PunkHPX8/PunkHPX8_RT/Modules/PlatingCell/PlatingCellRunRecipeRoutine.cs

using Aitex.Core.RT.Device;
using Aitex.Core.RT.Log;
using Aitex.Core.RT.Routine;
using Aitex.Core.Util;
using MECF.Framework.Common.Beckhoff.AxisProvider;
using MECF.Framework.Common.Beckhoff.Station;
using MECF.Framework.Common.CommonData.PowerSupplier;
using MECF.Framework.Common.RecipeCenter;
using MECF.Framework.Common.Routine;
using MECF.Framework.Common.SubstrateTrackings;
using MECF.Framework.Common.ToolLayout;
using MECF.Framework.Common.Utilities;
using PunkHPX8_Core;
using PunkHPX8_RT.Devices.AXIS;
using PunkHPX8_RT.Devices.Facilities;
using PunkHPX8_RT.Devices.PlatingCell;
using PunkHPX8_RT.Devices.PowerSupplier;
using PunkHPX8_RT.Modules.Reservoir;
using SecsGem.Core.ItemModel;
using System;
using System.Collections.Generic;
using System.Diagnostics;
using System.Linq;
using System.Text;
using System.Threading.Tasks;
using System.Windows.Navigation;
using static Mono.Security.X509.X520;

namespace PunkHPX8_RT.Modules.PlatingCell
{
    public class PlatingCellRunRecipeRoutine : RoutineBase, IRoutine
    {
        private enum RunRecipeStep
        {
            WaitMatchPlatingCellStart,
            LoopStart,
            InterRinse,
            CheckInterRinse,
            Entry,
            CheckEntry,
            Deposition,
            CheckDeposition,
            Reclaim,
            CheckReclaim,
            Rinse,
            CheckRinse,
            Dry,
            CheckDry,
            LoopEnd,
            End
        }
        #region 常量 
        private const int ALL_DAY_MILLOSECONDS = 24 * 60 * 60 * 1000;
        /// <summary>
        /// ROTATION电机转速比例
        /// </summary>
        private const int SPEED_RATIO = 1;
        /// <summary>
        /// 电机以500rmp 运行12个小时的位置
        /// </summary>
        private const int LARGETARGETPOSITION = 12 * 60 * 60 * 500 * 6; 
        #endregion

        #region 内部变量
        /// <summary>
        /// recipe
        /// </summary>
        private DepRecipe _recipe;
        /// <summary>
        /// Platingcell device
        /// </summary>
        private PlatingCellDevice _device;
        /// <summary>
        /// Rotation axis
        /// </summary>
        private JetAxisBase _rotationAxis;
        /// <summary>
        ///rotation Provider对象
        /// </summary>
        private BeckhoffProviderAxis _rotationProviderAxis;
        ///是否选中dummy load
        /// </summary>
        private bool _isDummyLoad;
        /// cycle次数
        /// </summary>
        private int _cycle;
        /// <summary>
        /// 当前完成的Cycle次数
        /// </summary>
        private int _currentCycle;
        /// <summary>
        /// platingcell entity
        /// </summary>
        private PlatingCellEntity _platingCellEntity;
        /// <summary>
        /// 另一边的platingcell entity
        /// </summary>
        private PlatingCellEntity _matchPlatingCellEntity;
        /// <summary>
        /// 对应reservoir entity
        /// </summary>
        private ReservoirEntity _reservoirEntity;
        /// <summary>
        /// vertical axis entity
        /// </summary>
        private PlatingCellVerticalEntity _verticalEntity;
        /// <summary>
        /// vertical 轴的位置数据
        /// </summary>
        private BeckhoffStationAxis _verticalBeckhoffStation;
        /// <summary>
        /// recipe中是否存在电机反转
        /// </summary>
        private bool _isRecipeContainsRevserseRotation = false;
        /// <summary>
        /// run recipe 过程中电机会停的位置（需要根据recipe计算出来）
        /// </summary>
        #region 电镀通电相关
        /// <summary>
        /// 不通电
        /// </summary>
        private bool _isZeroCurrent = false;
        /// <summary>
        /// Power step集合
        /// </summary>
        List<PowerSupplierStepPeriodData> _powerSupplierStepPeriodDatas = new List<PowerSupplierStepPeriodData>();
        /// <summary>
        /// 记录dep recipe中出现的最大电流，用于启动电源前切换挡位
        /// </summary>
        private double _maxCurrent = 0;
        /// <summary>
        /// 通电总时长
        /// </summary>
        private int _totalMicrosecond = 0;
        /// <summary>
        /// Plating启动时间
        /// </summary>
        private DateTime _platingStartTime;
        #endregion

        #region routine
        /// <summary>
        /// interbal rinse routien
        /// </summary>
        private PlatingCellInterRinseRoutine _interRinseRoutine;
        /// <summary>
        /// entry routien
        /// </summary>
        private PlatingCellEntryRoutine _entryRoutine;
        /// <summary>
        /// entry routien
        /// </summary>
        private PlatingCellDepositionRoutine _depositionRoutine;
        /// <summary>
        /// reclaim routien
        /// </summary>
        private PlatingCellReclaimRoutine _reclaimRoutine;
        /// <summary>
        /// Rinse routien
        /// </summary>
        private PlatingCellRinseRoutine _rinseRoutine;
        /// <summary>
        /// Dry routien
        /// </summary>
        private PlatingCellDryRoutine _dryRoutine;
        #endregion

        #region 属性
        #endregion

        #endregion
        /// <summary>
        /// 构造函数
        /// </summary>
        /// <param name="module"></param>
        public PlatingCellRunRecipeRoutine(string module) : base(module)
        {
            _interRinseRoutine = new PlatingCellInterRinseRoutine(module);
            _entryRoutine = new PlatingCellEntryRoutine(module);
            _depositionRoutine = new PlatingCellDepositionRoutine(module);
            _reclaimRoutine = new PlatingCellReclaimRoutine(module);
            _rinseRoutine = new PlatingCellRinseRoutine(module);
            _dryRoutine = new PlatingCellDryRoutine(module);
        }
        /// <summary>
        /// 中止
        /// </summary>
        public void Abort()
        {
            Runner.Stop("Manual Abort");
        }
        /// <summary>
        /// 监控
        /// </summary>
        /// <returns></returns>
        public RState Monitor()
        {         
                
            Runner.WaitWithStopCondition(RunRecipeStep.WaitMatchPlatingCellStart,() => { return _matchPlatingCellEntity.IsInRecipe; },() => { return false; }, false,ALL_DAY_MILLOSECONDS)
                 .LoopStart(RunRecipeStep.LoopStart, "Loop Start Cycle Run Platingcell Recipe Routine", _cycle, NullFun, _delay_1ms)
                //interval rinse
                .LoopRunIf(RunRecipeStep.InterRinse, _recipe.RinseBeforeEntryEnable, () => { return _interRinseRoutine.Start(_recipe, LARGETARGETPOSITION) == RState.Running; })
                .LoopRunIfWithStopStatus(RunRecipeStep.CheckInterRinse, _recipe.RinseBeforeEntryEnable, CheckInterRinseEndStatus,
                        () => CommonFunction.CheckRoutineStopState(_interRinseRoutine))
                //entry
                .LoopRun(RunRecipeStep.Entry,  () => { return _entryRoutine.Start(_recipe, LARGETARGETPOSITION, _powerSupplierStepPeriodDatas) == RState.Running; })
                .LoopRunWithStopStatus(RunRecipeStep.CheckEntry, CheckEntryEndStatus, () => CommonFunction.CheckRoutineStopState(_entryRoutine))

                //Deposition
                .LoopRun(RunRecipeStep.Deposition, () => { return _depositionRoutine.Start(_recipe, _isZeroCurrent,_powerSupplierStepPeriodDatas) == RState.Running; })
                .LoopRunWithStopStatus(RunRecipeStep.CheckDeposition, CheckDepositionEndStatus,() => CommonFunction.CheckRoutineStopState(_depositionRoutine))

                 //Reclaim
                .LoopRun(RunRecipeStep.Reclaim, () => { return _reclaimRoutine.Start(_recipe, _isZeroCurrent,_device.PowerSupplier) == RState.Running; })
                .LoopRunWithStopStatus(RunRecipeStep.CheckReclaim, CheckReclaimEndStatus, () => CommonFunction.CheckRoutineStopState(_reclaimRoutine))

                //Rinse
                .LoopRun(RunRecipeStep.Rinse, () => { return _rinseRoutine.Start(_recipe) == RState.Running; })
                .LoopRunWithStopStatus(RunRecipeStep.CheckRinse, CheckRinseEndStatus,
                        () => CommonFunction.CheckRoutineStopState(_rinseRoutine))

                //Dry
                .LoopRun(RunRecipeStep.Dry, () => { return _dryRoutine.Start(_recipe) == RState.Running; })
                .LoopRunWithStopStatus(RunRecipeStep.CheckDry, CheckDryEndStatus, () => CommonFunction.CheckRoutineStopState(_dryRoutine))
                .LoopEnd(RunRecipeStep.LoopEnd, UpdateCycleCount, _delay_1ms)
                .End(RunRecipeStep.End, NullFun);
            return Runner.Status;
        }
        /// 统计完成的Cycle次数
        /// </summary>
        /// <returns></returns>
        private bool UpdateCycleCount()
        {
            _currentCycle += 1;
            return true;
        }
        /// <summary>
        /// 获取当前Cycle次数
        /// </summary>
        /// <returns></returns>
        public int GetCurrentCycle()
        {
            return _currentCycle;
        }
        /// <summary>
        /// 检查interval rinse是否完成
        /// </summary>
        /// <returns></returns>
        private bool CheckInterRinseEndStatus()
        {
            bool result = CommonFunction.CheckRoutineEndState(_interRinseRoutine);
            SubRoutineStep = _interRinseRoutine.CurrentStep;
            return result;
        }
        /// <summary>
        /// 检查entry是否完成
        /// </summary>
        /// <returns></returns>
        private bool CheckEntryEndStatus()
        {
            bool result = CommonFunction.CheckRoutineEndState(_entryRoutine);
            SubRoutineStep = _entryRoutine.CurrentStep;
            return result;
        }
        /// <summary>
        /// 检查Deposition是否完成
        /// </summary>
        /// <returns></returns>
        private bool CheckDepositionEndStatus()
        {
            bool result = CommonFunction.CheckRoutineEndState(_depositionRoutine);
            SubRoutineStep = _depositionRoutine.CurrentStep;
            return result;
        }
        /// <summary>
        /// 检查Reclaim是否完成
        /// </summary>
        /// <returns></returns>
        private bool CheckReclaimEndStatus()
        {
            bool result = CommonFunction.CheckRoutineEndState(_reclaimRoutine);
            SubRoutineStep = _reclaimRoutine.CurrentStep;
            return result;
        }
        /// <summary>
        /// 检查Rinse是否完成
        /// </summary>
        /// <returns></returns>
        private bool CheckRinseEndStatus()
        {
            bool result = CommonFunction.CheckRoutineEndState(_rinseRoutine);
            SubRoutineStep = _rinseRoutine.CurrentStep;
            return result;
        }
        /// <summary>
        /// 检查Dry是否完成
        /// </summary>
        /// <returns></returns>
        private bool CheckDryEndStatus()
        {
            bool result = CommonFunction.CheckRoutineEndState(_dryRoutine);
            SubRoutineStep = _dryRoutine.CurrentStep;
            return result;
        }
        /// <summary>
        /// 启动
        /// </summary>
        /// <param name="objs"></param>
        /// <returns></returns>
        public RState Start(params object[] objs)
        {
            _recipe = objs[0] as DepRecipe;
            if (_recipe == null)
            {
                LOG.WriteLog(eEvent.ERR_METAL, Module, "recipe is null");
                return RState.Failed;
            }
            if (objs.Length > 1)
            {
                _isDummyLoad = (bool)objs[1];
            }
            if (objs.Length > 2)
            {
                _cycle = (int)objs[2];
            }
            _device = DEVICE.GetDevice<PlatingCellDevice>(Module);
            _rotationAxis = DEVICE.GetDevice<JetAxisBase>($"{Module}.Rotation");
            _rotationProviderAxis = BeckhoffAxisProviderManager.Instance.GetAxisProvider($"{Module}.Rotation");
            if (_rotationProviderAxis == null)
            {
                NotifyError(eEvent.ERR_PLATINGCELL, $"{Module}.Rotation Provider is not exist", 0);
                return RState.Failed;
            }
            //获取vertical entity
            string vertical = ModuleMatcherManager.Instance.GetPlatingVerticalByCell(Module);
            _verticalEntity = Singleton<RouteManager>.Instance.GetModule<PlatingCellVerticalEntity>(vertical);
            //获取platingcell eneity
            _platingCellEntity = Singleton<RouteManager>.Instance.GetModule<PlatingCellEntity>(Module);
            //获取对应reservoir eneity
            string reservoir = ReservoirItemManager.Instance.GetReservoirByPlatingCell(Module);
            _reservoirEntity = Singleton<RouteManager>.Instance.GetModule<ReservoirEntity>(reservoir);
            //获取vertical station信息对象
             _verticalBeckhoffStation = BeckhoffStationLocationManager.Instance.GetStationAxis($"{_verticalEntity.Module}", "Vertical");
            //获取另一边platingcell的entity
            string MatchModule = ModuleMatcherManager.Instance.GetMatcherByModule(Module);
            _matchPlatingCellEntity = Singleton<RouteManager>.Instance.GetModule<PlatingCellEntity>(MatchModule);
            if (!CheckPreCondition())
            {
                return RState.Failed;
            }
            CalculatVerticalPosition(_recipe);
            if (!UpdatePowerStepDatas())
            {
                NotifyError(eEvent.ERR_PLATINGCELL, $"Update Power StepDatas Failed!", 0);
                return RState.Failed;
            }
            _currentCycle = 0;
            return Runner.Start(Module, "PlatingCell Run Recipe");
        }
        /// <summary>
        /// 初始化Power step步骤
        /// </summary>
        private bool UpdatePowerStepDatas()
        {
            _isZeroCurrent = false;
            _isRecipeContainsRevserseRotation = false;
            double current = 0;
            _totalMicrosecond = 0;
            _powerSupplierStepPeriodDatas.Clear();
            if (!_recipe.IsEntryTypeCold)//如果entry带上电保护，那么把上电保护的部分加到步阶电流的第一步
            {
                PowerSupplierStepPeriodData step = new PowerSupplierStepPeriodData(); //上电保护时间（提前上电时间+延迟时间）
                step.Hour = 0;
                step.Minute = (ushort)((_recipe.PlatingDelay) / 60);
                step.Second = (ushort)(_recipe.PlatingDelay % 60);  
                step.Microsecond = 110; //到达entry位置提前100ms上电，提前一丢丢
                step.Voltage = _recipe.DepMaxVoltageWarning;
                step.Current = _recipe.EntryCurrent * 0.001; //recipe的entry current单位是毫安
                _powerSupplierStepPeriodDatas.Add(step);

            }
            foreach (var item in _recipe.DepSteps)
            {
                PowerSupplierStepPeriodData step = new PowerSupplierStepPeriodData();
                step.Current = item.CurrentValue;
                if(item.CurrentValue > _maxCurrent)
                {
                    _maxCurrent = item.CurrentValue;
                }
                step.Hour = (ushort)(item.DurartionSeconds / 3600);
                step.Minute = (ushort)((item.DurartionSeconds - step.Hour * 3600) / 60);
                step.Second = (ushort)(item.DurartionSeconds % 60);
                step.Microsecond = 0;
                step.Voltage = _recipe.DepMaxVoltageWarning;
                _powerSupplierStepPeriodDatas.Add(step);
                current += step.Current;
                _totalMicrosecond += item.DurartionSeconds * 1000;
            }
            if (current == 0)
            {
                _isZeroCurrent = true;
            }
            if(_maxCurrent < _recipe.EntryCurrent)//最大电流要考虑entry current
            {
                _maxCurrent = _recipe.EntryCurrent;
            }
            if(_maxCurrent > 0.6) //设置电源挡位，有超过0.6A的电流则用高档，否则用中挡
            {
                return _device.PowerSupplier.SetPowerGrade("set power grade high", new object[] { (byte)2 });
            }
            else
            {
                return  _device.PowerSupplier.SetPowerGrade("set power grade middle", new object[] { (byte)1 });
            }
        }
        /// <summary>
        /// 根据dep recipe计算出整个电镀过程中Rotation profile position可能去到的位置
        /// </summary>
        private void CalculatVerticalPosition(DepRecipe recipe)
        {
            foreach(var item in recipe.DepSteps)
            {
                if (item.BiDireaction)
                {
                    _isRecipeContainsRevserseRotation = true;
                }
                else
                {
                    continue;
                }
            }
        }
        /// <summary>
        /// 检验前置条件
        /// </summary>
        /// <returns></returns>
        private bool CheckPreCondition()
        {
            if (_recipe == null)
            {
                LOG.WriteLog(eEvent.ERR_PLATINGCELL, Module, "Recipe is null");
                return false;
            }
            //if (_recipe.DepSteps.Count == 0)
            //{
            //    LOG.WriteLog(eEvent.ERR_PLATINGCELL, Module, "Recipe DepSteps count is 0");
            //    return false;
            //}
            if (!CheckAxisHome())
            {
                NotifyError(eEvent.ERR_PLATINGCELL, "Check Axis home error",0);
                return false;
            }
            if (!CheckFacility())
            {
                NotifyError(eEvent.ERR_PLATINGCELL, "Check facility error", 0);
                return false;
            }
            if (!CheckModuleAndReservoir())
            {
                NotifyError(eEvent.ERR_PLATINGCELL, "Check ModuleAndReservoir error", 0);
                return false;
            }
            return true;
        }
        private bool CheckModuleAndReservoir()
        {
            if (!_platingCellEntity.IsIdle)
            {
                LOG.WriteLog(eEvent.ERR_PLATINGCELL, Module, $"{Module} is not initialized");
                return false;
            }
            if (!_reservoirEntity.IsIdle)
            {
                LOG.WriteLog(eEvent.ERR_PLATINGCELL, Module, $"Releated reseroivr is not initialized");
                return false;
            }
            if (!_reservoirEntity.TemperatureReached)
            {
                LOG.WriteLog(eEvent.ERR_PLATINGCELL, Module, $"Releated reseroivr temperature is not reached");
                return false;
            }
            if ("Manual".Equals(_reservoirEntity.PersistentValue.OperatingMode) && !WaferManager.Instance.CheckHasWafer(Module, 0))
            {
                LOG.WriteLog(eEvent.ERR_PLATINGCELL, Module, $"Run recipe in manual must has wafer!");
                return false;
            }
            return true;
        }
        /// <summary>
        /// 检查马达是否上电且home
        /// </summary>
        /// <returns></returns>
        private bool CheckAxisHome()
        {
            if (!_rotationAxis.IsSwitchOn)
            {
                LOG.WriteLog(eEvent.ERR_PLATINGCELL, Module, "Rotation Axis is off");
                return false;
            }
            if (!_rotationAxis.IsHomed)
            {
                LOG.WriteLog(eEvent.ERR_PLATINGCELL, Module, "Rotation Axis is not home");
                return false;
            }
            if (!_verticalEntity.AxisIsHome)
            {
                LOG.WriteLog(eEvent.ERR_PLATINGCELL, Module, "Vertical Axis is not home");
                return false;
            }
            return true;
        }
        /// <summary>
        /// 检查facility
        /// </summary>
        /// <returns></returns>
        private bool CheckFacility()
        {
            SystemFacilities systemFacilities = DEVICE.GetDevice<SystemFacilities>("System.Facilities");
            if (systemFacilities == null) 
            {
                LOG.WriteLog(eEvent.ERR_PLATINGCELL, Module, "Facility is null");
                return false;
            }
            if (!systemFacilities.CDAEnable)
            {
                LOG.WriteLog(eEvent.ERR_PLATINGCELL, Module, "Facility CDA is off");
                return false;
            }
            if (!systemFacilities.N2Enable)
            {
                LOG.WriteLog(eEvent.ERR_PLATINGCELL, Module, "Facility N2 is off");
                return false;
            }
            if (!systemFacilities.DIFillEnable)
            {
                LOG.WriteLog(eEvent.ERR_PLATINGCELL, Module, "Facility DIW is off");
                return false;
            }
            if (systemFacilities.FacilitiesDataDic["CDA1Pressure"].IsError || systemFacilities.FacilitiesDataDic["CDA2Pressure"].IsError)
            {
                LOG.WriteLog(eEvent.ERR_PLATINGCELL, Module, "Facility CDA Data is in error range");
                return false;
            }
            if (systemFacilities.FacilitiesDataDic["Nitrogen1APressure"].IsError  || 
                systemFacilities.FacilitiesDataDic["Nitrogen1BPressure"].IsError ||
                systemFacilities.FacilitiesDataDic["Nitrogen2APressure"].IsError ||
                systemFacilities.FacilitiesDataDic["Nitrogen2BPressure"].IsError)
            {
                LOG.WriteLog(eEvent.ERR_PLATINGCELL, Module, "Facility N2 Data is in error range");
                return false;
            }
            if (systemFacilities.FacilitiesDataDic["DiWaterPressure"].IsError)
            {
                LOG.WriteLog(eEvent.ERR_PLATINGCELL, Module, "Facility Diw Pressure value is in error range");
                return false;
            }
            return true;
        }
    }
}