Virgo_scheduler/VirgoRT/Modules/Schedulers/SchedulerEfemRobot.cs

using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Threading.Tasks;
using Aitex.Core.RT.Fsm;
using Aitex.Core.RT.Log;
using Aitex.Core.Util;
using Aitex.Sorter.Common;
using VirgoRT.Modules;
using MECF.Framework.Common.Equipment;
using MECF.Framework.Common.SubstrateTrackings;

namespace VirgoRT.Scheduler
{
    public class SchedulerEfemRobot : SchedulerModule
    {
        public override bool IsAvailable
        {
            get { return _entity.IsIdle && /*_entity.IsOnline && */CheckTaskDone(); }
        }
        public override bool IsOnline
        {
            get { return _entity.IsOnline; }

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

        }
        private EfemEntity _entity = null;

        private Hand _hand;

        private int _entityTaskToken = (int)FSM_MSG.NONE;

        //private Hand _taskSwapPickHand;
        //private Hand _taskSwapPlaceHand;
        //private int _taskSwapPickSlot;
        //private int _taskSwapPlaceSlot;

        public ModuleName PreviousTarget { get; set; }

        public SchedulerEfemRobot() : base(ModuleName.EfemRobot.ToString())
        {
            _entity = Singleton<RouteManager>.Instance.EFEM;
            PreviousTarget = ModuleName.System;
        }

        public bool IsReadyForPick(Hand blade)
        {
            return WaferManager.Instance.CheckNoWafer(ModuleName.EfemRobot, (int)blade);
        }

        public bool IsReadyForPlace(Hand blade)
        {
            return WaferManager.Instance.CheckHasWafer(ModuleName.EfemRobot, (int)blade);
        }

        public bool Pick(ModuleName source, int slot, Hand hand)
        {
            _task = TaskType.Pick;
            _hand = hand;
            _entityTaskToken = _entity.InvokePick(source, slot, hand, WaferManager.Instance.GetWafer(source, slot).Size);
            PreviousTarget = source;

            LogTaskStart(_task, $"{source}.{slot + 1}=>{Module}.{hand}");
            return true;
        }

        public bool Place(ModuleName destination, int slot, Hand hand)
        {
            _task = TaskType.Place;
            _hand = hand;
            _entityTaskToken = _entity.InvokePlace(destination, slot, hand, WaferManager.Instance.GetWafer(ModuleName.EfemRobot, 0).Size);
            LogTaskStart(_task, $"{Module}.{hand}=>{destination}.{slot + 1}");
            return true;
        }

        public bool Map(ModuleName destination )
        {
            _task = TaskType.Map;
            
            _entityTaskToken = _entity.InvokeMap(destination.ToString());
            LogTaskStart(_task, $"{Module} mapping");
            PreviousTarget = destination;

            return true;
        }
        public bool Monitor()
        {
            return true;
        }

        public bool CheckTaskDone()
        {
            bool ret = false;
            switch (_task)
            {
                case TaskType.None:
                    ret = true;
                    break;
                case TaskType.Pick:
                    ret = WaferManager.Instance.CheckHasWafer(ModuleName.EfemRobot, (int)_hand);
                    if (ret)
                    {
                        WaferArriveTicks[(int) _hand] = DateTime.Now.Ticks;
                    }
                    break;
                case TaskType.Place:
                    ret = WaferManager.Instance.CheckNoWafer(ModuleName.EfemRobot, (int)_hand);
                    break;
                case TaskType.Map:
                    ret = _entity.CheckAcked(_entityTaskToken) && _entity.IsIdle;
                    break;
            }

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

            return ret;
        }
    }
}