RoutineStep.PostTransfer, _target as PMModuleBase, EnumTransferType.Pick, _postTransferTimeout);
                }

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

            Notify($"Finish, Pick from {_source} slot {_sourceSlot + 1}, by {_hand}");

            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, _hand, _sourceSlot, 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.Blade1, 0, 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 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 PrepareTransfer(int id, PMModuleBase pm, EnumTransferType type, int timeout)
        {
            Tuple<bool, Result> ret = ExecuteAndWait(id, () =>
            {
                Notify($"{pm.Name} Prepare transfer ");

                if (!pm.PrepareTransfer(ModuleName.EfemRobot, Hand.Blade1, 0, type, 0, 0, false, 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} Prepare 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());
            }
        }
    }
}