Virgo_ST/VirgoRT/Modules/ManualTransfer.cs

using System.Collections.Generic;
using Aitex.Core.Common;
using Aitex.Core.RT.Routine;
using Aitex.Core.Util;
using Aitex.Core.RT.Event;
using MECF.Framework.Common.Equipment;
using VirgoRT.Scheduler;
using Aitex.Sorter.Common;
using MECF.Framework.Common.Schedulers;
using MECF.Framework.Common.SubstrateTrackings;
using VirgoRT.Modules.PMs;
using VirgoRT.Modules.Schedulers;
using Aitex.Core.RT.SCCore;

namespace VirgoRT.Modules
{
    internal interface IManualTransferRoutine : IRoutine
    {
    }

    public class MoveItemEx : MoveItem
    {
        public int CoolingTime { get; set; }

        public MoveItemEx(ModuleName sourceModule, int sourceSlot, ModuleName destinationModule, int destinationSlot, int coolingTime, Hand blade)
            : base(sourceModule, sourceSlot, destinationModule, destinationSlot, blade)
        {
            CoolingTime = coolingTime;
        }
    }

    public class ManualTransfer : TransferModule
    {
        private Queue<IRoutine> _moveTaskQueue = new Queue<IRoutine>();
        private IRoutine _activeTask;

        public Result Start(object[] objs)
        {
            _moveTaskQueue.Clear();

            ModuleName source = (ModuleName)objs[0];
            int ss = (int)objs[1];
            ModuleName target = (ModuleName)objs[2];
            int ds = (int)objs[3];

            bool autoAlign = (bool)objs[4];
            int alignAngle = (int)objs[5];

            bool autoCooling = (bool)objs[6];
            int coolingTime = (int)objs[7];

            if (!WaferManager.Instance.CheckWafer(source, ss, WaferStatus.Normal))
            {
                EV.PostWarningLog("System", $"source {source} slot {ss + 1} no normal wafer");
                return Result.FAIL;
            }

            if (!WaferManager.Instance.CheckNoWafer(target, ds))
            {
                EV.PostWarningLog("System", "destination has wafer");
                return Result.FAIL;
            }

            if (source != ModuleName.EfemRobot && WaferManager.Instance.CheckHasWafer(ModuleName.EfemRobot, 0) && WaferManager.Instance.CheckHasWafer(ModuleName.EfemRobot, 1))
            {
                EV.PostWarningLog("System", "robot has wafer");
                return Result.FAIL;
            }

            Hand blade = WaferManager.Instance.CheckNoWafer(ModuleName.EfemRobot, 0) ? Hand.Blade1 : Hand.Blade2;
            if (source == ModuleName.EfemRobot)
                blade = ss == 0 ? Hand.Blade1 : Hand.Blade2;
            else if (target == ModuleName.EfemRobot)
                blade = ds == 0 ? Hand.Blade1 : Hand.Blade2;

            if (autoAlign && !ModuleHelper.IsAligner(source) && !ModuleHelper.IsAligner(target))
            {
                if (WaferManager.Instance.CheckHasWafer(ModuleName.Aligner1, 0) && WaferManager.Instance.CheckHasWafer(ModuleName.Aligner2, 0))
                {
                    EV.PostWarningLog("System", "Can not transfer, aligner has wafer, can not auto align");
                    return Result.FAIL;
                }

                ModuleName aligner = WaferManager.Instance.CheckHasWafer(ModuleName.Aligner1, 0)
                    ? ModuleName.Aligner2
                    : ModuleName.Aligner1;



                _moveTaskQueue.Enqueue(new EfemRobotMover(new MoveItemEx(source, ss, aligner, 0, 1, blade)));

                _moveTaskQueue.Enqueue(new AlignRoutine(aligner.ToString()));

                _moveTaskQueue.Enqueue(new EfemRobotMover(new MoveItemEx(aligner, 0, target, ds, 0, blade)));
            }
            else if (autoCooling && !ModuleHelper.IsCooling(source) && !ModuleHelper.IsCooling(target))
            {
                if (WaferManager.Instance.CheckHasWafer(ModuleName.Cooling1, 0) && WaferManager.Instance.CheckHasWafer(ModuleName.Cooling2, 0))
                {
                    EV.PostWarningLog("System", "Can not transfer, cooling has wafer, can not auto cooling");
                    return Result.FAIL;
                }

                ModuleName cooling = WaferManager.Instance.CheckHasWafer(ModuleName.Cooling1, 0)
                    ? ModuleName.Cooling2
                    : ModuleName.Cooling1;

                _moveTaskQueue.Enqueue(new EfemRobotMover(new MoveItemEx(source, ss, cooling, 0, coolingTime, blade)));

                _moveTaskQueue.Enqueue(new CoolingRoutine(cooling.ToString(), coolingTime));

                _moveTaskQueue.Enqueue(new EfemRobotMover(new MoveItemEx(cooling, 0, target, ds, 0, blade)));
            }
            else
            {
                _moveTaskQueue.Enqueue(new EfemRobotMover(new MoveItemEx(source, ss, target, ds, coolingTime, blade)));

                if (ModuleHelper.IsAligner(target) || ModuleHelper.IsCooling(target))
                {
                    _moveTaskQueue.Enqueue(new AlignRoutine(target.ToString()));
                }
            }

            _activeTask = _moveTaskQueue.Dequeue();

            return _activeTask.Start();
        }


        public Result Monitor(object[] objs)
        {
            System.Diagnostics.Debug.Assert(_activeTask != null, "mover should not be null, call start first");

            Result ret = _activeTask.Monitor();
            if (ret == Result.FAIL)
                return ret;

            if (ret == Result.DONE)
            {
                if (_moveTaskQueue.Count > 0)
                {
                    _activeTask = _moveTaskQueue.Dequeue();
                    return _activeTask.Start();
                }

                return Result.DONE;
            }

            return Result.RUN;
        }

        public void Clear()
        {
            _moveTaskQueue.Clear();
            _activeTask = null;
        }
    }


    public class EfemRobotMover : TransferModule, IRoutine
    {
        private MoveItemEx _moveTask;

        private SchedulerModule _source;
        private SchedulerModule _destination;

        public EfemRobotMover(MoveItemEx moveTask)
        {
            _moveTask = moveTask;
        }

        public Result Start()
        {
            _source = GetModule(_moveTask.SourceModule.ToString());
            _destination = GetModule(_moveTask.DestinationModule.ToString());

            System.Diagnostics.Debug.Assert(_source != null, $"{_moveTask.SourceModule} not valid");
            System.Diagnostics.Debug.Assert(_destination != null, $"{_moveTask.DestinationModule} not valid");

            if (!WaferManager.Instance.CheckHasWafer(_moveTask.SourceModule, _moveTask.SourceSlot))
            {
                EV.PostWarningLog("System", $"Failed transfer, source {_moveTask.SourceModule} slot {_moveTask.SourceSlot + 1} has not wafer");
                return Result.FAIL;
            }

            if (WaferManager.Instance.CheckHasWafer(_moveTask.DestinationModule, _moveTask.DestinationSlot))
            {
                EV.PostWarningLog("System", $"Failed transfer, destination {_moveTask.DestinationModule} slot {_moveTask.DestinationSlot + 1} has wafer");
                return Result.FAIL;
            }

            if (!_source.IsAvailable)
            {
                EV.PostWarningLog("System", $"Failed transfer, source {_moveTask.SourceModule} not ready");
                return Result.FAIL;
            }
            if (ModuleHelper.IsLoadPort(_source.Module))
            {
                if (!(_source as SchedulerLoadPort).CheckReadyTransfer())
                {
                    EV.PostWarningLog("System", $"Failed transfer, source {_moveTask.SourceModule} not ready");
                    return Result.FAIL;
                }
            }

            if (!_destination.IsAvailable)
            {
                EV.PostWarningLog("System", $"Failed transfer, Destination {_moveTask.DestinationModule} not ready");
                return Result.FAIL;
            }
            if (ModuleHelper.IsLoadPort(_destination.Module))
            {
                if (!(_destination as SchedulerLoadPort).CheckReadyTransfer())
                {
                    EV.PostWarningLog("System", $"Failed transfer, source {_moveTask.DestinationModule} not ready");
                    return Result.FAIL;
                }
            }

            if (!_efemRobot.IsAvailable)
            {
                EV.PostWarningLog("System", $"Failed transfer, EFEM Robot not ready");
                return Result.FAIL;
            }

            //if (ModuleHelper.IsAligner(_source.Module) || ModuleHelper.IsCooling(_source.Module))
            //    _source.Cooling(_moveTask.CoolingTime);

            //if (ModuleHelper.IsAligner(_destination.Module) || ModuleHelper.IsCooling(_destination.Module))
            //    _destination.Cooling(_moveTask.CoolingTime);

            //&& !SC.GetValue<bool>("EFEM.EfemRobot.UpperBladeEnable")

            if (_moveTask.SourceModule == ModuleName.EfemRobot || _moveTask.DestinationModule == ModuleName.EfemRobot)
            {
                if (_moveTask.SourceModule == ModuleName.EfemRobot)
                {
                    if (_moveTask.SourceSlot == 0 && SC.GetValue<bool>("EFEM.EfemRobot.LowerBladeEnable"))
                    {
                        _moveTask.RobotHand = (Hand)_moveTask.SourceSlot;
                    }
                    else if (_moveTask.SourceSlot == 1 && SC.GetValue<bool>("EFEM.EfemRobot.UpperBladeEnable"))
                    {
                        _moveTask.RobotHand = (Hand)_moveTask.SourceSlot;
                    }
                    else
                    {
                        EV.PostWarningLog("System", $"手臂已被禁用");
                        return Result.FAIL;
                    }

                }
                else if (_moveTask.DestinationModule == ModuleName.EfemRobot)
                {
                    if (_moveTask.DestinationSlot == 0 && SC.GetValue<bool>("EFEM.EfemRobot.LowerBladeEnable"))
                    {
                        _moveTask.RobotHand = (Hand)_moveTask.DestinationSlot;
                    }
                    else if (_moveTask.DestinationSlot == 1 && SC.GetValue<bool>("EFEM.EfemRobot.UpperBladeEnable"))
                    {
                        _moveTask.RobotHand = (Hand)_moveTask.DestinationSlot;
                    }
                    else
                    {
                        EV.PostWarningLog("System", $"手臂已被禁用");
                        return Result.FAIL;
                    }
                    //_moveTask.RobotHand = (Hand)_moveTask.DestinationSlot;
                }
            }
            else
            {
                if (SC.GetValue<bool>("EFEM.EfemRobot.LowerBladeEnable") && !WaferManager.Instance.CheckHasWafer(ModuleName.EfemRobot, 0))
                {
                    _moveTask.RobotHand = (Hand)0;
                }
                else if (SC.GetValue<bool>("EFEM.EfemRobot.UpperBladeEnable") && !WaferManager.Instance.CheckHasWafer(ModuleName.EfemRobot, 1))
                {
                    _moveTask.RobotHand = (Hand)1;
                }
                else
                {
                    EV.PostWarningLog("System", $"手臂已被禁用");
                    return Result.FAIL;
                }
            }

            return Result.RUN;
        }
        public Result Start(params object[] objs)
        {
            return this.Start();
        }

        public Result Monitor()
        {
            if (_source.IsError || _destination.IsError || _efemRobot.IsError)
                return Result.FAIL;

            if (!WaferManager.Instance.CheckHasWafer(_moveTask.SourceModule, _moveTask.SourceSlot) &&
                WaferManager.Instance.CheckHasWafer(_moveTask.DestinationModule, _moveTask.DestinationSlot) &&
                _efemRobot.IsAvailable)
            {
                if (_source.IsWaitTransfer(ModuleName.EfemRobot))
                {
                    _source.PostTransfer(ModuleName.EfemRobot, EnumTransferType.Pick, 0);
                    //_source.StopWaitTransfer(ModuleName.EfemRobot);
                }

                if (_destination.IsWaitTransfer(ModuleName.EfemRobot))
                {
                    _destination.PostTransfer(ModuleName.EfemRobot, EnumTransferType.Place, 0);
                    //_destination.StopWaitTransfer(ModuleName.EfemRobot);
                }

                if (_source.IsAvailable && _destination.IsAvailable)
                {
                    if (_moveTask.CoolingTime > 0 && ModuleHelper.IsCooling(_moveTask.DestinationModule))
                    {
                        _destination.Cooling(_moveTask.CoolingTime);
                        _moveTask.CoolingTime = 0;
                        return Result.RUN;
                    }

                    return Result.DONE;
                }

                return Result.RUN;
            }

            if (!_efemRobot.IsAvailable)
                return Result.RUN;

            //pick
            if (_moveTask.SourceModule != ModuleName.EfemRobot)
            {
                if (WaferManager.Instance.CheckHasWafer(_moveTask.SourceModule, _moveTask.SourceSlot))
                {
                    if (!_source.IsAvailable)
                        return Result.RUN;

                    if (!_source.IsReadyForPick(ModuleName.EfemRobot, _moveTask.SourceSlot, _moveTask.RobotHand))
                    {
                        if (!_source.PrepareTransfer(ModuleName.EfemRobot, EnumTransferType.Pick, _moveTask.SourceSlot))
                            return Result.FAIL;
                    }

                    if (!_source.IsAvailable)
                        return Result.RUN;

                    if (!WaferManager.Instance.CheckHasWafer(ModuleName.EfemRobot, (int)_moveTask.RobotHand))
                    {
                        if (!_efemRobot.Pick(_moveTask.SourceModule, _moveTask.SourceSlot, _moveTask.RobotHand))
                        {
                            return Result.FAIL;
                        }

                        _source.WaitTransfer(ModuleName.EfemRobot, EnumTransferType.Pick, 0);
                    }

                    if (!_efemRobot.IsAvailable)
                        return Result.RUN;
                }
                else
                {
                    if (!_efemRobot.IsAvailable)
                        return Result.RUN;

                    if (_source.IsWaitTransfer(ModuleName.EfemRobot))
                    {
                        _source.PostTransfer(ModuleName.EfemRobot, EnumTransferType.Pick, 0);
                    }
                }
            }

            //place
            if (_moveTask.DestinationModule != ModuleName.EfemRobot)
            {
                if (!_destination.IsAvailable)
                    return Result.RUN;

                if (!WaferManager.Instance.CheckHasWafer(_moveTask.DestinationModule, _moveTask.DestinationSlot))
                {
                    if (!_destination.IsReadyForPlace(ModuleName.EfemRobot, _moveTask.DestinationSlot, _moveTask.RobotHand))
                    {
                        if (!_destination.PrepareTransfer(ModuleName.EfemRobot, EnumTransferType.Place,
                            _moveTask.DestinationSlot))
                            return Result.FAIL;
                    }

                    if (!_destination.IsAvailable)
                        return Result.RUN;

                    if (WaferManager.Instance.CheckHasWafer(ModuleName.EfemRobot, (int)_moveTask.RobotHand))
                    {
                        if (!_efemRobot.Place(_moveTask.DestinationModule, _moveTask.DestinationSlot, _moveTask.RobotHand))
                            return Result.FAIL;

                        _destination.WaitTransfer(ModuleName.EfemRobot, EnumTransferType.Place, 0);
                    }

                    if (!_efemRobot.IsAvailable)
                        return Result.RUN;
                }
                else
                {
                    if (!_efemRobot.IsAvailable)
                        return Result.RUN;

                    if (_destination.IsWaitTransfer(ModuleName.EfemRobot))
                    {
                        _destination.PostTransfer(ModuleName.EfemRobot, EnumTransferType.Place, 0);
                        //_destination.StopWaitTransfer(ModuleName.EfemRobot);
                    }
                }
            }

            return Result.RUN;
        }
        public void Abort()
        {
            Clear();
        }

        public void Clear()
        {
            _efemRobot.ResetTask();
            _source?.ResetTask();
            _destination?.ResetTask();
        }
    }

    public class AlignRoutine : TransferModule, IRoutine
    {
        private SchedulerAligner _aligner;

        public AlignRoutine(string module)
        {
            _aligner = GetModule(module) as SchedulerAligner;

        }

        public Result Start(params object[] objs)
        {
            _aligner.Align(0);

            return Result.RUN;
        }

        public Result Monitor()
        {
            if (_aligner.IsAvailable)
                return Result.DONE;

            return Result.RUN;
        }

        public void Abort()
        {

        }
    }

    public class CoolingRoutine : TransferModule, IRoutine
    {
        private SchedulerAligner _cooling;
        private int _coolingTimeS;

        public CoolingRoutine(string module, int coolingTimeS)
        {
            _cooling = GetModule(module) as SchedulerAligner;
            _coolingTimeS = coolingTimeS;

        }

        public Result Start(params object[] objs)
        {
            _cooling.Cooling(_coolingTimeS);

            return Result.RUN;
        }

        public Result Monitor()
        {
            if (_cooling.IsAvailable)
                return Result.DONE;

            return Result.RUN;
        }

        public void Abort()
        {

        }
    }
}