PunkHPX8/PunkHPX8_RT/Modules/EFEM/CycleRobotCycleNewRoutine.cs

using Aitex.Core.Common;
using Aitex.Core.RT.Device;
using Aitex.Core.RT.Log;
using Aitex.Core.RT.Routine;
using Aitex.Core.Util;
using PunkHPX8_Core;
using PunkHPX8_RT.Devices.AXIS;
using PunkHPX8_RT.Devices.EFEM;
using PunkHPX8_RT.Modules.LPs;
using MECF.Framework.Common.Equipment;
using MECF.Framework.Common.Routine;
using MECF.Framework.Common.Schedulers;
using MECF.Framework.Common.SubstrateTrackings;
using MECF.Framework.Common.Utilities;
using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Threading.Tasks;
using MECF.Framework.Common.CommonData;
using System.Text.Json.Serialization;
using Newtonsoft.Json;

namespace PunkHPX8_RT.Modules.EFEM
{
    public class CycleRobotCycleNewRoutine : ModuleRoutineBase, IRoutine
    {
        private enum CycleRobotCycleStep
        {
            LoopStart,
            LoopRunRobotCycle,
            LoopRunRobotCycleWait,
            LoopEnd,
            End

        }
        /// <summary>
        /// Cycle次数
        /// </summary>
        private int _cycleTimes;
        /// <summary>
        /// 当前处于第几次Cycle
        /// </summary>
        private int _currentCycle;
        private RobotCycleMoveRoutine _cycleMoveRoutine;
        private List<RobotCycleParameter> _sequences;
        private List<EfemCycleAction> _actions;
        private int _dummySlotNumber = 25; //当前cycle中的dummy slot 数量

        public CycleRobotCycleNewRoutine(EfemBase efem) : base(ModuleName.EfemRobot)
        {
            _cycleMoveRoutine = new RobotCycleMoveRoutine(efem);
        }

        public RState Start(params object[] objs)
        {
            _currentCycle = 0;
            string str = objs[0].ToString();
            _sequences = JsonConvert.DeserializeObject<List<RobotCycleParameter>>(str);
            if(!CheckRobotCyclePreCondiction(_sequences))
            {
                return RState.Failed;
            }
            _cycleTimes=(int)objs[1];
            _actions = new List<EfemCycleAction>();
            GenerateCycleAction();
            if (_cycleTimes < 1)
            {
                LOG.Write(eEvent.ERR_EFEM_ROBOT, Module, $"Input Robot Cycle Times{_cycleTimes} error");
                return RState.Failed;
            }
            return Runner.Start(Module, "Start CycleRobotCycleRoutine");
        }
        private void GenerateCycleAction()
        {
            ModuleName sequenceModuleName = _sequences[0].ModuleName;
            WaferInfo[] waferInfos = WaferManager.Instance.GetWafers(sequenceModuleName);
            foreach (WaferInfo item in waferInfos)
            {
                if (item.IsEmpty)
                {
                    continue;
                }
                // generateCycle的参数：源模块，源模块slot，目的模块，目的模块slot
                if(_sequences.Count == 1)
                {
                    _actions.AddRange(GenerateCycle(_sequences[0], item.Slot, _sequences[0].ModuleName, 0));
                }
                else
                {
                    _actions.AddRange(GenerateCycle(_sequences[0], item.Slot, _sequences[1].ModuleName, 0));
                }
                for (int i = 1; i < _sequences.Count; i++)
                {
                 
                    if (i == _sequences.Count - 1)
                    {
                        _actions.AddRange(GenerateCycle(_sequences[i], 0, _sequences[0].ModuleName, item.Slot));
                    }
                    //else (i == 1)
                    else
                    {
                        _actions.AddRange(GenerateCycle(_sequences[i], 0, _sequences[i + 1].ModuleName, 0));
                    }
                   
                }
            }
        }
        /// <summary>
        /// 返回从哪儿取，放到哪儿的一个EfemCycleAction列表
        /// </summary>
        /// <param name="sourceParameter"></param>
        /// <param name="sourceSlot"></param>
        /// <param name="destModule"></param>
        /// <param name="destSlot"></param>
        /// <returns></returns>
        private List<EfemCycleAction> GenerateCycle(RobotCycleParameter sourceParameter,int sourceSlot,ModuleName destModule,int destSlot)
        {
            List<EfemCycleAction> actions = new List<EfemCycleAction>();
            if (sourceParameter.ModuleName == ModuleName.Aligner1)
            {
                EfemCycleAction action = new EfemCycleAction();
                action.Action = "Align";
                action.Parameter = sourceParameter.Parameter;
                actions.Add(action);
            }
            EfemCycleAction pick = new EfemCycleAction();
            MoveItem pickMoveItem = new MoveItem();
            pickMoveItem.SourceModule = sourceParameter.ModuleName;
            pickMoveItem.SourceSlot = sourceSlot;
            pickMoveItem.RobotHand = sourceParameter.RobotArm;
            pickMoveItem.PickRobotFlip = sourceParameter.PickRobotFlip;
            pick.Parameter = pickMoveItem;
            pick.Action = "Pick";
            actions.Add(pick);
            EfemCycleAction place = new EfemCycleAction();
            MoveItem placeMoveItem = new MoveItem();
            placeMoveItem.DestinationModule = destModule;
            placeMoveItem.DestinationSlot = destSlot;
            placeMoveItem.RobotHand = sourceParameter.RobotArm;
            placeMoveItem.PlaceRobotFlip = sourceParameter.PlaceRobotFlip;
            place.Parameter = placeMoveItem;
            place.Action = "Place";
            actions.Add(place);
            return actions;
        }
        public RState Monitor()
        {
            Runner.LoopStart(CycleRobotCycleStep.LoopStart, "Loop StartCycleRobotCycleRoutine", _cycleTimes, NullFun, _delay_1ms)
                .LoopRun(CycleRobotCycleStep.LoopRunRobotCycle, () => _cycleMoveRoutine.Start(_actions) == RState.Running,_delay_1ms)
                .LoopRunWithStopStatus(CycleRobotCycleStep.LoopRunRobotCycleWait, () => { return CommonFunction.CheckRoutineEndState(_cycleMoveRoutine); },
                 () => CheckRoutineStopStatus(_cycleMoveRoutine, "CycleRobotCycleRoutine failed"), 86400000)//24小时
                .LoopEnd(CycleRobotCycleStep.LoopEnd, UpdateCycleCount, _delay_1ms)
                .End(CycleRobotCycleStep.End, AchievedCycleCount, _delay_1ms);
            return Runner.Status;
        }

        private bool CheckRoutineStopStatus(IRoutine routine, string error)
        {
            bool result = CommonFunction.CheckRoutineStopState(routine);
            if (result)
            {
                Stop($"{error}");
            }
            return result;
        }
        
        /// <summary>
        /// Abort
        /// </summary>
        public void Abort()
        {
            Runner.Stop("CycleRobotCycleRoutine Abort");
        }

        /// <summary>
        /// 统计完成的Cycle次数
        /// </summary>
        /// <returns></returns>
        private bool UpdateCycleCount()
        {
            _currentCycle += 1;
            return true;
        }
        /// <summary>
        /// 
        /// </summary>
        /// <returns></returns>
        private bool AchievedCycleCount()
        {
            _currentCycle -= 1;
            return true;
        }
        /// <summary>
        /// 获取当前Cycle次数
        /// </summary>
        /// <returns></returns>
        public int GetCurrentCycle()
        {
            return _currentCycle;
        }
        private bool CheckRobotCyclePreCondiction(List<RobotCycleParameter> lists)
        {
            bool result = true;
            //Robot
            if (!CheckRobotStatus()) 
            {
                return false;
            }
            //LP
            if(lists.FindIndex(O=>O.ModuleName.ToString()==ModuleName.LP1.ToString())!=-1)
            {
                if (!CheckLoadPortStatus(ModuleName.LP1))
                {
                    return false;
                };
            }
            else if (lists.FindIndex(O => O.ModuleName.ToString() == ModuleName.LP2.ToString()) != -1)
            {
                if (!CheckLoadPortStatus(ModuleName.LP2))
                {
                    return false;
                };
            }
            
            return result;
        }
        //检查robot状态
        private bool CheckRobotStatus()
        {
            bool result = true;
            if (WaferManager.Instance.CheckHasWafer(ModuleName.EfemRobot, 0))
            {
                Stop($"Efem robot arm already has a wafer, cannot do the RobotCycle action");
                result =  false;
            }
            return result;
        }
        //检查loadport状态
        private bool CheckLoadPortStatus(ModuleName loadpoartName)
        {
            bool result = true;
            
            if (ModuleHelper.IsInstalled(loadpoartName))
            {
                Loadport loadPort = GetLoadPort(loadpoartName);
                if (loadPort == null)
                {
                    Stop($"{loadpoartName} is null");
                    return false;
                }
                WaferInfo[] waferInfos = WaferManager.Instance.GetWafers(loadpoartName);
                if (waferInfos.Length < 1)
                {
                    Stop($"there is no wafer in {loadpoartName}");
                    return false;
                }
            }
            else
            {
                Stop($"{loadpoartName} is not installed");
                return false;
            }
            return result;
        }
        private Loadport GetLoadPort(ModuleName station)
        {
            LoadPortModule loadPortModule = Singleton<RouteManager>.Instance.EFEM.GetLoadportModule(station - ModuleName.LP1);
            return loadPortModule.LPDevice;
        }
        //Dummy状态判断
        private bool CheckDummyStatus(ModuleName dummyName)
        {
            bool result = true;
            if (!ModuleHelper.IsInstalled(dummyName))
            {
                Stop($"{dummyName} is not installed");
                return false;
            }
            //若dummy存在wafer，需要人工处理
            DummyDevice dummyDevice = Singleton<RouteManager>.Instance.EFEM.GetDummyDevice(dummyName - ModuleName.Dummy1);
            if (dummyDevice != null)
            {
                if (!dummyDevice.HasCassette)
                {
                    Stop($"{dummyName} dose not have cassette");
                    return false;
                }
                WaferInfo[] waferInfos = WaferManager.Instance.GetWafers(dummyName);
                if (waferInfos.Length > 0)
                {
                    foreach (var item in waferInfos)
                    {
                        if (item != null && !item.IsEmpty)
                        {
                            Stop($"There are wafers inside the {dummyName},cannot do the RobotCycle action");
                            return false;
                        }
                    }
                }
            }
            return result;
        }
        //检查puf
        private bool CheckPufStatus(ModuleName pufName)
        {
            bool result = true;
            if (!ModuleHelper.IsInstalled(pufName))
            {
                Stop($"{pufName} is not install");
                return false;
            }
            JetAxisBase puf1RotationAxis = DEVICE.GetDevice<JetAxisBase>($"{ModuleName.PUF1}.Rotation");
            if (puf1RotationAxis == null)
            {
                Stop("Puf1 Rotation Axis is null");
                return false;
            }
            double puf1RotationPosition = puf1RotationAxis.MotionData.MotorPosition;
            if ( !puf1RotationAxis.CheckPositionIsInStation(puf1RotationPosition, "Robot"))
            {
                Stop($"PUF1 Rotation {puf1RotationPosition} is not in Robot");
                return false;
            }
            return result;
        }
        //检查srd
        private bool CheckSrdStatus(ModuleName SrdName)
        { 
            bool result = true;
            if (!ModuleHelper.IsInstalled(SrdName))
            {
                Stop($"{SrdName} is not install");
                return false;
            }

            return result;
        }
    }
}