ZZ-EFEM/Framework/RTEquipmentLibrary/RTEquipmentLibrary/HardwareUnits/Aligners/JelAligner/JelAlignerVacWithOcrCylinder.cs

using System;
using System.Collections.Generic;
using System.IO.Ports;
using System.Linq;
using System.Text;
using Aitex.Core.Common.DeviceData;
using Aitex.Core.RT.Device;
using Aitex.Core.RT.Device.Unit;
using Aitex.Core.RT.Event;
using Aitex.Core.RT.Log;
using Aitex.Core.RT.OperationCenter;
using Aitex.Core.RT.SCCore;
using Aitex.Core.Util;
using MECF.Framework.Common.Communications;
using MECF.Framework.Common.Device.Bases;
using MECF.Framework.RT.EquipmentLibrary.HardwareUnits.Common;
using Newtonsoft.Json;
using MECF.Framework.RT.EquipmentLibrary.HardwareUnits.Robots.RobotBase;
using MECF.Framework.Common.Equipment;
using MECF.Framework.Common.SubstrateTrackings;
using System.Threading;
using Aitex.Core.Common;
using Aitex.Core.RT.DataCenter;
using System.Text.RegularExpressions;
using MECF.Framework.RT.EquipmentLibrary.HardwareUnits.Aligners.AlignersBase;
using MECF.Framework.RT.EquipmentLibrary.HardwareUnits.Robots.JEL;
using MECF.Framework.RT.EquipmentLibrary.HardwareUnits.Robots;

namespace MECF.Framework.RT.EquipmentLibrary.HardwareUnits.Aligners.JelAligner
{
    public class JelAlignerVacWithOcrCylinder : JelAligner, IConnection
    {
        /* SAL3262HV model: for 2-inch to 6-inch wafer
           SAL3362HV model: for 3-inch to 6-inch wafer
           SAL3482HV model: for 4-inch to 8-inch wafer
           SAL38C3HV model: for 8-inch to 12-inch wafer*/
        public JelAlignerVacWithOcrCylinder(string module, string name, string scRoot, IoSensor[] dis, IoTrigger[] dos,WaferSize[] sizes, int alignerType = 0, string robotModel = "") : 
            base(module, name,scRoot,null,null,alignerType,robotModel)
        {
            

            _diWaferPresent = dis[0];
            _diOcrOnWaferSize1 = dis[1];
            _diOcrOnWaferSize2 = dis[2];

            _doOcrToWaferSize1 = dos[0];
            _doOcrToWaferSize2 = dos[1];

            _size1 = sizes[0];
            _size2 = sizes[1];

            DEVICE.Register(String.Format("{0}.{1}", Name, "OcrMoveTo6Inch"), (out string reason, int time, object[] param) =>
            {
                _doOcrToWaferSize1.SetTrigger(true,out _);
                _doOcrToWaferSize2.SetTrigger(false, out _);
                lock (_locker)
                {
                    _lstMonitorHandler.AddLast(new JelAlignerMoveHandler(this, "WAS", "6"));
                    _lstMonitorHandler.AddLast(new JelAlignerMoveHandler(this, "WMC"));
                }

                reason = string.Format("{0} {1}", Name, "MoveTo6Inch");
                return true;
                
            });
            DEVICE.Register(String.Format("{0}.{1}", Name, "OcrMoveTo8Inch"), (out string reason, int time, object[] param) =>
            {
                _doOcrToWaferSize1.SetTrigger(false, out _);
                _doOcrToWaferSize2.SetTrigger(true, out _);

                lock (_locker)
                {
                    _lstMonitorHandler.AddLast(new JelAlignerMoveHandler(this, "WAS", "8"));
                    _lstMonitorHandler.AddLast(new JelAlignerMoveHandler(this, "WMC"));
                }


                reason = string.Format("{0} {1}", Name, "MoveTo8Inch");
                return true;

            });

        }


        private IoSensor _diOcrOnWaferSize1;
        private IoSensor _diOcrOnWaferSize2;

        private IoTrigger _doOcrToWaferSize1;
        private IoTrigger _doOcrToWaferSize2;



        private IoSensor _diWaferPresent;

        private WaferSize _size1;
        private WaferSize _size2;




       







        #region ParseHandler
        

        #endregion



        public override bool IsNeedChangeWaferSize(WaferSize wz)
        {
            if (wz != GetCurrentWaferSize())
                return true;

            if (wz != Size)
                return true;
            return false;

        }
        

        protected override bool fStartInit(object[] param)
        {
            lock (_locker)
            {
                int alignspeed = AlginerSpeedSetPoint * 8191 / 100;
                _lstMoveHandler.AddLast(new JelAlignerMoveHandler(this, "W0"));
                _lstMoveHandler.AddLast(new JelAlignerReadHandler(this, ""));
                _lstMoveHandler.AddLast(new JelAlignerReadHandler(this, "WIS1"));


                //if (SC.ContainsItem($"{_scRoot}.{Name}.JelWaferType"))
                //{
                //    int wafertype = SC.GetValue<int>($"{_scRoot}.{Name}.JelWaferType");
                //    _lstMoveHandler.AddLast(new JelAlignerSetHandler(this, "WAT", wafertype.ToString()));

                //}
                if (WaferManager.Instance.CheckHasWafer(RobotModuleName, 0))
                {

                    string strpara;


                    var currentWafersize = WaferManager.Instance.GetWaferSize(RobotModuleName, 0);



                }
                _lstMoveHandler.AddLast(new JelAlignerMoveHandler(this, "WMC"));
                _lstMoveHandler.AddLast(new JelAlignerReadHandler(this, "WAS"));
            }
            _isAligned = false;
            _isOnHomedPostion = false;
            _dtActionStart = DateTime.Now;
            return true;


        }

        
        public override WaferSize GetCurrentWaferSize()
        {
            if (_diOcrOnWaferSize1.Value && !_diOcrOnWaferSize2.Value &&
                    _doOcrToWaferSize1.Value && !_doOcrToWaferSize2.Value)
                return _size1;
            if (!_diOcrOnWaferSize1.Value && _diOcrOnWaferSize2.Value &&
                !_doOcrToWaferSize1.Value && _doOcrToWaferSize2.Value)
                return _size2;
            return WaferSize.WS0;
        }
        private DateTime _dtActionStart;
        protected override bool fMonitorInit(object[] param)
        {
            _isAligned = false;
            if (DateTime.Now - _dtActionStart > TimeSpan.FromSeconds((double)TimelimitAlginerHome))
                OnError("Init timeout");
            if (_lstMoveHandler.Count == 0
                && !_connection.IsBusy && XAxisStatus == JelAxisStatus.NormalEnd
                && YAxisAndThetaAxisStatus == JelAxisStatus.NormalEnd)
            {
                IsBusy = false;
                _isOnHomedPostion = true;
                if (IsWaferPresent(0) && WaferManager.Instance.CheckNoWafer(RobotModuleName, 0))
                {
                    WaferManager.Instance.CreateWafer(RobotModuleName, 0,
                         WaferStatus.Normal, GetCurrentWaferSize());
                }
                if (!IsWaferPresent(0) && WaferManager.Instance.CheckHasWafer(RobotModuleName, 0))
                {
                    EV.PostAlarmLog("System", $"There's no phisical wafer on {RobotModuleName},but it has wafer information on.");
                    //WaferManager.Instance.DeleteWafer(RobotModuleName, 0);
                }
                return true;
            }
            if (_lstMoveHandler.Count == 0 && !_connection.IsBusy)
                _connection.Execute(new JelAlignerReadHandler(this, ""));
            return false;
        }

        protected override bool fStartHome(object[] param)
        {
            lock (_locker)
            {
                int alignspeed = AlginerSpeedSetPoint * 8191 / 100;
                _lstMoveHandler.AddLast(new JelAlignerMoveHandler(this, "W0"));
                _lstMoveHandler.AddLast(new JelAlignerReadHandler(this, ""));
                _lstMoveHandler.AddLast(new JelAlignerReadHandler(this, "WIS1"));


                if (SC.ContainsItem($"{_scRoot}.{Name}.JelWaferType"))
                {
                    int wafertype = SC.GetValue<int>($"{_scRoot}.{Name}.JelWaferType");
                    _lstMoveHandler.AddLast(new JelAlignerSetHandler(this, "WAT", wafertype.ToString()));

                }
                if (WaferManager.Instance.CheckHasWafer(RobotModuleName, 0))
                {

                    string strpara;


                    var currentWafersize = WaferManager.Instance.GetWaferSize(RobotModuleName, 0);






                    //switch (WaferManager.Instance.GetWaferSize(RobotModuleName, 0))
                    //{
                    //    case WaferSize.WS2:
                    //    case WaferSize.WS3:
                    //    case WaferSize.WS4:
                    //    case WaferSize.WS5:
                    //    case WaferSize.WS6:



                    //    case WaferSize.WS8:
                    //        strpara = _currentSetWaferSize.ToString().Replace("WS", "");
                    //        if (_doOcrTo200 != null && _doOcrTo200.DoTrigger != null)
                    //            _doOcrTo200.SetTrigger(true, out _);
                    //        if (_doOcrTo300 != null && _doOcrTo300.DoTrigger != null)
                    //            _doOcrTo300.SetTrigger(false, out _);
                    //        break;
                    //    case WaferSize.WS12:
                    //        strpara = "9";
                    //        if (_doOcrTo200 != null && _doOcrTo200.DoTrigger != null)
                    //            _doOcrTo200.SetTrigger(false, out _);
                    //        if (_doOcrTo300 != null && _doOcrTo300.DoTrigger != null)
                    //            _doOcrTo300.SetTrigger(true, out _);
                    //        break;
                    //    default:
                    //        return false;
                    //}
                    //_lstMonitorHandler.AddLast(new JelAlignerMoveHandler(this, "WAS", strpara));
                }
                _lstMoveHandler.AddLast(new JelAlignerMoveHandler(this, "WMC"));
                _lstMoveHandler.AddLast(new JelAlignerReadHandler(this, "WAS"));
            }
            _isAligned = false;
            _isOnHomedPostion = false;
            _dtActionStart = DateTime.Now;
            return true;
        }

        protected override bool fMonitorHome(object[] param)
        {
            if (DateTime.Now - _dtActionStart > TimeSpan.FromSeconds((double)TimelimitAlginerHome))
                OnError("Home timeout");
            if (_lstMoveHandler.Count == 0
                && !_connection.IsBusy && XAxisStatus == JelAxisStatus.NormalEnd
                && YAxisAndThetaAxisStatus == JelAxisStatus.NormalEnd)
            {
                IsBusy = false;
                _isOnHomedPostion = true;
                return true;
            }
            if (_lstMoveHandler.Count == 0 && !_connection.IsBusy)
                _connection.Execute(new JelAlignerReadHandler(this, ""));
            return false;
        }


        public override bool IsWaferPresent(int slotindex)
        {
            if (_diWaferPresent != null)
                return _diWaferPresent.Value;
            return WaferManager.Instance.CheckHasWafer(RobotModuleName, slotindex);
        }
        public override bool IsNeedPrepareBeforePlaceWafer()
        {
            return !_isOnHomedPostion;
        }



        protected override bool fStartLiftdown(object[] param)
        {
            _dtActionStart = DateTime.Now;
            lock (_locker)
            {
                _lstMoveHandler.AddLast(new JelAlignerMoveHandler(this, "WD"));
                _lstMoveHandler.AddLast(new JelAlignerReadHandler(this, ""));
            }
            return true;
        }
        protected override bool fMonitorLiftdown(object[] param)
        {
            if (DateTime.Now - _dtActionStart > TimeSpan.FromSeconds(TimelimitForAlignWafer))
                OnError("Aligner lift down timeout");

            if (_lstMoveHandler.Count == 0
                && !_connection.IsBusy && XAxisStatus == JelAxisStatus.NormalEnd
                && YAxisAndThetaAxisStatus == JelAxisStatus.NormalEnd)
            {
                IsBusy = false;
                _isAligned = true;
                _isOnHomedPostion = false;
                return true;
            }
            if (_lstMoveHandler.Count == 0 && !_connection.IsBusy)
                _connection.Execute(new JelAlignerReadHandler(this, ""));
            return false;
        }

       

        protected override bool fStartSetParameters(object[] param)
        {
            _dtActionStart = DateTime.Now;
            _currentSetParameter = param[0].ToString();
            switch (_currentSetParameter)
            {
                case "WaferSize":
                    if (GetWaferState() != RobotArmWaferStateEnum.Absent)
                    {
                        EV.PostAlarmLog("System", "Can't set wafersize when wafer is not absent");
                        return false;
                    }
                    _currentSetWaferSize = (WaferSize)param[1];

                    if (WaferManager.Instance.CheckHasWafer(RobotModuleName, 0))
                    {
                        WaferManager.Instance.UpdateWaferSize(RobotModuleName, 0, _currentSetWaferSize);
                    }
                    string strpara;
                    switch (_currentSetWaferSize)
                    {
                        case WaferSize.WS2:
                        case WaferSize.WS3:
                        case WaferSize.WS4:
                        case WaferSize.WS5:
                        case WaferSize.WS6:
                            strpara = _currentSetWaferSize.ToString().Replace("WS", "");
                            break;

                        case WaferSize.WS8:
                            strpara = _currentSetWaferSize.ToString().Replace("WS", "");                           
                            break;
                        case WaferSize.WS12:
                            strpara = "9";                           
                            break;
                        default:
                            return false;
                    }

                    if(_currentSetWaferSize == _size1)
                    {
                        _doOcrToWaferSize1.SetTrigger(true, out _);
                        _doOcrToWaferSize2.SetTrigger(false, out _);
                    }
                    if (_currentSetWaferSize == _size2)
                    {
                        _doOcrToWaferSize2.SetTrigger(true, out _);
                        _doOcrToWaferSize1.SetTrigger(false, out _);
                    }

                    lock (_locker)
                    {
                        _lstMonitorHandler.AddLast(new JelAlignerMoveHandler(this, "WAS", strpara));
                        _lstMonitorHandler.AddLast(new JelAlignerReadHandler(this, "WAS"));
                        _lstMonitorHandler.AddLast(new JelAlignerMoveHandler(this, "WMC"));
                    }
                    break;
            }
            return true;
        }
        private string _currentSetParameter;
        private WaferSize _currentSetWaferSize = WaferSize.WS0;
        protected override bool fMonitorSetParamter(object[] param)
        {
            IsBusy = false;
            if (DateTime.Now - _dtActionStart > TimeSpan.FromSeconds(TimelimitForAlignWafer))
                OnError("Set parameter timeout");
            switch (_currentSetParameter)
            {
                case "WaferSize":
                    if (_lstMonitorHandler.Count == 0 && _lstMoveHandler.Count == 0 && !_connection.IsBusy)
                    {
                        if (_currentSetWaferSize != Size)
                        {
                            OnError($"Fail to set wafer size,set:{_currentSetWaferSize},return:{Size}");
                        }

                        if(_currentSetWaferSize != GetCurrentWaferSize())
                        {
                            return false;
                        }
                        return true;
                    }
                    break;
            }
            return false;
        }
      

       

       




    }
}