Virgo_ST/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;

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

        public Result Start(object[] objs)
        {
            _moveTaskQueue.Clear();
            _activeTask = null;
            _cooling = objs.Length > 0 && (bool)objs[0];
            _coolingTime = (int)objs[1] > 1 ? (int)objs[1] : 1;
            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;
        }
        public bool ReturnAllDone()
        {
            return !WaferManager.Instance.CheckHasWafer(ModuleName.EfemRobot, 0) && !WaferManager.Instance.CheckHasWafer(ModuleName.EfemRobot, 1)
                && !WaferManager.Instance.CheckHasWafer(ModuleName.PMA, 0) && !WaferManager.Instance.CheckHasWafer(ModuleName.PMB, 0)
                 && !WaferManager.Instance.CheckHasWafer(ModuleName.Cooling2, 0) && !WaferManager.Instance.CheckHasWafer(ModuleName.Cooling1, 0)
                && !WaferManager.Instance.CheckHasWafer(ModuleName.Aligner2, 0) && !WaferManager.Instance.CheckHasWafer(ModuleName.Aligner1, 0);
        }

        private Result StartNewReturnTask()
        {
            ModuleName[] modules = new[]
                {ModuleName.EfemRobot, ModuleName.Aligner1, ModuleName.Aligner2, ModuleName.Cooling1, ModuleName.Cooling2, ModuleName.PMA, ModuleName.PMB};

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

            Hand hand = Hand.Blade1;
            int sourceSlot = 0;

            foreach (var moduleName in modules)
            {
                if (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 (ReturnAllDone())
            {
                EV.PostInfoLog("Scheduler", "All wafers returned.");
                return Result.DONE;
            }

            if (_cooling)
            {
                if (_cooling && WaferManager.Instance.CheckHasWafer(ModuleName.EfemRobot, 0) && WaferManager.Instance.CheckHasWafer(ModuleName.EfemRobot, 1)  && WaferManager.Instance.CheckHasWafer(ModuleName.Cooling1, 0))
                {
                    EV.PostWarningLog("System", "Can not transfer, EFEMRobot has wafer, can not auto cooling");
                    return Result.FAIL;
                }
                else if (_cooling && WaferManager.Instance.CheckHasWafer(ModuleName.Cooling1, 0))
                {

                    wafer = WaferManager.Instance.GetWafer(ModuleName.Cooling1, 0);

                    if (WaferManager.Instance.CheckHasWafer(ModuleName.EfemRobot, 0))
                    {
                       
                        hand = Hand.Blade2;
                    }

                    _moveTaskQueue.Enqueue(new EfemRobotMover(new MoveItemEx(ModuleName.Cooling1, 0, (ModuleName)wafer.OriginStation, wafer.OriginSlot, 0, hand)));
                }
                
                else if (_cooling && !ModuleHelper.IsCooling(source))
                {
                    
                    _moveTaskQueue.Enqueue(new EfemRobotMover(new MoveItemEx(source, sourceSlot, ModuleName.Cooling1, 0, _coolingTime, hand)));
                    _moveTaskQueue.Enqueue(new EfemRobotMover(new MoveItemEx(ModuleName.Cooling1, 0, (ModuleName)wafer.OriginStation, wafer.OriginSlot, 0, hand)));
                }
                else if (!ReturnAllDone())
                {
                    _moveTaskQueue.Enqueue(new EfemRobotMover(new MoveItemEx(source, sourceSlot, (ModuleName)wafer.OriginStation, wafer.OriginSlot, 0, hand)));

                }

            }
            else if (!ReturnAllDone())
            {
                _moveTaskQueue.Enqueue(new EfemRobotMover(new MoveItemEx(source, sourceSlot, (ModuleName)wafer.OriginStation, wafer.OriginSlot, 0, hand)));

            }


            _activeTask = _moveTaskQueue.Dequeue();


            return _activeTask.Start();

        }
    }

}