Virgo_ST/VirgoRT/Modules/Schedulers/SchedulerModule.cs

using Aitex.Core.Common.DeviceData;
using Aitex.Core.Util;
using MECF.Framework.Common.Equipment;
using MECF.Framework.Common.SubstrateTrackings;
using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Threading.Tasks;
using Aitex.Core.RT.Device;
using Aitex.Core.RT.Event;
using Aitex.Core.RT.Log;
using Aitex.Sorter.Common;
using VirgoRT.Modules;
using MECF.Framework.Common.Schedulers;
using VirgoRT.Devices;
using Aitex.Core.Common;

namespace VirgoRT.Scheduler
{
    public class SchedulerModule
    {
        public enum TaskType
        {
            None,

            PrepareTransfer,
            Pick,
            Place,
            PickAndPlace,
            PostTransfer,

            Preprocess,
            Process,
            PostProcess,

            IdlePurgeProcess,
            IdleCleanProcess,
            PreJobProcess,
            CompleteJobProcess,

            OpenCover,
            CloseCover,

            Load,
            Unload,

            Align,

            TransferTarget,

            Cooling,

            Heating,

            Map,

            Goto,
        }

        public ModuleName Module
        {
            get { return ModuleHelper.Converter(_module); }
        }
        public virtual bool IsAvailable { get; }
        public virtual bool IsOnline { get; }
        public virtual bool IsError { get; }

        private R_TRIG[] firstDetectWaferArriveTrigs = new R_TRIG[25];
        private R_TRIG[] firstDetectWaferLeaveTrigs = new R_TRIG[25];

        public int InTransferSlot
        {
            get
            {
                return _inTransferSlot;
            }
        }

        protected string _module;

        protected TaskType _task = TaskType.None;

        protected EnumTransferType _inTransferType;

        protected int _inTransferSlot;

        protected ModuleName _inProcessRobot;

        public Dictionary<int, long> WaferArriveTicks { get; set; }

        public SchedulerModule(string module)
        {
            _module = module;
            WaferArriveTicks = new Dictionary<int, long>();
            WaferArriveTicks[0] = DateTime.Now.Ticks;
            WaferArriveTicks[1] = WaferArriveTicks[0];

            for (int i = 0; i < firstDetectWaferArriveTrigs.Length; i++)
            {
                firstDetectWaferArriveTrigs[i] = new R_TRIG();
            }
            for (int i = 0; i < firstDetectWaferLeaveTrigs.Length; i++)
            {
                firstDetectWaferLeaveTrigs[i] = new R_TRIG();
            }
        }
        protected void LogTaskStart(TaskType cmd, string message)
        {
            EV.PostInfoLog("Scheduler", $"Task start:{_module}, {cmd}, {message}");

        }
        protected void LogTaskDone(TaskType cmd, string message)
        {
            EV.PostInfoLog("Scheduler", $"Task done:{_module}, {cmd}, {message}");
        }
        public void ResetTask()
        {
            _task = TaskType.None;
        }

        public bool WaitTransfer(ModuleName robot, EnumTransferType transferType, int slot)
        {
            _task = TaskType.TransferTarget;
            _inProcessRobot = robot;
            _inTransferType = transferType;
            _inTransferSlot = slot;

            LogTaskStart(_task, $"Note {robot} in transfer");
            return true;
        }

        public bool IsWaitTransfer(ModuleName robot)
        {
            return _task == TaskType.TransferTarget && _inProcessRobot == robot;
        }

        public bool IsWaitTransfer(ModuleName robot, EnumTransferType transferType)
        {
            return _task == TaskType.TransferTarget && _inProcessRobot == robot && _inTransferType == transferType;
        }

        public virtual bool StopWaitTransfer(ModuleName robot)
        {
            LogTaskDone(_task, $"Note {robot} transfer complete");
            _inProcessRobot = ModuleName.System;

            _task = TaskType.None;

            WaferArriveTicks[_inTransferSlot] = DateTime.Now.Ticks;
            return true;
        }

        public WaferInfo GetWaferInfo(int slot)
        {
            return WaferManager.Instance.GetWafer(ModuleHelper.Converter(_module), slot);
        }

        public bool HasWafer(int slot)
        {
            return WaferManager.Instance.CheckHasWafer(ModuleHelper.Converter(_module), slot);
        }

        public bool NoWafer(int slot)
        {
            return WaferManager.Instance.CheckNoWafer(ModuleHelper.Converter(_module), slot);
        }

        public bool FirstDetectWaferArrive(int slot)
        {
            firstDetectWaferArriveTrigs[slot].CLK = HasWafer(slot);
            return firstDetectWaferArriveTrigs[slot].Q;
        }

        public bool FirstDetectWaferLeave(int slot)
        {
            firstDetectWaferLeaveTrigs[slot].CLK = NoWafer(slot);
            return firstDetectWaferLeaveTrigs[slot].Q;
        }

        /// <summary>
        /// 检查参数代表的wafer下一站是否是本模块
        /// </summary>
        /// <param name="module"> 已有wafer的Module</param>
        /// <param name="slot"> 已有wafer的Slot</param>
        /// <returns></returns>
        public virtual bool CheckWaferNextStepIsThisModule(ModuleName module, int slot)
        {
            if (!WaferManager.Instance.CheckHasWafer(module, slot))
                return false;

            WaferInfo wafer = WaferManager.Instance.GetWafer(module, slot);

            if (wafer.ProcessJob == null || wafer.ProcessJob.Sequence == null)
                return false;

            if (wafer.NextSequenceStep >= wafer.ProcessJob.Sequence.Steps.Count)
                return false;

            if (!wafer.ProcessJob.Sequence.Steps[wafer.NextSequenceStep].StepModules.Contains(Module))
                return false;

            return true;
        }

        /// <summary>
        /// 检查参数代表的wafer下一站是否是本模块thisSlot
        /// </summary>
        /// <param name="module"> 已有wafer的Module</param>
        /// <param name="slot"> 已有wafer的Slot</param>
        /// <param name="thisSlot"> 本模块slot位置</param>
        /// <returns></returns>
        public virtual bool CheckWaferNextStepIsThisModuleSlot(ModuleName module, int slot, int thisSlot)
        {
            if (!WaferManager.Instance.CheckHasWafer(module, slot))
                return false;

            WaferInfo wafer = WaferManager.Instance.GetWafer(module, slot);

            if (wafer.ProcessJob == null || wafer.ProcessJob.Sequence == null)
                return false;

            if (wafer.NextSequenceStep >= wafer.ProcessJob.Sequence.Steps.Count)
                return false;

            if (!wafer.ProcessJob.Sequence.Steps[wafer.NextSequenceStep].StepModules.Contains(Module))
                return false;

            if (!wafer.ProcessJob.Sequence.Steps[wafer.NextSequenceStep].StepParameter["SlotSelection"].ToString().Contains(thisSlot.ToString()))
                return false;

            return true;
        }
        public virtual bool CheckWaferNextStepIsThisModuleSlotInSwap(ModuleName module, int slot, int thisSlot)
        {
            if (!WaferManager.Instance.CheckHasWafer(module, slot))
                return false;

            WaferInfo wafer = WaferManager.Instance.GetWafer(module, slot);

            if (wafer.ProcessJob == null || wafer.ProcessJob.Sequence == null)
                return false;

            if (wafer.NextSequenceStep >= wafer.ProcessJob.Sequence.Steps.Count)
                return false;

            if (!wafer.ProcessJob.Sequence.Steps[wafer.NextSequenceStep].StepModules.Contains(Module))
                return true;

            if (wafer.ProcessJob.Sequence.Steps[wafer.NextSequenceStep].StepParameter.ContainsKey("SlotSelection") && 
                wafer.ProcessJob.Sequence.Steps[wafer.NextSequenceStep].StepParameter["SlotSelection"].ToString().Contains(thisSlot.ToString()))
                return true;

            return false;
        }

        /// <summary>
        /// 判断下一步的模块是否有Wafer
        /// </summary>
        /// <param name="slot"></param>
        /// <param name="needIgnoreRobot">是否忽略机械手</param>
        /// <returns></returns>
        public virtual bool CheckWaferNextStepModuleNoWafer(int slot, bool needIgnoreRobot = true)
        {
            if (!WaferManager.Instance.CheckHasWafer(Module, slot))
                return false;

            WaferInfo wafer = WaferManager.Instance.GetWafer(Module, slot);

            if (wafer.ProcessJob == null || wafer.ProcessJob.Sequence == null)
                return false;

            var step = wafer.NextSequenceStep;

            if (step >= wafer.ProcessJob.Sequence.Steps.Count)
                return false;

            List<ModuleName> lstModuleName = wafer.ProcessJob.Sequence.Steps[step].StepModules;

            if (needIgnoreRobot && lstModuleName.Any(x => x == ModuleName.EfemRobot))
            {
                step += 1;
                if (step >= wafer.ProcessJob.Sequence.Steps.Count)
                    return false;
                lstModuleName = wafer.ProcessJob.Sequence.Steps[step].StepModules;
            }


            if (lstModuleName.Count > 0)
            {
                for (int i = 0; i < lstModuleName.Count; i++)
                {
                    if (WaferManager.Instance.CheckNoWafer(lstModuleName[i], 0))
                    {
                        return true;
                    }
                }
            }
            return false;
        }
        public virtual bool CheckWaferNextStepModule(int slot, ModuleName targetModule)
        {
            if (!WaferManager.Instance.CheckHasWafer(Module, slot))
                return false;

            WaferInfo wafer = WaferManager.Instance.GetWafer(Module, slot);

            if (wafer.ProcessJob == null || wafer.ProcessJob.Sequence == null)
                return false;

            var step = wafer.NextSequenceStep;

            if (step >= wafer.ProcessJob.Sequence.Steps.Count)
                return false;

            List<ModuleName> lstModuleName = wafer.ProcessJob.Sequence.Steps[step].StepModules;

            if (lstModuleName.Any(x => x == ModuleName.EfemRobot))
            {
                step += 1;
                if (step >= wafer.ProcessJob.Sequence.Steps.Count)
                    return false;
                lstModuleName = wafer.ProcessJob.Sequence.Steps[step].StepModules;
            }

            if (lstModuleName.Any(x => x == targetModule))
            {
                return true;
            }
            return false;
        }

        public virtual bool IsReadyForPick(ModuleName robot, int slot, Hand blade)
        {
            return true;
        }

        public virtual bool IsReadyForPlace(ModuleName robot, int slot, Hand blade)
        {
            return true;
        }

        public virtual bool PrepareTransfer(ModuleName robot, EnumTransferType type, int slot)
        {
            return true;
        }

        public virtual bool PostTransfer(ModuleName robot, EnumTransferType type, int slot)
        {
            StopWaitTransfer(robot);

            return true;
        }

        public virtual bool PostTransfer(ModuleName robot)
        {
            StopWaitTransfer(robot);

            return true;
        }

        public virtual bool Process(string recipeName, bool isCleanRecipe, bool withDummyWafer, WaferInfo wafer)
        {
            return true;
        }

        public virtual bool Cooling(int coolingTime)
        {
            return true;
        }

        public virtual bool Preheating(float temperature)
        {
            return true;
        }
    }

}