Virgo_D_SLN/Virgo_DRT/Modules/Schedulers/SchedulerPM.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.Device;
using Aitex.Core.RT.Event;
using Aitex.Core.RT.Fsm;
using Aitex.Core.RT.SCCore;
using Aitex.Core.Util;
using Aitex.Sorter.Common;
using Virgo_DRT.Module;
using Virgo_DRT.Modules;
using MECF.Framework.Common.Equipment;
using MECF.Framework.Common.Schedulers;
using MECF.Framework.Common.SubstrateTrackings;
using Virgo_DRT.Devices;

namespace Virgo_DRT.Scheduler
{

    public class SchedulerPM : SchedulerModule
    {
        public override bool IsAvailable
        {
            get { return _entity.IsIdle && _entity.IsOnline && CheckTaskDone(); }

        }
        public override bool IsOnline
        {
            get { return _entity.IsOnline; }

        }
        public override bool IsError
        {
            get { return _entity.IsError; }

        }
        private PMEntity _entity = null;

        private ModuleName _taskRobot;
        private EnumTransferType _taskTransferType;
        private int _taskSlot;
        private int _entityTaskToken = (int)FSM_MSG.NONE;
 
        private DeviceTimer _timerProcess = new DeviceTimer();
        private JetPM _pm;

        private float _paramTemp;

        public float Temperature
        {
            get
            {
                return _pm.SubstrateTempFB;
            }
        }
        public SchedulerPM(ModuleName chamber) : base(chamber.ToString())
        {
            switch (chamber)
            {
                case ModuleName.PMA:
                    _entity = Singleton<RouteManager>.Instance.PMA;
                    break;
                case ModuleName.PMB:
                    _entity = Singleton<RouteManager>.Instance.PMB;
                    break;
            }

            _pm = DEVICE.GetDevice<JetPM>(Module.ToString());

        }

        public override bool IsReadyForPick(ModuleName robot, int slot)
        {
            return _entity.IsPrepareTransferReady(robot, EnumTransferType.Pick, slot)
                   && WaferManager.Instance.CheckHasWafer(ModuleHelper.Converter(_module), slot);
        }

        public override bool IsReadyForPlace(ModuleName robot, int slot)
        {
            return _entity.IsPrepareTransferReady(robot, EnumTransferType.Place, slot)
                   && WaferManager.Instance.CheckNoWafer(ModuleHelper.Converter(_module), slot);
        }
 
        public bool IsTemperatureReady(float temp)
        {
            return Math.Abs(Temperature -temp) < SC.GetValue<double>("System.MaxTemperatureToleranceTransferWafer");
        }

        public override bool PrepareTransfer(ModuleName robot, EnumTransferType type, int slot)
        {
            _task = TaskType.PrepareTransfer;
            _taskRobot = robot;
            _taskSlot = slot;
            _taskTransferType = type;
            _entityTaskToken = _entity.InvokePrepareTransfer(robot, type, slot);

            LogTaskStart(_task, $"{robot} {type} slot {slot + 1}");
            return _entityTaskToken != (int)FSM_MSG.NONE;
        }


        public bool PrepareTransfer(ModuleName robot, EnumTransferType type, int slot, float temp)
        {
            _task = TaskType.PrepareTransfer;
            _taskRobot = robot;
            _taskSlot = slot;
            _taskTransferType = type;
            _entityTaskToken = _entity.InvokePrepareTransfer(robot, type, slot, temp);

            LogTaskStart(_task, $"{robot} {type} slot {slot + 1}");
            return _entityTaskToken != (int)FSM_MSG.NONE;
        }

        public override bool PostTransfer(ModuleName robot, EnumTransferType type, int slot)
        {
            StopWaitTransfer(robot);

            _task = TaskType.PostTransfer;
            _taskRobot = robot;
            _taskSlot = slot;
            _taskTransferType = type;
            _entityTaskToken = _entity.InvokePostTransfer(robot, type, slot);

            LogTaskStart(_task, $"{robot} {type} slot {slot + 1}");
            return _entityTaskToken != (int)FSM_MSG.NONE;
        }

        public override  bool PostTransfer(ModuleName robot )
        {
            StopWaitTransfer(robot);

            _task = TaskType.PostTransfer;
            _taskRobot = robot;
            _taskSlot = _inTransferSlot;
            _taskTransferType = _inTransferType;
            _entityTaskToken = _entity.InvokePostTransfer(robot, _inTransferType, _inTransferSlot);

            LogTaskStart(_task, $"{robot} {_inTransferType} slot {_inTransferSlot + 1}");
            return _entityTaskToken != (int)FSM_MSG.NONE;
        }

        public override bool Process(string recipeName, bool isCleanRecipe, bool withWafer)
        {
            _task = TaskType.Process;
            LogTaskStart(_task, $"recipe: {recipeName}, clean: {isCleanRecipe}, with wafer: {withWafer}");

            if (SC.GetValue<bool>("System.IsATMMode"))
            {
                int time = SC.GetValue<int>("System.ATMCyclePMDelayTime");
                _timerProcess.Start(time * 1000);

                EV.PostInfoLog("Scheduler", $"System run in ATM mode, process skipped, delay {time} seconds");

                WaferManager.Instance.UpdateWaferProcessStatus(Module, 0, EnumWaferProcessStatus.InProcess);

                return true;
            }
            else
            {
                _entityTaskToken = _entity.InvokeProcess(recipeName);
                return _entityTaskToken != (int)FSM_MSG.NONE;

            }
        }

        public override bool Preheating(float temperature)
        {
            _task = TaskType.Heating;
            _paramTemp = temperature;
 
            _entityTaskToken = _entity.InvokePreHeat(temperature);

            LogTaskStart(_task, $"preheat to {temperature}");

            return _entityTaskToken != (int)FSM_MSG.NONE;
        }

        public bool CheckTaskDone()
        {
            bool ret = false;
            switch (_task)
            {
                case TaskType.None:
                    ret = true;
                    break;
                case TaskType.PrepareTransfer:
                    ret = _entity.CheckAcked(_entityTaskToken) && _entity.IsPrepareTransferReady(_taskRobot, _taskTransferType, _taskSlot);
                    break;
                case TaskType.PostTransfer:
                    ret = _entity.CheckAcked(_entityTaskToken)  ;
                    break;
                case TaskType.Heating:
                    ret = _entity.CheckAcked(_entityTaskToken) && IsTemperatureReady(_paramTemp);
                    break;
                case TaskType.Process:
                    if (SC.GetValue<bool>("System.IsATMMode"))
                    {
                        ret = _timerProcess.IsTimeout() && _entity.IsIdle;

                        if (ret)
                        WaferManager.Instance.UpdateWaferProcessStatus(Module, 0, EnumWaferProcessStatus.Completed);
                    }
                    else
                    {
                        ret = _entity.CheckAcked(_entityTaskToken) && _entity.IsProcessed();
                    }
                    
                    break;
            }

            if (ret && _task != TaskType.None)
            {
                LogTaskDone(_task, "");
                _task = TaskType.None;
            }

            return ret;
        }

        public bool Monitor()
        {
            return true;
        }

        public void SetPMAuto()
        {
            _entity.SetAuto();
        }

    }
}