Virgo_Mask/VirgoRT/Modules/LPs/LoadPortLoadRoutine.cs

using System;
using System.Diagnostics;
using Aitex.Core.RT.Device;
using Aitex.Core.RT.Event;
using Aitex.Core.RT.Log;
using Aitex.Core.RT.Routine;
using Aitex.Core.RT.SCCore;
using Aitex.Core.Util;
using MECF.Framework.Common.Equipment;
using MECF.Framework.RT.EquipmentLibrary.HardwareUnits.LoadPorts;
using MECF.Framework.Common.SubstrateTrackings;

namespace VirgoRT.Modules.LPs
{
    class LoadPortLoadRoutine : ModuleRoutine, IRoutine
    {
        enum RoutineStep
        {
            WaitEFEMReady,
            Delay,
            Load,
 
        }

        private int _timeout = 0;
        private int _wait_timeout = 20 * 60 * 1000;
        private Stopwatch _robotIdleWatch = new Stopwatch();
 
        private LoadPortModule _lpModule;
        public LoadPortLoadRoutine(LoadPortModule lpModule)
        {
            _lpModule = lpModule;
            Module = lpModule.Module;

            Name = "Load";
 
        }

 
        public Result Start(params object[] objs)
        {
            Reset();

            _timeout = SC.GetValue<int>("EFEM.LoadPort.MotionTimeout");

            if (!_lpModule.LPDevice.HasCassette  )
            {
                EV.PostWarningLog(Module, $"{Module} not found carrier, can not load");
                return Result.FAIL;
            }

            Notify($"Start");

            return Result.RUN;
        }


        public Result Monitor()
        {
            try
            {
                //Wait((int)RoutineStep.WaitEFEMReady, WaitEFEMReady, _wait_timeout);
                Load((int)RoutineStep.Load,  _timeout); 
            }
            catch (RoutineBreakException)
            {
                return Result.RUN;
            }
            catch (RoutineFaildException  )
            {
                
                return Result.FAIL;
            }

            _robotIdleWatch.Stop();
            Notify("Finished");
            return Result.DONE;
        }

        public bool IsRobotAvailable()
        {
            if(Singleton<RouteManager>.Instance.IsEfemRobotAvailable)
            {
                if(_robotIdleWatch.IsRunning)
                {
                    if (_robotIdleWatch.ElapsedMilliseconds > 200)
                    {
                        _robotIdleWatch.Stop();
                        return true;
                    }
                }
                else
                {
                    _robotIdleWatch.Restart();
                }
            }
            else
            {
                _robotIdleWatch.Stop();
            }

            return false;
        }

        public bool WaitEFEMReady()
        {
             if( IsRobotAvailable() && 
                    WaferManager.Instance.CheckNoWafer(ModuleName.EfemRobot, 0) && 
                    WaferManager.Instance.CheckNoWafer(ModuleName.EfemRobot, 1))
            {
                return true;
            }
             else
            {
                throw (new RoutineBreakException());
            }
        }


        public void Load(int id,  int timeout)
        {
            Tuple<bool, Result> ret = ExecuteAndWait(id, () =>
                {
                    Notify($"Start Load {_lpModule.Name}");

                    _lpModule.LPDevice.Load();
                    return true;
                    //return Singleton<RouteManager>.Instance.EFEM.CheckToPostMessage((int)EfemEntity.MSG.Load, Module);

                }, () =>
                {
                    if (!_lpModule.LPDevice.HasCassette)
                    {
                        EV.PostWarningLog(Module, $"{Module} carrier has been removed, can not load");
                        return true;
                    }

                    if (_lpModule.LPDevice.IsError)
                        return null;
                    if (_lpModule.LPDevice.IsBusy)
                        return false;

                    return true;
                }, timeout * 1000);

            if (ret.Item1)
            {
                if (ret.Item2 == Result.FAIL)
                {
                    Stop(string.Format("failed."));
                    throw (new RoutineFaildException());
                }
                else if (ret.Item2 == Result.TIMEOUT) //timeout
                {
                    Stop(string.Format("timeout, can not complete in {0} seconds", timeout));
                    throw (new RoutineFaildException());
                }
                else
                    throw (new RoutineBreakException());
            }
        }
 
        public void Abort()
        {
            
        }
 
    }
}