EfemEntity.cs 43 KB

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  1. using System;
  2. using Aitex.Core.Common;
  3. using Aitex.Core.RT.DataCenter;
  4. using Aitex.Core.RT.Event;
  5. using Aitex.Core.RT.Fsm;
  6. using Aitex.Core.RT.OperationCenter;
  7. using Aitex.Core.RT.SCCore;
  8. using Aitex.Core.Utilities;
  9. using Aitex.Sorter.Common;
  10. using MECF.Framework.Common.Equipment;
  11. using MECF.Framework.Common.Schedulers;
  12. using MECF.Framework.Common.SubstrateTrackings;
  13. using VirgoCommon;
  14. using VirgoRT.Device;
  15. using VirgoRT.Device.YASKAWA;
  16. using VirgoRT.Devices.EFEM;
  17. using VirgoRT.Modules.LPs;
  18. using BAI.Systems.Common.Substrates;
  19. namespace VirgoRT.Modules
  20. {
  21. class EfemEntity : Entity, IEntity, IModuleEntity
  22. {
  23. private int _bigWafer = 0;
  24. private int _midWafer = 0;
  25. private int _smallWafer = 0;
  26. private bool _hasPlacementError = false;
  27. private bool _EnableResetEFEMError = false;
  28. public enum STATE
  29. {
  30. Unknown, // 0
  31. Initializing, // 1
  32. Idle, // 2
  33. Error, // 3
  34. Picking, // 4
  35. Placing, // 5
  36. Aligning, // 6
  37. Mapping, // 7
  38. Init, // 8
  39. Orgshing, // 9
  40. Lifting, // 10
  41. InitingAL, // 11
  42. InitingRB, // 12
  43. Extending, // 13
  44. Retracting, // 14
  45. //SettingLamp, // 15
  46. Swapping,
  47. Gotoing,
  48. Gripping,
  49. Ungripping,
  50. Fliping,
  51. EmsStoping,
  52. SetSpeed,
  53. Loading,
  54. }
  55. public enum MSG
  56. {
  57. HomeAll, // 0
  58. Pick, // 1
  59. Place, // 2
  60. Align, // 3
  61. ActionDone, // 4
  62. RecHwMsg, // 5
  63. MoveCmd, // 6
  64. //LED, // 7
  65. Recover, // 8
  66. Goto, // 9
  67. Error, // 10
  68. Online, // 11
  69. CommReady, // 12
  70. Lift, // 13
  71. HomeAL, // 14
  72. HomeRB, // 15
  73. Extend, // 16
  74. Retract, // 17
  75. PMLiftPinUp, // 18
  76. PMLiftPinDown, // 19
  77. TurnOffBuzzer,
  78. //SwitchOnBuzzerAndRed,
  79. Abort,
  80. Map,
  81. ToInit,
  82. Cool,
  83. PickAndPlace,
  84. Grip,
  85. Ungrip,
  86. Flip,
  87. LiftActionDone,
  88. EmsStop,
  89. SetRobotSpeed,
  90. Load,
  91. }
  92. public enum EfemType
  93. {
  94. FutureEfem = 1,
  95. JetEfem = 2,
  96. BrooksEFEM = 3,
  97. BeamSUNWAY = 4,
  98. }
  99. public bool Check(int msg, out string reason, params object[] args)
  100. {
  101. throw new NotImplementedException();
  102. }
  103. // Fields
  104. //
  105. private readonly string Name;
  106. private readonly Efem _efem;
  107. private readonly LoadPortModule[] _lpms = new LoadPortModule[2];
  108. private readonly EfemType _efemType;
  109. public Efem EfemDevice => _efem;
  110. public EfemType EFEMType => _efemType;
  111. // Constructor
  112. //
  113. public EfemEntity()
  114. {
  115. _smallWafer = SC.GetValue<int>($"System.SmallWafer");
  116. _midWafer = SC.GetValue<int>($"System.MidWafer");
  117. _bigWafer = SC.GetValue<int>($"System.BigWafer");
  118. _efemType = (EfemType)SC.GetValue<int>($"EFEM.EfemType");
  119. _EnableResetEFEMError = SC.GetValue<bool>($"EFEM.EnableResetError");
  120. _efem = new Efem();
  121. Name = ModuleName.EFEM.ToString();
  122. InitFsmMap();
  123. }
  124. public void NotifyLP(ModuleName mod, LoadportEntity.MSG msg)
  125. {
  126. _lpms[mod - ModuleName.LP1].PostMsg(msg);
  127. }
  128. public void NotifyLPError(ModuleName mod )
  129. {
  130. _lpms[mod - ModuleName.LP1].PostMsg(LoadportEntity.MSG.ActionDone);
  131. //_lpms[mod - ModuleName.LP1]..OnError();
  132. }
  133. public void NotifyLP(ModuleName mod, LoadPortModule.MSG msg)
  134. {
  135. _lpms[mod - ModuleName.LP1].PostMsg(msg);
  136. }
  137. public bool IsLPIdle(ModuleName mod)
  138. {
  139. return _lpms[mod - ModuleName.LP1].IsReady;
  140. }
  141. protected override bool Init()
  142. {
  143. _lpms[0] = new LoadPortModule(ModuleName.LP1, _efem);
  144. _lpms[1] = new LoadPortModule(ModuleName.LP2, _efem);
  145. _lpms[0].Initialize();
  146. _lpms[1].Initialize();
  147. OP.Subscribe($"{ModuleName.EFEM}.{EfemOperation.Home}", (cmd, args) => { PostMsg(MSG.HomeAll); return true; });
  148. OP.Subscribe($"{ModuleName.EFEM}.{EfemOperation.ClearError}", (cmd, args) => { PostMsg(MSG.Recover); return true; });
  149. OP.Subscribe($"{ModuleName.EFEM}.{EfemOperation.TurnOffBuzzer}", (cmd, args) => { PostMsg(MSG.TurnOffBuzzer); return true; });
  150. //OP.Subscribe($"{ModuleName.EFEM}.{EfemOperation.SwitchOnBuzzerAndRed}", (cmd, args) => { PostMsg(MSG.SwitchOnBuzzerAndRed); return true; });
  151. OP.Subscribe($"{ModuleName.EFEM}.Online", (cmd, args) => { PostMsg(MSG.Online); return true; });
  152. OP.Subscribe($"{ModuleName.EfemRobot}.{EfemOperation.Pick}", (cmd, args) => { PostMsg(MSG.Pick, args[0], args[1], args[3], args[2]); return true; });
  153. OP.Subscribe($"{ModuleName.EfemRobot}.{EfemOperation.Place}", (cmd, args) => { PostMsg(MSG.Place, args[0], args[1], args[3], args[2]); return true; });
  154. OP.Subscribe($"{ModuleName.EfemRobot}.{EfemOperation.Extend}", (cmd, args) => { PostMsg(MSG.Extend, args[0], args[1], args[2]); return true; });
  155. OP.Subscribe($"{ModuleName.EfemRobot}.{EfemOperation.Retract}", (cmd, args) => { PostMsg(MSG.Retract, args[0], args[1]); return true; });
  156. OP.Subscribe($"{ModuleName.EfemRobot}.{EfemOperation.Abort}", (cmd, args) => { PostMsg(MSG.Abort); return true; });
  157. OP.Subscribe($"{ModuleName.EfemRobot}.{EfemOperation.Home}", (cmd, args) => { PostMsg(MSG.HomeRB, args); return true; });
  158. OP.Subscribe($"{ModuleName.EfemRobot}.{EfemOperation.Grip}", (cmd, args) =>
  159. {
  160. bool isGrip = ((string)args[0]).ToLower() == "on";
  161. PostMsg(isGrip ? MSG.Grip : MSG.Ungrip, args[1]);
  162. return true;
  163. });
  164. OP.Subscribe($"{ModuleName.EfemRobot}.{EfemOperation.Flip}", (cmd, args) => { PostMsg(MSG.Flip, args[0]); return true; });
  165. OP.Subscribe($"{ModuleName.EfemRobot}.{EfemOperation.EmsStop}", (cmd, args) => { PostMsg(MSG.EmsStop); return true; });
  166. OP.Subscribe($"{ModuleName.EfemRobot}.{EfemOperation.SetRobotSpeed}", (cmd, args) => { PostMsg(MSG.SetRobotSpeed, args[0]); return true; });
  167. OP.Subscribe($"{ModuleName.Aligner1}.{EfemOperation.Home}", (cmd, args) => { PostMsg(MSG.HomeAL, ModuleName.Aligner1); return true; });
  168. OP.Subscribe($"{ModuleName.Aligner2}.{EfemOperation.Home}", (cmd, args) => { PostMsg(MSG.HomeAL, ModuleName.Aligner2); return true; });
  169. OP.Subscribe($"{ModuleName.Cooling1}.{EfemOperation.Home}", (cmd, args) => { PostMsg(MSG.HomeAL, ModuleName.Cooling1); return true; });
  170. OP.Subscribe($"{ModuleName.Cooling2}.{EfemOperation.Home}", (cmd, args) => { PostMsg(MSG.HomeAL, ModuleName.Cooling2); return true; });
  171. OP.Subscribe($"{ModuleName.Aligner1}.{EfemOperation.Align}", (cmd, args) => { PostMsg(MSG.Align, ModuleName.Aligner1, args[0]); return true; });
  172. OP.Subscribe($"{ModuleName.Aligner2}.{EfemOperation.Align}", (cmd, args) => { PostMsg(MSG.Align, ModuleName.Aligner2, args[0]); return true; });
  173. OP.Subscribe($"{ModuleName.Cooling1}.{EfemOperation.Align}", (cmd, args) => { PostMsg(MSG.Align, ModuleName.Cooling1, args[0]); return true; });
  174. OP.Subscribe($"{ModuleName.Cooling2}.{EfemOperation.Align}", (cmd, args) => { PostMsg(MSG.Align, ModuleName.Cooling2, args[0]); return true; });
  175. OP.Subscribe($"{ModuleName.Aligner1}.{EfemOperation.Lift}", (cmd, args) => { PostMsg(MSG.Lift, ModuleName.Aligner1); return true; });
  176. OP.Subscribe($"{ModuleName.Aligner2}.{EfemOperation.Lift}", (cmd, args) => { PostMsg(MSG.Lift, ModuleName.Aligner2); return true; });
  177. OP.Subscribe($"{ModuleName.Cooling1}.{EfemOperation.Lift}", (cmd, args) => { PostMsg(MSG.Lift, ModuleName.Cooling1); return true; });
  178. OP.Subscribe($"{ModuleName.Cooling2}.{EfemOperation.Lift}", (cmd, args) => { PostMsg(MSG.Lift, ModuleName.Cooling2); return true; });
  179. DATA.Subscribe($"{Name}.FsmState", () => ((STATE)fsm.State).ToString());
  180. DATA.Subscribe($"{Name}.FsmPrevState", () => ((STATE)fsm.PrevState).ToString());
  181. DATA.Subscribe($"{Name}.FsmLastMessage", GetFsmLastMessage);
  182. DATA.Subscribe($"{Name}.SmallWafer", () => _smallWafer);
  183. DATA.Subscribe($"{Name}.BigWafer", () => _bigWafer);
  184. DATA.Subscribe($"{Name}.MidWafer", () => _midWafer);
  185. DATA.Subscribe($"{Name}.HasPlacementError", () => _hasPlacementError);
  186. return true;
  187. }
  188. private void InitFsmMap()
  189. {
  190. fsm = new StateMachine<EfemEntity>("EFEM", (int)STATE.Unknown, 50);
  191. fsm.EnableRepeatedMsg(true);
  192. AnyStateTransition(FSM_MSG.TIMER, fnMonitor, FSM_STATE.SAME);
  193. AnyStateTransition(MSG.RecHwMsg, fnRecMsg, FSM_STATE.SAME);
  194. //AnyStateTransition(MSG.LED, fnSetLED, STATE.SettingLamp);
  195. AnyStateTransition(MSG.TurnOffBuzzer, fnTurnOffBuzzer, FSM_STATE.SAME);
  196. //AnyStateTransition(MSG.SwitchOnBuzzerAndRed, fnSwitchOnBuzzerAndRed, FSM_STATE.SAME);
  197. AnyStateTransition(MSG.Recover, fnRecover, FSM_STATE.SAME);
  198. AnyStateTransition(MSG.Error, fnError, STATE.Error);
  199. AnyStateTransition(MSG.Online, fnOnline, FSM_STATE.SAME);
  200. AnyStateTransition(MSG.Abort, fnAbortRobot, STATE.Idle);
  201. AnyStateTransition(MSG.ToInit, fnToInit, STATE.Init);
  202. EnterExitTransition<STATE, FSM_MSG>(STATE.Initializing, fnEnterExecute, FSM_MSG.NONE, fnExitExecute);
  203. EnterExitTransition<STATE, FSM_MSG>(STATE.InitingRB, fnEnterExecute, FSM_MSG.NONE, null);
  204. EnterExitTransition<STATE, FSM_MSG>(STATE.InitingAL, fnEnterExecute, FSM_MSG.NONE, null);
  205. EnterExitTransition<STATE, FSM_MSG>(STATE.Picking, fnEnterExecute, FSM_MSG.NONE, fnExitExecute);
  206. EnterExitTransition<STATE, FSM_MSG>(STATE.Gotoing, fnEnterExecute, FSM_MSG.NONE, fnExitExecute);
  207. EnterExitTransition<STATE, FSM_MSG>(STATE.Placing, fnEnterExecute, FSM_MSG.NONE, fnExitExecute);
  208. EnterExitTransition<STATE, FSM_MSG>(STATE.Swapping, fnEnterExecute, FSM_MSG.NONE, fnExitExecute);
  209. EnterExitTransition<STATE, FSM_MSG>(STATE.Extending, fnEnterExecute, FSM_MSG.NONE, fnExitExecute);
  210. EnterExitTransition<STATE, FSM_MSG>(STATE.Retracting, fnEnterExecute, FSM_MSG.NONE, fnExitExecute);
  211. EnterExitTransition<STATE, FSM_MSG>(STATE.Lifting, fnEnterExecute, FSM_MSG.NONE, null);
  212. EnterExitTransition<STATE, FSM_MSG>(STATE.Aligning, fnEnterExecute, FSM_MSG.NONE, null);
  213. EnterExitTransition<STATE, FSM_MSG>(STATE.Mapping, fnEnterExecute, FSM_MSG.NONE, fnExitExecute);
  214. EnterExitTransition<STATE, FSM_MSG>(STATE.Gripping, fnEnterExecute, FSM_MSG.NONE, null);
  215. EnterExitTransition<STATE, FSM_MSG>(STATE.Ungripping, fnEnterExecute, FSM_MSG.NONE, null);
  216. EnterExitTransition<STATE, FSM_MSG>(STATE.Fliping, fnEnterExecute, FSM_MSG.NONE, fnExitExecute);
  217. EnterExitTransition<STATE, FSM_MSG>(STATE.EmsStoping, fnEnterExecute, FSM_MSG.NONE, fnExitExecute);
  218. EnterExitTransition<STATE, FSM_MSG>(STATE.SetSpeed, fnEnterExecute, FSM_MSG.NONE, fnExitExecute);
  219. EnterExitTransition<STATE, FSM_MSG>(STATE.Loading, fnEnterExecute, FSM_MSG.NONE, fnExitExecute);
  220. Transition(STATE.Unknown, MSG.CommReady, null, STATE.Init);
  221. // Home
  222. Transition(STATE.Init, MSG.HomeAll, fnHomeAll, STATE.Initializing);
  223. Transition(STATE.Idle, MSG.HomeAll, fnHomeAll, STATE.Initializing); // 暂时加,出错的时候做 HOME
  224. Transition(STATE.Error, MSG.HomeAll, fnHomeAll, STATE.Initializing);
  225. Transition(STATE.Initializing, MSG.ActionDone, fnActionDone, STATE.Orgshing);
  226. Transition(STATE.Orgshing, MSG.ActionDone, fnActionDone, STATE.Idle);
  227. Transition(STATE.Idle, MSG.HomeRB, fnHomeRobot, STATE.InitingRB);
  228. Transition(STATE.InitingRB, MSG.ActionDone, null, STATE.Idle);
  229. //Transition(STATE.SettingLamp, MSG.ActionDone, fnSetLampDone, STATE.Idle);
  230. // Pick
  231. Transition(STATE.Idle, MSG.Pick, fnPick, STATE.Picking);
  232. Transition(STATE.Picking, MSG.ActionDone, fnActionDone, STATE.Idle);
  233. Transition(STATE.Picking, MSG.PMLiftPinUp, fnPmPinUp, STATE.Idle);
  234. Transition(STATE.Picking, MSG.PMLiftPinDown, fnPmPinDown, STATE.Idle);
  235. // Place
  236. Transition(STATE.Idle, MSG.Place, fnPlace, STATE.Placing);
  237. Transition(STATE.Placing, MSG.ActionDone, fnActionDone, STATE.Idle);
  238. Transition(STATE.Placing, MSG.PMLiftPinUp, fnPmPinUp, STATE.Idle);
  239. Transition(STATE.Placing, MSG.PMLiftPinDown, fnPmPinDown, STATE.Idle);
  240. // PickAndPlace
  241. Transition(STATE.Idle, MSG.PickAndPlace, fnSwap, STATE.Swapping);
  242. Transition(STATE.Swapping, MSG.ActionDone, fnActionDone, STATE.Idle);
  243. Transition(STATE.Swapping, MSG.PMLiftPinUp, fnPmPinUp, STATE.Idle);
  244. Transition(STATE.Swapping, MSG.PMLiftPinDown, fnPmPinDown, STATE.Idle);
  245. // Goto
  246. Transition(STATE.Idle, MSG.Goto, fnGoto, STATE.Gotoing);
  247. Transition(STATE.Gotoing, MSG.ActionDone, fnActionDone, STATE.Idle);
  248. // Extend
  249. Transition(STATE.Idle, MSG.Extend, fnExtend, STATE.Extending);
  250. Transition(STATE.Extending, MSG.ActionDone, fnActionDone, STATE.Idle);
  251. // Retract
  252. Transition(STATE.Idle, MSG.Retract, fnRetract, STATE.Retracting);
  253. Transition(STATE.Retracting, MSG.ActionDone, fnActionDone, STATE.Idle);
  254. // Map
  255. Transition(STATE.Idle, MSG.Map, fnMap, STATE.Mapping);
  256. Transition(STATE.Mapping, MSG.ActionDone, fnActionDone, STATE.Idle);
  257. // Grip
  258. Transition(STATE.Idle, MSG.Grip, fnGrip, STATE.Gripping);
  259. Transition(STATE.Gripping, MSG.ActionDone, fnActionDone, STATE.Idle);
  260. // Ungrip
  261. Transition(STATE.Idle, MSG.Ungrip, fnUngrip, STATE.Ungripping);
  262. Transition(STATE.Ungripping, MSG.ActionDone, fnActionDone, STATE.Idle);
  263. // Aligner
  264. Transition(STATE.Idle, MSG.HomeAL, fnHomeAligner, STATE.InitingAL);
  265. Transition(STATE.InitingAL, MSG.ActionDone, fnActionDone, STATE.Idle);
  266. Transition(STATE.Idle, MSG.Lift, fnLift, STATE.Lifting);
  267. Transition(STATE.Lifting, MSG.LiftActionDone, fnActionDone, STATE.Idle);
  268. Transition(STATE.Idle, MSG.Align, fnAlign, STATE.Aligning);
  269. Transition(STATE.Aligning, MSG.ActionDone, fnActionDone, STATE.Idle);
  270. // Flip
  271. Transition(STATE.Idle, MSG.Flip, fnFlip, STATE.Fliping);
  272. Transition(STATE.Fliping, MSG.ActionDone, fnActionDone, STATE.Idle);
  273. // EmsStop
  274. Transition(STATE.Idle, MSG.EmsStop, fnEmsStop, STATE.EmsStoping);
  275. Transition(STATE.EmsStoping, MSG.ActionDone, fnActionDone, STATE.Idle);
  276. // Set Robot Speed
  277. Transition(STATE.Idle, MSG.SetRobotSpeed, fnSetRobotSpeed, STATE.SetSpeed);
  278. Transition(STATE.SetSpeed, MSG.ActionDone, fnActionDone, STATE.Idle);
  279. // Load Foup
  280. Transition(STATE.Idle, MSG.Load, fnLoadFoup, STATE.Loading);
  281. Transition(STATE.Loading, MSG.ActionDone, fnActionDone, STATE.Idle);
  282. EnumLoop<STATE>.ForEach((item) => { fsm.MapState((int)item, item.ToString()); });
  283. EnumLoop<MSG>.ForEach((item) => { fsm.MapMessage((int)item, item.ToString()); });
  284. }
  285. private bool fnHomeAll(object[] param)
  286. {
  287. _efem.ClearActions();
  288. _efem.HomeAll();
  289. return true;
  290. }
  291. private bool fnHomeRobot(object[] param)
  292. {
  293. _efem.ClearActions();
  294. _efem.Home(ModuleName.EfemRobot, (string)param[0]);
  295. return true;
  296. }
  297. private bool fnHomeAligner(object[] param)
  298. {
  299. // module
  300. ModuleName unit = ModuleName.EFEM;
  301. if (param[0] is string s1)
  302. unit = ModuleNameString.ToEnum(s1);
  303. else if (param[0] is ModuleName mod)
  304. unit = mod;
  305. else
  306. throw new ArgumentException("Argument error");
  307. _efem.Home(unit, "");
  308. return true;
  309. }
  310. private bool fnEnterExecute(object[] param)
  311. {
  312. if(!_efem.HasUncompleteActions)
  313. _efem.ExecuteAction();
  314. return false;
  315. }
  316. private bool fnExitExecute(object[] param)
  317. {
  318. if (!_efem.HasUncompleteActions)
  319. _efem.ExecuteAction();
  320. return false;
  321. }
  322. private bool fnActionDone(object[] param)
  323. {
  324. try
  325. {
  326. EfemOperation actionType = (EfemOperation)param[0];
  327. if (((fsm.State == (int)STATE.Orgshing) && (actionType == EfemOperation.Orgsh || actionType == EfemOperation.Home)) ||
  328. (fsm.State == (int)STATE.Initializing && actionType == EfemOperation.ClearError) ||
  329. (fsm.State == (int)STATE.Extending) ||
  330. (fsm.State == (int)STATE.Picking) ||
  331. (fsm.State == (int)STATE.Placing) ||
  332. (fsm.State == (int)STATE.Swapping) ||
  333. (fsm.State == (int)STATE.Aligning) ||
  334. (fsm.State == (int)STATE.Fliping))
  335. {
  336. if (_efem.HasActions || _efem.HasUncompleteActions)
  337. {
  338. if(!_efem.HasUncompleteActions)
  339. {
  340. _efem.ExecuteAction();
  341. }
  342. return false;
  343. }
  344. }
  345. return true;
  346. }
  347. catch (Exception ex)
  348. {
  349. EV.PostAlarmLog(ModuleName.EFEM.ToString(), ex.Message);
  350. return true;
  351. }
  352. }
  353. public bool CheckToPostMessage(int msg, params object[] args)
  354. {
  355. if (!fsm.FindTransition(fsm.State, msg))
  356. {
  357. EV.PostWarningLog(Name, $"{Name} is in {(STATE)fsm.State} state,can not do {(MSG)msg}");
  358. return false;
  359. }
  360. Running = true;
  361. fsm.PostMsg(msg, args);
  362. return true;
  363. }
  364. private bool fnRecMsg(object[] param)
  365. {
  366. if (param == null) return false;
  367. string strHwMsg = param[0] as string;
  368. if (_efem is EfemBase device)
  369. {
  370. device.ReceiveMessage(strHwMsg);
  371. return true;
  372. }
  373. return false;
  374. }
  375. private bool fnMonitor(object[] param)
  376. {
  377. STATE curSt = (STATE)fsm.State;
  378. if (curSt == STATE.Initializing || curSt == STATE.Mapping || curSt == STATE.Picking || curSt == STATE.Placing
  379. || curSt == STATE.Orgshing || curSt == STATE.Lifting || curSt == STATE.Extending || curSt == STATE.Retracting
  380. || curSt == STATE.InitingAL || curSt == STATE.InitingRB)
  381. {
  382. int time = SC.GetValue<int>("EFEM.MotionTimeout");
  383. if (fsm.ElapsedTime > time * 1000)
  384. {
  385. EV.PostAlarmLog("EFEM", $"Can not complete motion {curSt} in {time} seconds. ");
  386. PostMsg(MSG.Error);
  387. }
  388. }
  389. else if (curSt == STATE.Aligning)
  390. {
  391. int _timeout = SC.GetValue<int>("EFEM.AlignerTimeout");
  392. if (fsm.ElapsedTime > _timeout * 1000)
  393. {
  394. EV.PostAlarmLog(ModuleName.Aligner.ToString(), "Align timeout");
  395. PostMsg(MSG.Error);
  396. }
  397. }
  398. else if (curSt == STATE.Idle)
  399. {
  400. if (_efem.HasActions && !_efem.HasUncompleteActions)
  401. {
  402. _efem.ExecuteAction();
  403. }
  404. }
  405. if (_efemType == EfemType.BrooksEFEM && (SC.GetValue<bool>("EFEM.LoadPort.EnableDockUndock") == false))
  406. {
  407. _efem.QueryLPState();
  408. }
  409. // update Loadport wafer placement parity error status
  410. _hasPlacementError = _efem[ModuleName.LP1].HasPlacementError || _efem[ModuleName.LP2].HasPlacementError;
  411. return true;
  412. }
  413. private bool fnOnline(object[] param)
  414. {
  415. bool bOnlineFlag = (bool)param[0];
  416. if (_efem is EfemBase efem)
  417. {
  418. efem.SetOnline(bOnlineFlag);
  419. }
  420. return true;
  421. }
  422. private string GetFsmLastMessage()
  423. {
  424. int msg = fsm.LastMsg;
  425. if (msg >= (int)MSG.HomeAll && msg <= (int)MSG.Error)
  426. return ((MSG)msg).ToString();
  427. if (msg == (int)FSM_MSG.TIMER)
  428. return "Timer";
  429. return msg.ToString();
  430. }
  431. private bool fnError(object[] param)
  432. {
  433. return true;
  434. }
  435. private bool fnToInit(object[] param)
  436. {
  437. return true;
  438. }
  439. private bool fnRecover(object[] param)
  440. {
  441. _efem.ClearActions();
  442. _efem.ClearError();
  443. //_efem.ExecuteAction();
  444. return true;
  445. }
  446. private bool fnAbortRobot(object[] param)
  447. {
  448. _efem.ClearActions();
  449. _efem.AbortRobot();
  450. //_efem.ExecuteAction();
  451. return true;
  452. }
  453. private bool fnSetLED(object[] param)
  454. {
  455. LightType light = (LightType)param[0];
  456. LightStatus st = (LightStatus)param[1];
  457. _efem.SetLamp(light, st);
  458. return true;
  459. }
  460. private bool fnTurnOffBuzzer(object[] param)
  461. {
  462. _efem.TurnOffBuzzer();
  463. return false;
  464. }
  465. //private bool fnSwitchOnBuzzerAndRed(object[] param)
  466. //{
  467. // _efem.SwitchOnBuzzerAndRed();
  468. // return false;
  469. //}
  470. //
  471. private bool fnSetLampDone(object[] param)
  472. {
  473. if (_efem.HasActions && !_efem.HasUncompleteActions)
  474. {
  475. _efem.ExecuteAction();
  476. return false;
  477. }
  478. else
  479. {
  480. return true;
  481. }
  482. }
  483. private bool fnPick(object[] param)
  484. {
  485. // module
  486. ModuleName unit = ModuleName.EFEM;
  487. if (param[0] is string s1)
  488. unit = ModuleNameString.ToEnum(s1);
  489. else if (param[0] is ModuleName mod)
  490. unit = mod;
  491. else
  492. throw new ArgumentException("Argument error");
  493. // slot
  494. byte slot = (byte)(int)param[1];
  495. // hand
  496. Hand arm = (Hand)Enum.Parse(typeof(Hand), param[2].ToString());
  497. // wafer size
  498. WaferSize ws1 = WaferSize.WS0;
  499. if (param[3] is string s2)
  500. {
  501. if (Enum.TryParse(s2, out WaferSize p5))
  502. ws1 = p5;
  503. }
  504. else if (param[3] is WaferSize p6)
  505. {
  506. ws1 = p6;
  507. }
  508. MoveParam mp = new MoveParam(unit, slot, ModuleName.EfemRobot, (byte)arm, arm, ws1);
  509. if (!_efem.Pick(mp))
  510. return false;
  511. return true;
  512. }
  513. private bool fnPlace(object[] param)
  514. {
  515. // module
  516. ModuleName unit = ModuleName.EFEM;
  517. if (param[0] is string s1)
  518. unit = ModuleNameString.ToEnum(s1);
  519. else if (param[0] is ModuleName mod)
  520. unit = mod;
  521. else
  522. throw new ArgumentException("Argument error");
  523. // slot
  524. byte slot = (byte)(int)param[1];
  525. // hand
  526. Hand arm = (Hand)Enum.Parse(typeof(Hand), param[2].ToString());
  527. // wafer size
  528. WaferSize ws1 = WaferSize.WS0;
  529. if (param[3] is string s2)
  530. {
  531. if (Enum.TryParse(s2, out WaferSize p5))
  532. ws1 = p5;
  533. }
  534. else if (param[3] is WaferSize p6)
  535. {
  536. ws1 = p6;
  537. }
  538. MoveParam mp = new MoveParam(ModuleName.EfemRobot, (byte)arm, unit, slot, arm, ws1);
  539. if (!_efem.Place(mp))
  540. return false;
  541. return true;
  542. }
  543. private bool fnGoto(object[] param)
  544. {
  545. // module
  546. ModuleName unit = ModuleName.EFEM;
  547. if (param[0] is string s1)
  548. unit = ModuleNameString.ToEnum(s1);
  549. else if (param[0] is ModuleName mod)
  550. unit = mod;
  551. else
  552. throw new ArgumentException("Argument error");
  553. // slot
  554. byte slot = (byte)(int)param[1];
  555. Hand arm = Hand.Blade1;
  556. WaferSize ws = WaferSize.WS6;
  557. if (WaferManager.Instance.CheckHasWafer(ModuleName.EfemRobot, 0))
  558. {
  559. arm = Hand.Blade1;
  560. ws = WaferManager.Instance.GetWafer(ModuleName.EfemRobot, 0).Size;
  561. }
  562. else if (WaferManager.Instance.CheckHasWafer(ModuleName.EfemRobot, 1))
  563. {
  564. arm = Hand.Blade2;
  565. ws = WaferManager.Instance.GetWafer(ModuleName.EfemRobot, 1).Size;
  566. }
  567. MoveParam mp = new MoveParam(unit, slot, unit, slot, arm, ws);
  568. _efem.Goto(mp);
  569. return true;
  570. }
  571. private bool fnSwap(object[] param)
  572. {
  573. // module
  574. ModuleName unit = ModuleName.EFEM;
  575. if (param[0] is string s1)
  576. unit = ModuleNameString.ToEnum(s1);
  577. else if (param[0] is ModuleName mod)
  578. unit = mod;
  579. else
  580. throw new ArgumentException("Argument error");
  581. // pickSlot
  582. byte pickSlot = (byte)(int)param[1];
  583. // pick hand
  584. Hand pickArm = (Hand)Enum.Parse(typeof(Hand), param[2].ToString());
  585. // wafer size
  586. WaferSize ws1 = WaferSize.WS0;
  587. if (param[5] is string s2)
  588. {
  589. if (Enum.TryParse(s2, out WaferSize p5))
  590. ws1 = p5;
  591. }
  592. else if (param[5] is WaferSize p6)
  593. {
  594. ws1 = p6;
  595. }
  596. MoveParam pickParam = new MoveParam(unit, pickSlot, ModuleName.EfemRobot, (byte)pickArm, pickArm, ws1);
  597. // place slot
  598. byte placeSlot = (byte)(int)param[4];
  599. // hand
  600. Hand placeArm = (Hand)Enum.Parse(typeof(Hand), param[3].ToString());
  601. MoveParam placeParam = new MoveParam(ModuleName.EfemRobot, (byte)placeArm, unit, placeSlot, placeArm, ws1);
  602. _efem.PickAndPlace(pickParam, placeParam);
  603. return true;
  604. }
  605. private bool fnExtend(object[] param)
  606. {
  607. // module
  608. ModuleName unit = ModuleName.EFEM;
  609. if (param[0] is string s1)
  610. unit = ModuleNameString.ToEnum(s1);
  611. else if (param[0] is ModuleName mod)
  612. unit = mod;
  613. else
  614. throw new ArgumentException("Argument error");
  615. Hand arm = (Hand)Enum.Parse(typeof(Hand), (string)param[2]);
  616. ExtendParam mp = new ExtendParam
  617. {
  618. Module = unit,
  619. Arm = arm,
  620. Pos = (ExtendPos)Enum.Parse(typeof(ExtendPos), param[1] as string)
  621. };
  622. if (!_efem.Extend(mp))
  623. return false;
  624. return true;
  625. }
  626. private bool fnRetract(object[] param)
  627. {
  628. // module
  629. ModuleName unit = ModuleName.EFEM;
  630. if (param[0] is string s1)
  631. unit = ModuleNameString.ToEnum(s1);
  632. else if (param[0] is ModuleName mod)
  633. unit = mod;
  634. else
  635. throw new ArgumentException("Argument error");
  636. Hand arm = (Hand)Enum.Parse(typeof(Hand), (string)param[2]);
  637. ExtendParam mp = new ExtendParam
  638. {
  639. Module = unit,
  640. Arm = arm,
  641. Pos = (ExtendPos)Enum.Parse(typeof(ExtendPos), param[1] as string)
  642. };
  643. if (!_efem.Retract(mp))
  644. return false;
  645. return true;
  646. }
  647. private bool fnPmPinUp(object[] param)
  648. {
  649. _efem.UpdateStatus((ushort)param[0], ActionStatus.Completed);
  650. if (_efem.HasActions && !_efem.HasUncompleteActions)
  651. {
  652. _efem.ExecuteAction();
  653. return false;
  654. }
  655. else
  656. {
  657. return true;
  658. }
  659. }
  660. private bool fnPmPinDown(object[] param)
  661. {
  662. _efem.UpdateStatus((ushort)param[0], ActionStatus.Completed);
  663. if (_efem.HasActions && !_efem.HasUncompleteActions)
  664. {
  665. _efem.ExecuteAction();
  666. return false;
  667. }
  668. else
  669. {
  670. return true;
  671. }
  672. }
  673. private bool fnLift(object[] param)
  674. {
  675. // module
  676. ModuleName unit = ModuleName.EFEM;
  677. if (param[0] is string s1)
  678. unit = ModuleNameString.ToEnum(s1);
  679. else if (param[0] is ModuleName mod)
  680. unit = mod;
  681. else
  682. throw new ArgumentException("Argument error");
  683. bool isUp = true;
  684. if (param.Length > 1)
  685. {
  686. isUp = (bool) param[1];
  687. }
  688. if (isUp)
  689. {
  690. if (!_efem.SetPinUp(unit))
  691. return false;
  692. }
  693. else
  694. {
  695. if (!_efem.SetPinDown(unit))
  696. return false;
  697. }
  698. return true;
  699. }
  700. private bool fnAlign(object[] param)
  701. {
  702. // module
  703. ModuleName unit = ModuleName.EFEM;
  704. if (param[0] is string s1)
  705. unit = ModuleNameString.ToEnum(s1);
  706. else if (param[0] is ModuleName mod)
  707. unit = mod;
  708. else
  709. throw new ArgumentException("Argument error");
  710. // wafer size
  711. WaferSize ws1 = WaferSize.WS0;
  712. if (param[1] is string s2)
  713. {
  714. if (Enum.TryParse(s2, out WaferSize p5))
  715. ws1 = p5;
  716. }
  717. else if (param[1] is WaferSize p6)
  718. {
  719. ws1 = p6;
  720. }
  721. if (!_efem.Align(unit, 1000, ws1))
  722. return false;
  723. return true;
  724. }
  725. private bool fnMap(object[] param)
  726. {
  727. // module
  728. ModuleName unit = ModuleName.EFEM;
  729. if (param[0] is string s1)
  730. unit = ModuleNameString.ToEnum(s1);
  731. else if (param[0] is ModuleName mod)
  732. unit = mod;
  733. else
  734. throw new ArgumentException("Argument error");
  735. if (!_efem.Map(unit))
  736. return false;
  737. return true;
  738. }
  739. private bool fnGrip(object[] param)
  740. {
  741. Hand arm = (Hand)Enum.Parse(typeof(Hand), (string)param[0]);
  742. if (!_efem.Grip(arm, true))
  743. return false;
  744. return true;
  745. }
  746. private bool fnUngrip(object[] param)
  747. {
  748. Hand arm = (Hand)Enum.Parse(typeof(Hand), (string)param[0]);
  749. if (!_efem.Grip(arm, false))
  750. return false;
  751. return true;
  752. }
  753. private bool fnFlip(object[] param)
  754. {
  755. string orient = (string)param[0];
  756. if (!_efem.Flip(orient))
  757. return false;
  758. return true;
  759. }
  760. private bool fnEmsStop(object[] param)
  761. {
  762. if (!_efem.EmsStop())
  763. return false;
  764. return true;
  765. }
  766. private bool fnSetRobotSpeed(object[] param)
  767. {
  768. string speed = (string)param[0];
  769. if (!_efem.SetSpeed(speed))
  770. return false;
  771. return true;
  772. }
  773. private bool fnLoadFoup(object[] param)
  774. {
  775. ModuleName lp = ModuleHelper.Converter((string)param[0]);
  776. if (!_efem.Load(lp))
  777. return false;
  778. return true;
  779. }
  780. public bool IsIdle
  781. {
  782. get { return fsm.State == (int)STATE.Idle; }
  783. }
  784. public bool IsError
  785. {
  786. get { return fsm.State == (int)STATE.Error; }
  787. }
  788. public bool IsInit
  789. {
  790. get { return fsm.State == (int)STATE.Unknown || fsm.State==(int)STATE.Init; }
  791. }
  792. public bool IsBusy
  793. {
  794. get { return !IsInit && !IsError && !IsIdle; }
  795. }
  796. public bool IsOnline { get; internal set; }
  797. public int Invoke(string function, params object[] args)
  798. {
  799. switch (function)
  800. {
  801. case "Home":
  802. CheckToPostMessage((int)MSG.HomeAll);
  803. return (int)MSG.HomeAll;
  804. }
  805. return (int)FSM_MSG.NONE;
  806. }
  807. public bool CheckAcked(int msg)
  808. {
  809. return fsm.CheckExecuted(msg);
  810. }
  811. internal void InvokeReset()
  812. {
  813. if (_EnableResetEFEMError && fsm.State == (int) STATE.Error)
  814. {
  815. PostMsg((int)MSG.Recover);
  816. }
  817. }
  818. public int InvokeAlign(string module, float time)
  819. {
  820. if (CheckToPostMessage((int)MSG.Align, module, time))
  821. return (int)MSG.Align;
  822. return (int)FSM_MSG.NONE;
  823. }
  824. public int InvokeLiftDown(string module)
  825. {
  826. if (CheckToPostMessage((int)MSG.Lift, module, false))
  827. return (int)MSG.Lift;
  828. return (int)FSM_MSG.NONE;
  829. }
  830. public int InvokePick(ModuleName source, int slot, Hand hand, WaferSize size)
  831. {
  832. if (CheckToPostMessage((int)MSG.Pick, source, slot, hand, size))
  833. return (int)MSG.Pick;
  834. return (int)FSM_MSG.NONE;
  835. }
  836. public int InvokeGoto(ModuleName source, int slot)
  837. {
  838. if (CheckToPostMessage((int)MSG.Goto, source, slot))
  839. return (int)MSG.Goto;
  840. return (int)FSM_MSG.NONE;
  841. }
  842. public int InvokePlace(ModuleName target, int slot, Hand hand, WaferSize size)
  843. {
  844. if (CheckToPostMessage((int)MSG.Place, target, slot, hand, size))
  845. return (int)MSG.Place;
  846. return (int)FSM_MSG.NONE;
  847. }
  848. public int InvokePickAndPlace(ModuleName targetModule, Hand pickHand, int pickSlot, Hand placeHand, int placeSlot, WaferSize size)
  849. {
  850. if (CheckToPostMessage((int)MSG.PickAndPlace, targetModule, pickSlot, pickHand, placeHand, placeSlot, size))
  851. return (int)MSG.PickAndPlace;
  852. return (int)FSM_MSG.NONE;
  853. }
  854. public int InvokeMap(string target )
  855. {
  856. if (CheckToPostMessage((int)MSG.Map, target ))
  857. return (int)MSG.Map;
  858. return (int)FSM_MSG.NONE;
  859. }
  860. public int InvokeFlip(string orient)
  861. {
  862. if (CheckToPostMessage((int)MSG.Flip, orient))
  863. return (int)MSG.Flip;
  864. return (int)FSM_MSG.NONE;
  865. }
  866. public bool IsPrepareTransferReady(ModuleName module, EnumTransferType type, int slot)
  867. {
  868. if (type == EnumTransferType.Pick)
  869. {
  870. //需要补充:判断LP 放好了,而且已经map过。
  871. return _efem[module].HasCassette && _efem[module].IsMapped;
  872. }
  873. else if (type == EnumTransferType.Place)
  874. {
  875. //需要补充:判断LP 放好了,而且已经map过。
  876. return _efem[module].HasCassette && _efem[module].IsMapped;
  877. }
  878. return false;
  879. }
  880. internal bool CheckReadyRunNewJob(ModuleName module)
  881. {
  882. //???
  883. return true;
  884. }
  885. internal bool CheckReadyTransfer(ModuleName module)
  886. {
  887. return _efem[module].HasCassette && _efem[module].IsMapped;
  888. }
  889. internal bool CheckPlaced(ModuleName module)
  890. {
  891. return _efem[module].HasCassette;
  892. }
  893. internal void NoteJobStart(ModuleName module)
  894. {
  895. _efem[module].NoteJobStart();
  896. }
  897. internal void NoteJobComplete(ModuleName module)
  898. {
  899. _efem[module].NoteJobComplete();
  900. }
  901. internal string GetCarrierID(ModuleName module)
  902. {
  903. return _efem[module].CarrierId;
  904. }
  905. }
  906. /// <summary>
  907. /// LP entity
  908. /// </summary>
  909. class LoadportEntity : Entity, IEntity
  910. {
  911. private enum STATE
  912. {
  913. Unknown,
  914. Idle, // 1
  915. Initializing, // 2
  916. Initialized, // 3
  917. Mapping, // 4
  918. Mapped, // 5
  919. }
  920. public enum MSG
  921. {
  922. Home, // 0
  923. Map, // 1
  924. ActionDone, // 2
  925. RecHwMsg, // 3
  926. Recover, // 4
  927. Abort, // 5
  928. Online, // 6
  929. Error // 7
  930. }
  931. private readonly Efem _efem;
  932. private ModuleName Module { get; }
  933. public LoadportEntity(ModuleName mod, Efem efem)
  934. {
  935. this.Module = mod;
  936. _efem = efem;
  937. InitFsmMap();
  938. OP.Subscribe($"{Module}.Home", (cmd, args) => { PostMsg(MSG.Home); return true; });
  939. OP.Subscribe($"{Module}.Abort", (cmd, args) => { PostMsg(MSG.Abort); return true; });
  940. //OP.Subscribe($"{Module}.Map", (cmd, args) => { PostMsg(MSG.Map); return true; });
  941. OP.Subscribe($"{Module}.Online", (cmd, args) => { PostMsg(MSG.Online); return true; });
  942. DATA.Subscribe($"{Module}.Status", () => ((STATE)fsm.State).ToString());
  943. DATA.Subscribe($"{Module}.FsmState", () => ((STATE)fsm.State).ToString());
  944. DATA.Subscribe($"{Module}.FsmPrevState", () => ((STATE)fsm.PrevState).ToString());
  945. DATA.Subscribe($"{Module}.FsmLastMessage", GetFsmLastMessage);
  946. }
  947. private string GetFsmLastMessage()
  948. {
  949. int msg = fsm.LastMsg;
  950. if (msg >= (int)MSG.Home && msg <= (int)MSG.Error)
  951. return ((MSG)msg).ToString();
  952. if (msg == (int)FSM_MSG.TIMER)
  953. return "Timer";
  954. return msg.ToString();
  955. }
  956. private void InitFsmMap()
  957. {
  958. fsm = new StateMachine<LoadportEntity>($"LPM_{Module}", (int)STATE.Idle, 500);
  959. AnyStateTransition(FSM_MSG.TIMER, fnMonitor, FSM_STATE.SAME);
  960. //AnyStateTransition(MSG.RecHwMsg, fnRecMsg, FSM_STATE.SAME);
  961. AnyStateTransition(MSG.Online, fnOnline, FSM_STATE.SAME);
  962. AnyStateTransition(MSG.Recover, fnRecover, STATE.Idle);
  963. AnyStateTransition(MSG.Abort, fnRecover, STATE.Idle);
  964. EnterExitTransition<STATE, FSM_MSG>(STATE.Initializing, fnEnterExecute, FSM_MSG.NONE, fnExitExecute);
  965. // Home
  966. AnyStateTransition(MSG.Home, fnHome, STATE.Initializing);
  967. Transition(STATE.Initializing, MSG.ActionDone, fnActionDone, STATE.Idle);
  968. }
  969. private bool fnOnline(object[] param)
  970. {
  971. bool online = (bool)param[0];
  972. _efem.SetOnline(Module, online);
  973. return true;
  974. }
  975. private bool fnRecover(object[] param)
  976. {
  977. return true;
  978. }
  979. private bool fnMonitor(object[] param)
  980. {
  981. STATE curSt = (STATE)fsm.State;
  982. if (curSt == STATE.Initializing || curSt == STATE.Mapping)
  983. {
  984. if (fsm.ElapsedTime > 20 * 1000)
  985. {
  986. PostMsg(MSG.Recover);
  987. }
  988. }
  989. return true;
  990. }
  991. private bool fnEnterExecute(object[] param)
  992. {
  993. _efem.ExecuteAction();
  994. return true;
  995. }
  996. private bool fnExitExecute(object[] param)
  997. {
  998. return true;
  999. }
  1000. private bool fnActionDone(object[] param)
  1001. {
  1002. return true;
  1003. }
  1004. private bool fnHome(object[] param)
  1005. {
  1006. _efem.Home(Module, ModuleName.EFEM.ToString());
  1007. return true;
  1008. }
  1009. public bool Check(int msg, out string reason, params object[] args)
  1010. {
  1011. throw new NotImplementedException();
  1012. }
  1013. }
  1014. }