Virgo_ST/VirgoRT/Modules/Schedulers/SchedulerPM.cs

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

namespace VirgoRT.Scheduler
{

    public class SchedulerPM : SchedulerModule
    {
        public override bool IsAvailable
        {
            get
            {
                if (!SC.GetValue<bool>("System.IsATMMode"))
                    return _entity.IsIdle && _entity.IsOnline && CheckTaskDone() && !_waitCompletejobClean;
                return _entity.IsIdle && _entity.IsOnline && CheckTaskDone();
            }
        }
        public override bool IsOnline
        {
            get { return _entity != null && _entity.IsOnline; }

        }
        public override bool IsError
        {
            get { return _entity.IsError; }

        }
        public bool IsIdle
        {
            get { return _entity.IsIdle && _entity.IsOnline && CheckTaskDone() ; }

        }

        public TaskType Task => _task;
        private PMEntity _entity = null;

        private ModuleName _taskRobot;
        private EnumTransferType _taskTransferType;
        private Hand _taskBlade;
        private int _taskSlot;
        private int _entityTaskToken = (int)FSM_MSG.NONE;

        private DeviceTimer _timerProcess = new DeviceTimer();
        private JetPM _pm;

        private float _paramTemp;

        public float Temperature
        {
            get
            {
                if (SC.GetValue<bool>($"{Module}.Chiller.EnableChiller"))
                {
                    return _pm.CoolantOutletTempFB;
                }
                return _pm.SubstrateTempFB;
            }
        }


        public RD_TRIG IdlePurgeTrig { get; set; }
        public Stopwatch IdlePurgeTimer { get; set; }
        public int IdlePurgeTime { get; set; }
        public int IdlePurgeNextRunTime { get; set; }

        public RD_TRIG IdleCleanTrig { get; set; }
        public Stopwatch IdleCleanTimer { get; set; }
        public int IdleCleanTime { get; set; }
        public int IdleCleanNextRunTime { get; set; }

        private bool _waitPreJobClean;
        private bool _waitCompletejobClean;

        private R_TRIG _trigIdleCleanFailed = new R_TRIG();
        private R_TRIG _trigIdlePurgeFailed = new R_TRIG();

        public RD_TRIG PreJobCleanTrig { get; set; }
        public Stopwatch PreJobCleanTimer { get; set; }
        public int PreJobCleanTime { get; set; }

        public SchedulerPM(ModuleName chamber) : base(chamber.ToString())
        {
            switch (chamber)
            {
                case ModuleName.PMA:
                    _entity = Singleton<RouteManager>.Instance.PMA;
                    break;
                case ModuleName.PMB:
                    _entity = Singleton<RouteManager>.Instance.PMB;
                    break;
            }

            _pm = DEVICE.GetDevice<JetPM>(Module.ToString());


            IdlePurgeTrig = new RD_TRIG();
            IdlePurgeTimer = new Stopwatch();

            IdleCleanTrig = new RD_TRIG();
            IdleCleanTimer = new Stopwatch();

            PreJobCleanTrig = new RD_TRIG();
            PreJobCleanTimer = new Stopwatch();
        }

        public void InitClean()
        {
            DATA.Subscribe($"{Module}.IdlePurgeNextRunTime", () => IdlePurgeNextRunTime);
            DATA.Subscribe($"{Module}.IdleCleanNextRunTime", () => IdleCleanNextRunTime);
        }

        public override bool IsReadyForPick(ModuleName robot, int slot, Hand blade)
        {
            return _entity.IsPrepareTransferReady(robot, EnumTransferType.Pick, slot, blade)
                   && WaferManager.Instance.CheckHasWafer(ModuleHelper.Converter(_module), slot);
        }

        public override bool IsReadyForPlace(ModuleName robot, int slot, Hand blade)
        {
            return _entity.IsPrepareTransferReady(robot, EnumTransferType.Place, slot, blade)
                   && WaferManager.Instance.CheckNoWafer(ModuleHelper.Converter(_module), slot);
        }

        public bool CheckSlitDoorDown()
        {
            return _pm.CheckSlitDoorClose();
        }

        public bool IsTemperatureReady(float temp)
        {
            return Math.Abs(Temperature - temp) < SC.GetValue<double>("System.MaxTemperatureToleranceTransferWafer");
        }

        public bool IsPrepareTransfer(ModuleName robot, EnumTransferType type, int slot)
        {
            return _task == TaskType.PrepareTransfer && _taskRobot == robot && _taskSlot == slot &&
                   _taskTransferType == type;
        }

        public override bool PrepareTransfer(ModuleName robot, EnumTransferType type, int slot)
        {
            _task = TaskType.PrepareTransfer;
            _taskRobot = robot;
            _taskSlot = slot;
            _taskTransferType = type;
            _entityTaskToken = _entity.InvokePrepareTransfer(robot, type, slot);

            LogTaskStart(_task, $"{robot} {type} slot {slot + 1}");
            return _entityTaskToken != (int)FSM_MSG.NONE;
        }


        public bool PrepareTransfer(ModuleName robot, EnumTransferType type, int slot, float temp, Hand blade)
        {
            _task = TaskType.PrepareTransfer;
            _taskRobot = robot;
            _taskSlot = slot;
            _taskBlade = blade;
            _taskTransferType = type;
            _entityTaskToken = _entity.InvokePrepareTransfer(robot, type, slot, temp);

            LogTaskStart(_task, $"{robot} {type} slot {slot + 1}");
            return _entityTaskToken != (int)FSM_MSG.NONE;
        }

        public bool PrepareTransfer(ModuleName robot, EnumTransferType type, int slot, float temp, Hand blade, WaferSize size)
        {
            _task = TaskType.PrepareTransfer;
            _taskRobot = robot;
            _taskSlot = slot;
            _taskBlade = blade;
            _taskTransferType = type;
            _entityTaskToken = _entity.InvokePrepareTransfer(robot, type, slot, temp, size);

            LogTaskStart(_task, $"{robot} {type} slot {slot + 1}, {size}");
            return _entityTaskToken != (int)FSM_MSG.NONE;
        }

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

            _task = TaskType.PostTransfer;
            _taskRobot = robot;
            _taskSlot = slot;
            _taskTransferType = type;
            _entityTaskToken = _entity.InvokePostTransfer(robot, type, slot);

            LogTaskStart(_task, $"{robot} {type} slot {slot + 1}");
            return _entityTaskToken != (int)FSM_MSG.NONE;
        }

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

            _task = TaskType.PostTransfer;
            _taskRobot = robot;
            _taskSlot = _inTransferSlot;
            _taskTransferType = _inTransferType;
            _entityTaskToken = _entity.InvokePostTransfer(robot, _inTransferType, _inTransferSlot);

            LogTaskStart(_task, $"{robot} {_inTransferType} slot {_inTransferSlot + 1}");
            return _entityTaskToken != (int)FSM_MSG.NONE;
        }

        public override bool Process(string recipeName, bool isCleanRecipe, bool withWafer, WaferInfo wafer)
        {
            _task = TaskType.Process;
            LogTaskStart(_task, $"recipe: {recipeName}, clean: {isCleanRecipe}, with wafer: {withWafer}");

            if (SC.GetValue<bool>("System.IsATMMode"))
            {
                int time = SC.GetValue<int>("System.ATMCyclePMDelayTime");
                _timerProcess.Start(time * 1000);

                EV.PostInfoLog("Scheduler", $"System run in ATM mode, process skipped, delay {time} seconds");

                _pm.SetLiftPin(VirgoCommon.MovementPosition.Down, out _);
                _entityTaskToken = (int)PMEntity.MSG.MoveLiftPin;

                WaferManager.Instance.UpdateWaferProcessStatus(Module, 0, EnumWaferProcessStatus.InProcess);

                return true;
            }
            else
            {
                _entityTaskToken = _entity.InvokeProcess(recipeName, wafer.WaferOrigin, withWafer);
                return _entityTaskToken != (int)FSM_MSG.NONE;

            }
        }

        public override bool Preheating(float temperature)
        {
            _task = TaskType.Heating;
            _paramTemp = temperature;

            _entityTaskToken = _entity.InvokePreHeat(temperature);

            LogTaskStart(_task, $"preheat to {temperature}");

            return _entityTaskToken != (int)FSM_MSG.NONE;
        }

        public bool CheckTaskDone()
        {
            bool ret = false;
            switch (_task)
            {
                case TaskType.None:
                    ret = true;
                    break;
                case TaskType.PrepareTransfer:
                    ret = _entity.CheckAcked(_entityTaskToken) && _entity.IsPrepareTransferReady(_taskRobot, _taskTransferType, _taskSlot, _taskBlade);
                    break;
                case TaskType.PostTransfer:
                    ret = _entity.CheckAcked(_entityTaskToken) && _pm.CheckSlitDoorClose();
                    break;
                case TaskType.Heating:
                    ret = _entity.CheckAcked(_entityTaskToken) && IsTemperatureReady(_paramTemp);
                    break;
                case TaskType.Process:
                case TaskType.IdlePurgeProcess:
                case TaskType.IdleCleanProcess:
                case TaskType.PreJobProcess:
                case TaskType.CompleteJobProcess:
                    if (SC.GetValue<bool>("System.IsATMMode"))
                    {
                        ret = _timerProcess.IsTimeout() && _entity.IsIdle && (_entityTaskToken != (int)PMEntity.MSG.MoveLiftPin || _pm.CheckLiftDown());

                        if (ret)
                            WaferManager.Instance.UpdateWaferProcessStatus(Module, 0, EnumWaferProcessStatus.Completed);
                    }
                    else
                    {
                        ret = _entity.CheckAcked(_entityTaskToken) && _entity.IsProcessed();
                    }

                    break;
            }

            if (ret && _task != TaskType.None)
            {
                LogTaskDone(_task, "");
                _task = TaskType.None;
            }

            return ret;
        }

        public bool Monitor()
        {
            return true;
        }

        public void SetPMAuto()
        {
            _entity.SetAuto();
        }

        public bool IdlePurgeProcess(string recipeName)
        {
            _task = TaskType.IdlePurgeProcess;

            _entityTaskToken = _entity.InvokeClean(recipeName, "", false);

            LogTaskStart(_task, $"recipe: {recipeName}, clean: {false}, with wafer: {false}");

            return _entityTaskToken != (int)FSM_MSG.NONE;
        }

        public bool IdleCleanProcess(string recipeName)
        {
            _task = TaskType.IdleCleanProcess;

            _entityTaskToken = _entity.InvokeClean(recipeName, "", false);

            LogTaskStart(_task, $"recipe: {recipeName}, clean: {true}, with wafer: {false}");
            return _entityTaskToken != (int)FSM_MSG.NONE;
        }

        public void PreJobClean()
        {
            var enableJobClean = SC.GetValue<bool>($"{Module}.JobClean.IsEnabled");
            var enablePreJobClean = SC.GetValue<bool>($"{Module}.JobClean.EnablePreJobClean");

            _waitPreJobClean = enableJobClean && enablePreJobClean;
        }

        public bool PreJobProcess(string recipeName)
        {
            _task = TaskType.PreJobProcess;

            _entityTaskToken = _entity.InvokeClean(recipeName, "", false);

            LogTaskStart(_task, $"recipe: {recipeName}, clean: {true}, with wafer: {false}");
            return _entityTaskToken != (int)FSM_MSG.NONE;
        }

        public void CompleteJobClean()
        {
            var enableJobClean = SC.GetValue<bool>($"{Module}.JobClean.IsEnabled");
            var enableCompleteJobClean = SC.GetValue<bool>($"{Module}.JobClean.EnableCompleteJobClean");

            _waitCompletejobClean = enableJobClean && enableCompleteJobClean;
        }

        public bool CompleteJobProcess(string recipeName)
        {
            _task = TaskType.CompleteJobProcess;

            _entityTaskToken = _entity.InvokeClean(recipeName, "", false);

            LogTaskStart(_task, $"recipe: {recipeName}, clean: {true}, with wafer: {false}");
            return _entityTaskToken != (int)FSM_MSG.NONE;
        }

        #region clean task

        internal void ResetIdlePurgeTime()
        {
            IdlePurgeTimer.Restart();
        }

        internal void ResetIdleCleanTime()
        {
            IdleCleanTimer.Restart();
        }

        public bool ResetClean(bool resetPurge, bool resetClean, bool jobClean)
        {
            if (resetPurge)
            {
                IdlePurgeTrig.RST = true;
                IdlePurgeTimer.Stop();
                IdlePurgeTime = 0;
            }

            if (resetClean)
            {
                IdleCleanTrig.RST = true;
                IdleCleanTimer.Stop();
                IdleCleanTime = 0;
            }

            if (jobClean)
            {
                _waitPreJobClean = false;
                _waitCompletejobClean = false;
                PreJobCleanTrig.RST = true;
                PreJobCleanTimer.Stop();
            }

            return true;
        }

        public void MonitorCleanTasks()
        {
            if(SC.GetValue<bool>("System.IsATMMode"))
                return;

            var hasWafer = WaferManager.Instance.CheckHasWafer(Module, 0);
            var enablePurge = false;//SC.GetValue<bool>($"{Module}.IdlePurge.IsEnabled");
            var enableClean = SC.GetValue<bool>($"{Module}.IdleClean.IsEnabled");

            #region Idle Purge

            IdlePurgeTrig.CLK = (IsIdle || _task != TaskType.IdlePurgeProcess) && enablePurge && !hasWafer;
            if (IdlePurgeTrig.R)
            {
                LOG.Write($"{Module} idle purge start calc elapse time");
                IdlePurgeTimer.Restart();
            }

            if (IdlePurgeTrig.T)
            {
                LOG.Write($"{Module} idle purge stopped calc elapse time");

                ResetClean(true, false, false);
            }

            if (IdlePurgeTimer.IsRunning)
            {
                IdlePurgeTime = (int)IdlePurgeTimer.ElapsedMilliseconds / 1000;
                int idlePurgeTimeSetPoint = SC.GetValue<int>($"{Module}.IdlePurge.IdlePurgeTime");
                var nextRunTime = idlePurgeTimeSetPoint - IdlePurgeTime;
                if (nextRunTime < 0)
                    nextRunTime = 0;

                if (enablePurge)
                {
                    if (nextRunTime <= 0 && IsAvailable)
                    {
                        var recipe = SC.GetStringValue($"{Module}.IdlePurge.IdlePurgeRecipe");

                        if (string.IsNullOrEmpty(recipe))
                        {
                            _trigIdlePurgeFailed.CLK = true;

                            LOG.Write($"{Module} Idle purge can not run, recipe is empty");
                            ResetClean(true, false, false);
                        }
                        else if (hasWafer)
                        {
                            _trigIdlePurgeFailed.CLK = true;

                            LOG.Write($"{Module} Idle purge can not run, has wafer");
                            ResetClean(true, false, false);
                        }
                        else
                        {
                            _trigIdlePurgeFailed.CLK = false;

                            LOG.Write($"{Module} Start run idle purge recipe {recipe}");
                            IdlePurgeProcess("ALD\\Process\\" + recipe);
                        }

                        if (_trigIdlePurgeFailed.Q)
                        {
                            EV.PostWarningLog(Module.ToString(), "Can not run idle purge recipe");
                        }
                    }
                }
                else
                {
                    nextRunTime = 0;
                }

                IdlePurgeNextRunTime = nextRunTime;
            }
            else
            {
                IdlePurgeNextRunTime = 0;
            }

            #endregion

            #region Idle Clean

            IdleCleanTrig.CLK = (IsIdle || _task != TaskType.IdleCleanProcess) && enableClean && !hasWafer;
            if (IdleCleanTrig.R)
            {
                LOG.Write($"{Module} idle clean start calc elapse time");

                IdleCleanTimer.Restart();
            }

            if (IdleCleanTrig.T)
            {
                LOG.Write($"{Module} idle clean stopped calc elapse time");

                ResetClean(false, true, false);
            }

            if (IdleCleanTimer.IsRunning)
            {
                IdleCleanTime = (int)IdleCleanTimer.ElapsedMilliseconds / 1000;

                int idleCleanTimeSetPoint = SC.GetValue<int>($"{Module}.IdleClean.IdleCleanTime");


                var nextRunTime = idleCleanTimeSetPoint - IdleCleanTime;
                if (nextRunTime < 0)
                    nextRunTime = 0;

                if (enableClean)
                {
                    if (nextRunTime <= 0 && IsAvailable)
                    {
                        var recipe = SC.GetStringValue($"{Module}.IdleClean.IdleCleanRecipe");

                        if (string.IsNullOrEmpty(recipe))
                        {
                            _trigIdleCleanFailed.CLK = true;

                            LOG.Write($"{Module} Idle clean can not run, recipe is empty");
                            ResetClean(false, true, false);
                        }
                        else if (hasWafer)
                        {
                            _trigIdleCleanFailed.CLK = true;

                            LOG.Write($"{Module} Idle clean can not run, has wafer");
                            ResetClean(false, true, false);
                        }
                        else
                        {
                            _trigIdleCleanFailed.CLK = false;

                            LOG.Write($"{Module} Start run idle Clean recipe {recipe}");
                            IdleCleanProcess($"{Module}\\" + recipe);
                        }

                        if (_trigIdleCleanFailed.Q)
                        {
                            EV.PostWarningLog(Module.ToString(), "Can not run idle clean recipe");
                        }
                    }
                }
                else
                {
                    nextRunTime = 0;
                }

                IdleCleanNextRunTime = nextRunTime;
            }
            else
            {
                IdleCleanNextRunTime = 0;
            }

            #endregion

            #region PreJob Clean

            var enableJobClean = SC.GetValue<bool>($"{Module}.JobClean.IsEnabled");
            var enablePreJobClean = SC.GetValue<bool>($"{Module}.JobClean.EnablePreJobClean");
            var enableCompleteJobClean = SC.GetValue<bool>($"{Module}.JobClean.EnableCompleteJobClean");

            if (enableJobClean && enableCompleteJobClean && _waitCompletejobClean && IsIdle)
            {
                var recipe = SC.GetStringValue($"{Module}.JobClean.CompleteJobCleanRecipe");

                if (string.IsNullOrEmpty(recipe))
                {
                    EV.PostWarningLog(Module.ToString(), "complete job clean can not run, recipe is empty");
                }
                else if (hasWafer)
                {
                    EV.PostWarningLog(Module.ToString(), "complete job clean can not run, has wafer");
                }
                else
                {
                    EV.PostInfoLog(Module.ToString(), $"Start run complete job clean recipe {recipe}");
                    CompleteJobProcess($"{Module}\\" + recipe);
                }

                _waitCompletejobClean = false;
            }

            PreJobCleanTrig.CLK = enableJobClean && enablePreJobClean && IsIdle;

            if (PreJobCleanTrig.R)
            {
                PreJobCleanTimer.Restart();
            }

            if(PreJobCleanTrig.T)
            {
                ResetClean(false, false, true);
            }

            if (PreJobCleanTimer.IsRunning && _waitPreJobClean)
            {
                PreJobCleanTime = (int)PreJobCleanTimer.ElapsedMilliseconds / 1000;
                int PreJobCleanIdleTimeSP = SC.GetValue<int>($"{Module}.JobClean.IdleCleanTime");
                if(PreJobCleanTime >= PreJobCleanIdleTimeSP)
                {
                    var recipe = SC.GetStringValue($"{Module}.JobClean.PreJobCleanRecipe");

                    if (string.IsNullOrEmpty(recipe))
                    {
                        EV.PostWarningLog(Module.ToString(), "pre job clean can not run, recipe is empty");
                    }
                    else if (hasWafer)
                    {
                        EV.PostWarningLog(Module.ToString(), "pre job clean can not run, has wafer");
                    }
                    else
                    {
                        EV.PostInfoLog(Module.ToString(), $"Start run pre job clean recipe {recipe}");
                        PreJobProcess($"{Module}\\" + recipe);
                    }
                }
            }

            #endregion
        }


        #endregion

    }
}