Virgo_B_shaoxing/VirgoRT/Modules/ReturnAllWafer.cs

using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Threading.Tasks;
using Aitex.Core.Common;
using Aitex.Core.RT.Event;
using Aitex.Core.RT.Routine;
using Aitex.Sorter.Common;
using MECF.Framework.Common.Equipment;
using MECF.Framework.Common.SubstrateTrackings;

namespace VirgoRT.Modules
{
    public class ReturnAllWafer : TransferModule
    {
        private Queue<IRoutine> _moveTaskQueue = new Queue<IRoutine>();
        private IRoutine _activeTask;
        private bool _cooling;
        private int _coolingTime;

        public Result Start(object[] objs)
        {
            _moveTaskQueue.Clear();
            _activeTask = null;
            _cooling = objs.Length > 0 && (bool) objs[0];
            _coolingTime = (int) objs[1];
            return Result.RUN;
        }


        public Result Monitor(object[] objs)
        {
            if (_activeTask == null )
            {
                return StartNewReturnTask();
            }

            Result ret = _activeTask.Monitor();
            if (ret == Result.FAIL)
                return ret;

            if (ret == Result.DONE)
            {
                if (_moveTaskQueue.Count > 0)
                {
                    _activeTask = _moveTaskQueue.Dequeue();
                    return _activeTask.Start();
                }
                else
                {
                    _activeTask = null;
                }
            }

            return Result.RUN;
        }

        public void Clear()
        {
            _moveTaskQueue.Clear();
            _activeTask = null;
        }

        private Result StartNewReturnTask()
        {
            ModuleName[] modules = new[]
                {ModuleName.EfemRobot, ModuleName.Aligner1, ModuleName.Aligner2, ModuleName.Cooling1, ModuleName.Cooling2, ModuleName.PMA, ModuleName.PMB};

            ModuleName source = ModuleName.System;
            WaferInfo wafer = null;

            Hand hand = Hand.Blade1;
            int sourceSlot = 0;

            foreach (var moduleName in modules)
            {
                if (WaferManager.Instance.CheckHasWafer(moduleName, 0))
                {
                    source = moduleName;
                    wafer = WaferManager.Instance.GetWafer(source, 0);
                    break;
                }
            }

            if (wafer == null)
            {
                if (WaferManager.Instance.CheckHasWafer(ModuleName.EfemRobot, 1))
                {
                    source = ModuleName.EfemRobot;
                    wafer = WaferManager.Instance.GetWafer(source, 1);
                    hand = Hand.Blade2;
                    sourceSlot = 1;
                }
            }

            if (source == ModuleName.System || wafer==null || wafer.IsEmpty)
            {
                EV.PostInfoLog("Scheduler", "All wafers returned.");
                return Result.DONE;
            }


            if (_cooling && !ModuleHelper.IsCooling(source) && !ModuleHelper.IsAligner(source))
            {
                if (WaferManager.Instance.CheckHasWafer(ModuleName.Cooling1, 0) && WaferManager.Instance.CheckHasWafer(ModuleName.Cooling2, 0))
                {
                    EV.PostWarningLog("System", "Can not transfer, cooling has wafer, can not auto cooling");
                    return Result.FAIL;
                }

                ModuleName cooling = WaferManager.Instance.CheckHasWafer(ModuleName.Cooling1, 0)
                    ? ModuleName.Cooling2
                    : ModuleName.Cooling1;

                _moveTaskQueue.Enqueue(new EfemRobotMover(new MoveItemEx(source, sourceSlot, cooling, 0, _coolingTime, hand)));
                _moveTaskQueue.Enqueue(new EfemRobotMover(new MoveItemEx(cooling, 0, (ModuleName)wafer.OriginStation, wafer.OriginSlot, 0, hand)));
            }
            else
            {
                _moveTaskQueue.Enqueue(new EfemRobotMover(new MoveItemEx(source, sourceSlot, (ModuleName)wafer.OriginStation, wafer.OriginSlot, 0, hand)));

            }


            _activeTask = _moveTaskQueue.Dequeue();


            return _activeTask.Start() ;
 
        }
    }

}