Virgo_Mask/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;
using Aitex.Core.RT.SCCore;

namespace VirgoRT.Modules
{
    public class ReturnAllWafer : TransferModule
    {
        private Queue<IRoutine> _moveTaskQueue = new Queue<IRoutine>();
        private IRoutine _activeTask;
        private bool _cooling;
        private int _coolingTime;
        private bool _aligning;
        private int _alignAngle;
        private int _flipOption = 0;

        public Result Start(object[] objs)
        {
            _moveTaskQueue.Clear();
            _activeTask = null;
            if (objs.Length >= 4)
            {
                _aligning = (bool)objs[2];
                _alignAngle = (int)objs[3];
            }

            if (objs.Length >= 2)
            {
                _cooling = (bool)objs[0];
                _coolingTime = (int)objs[1];
            }
            else
            {
                _cooling = false;
                _aligning = false;
            }

            _flipOption = SC.GetValue<int>("EFEM.FlipReturnWaferOption");

            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.Flipper};

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

            Hand hand = SelectFreeArm();
            int sourceSlot = 0;

            foreach (var moduleName in modules)
            {
                if (ModuleHelper.IsInstalled(moduleName) && 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 (wafer == null && ModuleHelper.IsInstalled(ModuleName.Buffer))
            {
                for (int i = 0; i < SC.GetValue<int>("EFEM.Buffer.SlotNumber"); i++)
                {
                    if (WaferManager.Instance.CheckHasWafer(ModuleName.Buffer, i))
                    {
                        source = ModuleName.Buffer;
                        wafer = WaferManager.Instance.GetWafer(source, i);
                        sourceSlot = i;
                        break;
                    }
                }
            }

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

            ModuleName transferModule = source;
            int transferSlot = sourceSlot;

            if ((_flipOption == 1 && wafer.IsReversed) ||
                (_flipOption == 2 && !wafer.IsReversed) ||
                (_flipOption == 3) ||
                (source == ModuleName.EfemRobot && _flipOption != 0))
            {
                string flipOrient = _flipOption == 1 ? "FaceUp" : (_flipOption == 2 ? "FaceDown" : "AlwaysReverse");

                if (_aligning && WaferManager.Instance.CheckHasWafer(ModuleName.Aligner1, 0))
                {
                    if (WaferManager.Instance.CheckHasWafer(ModuleName.Flipper, 0))
                    {
                        EV.PostWarningLog("System", "Cannot auto Flip and Align wafer while return wafers as both modules have wafer");
                        return Result.FAIL;
                    }

                    hand = SelectFreeArm();
                    if (hand == Hand.Both)
                    {
                        EV.PostWarningLog("System", "No free arm  while return wafer");
                        return Result.FAIL;
                    }
                    
                    // handle the aligner wafer first while return wafer need both flip and aligning
                    wafer = WaferManager.Instance.GetWafer(ModuleName.Aligner1, 0);
                    _moveTaskQueue.Enqueue(new AlignRoutine(ModuleName.Aligner1.ToString()));
                    _moveTaskQueue.Enqueue(new EfemRobotMover(new MoveItemEx(ModuleName.Aligner1, 0, ModuleName.Flipper, 0, 0, hand)));
                    _moveTaskQueue.Enqueue(new FlipRoutine(ModuleName.Flipper.ToString(), flipOrient));
                    _moveTaskQueue.Enqueue(new EfemRobotMover(new MoveItemEx(ModuleName.Flipper, 0, (ModuleName)wafer.OriginStation, wafer.OriginSlot, 0, hand)));

                    _activeTask = _moveTaskQueue.Dequeue();
                    return _activeTask.Start();
                }

                if (WaferManager.Instance.CheckNoWafer(ModuleName.Flipper, 0))
                {
                    _moveTaskQueue.Enqueue(new EfemRobotMover(new MoveItemEx(source, sourceSlot, ModuleName.Flipper, 0, 0, hand)));
                }
                else
                {
                    hand = SelectFreeArm();
                    if (hand == Hand.Both)
                    {
                        EV.PostWarningLog("System", "No free arm while return wafer");
                        return Result.FAIL;
                    }
                    wafer = WaferManager.Instance.GetWafer(ModuleName.Flipper, 0);
                }
                    
                _moveTaskQueue.Enqueue(new FlipRoutine(ModuleName.Flipper.ToString(), flipOrient));
                transferModule = ModuleName.Flipper;
                transferSlot = 0;
            }
            else if (ModuleHelper.IsFlipper(source))
            {
                _moveTaskQueue.Enqueue(new FlipRoutine(source.ToString(), _flipOption == 2 ? "FaceDown" : "FaceUp"));
            }

            if (_cooling && !ModuleHelper.IsCooling(transferModule) && !ModuleHelper.IsAligner(transferModule))
            {
                ModuleName cooling = ModuleName.System;
                if (ModuleHelper.IsInstalled(ModuleName.Cooling1) && WaferManager.Instance.CheckNoWafer(ModuleName.Cooling1, 0))
                    cooling = ModuleName.Cooling1;
                else if (ModuleHelper.IsInstalled(ModuleName.Cooling2) && WaferManager.Instance.CheckNoWafer(ModuleName.Cooling2, 0))
                    cooling = ModuleName.Cooling2;
                else
                {
                    EV.PostWarningLog("System", "No valid cooling station for auto cooling");
                    return Result.FAIL;
                }

                _moveTaskQueue.Enqueue(new EfemRobotMover(new MoveItemEx(transferModule, transferSlot, cooling, 0, _coolingTime, hand)));
                _moveTaskQueue.Enqueue(new EfemRobotMover(new MoveItemEx(cooling, 0, (ModuleName)wafer.OriginStation, wafer.OriginSlot, 0, hand)));
            }
            else if (_aligning)
            {
                ModuleName aligner = transferModule;
                bool needMoveToAligner = true; 
                if (!ModuleHelper.IsAligner(transferModule))
                {
                    if (ModuleHelper.IsInstalled(ModuleName.Aligner1) && WaferManager.Instance.CheckNoWafer(ModuleName.Aligner1, 0))
                        aligner = ModuleName.Aligner1;
                    else if (ModuleHelper.IsInstalled(ModuleName.Aligner2) && WaferManager.Instance.CheckNoWafer(ModuleName.Aligner2, 0))
                        aligner = ModuleName.Aligner2;
                    else if (transferModule == ModuleName.EfemRobot && WaferManager.Instance.CheckNoWafer(ModuleName.EfemRobot, 1 - transferSlot))
                    {
                        if (ModuleHelper.IsInstalled(ModuleName.Aligner1) && WaferManager.Instance.CheckHasWafer(ModuleName.Aligner1, 0))
                            aligner = ModuleName.Aligner1;
                        else if (ModuleHelper.IsInstalled(ModuleName.Aligner2) && WaferManager.Instance.CheckHasWafer(ModuleName.Aligner2, 0))
                            aligner = ModuleName.Aligner2;
                        else
                        {
                            EV.PostWarningLog("System", "No aligner station installed");
                            return Result.FAIL;
                        }

                        // return aligner wafer first
                        hand = (Hand)(1 - transferSlot);
                        needMoveToAligner = false;
                        wafer = WaferManager.Instance.GetWafer(aligner, 0);
                    }
                    else
                    {
                        EV.PostWarningLog("System", "No valid aligner station for auto aligning");
                        return Result.FAIL;
                    }

                    if(needMoveToAligner)
                        _moveTaskQueue.Enqueue(new EfemRobotMover(new MoveItemEx(transferModule, transferSlot, aligner, 0, _coolingTime, hand)));
                }

                _moveTaskQueue.Enqueue(new AlignRoutine(aligner.ToString()));
                _moveTaskQueue.Enqueue(new EfemRobotMover(new MoveItemEx(aligner, 0, (ModuleName)wafer.OriginStation, wafer.OriginSlot, 0, hand)));
            }
            else
            {
                _moveTaskQueue.Enqueue(new EfemRobotMover(new MoveItemEx(transferModule, transferSlot, (ModuleName)wafer.OriginStation, wafer.OriginSlot, 0, hand)));
            }


            _activeTask = _moveTaskQueue.Dequeue();


            return _activeTask.Start() ;
 
        }

        private Hand SelectFreeArm()
        {
            if (WaferManager.Instance.CheckNoWafer(ModuleName.EfemRobot, 0) && SC.GetValue<bool>("EFEM.EfemRobot.LowerBladeEnable"))
                return Hand.Blade1;
            else if (WaferManager.Instance.CheckNoWafer(ModuleName.EfemRobot, 1) && SC.GetValue<bool>("EFEM.EfemRobot.UpperBladeEnable"))
                return Hand.Blade2;
            else
                return Hand.Both;
        }
    }

}