Virgo_ST/Framework/Common/Device/Unit/IoE84.cs

using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Threading.Tasks;
using System.Xml;
using Aitex.Core.Common.DeviceData;
using Aitex.Core.RT.DataCenter;
using Aitex.Core.RT.Device;
using Aitex.Core.RT.Event;
using Aitex.Core.RT.IOCore;
using Aitex.Core.RT.Log;
using Aitex.Core.RT.OperationCenter;
using Aitex.Core.RT.SCCore;
using Aitex.Core.Util;

namespace Aitex.Core.RT.Device.Unit
{
    public enum SignalType
    {
        Acitvie,
        Passive,
    }
    public enum  SignalID
    {
        CS_0,       
        CS_1,
        AM_AVBL,
        VALID,
        TR_REQ,
        BUSY,
        COMPT,
        CONT,

        L_REQ,
        U_REQ,
        HO_AVBL,
        READY,
        ES
    }


    public class Signal
    {
        public bool Value
        {
            get
            {
                if (_di != null)
                    return _di.Value;
                if (_do != null)
                    return _do.Value;

                return false;
            }
        }

        private SignalID _id;
        private RD_TRIG _trig = new RD_TRIG();
        private DIAccessor _di = null;
        private DOAccessor _do = null;

        public event Action<SignalID, bool> OnChanged;
        public Signal(SignalID id, DIAccessor diAccessor, DOAccessor doAccessor)
        {
            _id = id;
            _di = diAccessor;
            _do = doAccessor;          
        }
        
        public void Monitor()
        {
            if (_di != null)
                _trig.CLK = _di.Value;

            if (_do != null)
                _trig.CLK = _do.Value;

            if (_trig.R)
            {
                if (OnChanged != null)
                    OnChanged(_id, true);
            }

            if (_trig.M)
            {
                if (OnChanged != null)
                    OnChanged(_id, false);
            }
        }

        public void Reset()
        {
            _trig.RST = true;
        }
        
    }

    public enum LPAccessMode
    {
        Operator = 0,
	    AMHS = 1,
    };
    public enum LPTransferState
    {
        OutOfService = 0,
        TransferBlocked = 1,
        ReadyToLoad = 2,
        ReadyToUnload = 3,
        InService = 4,
        TransferReady = 5,
    }

    public interface IE84Provider
    {
        bool ReadyForLoad();
        bool ReadyForUnload();

        bool FoupArrirved();
        bool FoupRemoved();
    }

    public class E84Passiver : BaseDevice, IDevice
    {
        public enum E84State
        {
            Idle,
            WaitForTrReqOn,
            WaitForBusyOn,
            WaitForTransfer,
            WaitForBusyOff,
            WaitForValidOff,
            Error,
        }

        public enum Timeout
        {
            TP1,
            TP2,
            TP3,
            TP4,
            TP5,
        }
        public bool LightCurtainBroken { get; set; }   //interlock
        public LPAccessMode  Mode{ get; set; }
        public LPTransferState TransferState { get; set; }

        public IE84Provider Provider { get; set; }


        //Active equipment signal
        private DIAccessor _diValid;            
        private DIAccessor _diCS0;
        private DIAccessor _diCS1;
        private DIAccessor _diAmAvbl;
        private DIAccessor _diTrReq;
        private DIAccessor _diBusy;
        private DIAccessor _diCompt;
        private DIAccessor _diCont;

        //Passive 
        private DOAccessor _doLoadReq;
        private DOAccessor _doUnloadReq;
        private DOAccessor _doReady;         
        private DOAccessor _doHOAvbl;
        private DOAccessor _doES;

               
        private DeviceTimer _timer = new DeviceTimer();
        private R_TRIG _trigReset = new R_TRIG();

        private List<Signal> _signals = new List<Signal>();

        //timeout
        private SCConfigItem _scTimeoutTP1;
        private SCConfigItem _scTimeoutTP2;
        private SCConfigItem _scTimeoutTP3;
        private SCConfigItem _scTimeoutTP4;
        private SCConfigItem _scTimeoutTP5;

        private int reqOnTimeout    = 2;        //L_REQ|U_REQ_ON ON ---> TR REQ ON
        private int readyOnTimeout  = 2;        //READY ON ---> BUSY ON  
        private int busyOnTimeout   = 2;        //BUSYON -- CARRIAGE DETECT|CARRIAGE REMOVE
        private int reqOffTimeout   = 2;        //L_REQ|U_REQ off --->BUSY off
        private int readyOffTimeout = 2;        //Ready off --->Valid off

        private E84State _state;
        private Timeout _tp;
        public E84Passiver(string module, XmlElement node, string ioModule = "")
        {
            base.Module = node.GetAttribute("module");
            base.Name = node.GetAttribute("id");
            base.Display = node.GetAttribute("display");
            base.DeviceID = node.GetAttribute("schematicId");

            _diValid = ParseDiNode("VALID", node, ioModule);
            _signals.Add(new Signal(SignalID.VALID, _diValid, null));

            _diCS0 = ParseDiNode("CS_0", node, ioModule);
            _signals.Add(new Signal(SignalID.CS_0, _diCS0, null));

            _diCS1 = ParseDiNode("CS_1", node, ioModule);
            _signals.Add(new Signal(SignalID.CS_1, _diCS1, null));

            _diAmAvbl = ParseDiNode("AM_AVBL", node, ioModule);
            _signals.Add(new Signal(SignalID.AM_AVBL, _diAmAvbl, null));

            _diTrReq = ParseDiNode("TR_REQ", node, ioModule);
            _signals.Add(new Signal(SignalID.TR_REQ, _diTrReq, null));

            _diBusy = ParseDiNode("BUSY", node, ioModule);
            _signals.Add(new Signal(SignalID.BUSY, _diBusy, null));
            _diCompt = ParseDiNode("COMPT", node, ioModule);
            _signals.Add(new Signal(SignalID.COMPT, _diCompt, null));
            _diCont = ParseDiNode("CONT", node, ioModule);
            _signals.Add(new Signal(SignalID.CONT, _diCont, null));

            _doLoadReq = ParseDoNode("L_REQ", node, ioModule);
            _signals.Add(new Signal(SignalID.L_REQ, null, _doLoadReq));
            _doUnloadReq = ParseDoNode("U_REQ", node, ioModule);
            _signals.Add(new Signal(SignalID.U_REQ, null, _doUnloadReq));
            _doReady = ParseDoNode("READY", node, ioModule);
            _signals.Add(new Signal(SignalID.READY, null, _doReady));
            _doHOAvbl = ParseDoNode("HO_AVBL", node, ioModule);
            _signals.Add(new Signal(SignalID.HO_AVBL, null, _doHOAvbl));
            _doES = ParseDoNode("ES", node, ioModule);
            _signals.Add(new Signal(SignalID.ES, null, _doES));

            foreach (var signal in _signals)
            {
                signal.OnChanged += OnSignalChange;
            }

            _scTimeoutTP1 = SC.GetConfigItem("Fa.E84.TP1");
            _scTimeoutTP2 = SC.GetConfigItem("Fa.E84.TP2");
            _scTimeoutTP3 = SC.GetConfigItem("Fa.E84.TP3");
            _scTimeoutTP4 = SC.GetConfigItem("Fa.E84.TP4");
            _scTimeoutTP5 = SC.GetConfigItem("Fa.E84.TP5");
        }

        public bool Initialize()
        {
            reset();
            return true;
        }

        private bool InvokeReset(string arg1, object[] arg2)
        {
            //string reason;
            EV.PostInfoLog(Module, $"E84 reset {Module}.{Name}");

            reset();

            return true;
        }

        public void Terminate()
        {
            reset();
        }

        private void reset()
        {
            _doLoadReq.Value = false;
            _doUnloadReq.Value = false;
            _doReady.Value = false;
            _doHOAvbl.Value = false;
            _doES.Value = false;
            _state = E84State.Idle;
            foreach (var signal in _signals)
            {
                signal.Reset();
            }
        }

        public void Monitor()
        {
            try
            {
                foreach (var signal in _signals)
                {
                    signal.Monitor();
                }


                if (LightCurtainBroken)
                {
                    _doES.Value = false;
                }
                else
                {
                    _doES.Value = true;
                }

                if (Mode != LPAccessMode.AMHS)
                {
                    _doHOAvbl.Value = false;
                    return;
                }


                if (_timer.IsTimeout())
                {
                    _doHOAvbl.Value    = false;
                    _doLoadReq.Value   = false;
                    _doUnloadReq.Value = false;
                    _doReady.Value = false;
                    _doES.Value = false;

                    _state = E84State.Error;
                    switch (_state)
                    {
                        case E84State.WaitForTrReqOn:
                            _tp = Timeout.TP1;
                            break;
                        case E84State.WaitForBusyOn:
                            _tp = Timeout.TP2;
                            break;
                        case E84State.WaitForTransfer:
                            _tp = Timeout.TP3;
                            break;
                        case E84State.WaitForBusyOff:
                            _tp = Timeout.TP4;
                            break;
                        case E84State.WaitForValidOff:
                            _tp = Timeout.TP5;
                            break;
                    }

                    EV.PostMessage("E84", EventEnum.DefaultAlarm, string.Format("E84 {0} Timeout", _tp));
                }

                switch (_state)
                {
                    case E84State.Idle:
                        {
                            if (waitValidOn())
                            {
                                _state = E84State.WaitForTrReqOn;
                                if (_scTimeoutTP1 != null)
                                    reqOnTimeout = _scTimeoutTP1.IntValue;
                                _timer.Start(reqOnTimeout);
                            }

                        }
                        break;
                    case E84State.WaitForTrReqOn:
                        {
                            if (wait4TrReqOn())
                            {
                                _state = E84State.WaitForBusyOn;
                                if(_scTimeoutTP2!= null)
                                    readyOnTimeout = _scTimeoutTP2.IntValue;
                                _timer.Start(readyOnTimeout);
                            }
                        }
                        break;
                    case E84State.WaitForBusyOn:
                        {
                            if (wait4BusyOn())
                            {
                                _state = E84State.WaitForTransfer;
                                if (_scTimeoutTP3 != null)
                                    busyOnTimeout = _scTimeoutTP3.IntValue;
                                _timer.Start(busyOnTimeout);
                            }
                        }
                        break;
                    case E84State.WaitForTransfer:
                        {
                            if (wait4Transfer())
                            {
                                _state = E84State.WaitForBusyOff;
                                if (_scTimeoutTP4 != null)
                                    reqOffTimeout = _scTimeoutTP4.IntValue;
                                _timer.Start(reqOffTimeout);
                            }

                        }
                        break;
                    case E84State.WaitForBusyOff:
                        {
                            if (wait4BusyOff())
                            {
                                _state = E84State.WaitForValidOff;
                                if (_scTimeoutTP5 != null)
                                    readyOffTimeout = _scTimeoutTP5.IntValue;
                                _timer.Start(readyOffTimeout);
                            }
                        }
                        break;
                    case E84State.WaitForValidOff:
                        {
                            if (waitValidOff())
                            {
                                _state = E84State.Idle;
                                _timer.Stop();
                            }
                        }
                        break;
                    case E84State.Error:
                        {
                            if (autoRecovery())
                            {
                                _state = E84State.Idle;
                                _timer.Stop();
                            }
                        }
                        break;
                }


            }
            catch (Exception ex)
            {
                LOG.Write(ex);
            }

        }

        public void Reset()
        {
            _doLoadReq.Value = false;
            _doUnloadReq.Value = false;
            _doReady.Value = false;
            _doHOAvbl.Value = false;
            _doES.Value = false;
            foreach (var signal in _signals)
            {
                signal.Reset();
            }

            if (TransferState != LPTransferState.OutOfService)
            {
                if (Mode == LPAccessMode.AMHS)
                {
                    _doHOAvbl.Value = true;
                    _doES.Value = true;
                }
            }

        }

        private bool waitValidOn()
        {
            if (_diValid.Value)
            {
                if (!_diCS0.Value && !_diCS1.Value)
                {
                    EV.PostMessage("E84", EventEnum.DefaultWarning, "When VALID turn on, CS0 or CS1 should be on");
                    _doHOAvbl.Value = false;
                    return false;
                }
                if (_diTrReq.Value)
                {
                    EV.PostMessage("E84", EventEnum.DefaultWarning, "When VALID turn on, VALID should be off");
                    _doHOAvbl.Value = false;
                    return false;
                }

                if (_diBusy.Value)
                {
                    EV.PostMessage("E84", EventEnum.DefaultWarning, "When VALID turn on, BUSY should be off");
                    _doHOAvbl.Value = false;
                    return false;
                }
                if (_diCompt.Value)
                {
                    EV.PostMessage("E84", EventEnum.DefaultWarning, "When VALID turn on, COMPT should be off");
                    _doHOAvbl.Value = false;
                    return false;
                }

                if (TransferState == LPTransferState.ReadyToLoad)
                {
                    _doLoadReq.Value = true;
                }
                else if (TransferState == LPTransferState.ReadyToUnload)
                {
                    _doUnloadReq.Value = true;
                }
            }
            return true;
        }

        private bool wait4TrReqOn()
        {
            if (_diTrReq.Value)
            {
                if (!_diCS0.Value && !_diCS1.Value)
                {
                    EV.PostMessage("E84", EventEnum.DefaultWarning, "When TR_REQ turn on, CS0 or CS1 should be on");
                    _doHOAvbl.Value = false;
                    return false;
                }
                if (!_diValid.Value)
                {
                    EV.PostMessage("E84", EventEnum.DefaultWarning, "When TR_REQ turn on, TR_REQ should be off");
                    _doHOAvbl.Value = false;
                    return false;
                }

                if (_diBusy.Value)
                {
                    EV.PostMessage("E84", EventEnum.DefaultWarning, "When TR_REQ turn on, BUSY should be off");
                    _doHOAvbl.Value = false;
                    return false;
                }
                if (_diCompt.Value)
                {
                    EV.PostMessage("E84", EventEnum.DefaultWarning, "When TR_REQ turn on, COMPT should be off");
                    _doHOAvbl.Value = false;
                    return false;
                }

                if (TransferState == LPTransferState.ReadyToLoad)
                {
                    if(Provider.ReadyForLoad())
                        _doReady.Value = true;
                }
                else if (TransferState == LPTransferState.ReadyToUnload)
                {
                    if(Provider.ReadyForUnload())
                        _doReady.Value = true; 
                }
                return true;
            }
            return false;
        }


        private bool wait4BusyOn()
        {
            if (_diBusy.Value)
            {
                if (!_diCS0.Value && !_diCS1.Value)
                {
                    EV.PostMessage("E84", EventEnum.DefaultWarning, "When BUSY turn on, CS0 or CS1 should be on");
                    _doHOAvbl.Value = false;
                    return false;
                }
                if (!_diValid.Value)
                {
                    EV.PostMessage("E84", EventEnum.DefaultWarning, "When BUSY turn on, VALID should be on");
                    _doHOAvbl.Value = false;
                    return false;
                }

                if (!_diTrReq.Value)
                {
                    EV.PostMessage("E84", EventEnum.DefaultWarning, "When TR_REQ turn on, TR_REQ should be on");
                    _doHOAvbl.Value = false;
                    return false;
                }
                if (_diCompt.Value)
                {
                    EV.PostMessage("E84", EventEnum.DefaultWarning, "When TR_REQ turn on, COMPT should be off");
                    _doHOAvbl.Value = false;
                    return false;
                }

                return true;
            }
            return false;
        }


        private bool wait4Transfer()
        {
            if (TransferState == LPTransferState.ReadyToLoad)
            {
                if (Provider.FoupArrirved())  //FOUP placement
                {
                    _doLoadReq.Value = false;
                    return true;
                }
                    
            }
            else if (TransferState == LPTransferState.ReadyToUnload)
            {
                if (Provider.FoupArrirved())  //FOUP placement
                {
                    _doUnloadReq.Value = false;
                    return true;
                }
            }

            return false;
        }


        private bool wait4BusyOff()
        {  
            if (_diCompt.Value && !_diTrReq.Value && !_diBusy.Value)
            {
                if (!_diValid.Value)
                {
                    EV.PostMessage("E84", EventEnum.DefaultWarning, "When BUSY turn off, VALID should be on");
                    _doHOAvbl.Value = false;
                    return false;
                }

                if (!_diCS0.Value && !_diCS1.Value)
                {
                    EV.PostMessage("E84", EventEnum.DefaultWarning, "When BUSY turn off, CS0 or CS1 should be on");
                    _doHOAvbl.Value = false;
                    return false;
                }

                _doReady.Value = false;
                return true;
            }
            return false;
        }

        private bool waitValidOff()
        {
            if (_diValid.Value  && (_diCS0.Value || _diCS1.Value) && !_diCompt.Value)
            {
                _doHOAvbl.Value = true;
                if (_diBusy.Value)
                {
                    EV.PostMessage("E84", EventEnum.DefaultWarning, "When VALID turn off, BUSY should be off");
                    _doHOAvbl.Value = false;
                    return false;
                }
                if (_diTrReq.Value)
                {
                    EV.PostMessage("E84", EventEnum.DefaultWarning, "When VALID turn off, TR REQ should be off");
                    _doHOAvbl.Value = false;
                    return false;
                }

                _doLoadReq.Value = false;
                _doUnloadReq.Value = false;
                _doReady.Value = false;
                _doES.Value = false;

                return true;
            }
            return false;
        }

        private bool autoRecovery()
        {
            bool ret = false;
            switch (_tp)
            {
                case Timeout.TP1:
                case Timeout.TP2:
                case Timeout.TP5:
                    {
                        if (  !_diAmAvbl.Value && !_diValid.Value && !_diCS0.Value && !_diCS1.Value
                            &&!_diTrReq.Value && !_diBusy.Value && !_diCompt.Value && !_diCont.Value)
                            ret = true;
                    }        
                    break;
            }


            return ret;
        }
        private void OnSignalChange(SignalID signal, bool value)
        {

        }


    }
}