Virgo_Mask/VirgoRT/Devices/EFEM/EfemBase.cs

using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Threading;
using System.Threading.Tasks;
using System.Xml;
using Aitex.Core.RT.Device;
using Aitex.Core.RT.Log;
using Aitex.Sorter.Common;
using MECF.Framework.Common.Equipment;
using VirgoRT.Device;
using VirgoRT.Devices.YASKAWA;

namespace VirgoRT.Devices.EFEM
{

    class EfemBase : BaseDevice, IDevice
    {
        // Fields
        //
        protected volatile LinkedList<ActionBase> _actions = new LinkedList<ActionBase>();
        protected EfemCommunicationBase _comm;
        protected IMessageHandler _msgHandler;

        public BrooksEFEMProxy BrooksProxy;

        public virtual ILoadport this[ModuleName mod]
        {
            get { throw new ApplicationException(); }
        }

        // Properties
        //
        public new ModuleName Module { get; set; }
        public OnlineFlag OnlineFlag { get; set; }
        public bool CommunicationConnected { get; protected set; }
        public DeviceState Status { get; set; }

        public bool HasActions
        {
            get
            {
                lock (_lockerAction)
                {
                    return _actions.Any(x => x.Status == ActionStatus.Pending);
                }
            }
        }

        public bool HasUncompleteActions
        {
            get
            {
                lock(_lockerAction)
                {
                    return _actions.Any(x => x.IsBackground == false && x.Status == ActionStatus.SendCmd);
                }
            }
        }

        public EfemCommunicationBase Comm => _comm;
        public IMessageHandler MsgHandler => _msgHandler;

        protected object _lockerAction = new object();


        public string GripStateBlade1
        {
            get;
            set;
        }

        public string GripStateBlade2
        {
            get;
            set;
        }

        protected EfemBase(XmlElement xmlNode = null)
        {
        }

        public bool Initialize()
        {
            return true;
        }

        public void Monitor()
        {
            throw new NotImplementedException();
        }

        public void Terminate()
        {
            throw new NotImplementedException();
        }

        public void Reset()
        {
            throw new NotImplementedException();
        }

        // Methods
        //
        public void ExecuteAction()
        {
            lock (_lockerAction)
            {
                if (!_actions.Any())
                {
                    LOG.Write("No Action in the EFEM Queue");

                    return;
                }
                if (_actions.All(x => x.Status != ActionStatus.Pending))
                {
                    LOG.Write("NO pending Action in EFEM Queue");
                    //System.Diagnostics.Trace.Assert(false);
                    return;
                }

                var nextAction = _actions.First(a => a.Status == ActionStatus.Pending);

                if (nextAction != null)
                {
                    LOG.Write($"found pending action ： efem action [{nextAction.GetType().Name}] [{nextAction.ID}] 开始执行");

                    nextAction.Execute();
                }
            }

        }

        public void ClearActions()
        {
            lock (_lockerAction)
            {
                _actions?.Clear();
            }

        }

        public void AddAction(ActionBase cmd)
        {
            lock (_lockerAction)
            {
                _actions.AddLast(cmd);

                LOG.Write($"efem action [{cmd.GetType().Name}] [{cmd.ID}] add to queue");

                if (cmd.IsBackground)
                {
                    LOG.Write($"background， efem action [{cmd.GetType().Name}]  [{cmd.ID}] 开始执行");
                    cmd.Execute();
                }

                if (cmd is LedAction)
                {
                    Thread.Sleep(50);
                }

                if (cmd is LiftAction)
                {
                    Thread.Sleep(50);
                }
            }
        }

        public void UpdateStatus(ushort Id, ActionStatus st)
        {
            lock (_lockerAction)
            {
                var cur = _actions.First(x => x.ID == Id);
                if (null == cur)
                {
                    LOG.Write($"NO {Id} action in the queue");
                    return;
                }

                cur.Status = st;
                if (st == ActionStatus.Completed)
                {
                    cur.OnPostWork();
                    _actions.Remove(cur);

                    LOG.Write($"efem action [{cur.GetType().Name}] [{cur.ID}] removed from queue");

                }
            }



        }

        public virtual void ReceiveMessage(string sRec) { throw new NotImplementedException(); }

        public void SetOnline(bool online)
        {
            this.OnlineFlag = online ? OnlineFlag.Online : OnlineFlag.Offline;
        }

        public virtual void SetOnline(ModuleName mod, bool online) { }

        public virtual void SetBusy(ModuleName mod, bool online) { }
    }
}