ZZ-EFEM/Jet/Jet_001_2P_Jet/EfemRT/Routines/InitRoutine.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;
using Aitex.Core.RT.Log;

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

        enum Home
        {
            DeviceReset,

            FfuStart1,
            FfuStart2,




            RobotClear,
            RobotInit,
            WaitingRobotInit,

            RobotHome,
            WaitingRobotHome,
            RobotSet,

            AlignClear,
            AlignerInit,
            WaitingAlignerInit,

            AlignerHome,
            WaitingAlignerHome,
            AlignerMoveUp,
            WaitingAlignerUp,


            Coolingbuffer1Home,
            Coolingbuffer2Home,
            Aligner1Home,
            Aligner2Home,


            AxisClearAlarm,
            AxisServon,
            AxisServonDelay,
            AxisSetConfig,
            AxisSetConfigDelay,
            AxisHome,

            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,

            LoadportAllReset,
            LoadportAllInit,
            RobotBlade1Grip,
            RobotBlade1ConfirmWafer,
            RobotBlade1Release,

            CheckWaferPrecense,
            CheckBlade1WaferPrecense,
            CheckBlade1WaferPrecenseWait,
            CheckBlade2WaferPrecense,
            CheckBlade2WaferPrecenseWait,

            RobotBlade2Grip,
            RobotBlade2ConfirmWafer,
            RobotBlade2Release,
            QuerySignalStatus,
            RobotBlade1Hold,
            RobotBlade2Hold
        }

        private SetSpeedRoutine RbSetRoutine = null;
        private bool _scanBuffer = true;
        private SCConfigItem _scRobotHomeTimeout = null;
        private int _scFfuSpeed;
 
        private int _timeoutRobot = 0;
 
        private int _timeoutBuffer = 0;

        public InitRoutine(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);
            IsStopped = true;
            return true;
        }


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


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

            _timeoutRobot = _scRobotHomeTimeout.IntValue;
 
            _timeoutBuffer = SC.GetValue<int>(ScPathName.Coolbuffer_DownTimeout);

            RbSetRoutine.Speed = SC.GetValue<int>(SorterCommon.ScPathName.Robot_RobotSpeed);
            if (DeviceDefineManager.Instance.GetValue<bool>("FfuMemoBusControl") ?? false)
            {
                _scFfuSpeed = SC.GetValue<int>("System.FFUSetSpeed");
            }

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


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

            _scanBuffer = true;

            WaferSensorResetCreate();
 
            IsStopped = false;
            return Result.RUN;
        }


        public Result Monitor()
        {   
            if (IsStopped) 
                return Result.DONE;
            try
            {
                DeviceReset((int)Home.DeviceReset, "Device Reset", 1, Notify, Stop);

                if (DeviceDefineManager.Instance.GetValue<bool>("FfuMemoBusControl") ?? false)
                {
                    FfuSpeedSet((int)Home.FfuStart1, "FFU1", _scFfuSpeed, _timeoutRobot, Notify, Stop);
                    FfuSpeedSet((int)Home.FfuStart2, "FFU2", _scFfuSpeed, _timeoutRobot, Notify, Stop);
                }

                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);

                //GripRobotBlade((int)Home.RobotBlade1Hold, Hand.Blade1, robot, _timeoutRobot);
                //GripRobotBlade((int)Home.RobotBlade2Hold, Hand.Blade2, robot, _timeoutRobot);
                CheckBladeWaferIsExist((int)Home.CheckBlade1WaferPrecense, robot, Hand.Blade1, _timeoutRobot);

                WaitRobotMotion((int)Home.CheckBlade1WaferPrecenseWait, robot, "wait check blade1", _timeoutRobot, Notify, Stop);

                CheckBladeWaferIsExist((int)Home.CheckBlade2WaferPrecense, robot, Hand.Blade2, _timeoutRobot);
                WaitRobotMotion((int)Home.CheckBlade2WaferPrecenseWait, robot, "wait check blade2", _timeoutRobot, Notify, Stop);
                
                ConfirmRobotBladeWafer((int)Home.RobotBlade1ConfirmWafer, Hand.Blade1);
                ConfirmRobotBladeWafer((int)Home.RobotBlade2ConfirmWafer, Hand.Blade2);
               // if (NeedRobotGripAndUngrip)
                {
                    HomeGripAndUngripRobotBlade((int)Home.RobotBlade1Grip, Hand.Blade1, robot, _timeoutRobot);
                    HomeGripAndUngripRobotBlade((int)Home.RobotBlade2Grip, Hand.Blade2, robot, _timeoutRobot);
                }

                
                // //CheckRobotBladeWaferPrecense((int)Home.CheckWaferPrecense, robot, _timeoutRobot);
                //// RobotSignalStatus((int)Home.QuerySignalStatus, robot, _timeoutRobot);



              
                //HomeReleaseRobotBlade((int)Home.RobotBlade1Release, Hand.Blade1, robot, _timeoutRobot);
                //HomeReleaseRobotBlade((int)Home.RobotBlade2Release, Hand.Blade2, robot, _timeoutRobot);



                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, buffer2, "Cooling buffer2 moving down",
                            _timeoutBuffer, Notify, Stop);
                    if (!SC.GetValue<bool>("System.Aligner1Disable"))
                        CooingbufferHome((int)Home.Aligner1Home, aligner1, "Aligner1 moving down",
                            _timeoutBuffer, Notify, Stop);
                    if (!SC.GetValue<bool>("System.Aligner2Disable"))
                        CooingbufferHome((int)Home.Aligner2Home, aligner2, "Aligner2 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);
                //    initIndex++;
                //    return Result.RUN;
                //}
                
                LoadportAllReset((int)Home.LoadportAllReset, _timeoutRobot);

                LoadportAllInit((int)Home.LoadportAllInit, _timeoutRobot);

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

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

            IsStopped = true;
      
            return Result.DONE;
        }

        public void FfuSpeedSet(int id, string name, int speed, int time, Action<string> notify, Action<string> error)
        {
            Tuple<bool, Result> ret = ExecuteAndWait(id, () =>
            {
                var device = DEVICE.GetDevice<Ffu>(name);
                notify($"{device.Name} start and set speed");
                string reason = string.Empty;
                device.StartAndSetSpeed(speed);
                return true;
            }, () =>
            {
                var device = DEVICE.GetDevice<Ffu>(name);
                switch (device.Name)
                {
                    case "FFU1":
                        if (Ffu.SpeedSet1)
                        {
                            notify($"{device.Name} is running");
                            return true;
                        }
                        break;
                    case "FFU2":
                        if (Ffu.SpeedSet2)
                        {
                            notify($"{device.Name} is running");
                            return true;
                        }
                        break;
                }

                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 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.CoolingBuffer1, index))
            //    {
            //        WaferManager.Instance.CreateWafer(ModuleName.CoolingBuffer1, index, WaferStatus.Normal);
            //    }
            //    else if (sensor && WaferManager.Instance.CheckHasWafer(ModuleName.CoolingBuffer1, index))
            //    {
            //        WaferManager.Instance.DeleteWafer(ModuleName.CoolingBuffer1, index);
            //    }
            //    if (!sensor && WaferManager.Instance.CheckNoWafer(ModuleName.CoolingBuffer2, index))
            //    {
            //        WaferManager.Instance.CreateWafer(ModuleName.CoolingBuffer2, index, WaferStatus.Normal);
            //    }
            //    else if (sensor && WaferManager.Instance.CheckHasWafer(ModuleName.CoolingBuffer2, index))
            //    {
            //        WaferManager.Instance.DeleteWafer(ModuleName.CoolingBuffer2, 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);
            }

            //var loadLockQuantity = DeviceDefineManager.Instance.GetValue<int>("LoadLockQuantity") ?? 0;
            //if (loadLockQuantity > 0 && Singleton<EfemEntity>.Instance.IsOnlineMode)
            //{
            //    for (int i = 1; i <= loadLockQuantity; i++)
            //    {
            //        var moduleName = ModuleHelper.Converter($"LL{i}");
            //        if (WaferManager.Instance.CheckHasWafer(moduleName, 0))
            //        {
            //            WaferManager.Instance.DeleteWafer(moduleName, 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 (SC.GetValue<bool>($"System.{device.Name}Disable"))
                {
                    EV.PostInfoLog("System", String.Format("{0} is Disable", device.Name));
                    return true;
                }
                notify(String.Format("{0} {1}", device.Name, name));
                string reason = string.Empty;
                return device.Home(out reason);
            }, () =>
            {
               
                if (SC.GetValue<bool>($"System.{device.Name}Disable"))
                {
                    //EV.PostInfoLog("System", String.Format("{0} is Disable", device.Name));
                    return true;
                }
                if (device.Error == true)
                {
                    return null;
                }
 
                return device.CheckMovedDown() && !device.Busy;

            }, 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);
        }
    }
}