ZZ-EFEM/Jet/Jet_001_2P_Jet/EfemRT/Routines/InitRoutine2Step.cs

using System;
using System.Collections.Generic;
using Aitex.Core.Common;
using Aitex.Core.RT.Device;
using Aitex.Core.RT.Device.Unit;
using Aitex.Core.RT.Event;
using Aitex.Core.RT.Routine;
using Aitex.Core.RT.SCCore;
using Aitex.Core.Util;
using EFEM.RT.Devices;
 

using Aitex.Sorter.Common;

using EFEMSC;
using MECF.Framework.Common.Equipment;
using MECF.Framework.Common.SubstrateTrackings;
using MECF.Framework.RT.EquipmentLibrary.HardwareUnits.LoadPorts;
using MECF.Framework.RT.EquipmentLibrary.HardwareUnits.Robot;
using MECF.Framework.RT.EquipmentLibrary.HardwareUnits.Robots.RobotBase;
using MECF.Framework.RT.EquipmentLibrary.HardwareUnits.LoadPorts.LoadPortBase;

namespace EFEM.RT.Routines
{
    public class InitRoutine2Step : CommonRoutine, IRoutine, IEfemRoutine
    {

        enum Home
        {
            DeviceReset,

            RobotClear,
            RobotInit,
            WaitingRobotInit,

            RobotArmHome,
            WaitingRobotArmHome,

            AxisClearAlarm,
            AxisServon,
            AxisServonDelay,
            AxisSetConfig,
            AxisSetConfigDelay,
            AxisHomeStep1,
            
            RobotHome,
            WaitingRobotHome,
            RobotSet,
            
            AxisHomeStep2,

            AlignClear,
            AlignerInit,
            WaitingAlignerInit,

            AlignerHome,
            WaitingAlignerHome,
            AlignerMoveUp,
            WaitingAlignerUp,
            

            Coolingbuffer1Home,
            Coolingbuffer2Home,


            CloseAtmShutterDoor,
            CloseVtmShutterDoor,
            
            LoadportAClear,
            LoadportAHome,
            WaitingLoadportAHome,

            LoadportBClear,
            LoadportBHome,
            WaitingLoadportBHome,
            
            LoadportCClear,
            LoadportCHome,
            WaitingLoadportCHome,
            
            LoadportDClear,
            LoadportDHome,
            WaitingLoadportDHome,
            
            LoadportEClear,
            LoadportEHome,
            WaitingLoadportEHome,
            
            LoadportFClear,
            LoadportFHome,
            WaitingLoadportFHome,
            
            LoadportGClear,
            LoadportGHome,
            WaitingLoadportGHome,
            
            LoadportHClear,
            LoadportHHome,
            WaitingLoadportHHome,
            
            LoadportIClear,
            LoadportIHome,
            WaitingLoadportIHome,
            
            LoadportJClear,
            LoadportJHome,
            WaitingLoadportJHome
        }

        private SetSpeedRoutine RbSetRoutine = null;
        private bool _scanBuffer = true;
        private SCConfigItem _scRobotHomeTimeout = null;
        private int _timeoutaligner = 0;
        
        private int _timeoutLoadport = 0;
        private int _timeoutBuffer = 0;
        private int _timeoutRobot = 0;
        private int initIndex = 0;
 
        public InitRoutine2Step(string module, string name)
        {
            Module = module;
            Name = name;
            RbSetRoutine = new SetSpeedRoutine(module, name);            
        }


        public bool Initalize()
        {
            RbSetRoutine.Initalize();

            _scRobotHomeTimeout = SC.GetConfigItem(SorterCommon.ScPathName.Robot_TimeLimitRobotHome);
 
            return true;
        }


        public void Terminate()
        {
            RbSetRoutine.Terminate();
        }


        public   Result Start(params object[] objs)
        {
            Name = "Init";
            Reset();

            _timeoutRobot = _scRobotHomeTimeout.IntValue;
            _timeoutaligner = SC.GetValue<int>(ScPathName.Aligner_TimeLimitAlignerHome);
            _timeoutLoadport = SC.GetValue<int>(ScPathName.LoadPort_TimeLimitLoadportHome);
            _timeoutBuffer = SC.GetValue<int>(ScPathName.Coolbuffer_DownTimeout);
            RbSetRoutine.Speed = SC.GetValue<int>(SorterCommon.ScPathName.Robot_RobotSpeed);

            EV.PostMessage(ModuleName.System.ToString(), EventEnum.HomeBegins, ModuleName.System.ToString());


            robot = DEVICE.GetDevice<RobotBaseDevice>(DeviceName.Robot);

            _scanBuffer = true;

            WaferSensorResetCreate();

            initIndex = 0;

            return Result.RUN;
        }


        public Result Monitor()
        {
            try
            {
                DeviceReset((int)Home.DeviceReset, "Device Reset", 1, Notify, Stop);
                if (RobotTypeDefine == "NXC100")
                {
                    // RobotInit((int)Home.RobotInit,robot, "Robot initialize",Notify,Stop);
                    // WaitRobotMotion((int)Home.WaitingRobotInit, robot, "Robot initializing...", _timeoutRobot, Notify, Stop);
                    RobotArmHome((int)Home.RobotArmHome, robot, "Robot arm home", Notify, Stop);
                    WaitRobotMotion((int)Home.WaitingRobotArmHome, robot, "Robot arm homing...", _timeoutRobot, Notify, Stop);
 
                    RobotHome((int)Home.RobotHome, robot, "Robot home", Notify, Stop);
                    WaitRobotMotion((int)Home.WaitingRobotHome, robot, "Robot homing...", _timeoutRobot, Notify, Stop);

                    WaitRobotSet((int)Home.RobotSet, "Robot参数设置", RbSetRoutine, Notify, Stop);
 
                    if (HaveAligner)
                    {
                        AlignerReset((int) Home.AlignClear, aligner, "Aligner reset", _timeoutRobot, Notify, Stop);

                        AlignerInit((int) Home.AlignerInit, aligner, "Aligner initialize", Notify, Stop);
                        WaitAlignerMotion((int) Home.WaitingAlignerInit, aligner, "Aligner initializing...",
                            _timeoutRobot, Notify, Stop);

                        AlignerHome((int) Home.AlignerHome, aligner, "Aligner home", Notify, Stop);
                        WaitAlignerMotion((int) Home.WaitingAlignerHome, aligner, "Aligner homing...", _timeoutaligner,
                            Notify, Stop);
                        if (AlignerNeedMoveUpCommand)
                        {
                            AlignerMoveUp((int) Home.AlignerMoveUp, aligner, "Aligner move up", Notify, Stop);
                            WaitAlignerMotion((int) Home.WaitingAlignerUp, aligner, "Aligner moving up",
                                _timeoutaligner, Notify, Stop);
                        }
                    }
                }
                else
                {
                    RobotReset((int) Home.RobotClear, robot, "Robot reset", _timeoutRobot, Notify, Stop);
                    RobotHome((int) Home.RobotHome, robot, "Robot home", Notify, Stop);
                    WaitRobotMotion((int) Home.WaitingRobotHome, robot, "Robot homing...", _timeoutRobot, Notify, Stop);
                
                    WaitRobotSet((int) Home.RobotSet, "Robot参数设置", RbSetRoutine, Notify, Stop);

                    if (HaveAligner)
                    {
                        AlignerReset((int) Home.AlignClear, aligner, "Aligner reset", _timeoutRobot, Notify, Stop);
                        
                        AlignerInit((int) Home.AlignerInit, aligner, "Aligner initialize", Notify, Stop);
                        WaitAlignerMotion((int) Home.WaitingAlignerInit, aligner, "Aligner initializing...", _timeoutRobot, Notify, Stop);
                        
                        AlignerHome((int) Home.AlignerHome, aligner, "Aligner home", Notify, Stop);
                        WaitAlignerMotion((int) Home.WaitingAlignerHome, aligner, "Aligner homing...", _timeoutaligner, Notify, Stop);
                        if (AlignerNeedMoveUpCommand)
                        {
                            AlignerMoveUp((int) Home.AlignerMoveUp, aligner, "Aligner move up", Notify, Stop);
                            WaitAlignerMotion((int) Home.WaitingAlignerUp, aligner, "Aligner moving up",
                                _timeoutaligner, Notify, Stop);
                        }
                    }
                }


                if (DeviceDefineManager.Instance.GetValue<bool>("CoolingBufferInstalled") ?? false)
                {
                    if (!SC.GetValue<bool>("System.CoolingBuffer1Disable"))
                        CooingbufferHome((int)Home.Coolingbuffer1Home, buffer1, "Cooling buffer1 moving down",
                            _timeoutBuffer, Notify, Stop);
                    if (!SC.GetValue<bool>("System.CoolingBuffer2Disable"))
                        CooingbufferHome((int)Home.Coolingbuffer2Home, buffer1, "Cooling buffer2 moving down",
                            _timeoutBuffer, Notify, Stop);
                }

                if (LoadLockDoorControlByStation)
                {
                    LoadLockCloseAtmDoor((int)Home.CloseAtmShutterDoor, DEVICE.GetDevice<LoadLockDevice>(ModuleName.LL1.ToString()), "Wait Atm Door Close", _timeoutRobot, Notify, Stop);
                    LoadLockCloseVtmDoor((int)Home.CloseVtmShutterDoor, DEVICE.GetDevice<LoadLockDevice>(ModuleName.LL1.ToString()), "Wait Vtm Door Close", _timeoutRobot, Notify, Stop);
                }
                
                if (initIndex < LoadPortQuantity)
                {
                    LoadportReset((int)Home.LoadportAClear+initIndex*3, DEVICE.GetDevice<LoadPortBaseDevice>($"LP{initIndex+1}"), $"LP{initIndex+1} reset", _timeoutRobot, Notify, Stop);
                    LoadportInit((int)Home.LoadportAHome+initIndex*3, DEVICE.GetDevice<LoadPortBaseDevice>($"LP{initIndex+1}"), $"LP{initIndex+1}  home", Notify, Stop);
                    WaitLoadportMotion((int)Home.WaitingLoadportAHome+initIndex*3, DEVICE.GetDevice<LoadPortBaseDevice>($"LP{initIndex+1}"), $"LP{initIndex+1} homing...", _timeoutLoadport, Notify, Stop);
                    initIndex++;
                    return Result.RUN;
                }
                

            }
            catch (RoutineBreakException)
            {
                return Result.RUN;
            }
            catch (RoutineFaildException)
            {
                return Result.FAIL;
            }

            EV.PostMessage(ModuleName.System.ToString(), EventEnum.HomeEnds, ModuleName.System.ToString());


            return Result.DONE;
        }
 

        protected void WaitRobotSet(int id, string name, IRoutine routines, Action<string> notify, Action<string> error)
        {
            Tuple<bool, Result> ret = ExecuteAndWait(id, routines);

            if (ret.Item1)
            {
                if (ret.Item2 == Result.FAIL)
                {
                    error(name);
                    throw (new RoutineFaildException());
                }
                else if (ret.Item2 == Result.RUN)
                {
                    throw (new RoutineBreakException());
                }
            }
        }



        protected void DeviceReset(int id, string name, int time, Action<string> notify, Action<string> error)
        {

            Tuple<bool, Result> ret = Delay(id, () =>
            {
                notify(String.Format("Device reset"));
                Singleton<DeviceEntity>.Instance.PostMsg( DeviceEntity.MSG.RESET);

                return true;
            }, time * 1000);

            if (ret.Item1)
            {
                if (ret.Item2 == Result.RUN)
                {
                    throw (new RoutineBreakException());
                }
            }         
        }


        #region aligner

        public void AlignerReset(int id, Aligner device, string name, int time, Action<string> notify, Action<string> error)
        {
            Tuple<bool, Result> ret = ExecuteAndWait(id, () =>
            {
                notify(String.Format("{0} clear error", device.Name));
                string reason = string.Empty;
                return device.Clear(out reason);
            }, () =>
            {
                if (device.Busy == false)
                {
                    return true;
                }
                return false;

            }, time * 1000);

            if (ret.Item1)
            {
                if (ret.Item2 == Result.FAIL)
                {
                    throw (new RoutineFaildException());
                }
                else if (ret.Item2 == Result.TIMEOUT) //timeout
                {
                    error(String.Format("{0} timeout, than {1} seconds", name, time));
                    throw (new RoutineFaildException());
                }
                else
                    throw (new RoutineBreakException());
            }
        }

        public void AlignerInit(int id, Aligner device, string name, Action<string> notify, Action<string> error)
        {
            Tuple<bool, Result> ret = Execute(id, () =>
            {
                notify(String.Format("{0} Home", device.Name));
                string reason = string.Empty;
                return device.Init(out reason);
            });

            if (ret.Item1)
            {
                if (ret.Item2 == Result.FAIL)
                {
                    throw (new RoutineFaildException());
                }
            }
        }

        public void AlignerHome(int id, Aligner device, string name, Action<string> notify, Action<string> error)
        {
            Tuple<bool, Result> ret = Execute(id, () =>
            {
                notify(String.Format("{0} Home", device.Name));
                string reason = string.Empty;
                return device.Home(out reason);
            });

            if (ret.Item1)
            {
                if (ret.Item2 == Result.FAIL)
                {
                    throw (new RoutineFaildException());
                }
            }
        }

        public void AlignerMoveUp(int id, Aligner device, string name, Action<string> notify, Action<string> error)
        {
            Tuple<bool, Result> ret = Execute(id, () =>
            {
                notify(String.Format("{0} Lift up", device.Name));
                string reason = string.Empty;
                return device.LiftUp(out reason);
            });

            if (ret.Item1)
            {
                if (ret.Item2 == Result.FAIL)
                {
                    throw (new RoutineFaildException());
                }
            }
        }


        #endregion


        #region Loadport

        ///等待 Loadport


        public void QueryLoadportState(int id, LoadPort device, string name, int time, Action<string> notify, Action<string> error)
        {
            Tuple<bool, Result> ret = ExecuteAndWait(id, () =>
            {
                notify(String.Format("{0} query state", device.Name));
                string reason = string.Empty;

                device.QueryState(out reason);
                return true;
            }, () =>
            {
                if (!device.IsBusy)
                {
                    return true;
                }
                return false;

            }, time * 1000);

            if (ret.Item1)
            {
                if (ret.Item2 == Result.FAIL)
                {
                    throw (new RoutineFaildException());
                }
                else if (ret.Item2 == Result.TIMEOUT) //timeout
                {
                    error(String.Format("{0} query timeout, than {1} seconds", name, time));
                    throw (new RoutineFaildException());
                }
                else
                    throw (new RoutineBreakException());
            }
        }

        #endregion

        void WaferSensorResetCreate()
        {
            if(!_scanBuffer) return;
            var sensors = new List<bool>
            {
                DeviceModel.SensorCoolingStageSLOT1WaferON != null ? DeviceModel.SensorCoolingStageSLOT1WaferON.Value : true,
                DeviceModel.SensorCoolingStageSLOT2WaferON != null ? DeviceModel.SensorCoolingStageSLOT2WaferON.Value : true,
                DeviceModel.SensorCoolingStageSLOT3WaferON != null ? DeviceModel.SensorCoolingStageSLOT3WaferON.Value : true,
                DeviceModel.SensorCoolingStageSLOT4WaferON != null ? DeviceModel.SensorCoolingStageSLOT4WaferON.Value : true,
                DeviceModel.SensorCoolingStageSLOT5WaferON != null ? DeviceModel.SensorCoolingStageSLOT5WaferON.Value : true,
                DeviceModel.SensorCoolingStageSLOT6WaferON != null ? DeviceModel.SensorCoolingStageSLOT6WaferON.Value : true,
            };
            var index = 0;
            foreach (var sensor in sensors)
            {
                if (!sensor && WaferManager.Instance.CheckNoWafer(ModuleName.Buffer, index))
                {
                    WaferManager.Instance.CreateWafer(ModuleName.Buffer, index, WaferStatus.Normal);
                }
                else if(sensor && WaferManager.Instance.CheckHasWafer(ModuleName.Buffer,index))
                {
                    WaferManager.Instance.DeleteWafer(ModuleName.Buffer, index);
                }
                index++;
            }
            
            var robotSensors = new List<bool>
            {
                DeviceModel.SensorRBlowerArmhavewafer != null ? DeviceModel.SensorRBlowerArmhavewafer.Value : true,
                DeviceModel.SensorRBupperArmhavewafer != null ? DeviceModel.SensorRBupperArmhavewafer.Value : true,
            };
            index = 0;
            foreach (var sensor in robotSensors)
            {
                if (!sensor && WaferManager.Instance.CheckNoWafer(ModuleName.Robot, index))
                {
                    WaferManager.Instance.CreateWafer(ModuleName.Robot, index, WaferStatus.Normal);
                }
                else if(sensor && WaferManager.Instance.CheckHasWafer(ModuleName.Robot,index))
                {
                    WaferManager.Instance.DeleteWafer(ModuleName.Robot, index);
                }
                index++;
            }

            if (DeviceModel.SensorPreAlignerWaferOn !=null && !DeviceModel.SensorPreAlignerWaferOn.Value && WaferManager.Instance.CheckNoWafer(ModuleName.Aligner, 0))
            {
                WaferManager.Instance.CreateWafer(ModuleName.Aligner, 0, WaferStatus.Normal);
            }
            else
            {
                if(DeviceDefineManager.Instance.GetValue<bool>("AlignerInstalled") ?? false)
                    WaferManager.Instance.DeleteWafer(ModuleName.Aligner, 0);
            }

            _scanBuffer = false;
        }

        public void CooingbufferHome(int id, IoCoolingBuffer device, string name, int time, Action<string> notify, Action<string> error)
        {
            Tuple<bool, Result> ret = ExecuteAndWait(id, () =>
            {
                if (device == null)
                {
                    EV.PostAlarmLog("System", String.Format("{0} Device is Null", name));
                    return false;
                }
                notify(String.Format("{0} clear error", device.Name));
                string reason = string.Empty;
                return device.Home(out reason);
            }, () =>
            {
                if (device.Busy == false)
                {
                    return true;
                }
                return false;

            }, time * 1000);

            if (ret.Item1)
            {
                if (ret.Item2 == Result.FAIL)
                {
                    throw (new RoutineFaildException());
                }
                else if (ret.Item2 == Result.TIMEOUT) //timeout
                {
                    error(String.Format("{0} timeout, than {1} seconds", name, time));
                    throw (new RoutineFaildException());
                }
                else
                    throw (new RoutineBreakException());
            }
        }

        protected override void Notify(string message)
        {
            EV.PostMessage(Module, EventEnum.GeneralInfo, String.Format("Home sequence :{0}", message));
        }

        /// <summary>
        /// prepare process failed
        /// </summary>
        /// <param name="failReason"></param>
        /// <param name="reactor"></param>
        protected override void Stop(string failReason)
        {
            string reason = String.Empty;
            EV.PostMessage(Module, EventEnum.HomeFailed, failReason);
        }
    }
}