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

using System;
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 EFEM.RT.Modules;

using EFEM.RT.Tasks;
using Aitex.Sorter.Common;
using MECF.Framework.Common.Equipment;
using MECF.Framework.Common.SubstrateTrackings;
using MECF.Framework.RT.EquipmentLibrary.HardwareUnits.LoadPorts;
using MECF.Framework.RT.EquipmentLibrary.HardwareUnits.Robots;

namespace EFEM.RT.Routines
{
    public class PickExtendRoutine : CommonRoutine, IRoutine, IEfemPickRoutine
    {
        enum PickEx
        {
            CheckBeforePick,
            GotoReadyPosition,
            WaitReadyPosition,
            PickExWafer,
            WaitExPick,
            PickReWafer,
            WaitRePick,

            CheckAfterPick,
            RobotBladeGrip,
            CheckWaferPrecenseBeforePick,
            CheckWaferPrecenseAfterPick,
            QuerySignalStatusBeforePick,
            QuerySignalStatusAfterPick,

            CheckTriggerSignalOn,
    }

        protected bool MultiWaferSize = DeviceDefineManager.Instance.GetValue<bool>("MultiWaferSize") ?? false;

        private SCConfigItem _scPickTimeout = null;

        private int _timeout = 0;
        private int _axisTimeout = 0;
        private int _axisSpeed = 0;

        public double WaitForPickTime = 0.00;

        public PickExtendRoutine(string module, string name)
        {
            Module = module;
            name = "Pick";
        }

        public bool Initalize()
        {
            _scPickTimeout = SC.GetConfigItem(SorterCommon.ScPathName.Robot_TimeLimitForPickWafer);
            if (HaveMotionAxis)
            {
                _axisTimeout = SC.GetValue<int>("MotionAxis.MoveTimeout");
                _axisSpeed = SC.GetValue<int>("MotionAxis.AutoSpeed");
            }

            return true;
        }

        public ModuleName Source { get; set; }
        public int Slot { get; set; }
        public Hand Blade { get; set; }
        public MpntTaskEnum TaskEnum { get; set; }
        
        private LoadPort _lpDevice;

        public Result Start(params object[] objs)
        {
            Reset();
            _timeout = _scPickTimeout.IntValue;
            Name = "Pick";
            Reset();

            EV.PostMessage(ModuleName.System.ToString(), EventEnum.PickingWaferFromChamberBegins, string.Format("{0}{1:D2} by {2}", Source.ToString(), Slot + 1, Blade.ToString()));

            if (!ModuleHelper.IsLoadLock(Source) || TaskEnum == MpntTaskEnum.ParamNg)
                return Result.FAIL;

            return Result.RUN;
        }


        public Result Monitor()
        {
            try
            {
                switch (TaskEnum)
                {   
                    case MpntTaskEnum.G1:
                        CheckBeforePick((int)PickEx.CheckBeforePick, "Check wafer information", Source, Slot, Blade, Notify, Stop);
                        RobotGoto((int)PickEx.PickExWafer, "Extend to LoadingPosition", Source, Slot, Blade, RobotPostionEnum.PickExtend, Notify, Stop);
                        this.WaitRobotMotion((int)PickEx.WaitReadyPosition, robot, "Wait picked", _timeout, Notify, Stop);
                        break;
                    case MpntTaskEnum.GB:
                        //RobotSignalStatus((int)Pick.QuerySignalStatusBeforePick, robot, _timeout);
                        CheckBladeWaferIsExist((int)PickEx.CheckWaferPrecenseBeforePick, robot, Blade, _timeout);
                        //CheckTriggerSignalOn((int)PickEx.CheckTriggerSignalOn, "Check Trigger Signal On", Source, _timeout);
                        CheckBeforePick((int)PickEx.CheckBeforePick, "Check wafer information", Source, Slot, Blade, Notify, Stop);
                        RobotGoto((int)PickEx.PickExWafer, "Extend to LoadingPosition", Source, Slot, Blade, RobotPostionEnum.PickExtend, Notify, Stop);
                        this.WaitRobotMotion((int)PickEx.WaitReadyPosition, robot, "Wait picked", _timeout, Notify, Stop);
                        break;
                    case MpntTaskEnum.G4:
                        if (NeedRobotGripAndUngrip)
                            GripRobotBlade((int)PickEx.RobotBladeGrip, Blade, robot, _timeout);
                        RobotGoto((int)PickEx.PickReWafer, "Retract from LoadingPosition", Source, Slot, Blade, RobotPostionEnum.PickRetracted, Notify, Stop);
                        this.WaitRobotMotion((int)PickEx.WaitRePick, robot, "Wait picked", _timeout, Notify, Stop);
                        CheckBladeWaferIsExist((int)PickEx.CheckWaferPrecenseAfterPick, robot, Blade, _timeout);
                        //RobotSignalStatus((int)Pick.QuerySignalStatusAfterPick, robot, _timeout);
                        CheckAfterPick((int)PickEx.CheckAfterPick, "Check wafer information", Source, Slot, Blade, Notify, Stop);
                        break;
                    default:
                        throw new RoutineFaildException();
                }
                
            }
            catch (RoutineBreakException)
            {
                return Result.RUN;
            }
            catch (RoutineFaildException)
            {
                return Result.FAIL;
            }

            EV.PostMessage(ModuleName.System.ToString(), EventEnum.PickingWaferFromChamberEnds, string.Format("{0}{1:D2} by {2}.", Source.ToString(), Slot + 1, Blade.ToString()));

            return Result.DONE;
        }

        public void CheckBeforePick(int id, string name, ModuleName chamber, int slot, Hand blade, Action<string> notify, Action<string> error)
        {
            Tuple<bool, Result> ret = Execute(id, () =>
            {
                notify(name);
                string reason = string.Empty;

                if (!CheckRobotMotionInterlock(chamber, slot, out reason))
                {
                    EV.PostMessage(ModuleName.System.ToString(), EventEnum.TransferPrepareFailed, String.Format("target {0}{1:D2},{2}", chamber.ToString(), slot + 1, reason));
                    return false;
                }

                notify(String.Format("Check {0}{1:D2} wafer information", chamber.ToString(), slot));

                if (blade == Hand.Blade1)
                {
                    if (ModuleHelper.IsLoadLock(chamber) && Singleton<EfemEntity>.Instance.IsOnlineMode)
                    {
                        //online mode, CreateWafer in LoadLock
                        //WaferManager.Instance.CreateWafer(chamber, slot, WaferStatus.Normal);
                    }
                    else
                    {
                        bool bHasWafer = WaferManager.Instance.CheckWafer(chamber, slot, WaferStatus.Normal);
                        if (!bHasWafer)
                        {
                            EV.PostMessage(ModuleName.System.ToString(), EventEnum.WaferAbsentWithoutRecord, String.Format("target {0}{1:D2}", chamber.ToString(), slot + 1));
                            return false;
                        }
                    }

                    bool bNoWafer = WaferManager.Instance.CheckWafer(ModuleName.Robot, 0, WaferStatus.Empty);
                    if (!bNoWafer)
                    {
                        EV.PostMessage(ModuleName.System.ToString(), EventEnum.WaferDetectedBeforePick);
                        return false;
                    }

                    bNoWafer = CheckSensorNoWafer(ModuleName.Robot, 0);  //check sensor
                    if (!bNoWafer)
                    {
                        EV.PostMessage(ModuleName.System.ToString(), EventEnum.WaferDetectedBeforePick);
                        return false;
                    }

                    if (ModuleHelper.IsBuffer(chamber))
                    {
                        bool bHasWafer = CheckSeneorHasWafer(chamber, slot);  //check sensor
                        if (!bHasWafer)
                        {
                            EV.PostWarningLog(chamber.ToString(), "Can not pick wafer from buffer, Buffer slot has no wafer.");
                            return false;
                        }
                    }
                }
                else if (blade == Hand.Blade2)
                {
                    bool bHasWafer = true;
                    for (int i = 0; i < robot.Blade2Slots; i++)
                    {
                        if (ModuleHelper.IsLoadLock(chamber) && Singleton<EfemEntity>.Instance.IsOnlineMode)
                        {
                            //online mode, CreateWafer in LoadLock
                            //WaferManager.Instance.CreateWafer(chamber, slot, WaferStatus.Normal);
                        }
                        else
                            bHasWafer = WaferManager.Instance.CheckWafer(chamber, slot + i, WaferStatus.Normal);


                        bool bNoWafer = WaferManager.Instance.CheckWafer(ModuleName.Robot, (int)blade + i, WaferStatus.Empty);
                        if (!bNoWafer)
                        {
                            EV.PostMessage(ModuleName.System.ToString(), EventEnum.WaferDetectedBeforePick);
                            return false;
                        }

                        bNoWafer = CheckSensorNoWafer(ModuleName.Robot, (int)blade + i);  //check sensor
                        if (!bNoWafer)
                        {
                            EV.PostMessage(ModuleName.System.ToString(), EventEnum.WaferDetectedBeforePick);
                            return false;
                        }

                        if (ModuleHelper.IsBuffer(chamber))
                        {
                            bHasWafer = CheckSeneorHasWafer(chamber, slot + i);  //check sensor
                            if (!bHasWafer)
                            {
                                EV.PostWarningLog(chamber.ToString(), "Can not pick wafer from buffer, Buffer slot has no wafer.");
                                return false;
                            }
                        }
                    }

                    if (!bHasWafer)
                    {
                        EV.PostMessage(ModuleName.System.ToString(), EventEnum.WaferAbsentWithoutRecord, String.Format("target {0}{1:D2}", chamber.ToString(), slot + 1));
                        return false;
                    }
                }
                else
                {
                    bool bHasWafer = true;
                    for (int i = 0; i < robot.Blade2Slots + 1; i++)
                    {
                        if (ModuleHelper.IsLoadLock(chamber) && Singleton<EfemEntity>.Instance.IsOnlineMode)
                        {
                            //online mode, CreateWafer in LoadLock
                            WaferManager.Instance.CreateWafer(chamber, slot, WaferStatus.Normal);
                        }
                        else
                            bHasWafer = WaferManager.Instance.CheckWafer(chamber, slot, WaferStatus.Normal);


                        bool bNoWafer = WaferManager.Instance.CheckWafer(ModuleName.Robot, (int)Hand.Blade1 + i, WaferStatus.Empty);
                        if (!bNoWafer)
                        {
                            EV.PostMessage(ModuleName.System.ToString(), EventEnum.WaferDetectedBeforePick);
                            return false;
                        }
                        bNoWafer = CheckSensorNoWafer(ModuleName.Robot, (int)Hand.Blade1 + i);  //check sensor
                        if (!bNoWafer)
                        {
                            EV.PostMessage(ModuleName.System.ToString(), EventEnum.WaferDetectedBeforePick);
                            return false;
                        }

                        if (ModuleHelper.IsBuffer(chamber) && blade == Hand.Both)
                        {
                            bHasWafer &= CheckSeneorHasWafer(chamber, slot + i);  //check sensor
                            if (!bHasWafer)
                            {
                                EV.PostWarningLog(chamber.ToString(), "Can not pick wafer from buffer, Buffer slot has no wafer.");
                                return false;
                            }
                        }
                    }

                    if (!bHasWafer)
                    {
                        EV.PostMessage(ModuleName.System.ToString(), EventEnum.WaferAbsentWithoutRecord, String.Format("target {0}{1:D2}", chamber.ToString(), slot));
                        return false;
                    }
                }



                if (ModuleHelper.IsCoolingBuffer(chamber))
                {
                        IoCoolingBuffer buffer = DEVICE.GetDevice<IoCoolingBuffer>(chamber.ToString());

                        if (!buffer.CheckPinUp())
                        {
                            EV.PostWarningLog(chamber.ToString(), "Can not pick wafer from buffer, buffer isn't pick position.");
                            return false;
                        }
                }


                return true;
            });

            if (ret.Item1)
            {
                if (ret.Item2 == Result.FAIL)
                {
                    error(String.Format("Failed to check wafer information."));
                    throw (new RoutineFaildException());
                }
            }
        }

        
        protected void PickReadyPosition(int id, string name, ModuleName chamber, int slot, Hand blade, Action<string> notify, Action<string> error)
        {
            var reason = string.Empty;
            var ret = Execute(id, () =>
            {
                notify($"Robot go to {chamber.ToString()} ready position");                
                return robot.GoTo((RobotArmEnum)(int)blade, chamber.ToString(), slot, RobotPostionEnum.PickReady);
            });

            if (ret.Item1)
                if (ret.Item2 == Result.FAIL)
                {
                    error(reason);
                    throw new RoutineFaildException();
                }
        }
        
        protected void PickExWafer(int id, string name, ModuleName chamber, int slot, Hand blade, Action<string> notify, Action<string> error)
        {
            var reason = string.Empty;
            var ret = Execute(id, () =>
            {
                notify(string.Format("pick extend to {0}", chamber.ToString()));

                return true;//robot.PickExtend(chamber, slot, blade, out reason);
            });

            if (ret.Item1)
                if (ret.Item2 == Result.FAIL)
                {
                    error(reason);
                    throw new RoutineFaildException();
                }
        }
        
        protected void PickReWafer(int id, string name, ModuleName chamber, int slot, Hand blade, Action<string> notify, Action<string> error)
        {
            var reason = string.Empty;
            var ret = Execute(id, () =>
            {
                notify(string.Format("pick retract from {0}", chamber.ToString()));

                return true;//robot.PickRetract(chamber, slot, blade, out reason);
            });

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

        public void CheckAfterPick(int id, string name, ModuleName chamber, int slot, Hand blade, Action<string> notify, Action<string> error)
        {
            Tuple<bool, Result> ret = Execute(id, () =>
            {
                notify(name);
               
                if (blade == Hand.Blade1)
                {

                    bool bHasWafer = CheckSeneorHasWafer(ModuleName.Robot, (int)blade);

                    if (!bHasWafer)
                    {
                        EV.PostMessage(ModuleName.System.ToString(), EventEnum.WaferNotDetectedAfterPick);
                        return false;
                    }
                }
                else if (blade == Hand.Blade2)
                {

                    for (int i = 0; i < robot.Blade2Slots; i++)
                    {
                        bool bHasWafer = CheckSeneorHasWafer(ModuleName.Robot, (int)Hand.Blade2 + i);
                        if (!bHasWafer)
                        {
                            EV.PostMessage(ModuleName.System.ToString(), EventEnum.WaferNotDetectedAfterPick);
                            return false;
                        }
                    }
                }
                else
                {
                    for (int i = 0; i < robot.Blade2Slots + 1; i++)
                    {
                        bool bHasWafer = CheckSeneorHasWafer(ModuleName.Robot, (int)Hand.Blade1 + i);
                        if (!bHasWafer)
                        {
                            EV.PostMessage(ModuleName.System.ToString(), EventEnum.WaferNotDetectedAfterPick);
                            return false;
                        }

                    }
                }

                return true;
            });

            if (ret.Item1)
            {
                if (ret.Item2 == Result.FAIL)
                {
                    error(String.Format("Failed to check wafer information."));
                    throw (new RoutineFaildException());
                }
            }
        }


    }
}