ZZ-EFEM/Jet/Jet_001_2P_Jet/EfemRT/Devices/FlipperEntity.cs

using Aitex.Core.RT.DataCenter;
using Aitex.Core.RT.Event;
using Aitex.Core.RT.Fsm;
using Aitex.Core.RT.Log;
using Aitex.Core.RT.OperationCenter;
using Aitex.Core.RT.Routine;
using Aitex.Core.Util;
using EFEM.RT.Devices.Flipper;
using EFEM.RT.Routines.FLP;
using MECF.Framework.Common.Equipment;
using MECF.Framework.Common.SubstrateTrackings;

namespace EFEM.RT.Devices
{
    public class FlipperEntity : Entity, IEntity
    {
        public enum FlipperMSG
        {
            Home = 1,
            TurnOver = 2,
            Clamp = 3,
            UnClamp = 4,
            Error = 5,
            Reset = 6,
            Abort = 7,
            PrepareTransfer = 8,
            EndTransfer = 9,
            manualTurn = 10,
            manualTurnStop = 11,
            manualClamp = 12,
            manualClampStop = 13,
        }

        private JetFlipper _flipper => DeviceModel.Flipper;
        private FlipperHomeRoutine flipperhomeroutine = null;

        public bool IsTransfer => fsm.State == (int)FlipperState.TransferState;
        public bool IsIdle => fsm.State == (int)FlipperState.Idle;
        public ModuleName _modulename;
        public FlipperState State => ((FlipperState)fsm.State);
        public bool ClampOpen => _flipper == null ? false : _flipper.IsClampOpen;
        public bool ClampClose => _flipper == null ? false : _flipper.IsClampClose;
        public bool IsFlipperOrigin => _flipper == null ? false : _flipper.IsFlipperOrigin;//是否在0°
        public bool IsFlipperHorizontal => _flipper == null ? false : _flipper.IsFlipperHorizontal;//是否在180°
        public bool IsFlipperOverOrigin => _flipper == null ? false : _flipper.IsFlipperOverOrigin;//是否反转

        public FlipperEntity(ModuleName name)
        {
            _modulename = name;
            flipperhomeroutine = new FlipperHomeRoutine(_modulename, _flipper);
            fsm = new StateMachine<FlipperEntity>(_modulename.ToString(), (int)FlipperState.Init, 50);//状态机频率
            BuildTransitionTable();

            Singleton<WaferManager>.Instance.SubscribeLocation(_modulename, 1);
            OP.Subscribe($"{_modulename}.{FlipperMSG.TurnOver}", (cmd, args) => { PostMsg(FlipperMSG.TurnOver); return true; });
            OP.Subscribe($"{_modulename}.{FlipperMSG.Clamp}", (cmd, args) => { PostMsg(FlipperMSG.Clamp); return true; });
            OP.Subscribe($"{_modulename}.{FlipperMSG.UnClamp}", (cmd, args) => { PostMsg(FlipperMSG.UnClamp); return true; });
            OP.Subscribe($"{_modulename}.{FlipperMSG.Home}", (cmd, args) =>
            {
                CheckToPostMsg(FlipperMSG.Home);
                return true;
            });
            OP.Subscribe($"{_modulename}.{FlipperMSG.Abort}", (cmd, args) => { PostMsg(FlipperMSG.Abort); return true; });
            OP.Subscribe($"{_modulename}.{FlipperMSG.Reset}", (cmd, args) => { PostMsg(FlipperMSG.Reset); return true; });
            OP.Subscribe($"{_modulename}.{FlipperMSG.manualTurn}", (cmd, args) => { PostMsg(FlipperMSG.manualTurn, args); return true; });
            OP.Subscribe($"{_modulename}.{FlipperMSG.manualTurnStop}", (cmd, args) =>
            {
                PostMsg(FlipperMSG.manualTurnStop, args); return true;
            });
            DATA.Subscribe($"{_modulename}.Status", () => ((FlipperState)fsm.State).ToString());
            DATA.Subscribe($"{_modulename}.IsFlipperOrigin", () => IsFlipperOrigin);
            DATA.Subscribe($"{_modulename}.IsFlipperHorizontal", () => IsFlipperHorizontal);
            DATA.Subscribe($"{_modulename}.IsFlipperOverOrigin", () => IsFlipperOverOrigin);
            DATA.Subscribe($"{_modulename}.ClampOpen", () => ClampOpen);
            DATA.Subscribe($"{_modulename}.ClampClose", () => ClampClose);
        }

        //状态迁移表
        private void BuildTransitionTable()
        {
            AnyStateTransition(FlipperMSG.Home, fStartHome, FlipperState.Homing);

            //Home sequence
            Transition(FlipperState.Init, FlipperMSG.Home, fStartHome, FlipperState.Homing);
            Transition(FlipperState.Idle, FlipperMSG.Home, fStartHome, FlipperState.Homing);
            Transition(FlipperState.Homing, FSM_MSG.TIMER, fHomeTimout, FlipperState.Idle);
            Transition(FlipperState.Homing, FlipperMSG.Abort, fReset, FlipperState.Idle);

            //TurnOver sequence
            Transition(FlipperState.Idle, FlipperMSG.TurnOver, fStartTurnOver, FlipperState.Turning);
            Transition(FlipperState.Turning, FSM_MSG.TIMER, fTurnOverTimout, FlipperState.Idle);
            Transition(FlipperState.Turning, FlipperMSG.Abort, fReset, FlipperState.Idle);
            //TurnOver Jog sequence
            Transition(FlipperState.Idle, FlipperMSG.manualTurn, fStartTurnJog, FlipperState.TurnOverJog);
            Transition(FlipperState.TurnOverJog, FSM_MSG.TIMER, fTurnOverJogTimout, FlipperState.TurnOverJog);
            Transition(FlipperState.TurnOverJog, FlipperMSG.manualTurnStop, fStartTurnJogStop, FlipperState.Idle);
            //Transition(FlipperState.Turning, FlipperMSG.Abort, fReset, FlipperState.Idle);

            //Grip sequence
            Transition(FlipperState.Idle, FlipperMSG.Clamp, fStartGrip, FlipperState.Gripping);
            Transition(FlipperState.Gripping, FSM_MSG.TIMER, fGripTimout, FlipperState.Idle);
            Transition(FlipperState.Gripping, FlipperMSG.Abort, fReset, FlipperState.Idle);

            //UnGrip sequence
            Transition(FlipperState.Idle, FlipperMSG.UnClamp, fStartUnGrip, FlipperState.UnGripping);
            Transition(FlipperState.UnGripping, FSM_MSG.TIMER, fUnGripTimout, FlipperState.Idle);
            Transition(FlipperState.UnGripping, FlipperMSG.Abort, fReset, FlipperState.Idle);

            //Transfer
            Transition(FlipperState.Idle, FlipperMSG.PrepareTransfer, fStartUnGrip, FlipperState.StartTransfer);
            Transition(FlipperState.StartTransfer, FSM_MSG.TIMER, fUnGripTimout, FlipperState.TransferState);
            Transition(FlipperState.TransferState, FlipperMSG.EndTransfer, fStartGrip, FlipperState.EndTransfer);
            Transition(FlipperState.EndTransfer, FSM_MSG.TIMER, fGripTimout, FlipperState.Idle);

            //Reset
            Transition(FlipperState.Error, FlipperMSG.Reset, fReset, FlipperState.Idle);
            Transition(FlipperState.Idle, FlipperMSG.Reset, fReset, FlipperState.Idle);

            Running = true;
        }

        private bool fStartGrip(object[] param)
        {
            LOG.Info($"{_modulename.ToString()} start Grip!");
            if (!_flipper.IsBusy)
            {
                return _flipper.Clamp(true);
            }
            else
            {
                // LogObject.Error(_modulename.ToString(), "is busy!");
                return false;
            }
        }

        private bool fStartUnGrip(object[] param)
        {
            LOG.Info($"{_modulename.ToString()} start UnGrip!");
            if (!_flipper.IsBusy)
            {
                return _flipper.Clamp(false);
            }
            else
            {
                //LogObject.Error(_modulename.ToString(), "is busy!");
                return false;
            }
        }

        private bool fGripTimout(object[] param)
        {
            //LogObject.Info(_modulename.ToString(), "Gripping!");
            _flipper.Monitor();
            switch (_flipper.State)
            {
                case FlipperState.Gripping:
                    return false;

                case FlipperState.Idle:
                    return true;

                default:
                    PostMsg(FlipperMSG.Error);
                    return true;
            }
        }

        private bool fUnGripTimout(object[] param)
        {
            //LogObject.Info(_modulename.ToString(), "UnGripping!");
            _flipper.Monitor();
            switch (_flipper.State)
            {
                case FlipperState.UnGripping:
                    return false;

                case FlipperState.Idle:
                    return true;

                default:
                    PostMsg(FlipperMSG.Error);
                    return true;
            }
        }

        private bool fStartTurnJog(object[] param)
        {
            LOG.Info($"{_modulename.ToString()} fStartTurnJog----" + param[0].ToString());
            string NorP = param[0].ToString();

            if (!_flipper.IsBusy)
            {
                return _flipper.TrunOverJog(NorP);
            }
            else
            {
                LOG.Info($"{_modulename.ToString()} is busy!");
                return false;
            }
        }

        private bool fStartTurnJogStop(object[] param)
        {
            string NorP = param[0].ToString();
            return _flipper.TrunOverJogStop(NorP);
        }

        private bool fStartTurnOver(object[] param)
        {
            LOG.Info($"{_modulename.ToString()} Start TurnOver!");
            if (!_flipper.IsBusy)
            {
                return _flipper.TurnOver();
            }
            else
            {
                //LogObject.Error(_modulename.ToString(), "is busy!");
                return false;
            }
        }

        private bool fTurnOverTimout(object[] param)
        {
            //LogObject.Info(_modulename.ToString(), "Turnning Over!");
            _flipper.Monitor();
            switch (_flipper.State)
            {
                case FlipperState.Turning:
                case FlipperState.Homing:
                    return false;

                case FlipperState.Idle:
                    LOG.Info($"{_modulename.ToString()} 已完成旋转");
                    if (Singleton<WaferManager>.Instance.CheckHasWafer(_modulename, 0))
                        Singleton<WaferManager>.Instance.GetWafer(_modulename, 0).IsChecked = true;
                    return true;

                default:
                    PostMsg(FlipperMSG.Error);
                    return true;
            }
        }

        private bool fTurnOverJogTimout(object[] param)
        {
            _flipper.Monitor();
            return true;
        }

        private bool fStartHome(object[] param)
        {
            return flipperhomeroutine.Start(param) == Result.RUN;
        }

        private bool fHomeTimout(object[] param)
        {
            Result state = flipperhomeroutine.Monitor();
            if (state == Result.DONE)
            {
                return true;
            }
            if (state == Result.FAIL || state == Result.TIMEOUT)
            {
                PostMsg(FlipperMSG.Error);
                return true;
            }

            return false;
        }

        private bool fReset(object[] param)
        {
            _flipper.Reset();
            return _flipper.State == FlipperState.Idle;
        }

        public bool Check(int msg, out string reason, params object[] args)
        {
            if (!fsm.FindTransition(fsm.State, msg))
            {
                reason = string.Format("{0} is in {1} state，can not do {2}", (object)_modulename, (object)(FlipperState)fsm.State, (object)(FlipperMSG)msg);
                return false;
            }
            reason = "";
            PostMsg(msg);
            return true;
        }

        public bool CheckToPostMsg(FlipperMSG msg)
        {
            if (!fsm.FindTransition(fsm.State, (int)msg))
            {
                EV.PostMessage("System", EventEnum.DefaultWarning,
                    string.Format("{0} is in {1} state，can not do {2}", _modulename.ToString(), (FlipperState)fsm.State, (FlipperMSG)msg));
                return false;
            }

            PostMsg(msg);

            return true;
        }
    }
}