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

using System;
using Aitex.Core.Common;
using Aitex.Core.RT.Device;
using Aitex.Core.RT.Event;
using Aitex.Core.RT.Routine;
using Aitex.Core.RT.SCCore;
using EFEM.RT.Modules;
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 SwapRoutine : CommonRoutine, IRoutine
    {
        enum Swap
        {
            QueryState,
            CheckBeforeSwap,
            SwapWafer,
            WaitSwap,

            PickWafer,
            WaitPick,
            PlaceWafer,
            WaitPlace,

            CheckAfterSwap,
            CoolBufferMoveUP,
            WaitCoolBufferMoveUP,
            CoolBufferMoveDown,
            PostMessage,

            RobotBusytoSimifOn,
            RobotBusytoSimifOff,
            CheckBlade1WaferPrecense,
            CheckBlade2WaferPrecense,
            CheckBlade1WaferPrecenseAfterSwap,
            CheckBlade2WaferPrecenseAfterSwap,
            QuerySignalStatus,
            WaitCoolBufferMoveDown,
            PinDown

        }

        private SCConfigItem _scSwapTimeout = null;
        private int _timeout = 0;

        public SwapRoutine(string module, string name)
        {
            Module = module;
            Name = name;
            _scSwapTimeout = SC.GetConfigItem(SorterCommon.ScPathName.Robot_TimeLimitForPlaceWafer);
        }

        public bool Initalize()
        {
            IsStopped = true;

            return true;
        }

        public ModuleName Source { get; set; }
        public int Slot { get; set; }
        public Hand PlaceBlade { get; set; }

        public LoadPort _lpDevice;

        private int _offsetXPick;
        private int _offsetYPick;
        private int _offsetZPick;

        private int _offsetXPlace;
        private int _offsetYPlace;
        private int _offsetZPLace;

        private Hand _pickHand;
        private int _alignerdelay = 0;
        private int _coolingdelay = 0;
        private int delaytime = 0;
        public Result Start(params object[] objs)
        {
            IsStopped = false;
            Reset();
            _timeout = robot.RobotCommandTimeout; ;

            
            Reset();

            EV.PostMessage(ModuleName.System.ToString(), EventEnum.GeneralInfo, string.Format("swap wafer {0}{1:D2} place blade {2} start", Source.ToString(), Slot + 1, PlaceBlade.ToString()));

            if (ModuleHelper.IsCoolingBuffer(Source))
                delaytime = _coolingdelay * 1000;
            else delaytime = _alignerdelay * 1000;

            _pickHand = Hand.Blade1;
            if (PlaceBlade == Hand.Blade1)
                _pickHand = Hand.Blade2;

            return Result.RUN;
        }


        public Result Monitor()
        {
            try
            {
                if (IsStopped) return Result.DONE;             

                if (ModuleHelper.IsCoolingBuffer(Source) || ModuleHelper.IsAligner(Source))
                {
                    //QueryCoolBufferState((int)Pick.QueryState, GetCoolBuffer(Source));
                    CoolBufferMoveUP((int)Swap.CoolBufferMoveUP, GetCoolBuffer(Source), WaferManager.Instance.GetWaferSize(Source, Slot), _timeout, Notify, Stop);
                    WaitCoolBufferMoveUp((int)Swap.WaitCoolBufferMoveUP, GetCoolBuffer(Source), "Wait CoolingBuffer Move Up...", _timeout, Notify, Stop);
                }
                //if (ModuleHelper.IsLoadLock(Source))
                //{
                //    if (Source.Equals("LL1")) ll1.SafeytoPm(true);
                //    else if (Source.Equals("LL2")) ll2.SafeytoPm(true);
                //}
                //RobotSignalStatus((int)Swap.QuerySignalStatus, robot, _timeout);
                CheckBladeWaferIsExist((int)Swap.CheckBlade1WaferPrecense, robot, Hand.Blade1, _timeout);
                CheckBladeWaferIsExist((int)Swap.CheckBlade2WaferPrecense, robot, Hand.Blade2, _timeout);
                CheckBeforeSwap((int)Swap.CheckBeforeSwap, "Check wafer information", Source, Slot, _pickHand, Notify, Stop);

                //if (ModuleHelper.IsLoadPort(Source))
                //{
                //    RobotBusytoSimif((int)Swap.RobotBusytoSimifOn, Source, true, _timeout, Notify, Stop);
                //}

                //if (OffsetX == 0 && OffsetY == 0 && OffsetZ == 0)
                //{
                //    PickWafer((int)Swap.PickWafer, "Pick wafer", Source, Slot, _pickHand, _offsetXPick, _offsetYPick, _offsetZPick, Notify, Stop);
                //    this.WaitRobotMotion((int)Swap.WaitPick, robot, "Wait picked", _timeout, Notify, Stop);

                //    PlaceWafer((int)Swap.PlaceWafer, "Place wafer", Source, Slot, PlaceBlade, _offsetXPlace, _offsetYPlace, _offsetZPLace, Notify, Stop);
                //    this.WaitRobotMotion((int)Swap.WaitPlace, robot, "Wait Placed", _timeout, Notify, Stop);
                //}
                //else
                //{
                if (!ModuleHelper.IsLoadLock(Source))
                {
                    if (ModuleHelper.IsCoolingBuffer(Source) || ModuleHelper.IsAligner(Source))
                    {
                        SwapWafer((int)Swap.SwapWafer, "Swap wafer", Source, Slot, _pickHand, OffsetX, OffsetY, OffsetZ, Notify, Stop);
                    }
                    else
                    {
                        PickWafer((int)Swap.PickWafer, "Pick wafer", Source, Slot, _pickHand, _offsetXPick, _offsetYPick, _offsetZPick, Notify, Stop);
                        this.WaitRobotMotion((int)Swap.WaitPick, robot, "Wait picked", _timeout, Notify, Stop);

                        PlaceWafer((int)Swap.PlaceWafer, "Place wafer", Source, Slot, PlaceBlade, _offsetXPlace, _offsetYPlace, _offsetZPLace, Notify, Stop);
                        this.WaitRobotMotion((int)Swap.WaitPlace, robot, "Wait Placed", _timeout, Notify, Stop);
                    }
                }

                //}


                this.WaitRobotMotion((int)Swap.WaitSwap, robot, "Wait swap finish", _timeout, Notify, Stop);
                
                //if (ModuleHelper.IsLoadPort(Source))
                //{
                //    RobotBusytoSimif((int)Swap.RobotBusytoSimifOn, Source, true, _timeout, Notify, Stop);
                //}
                if (ModuleHelper.IsCoolingBuffer(Source) || ModuleHelper.IsAligner(Source))
                {
                    TimeDelay((int)Swap.PinDown, delaytime);
                    CoolBufferMoveDown((int)Swap.CoolBufferMoveDown, GetCoolBuffer(Source), WaferManager.Instance.GetWaferSize(Source, Slot), _timeout, Notify, Stop);
                    WaitCoolBufferMoveDown((int)Swap.WaitCoolBufferMoveDown, GetCoolBuffer(Source), "Wait CoolingBuffer Move Down...", _timeout, Notify, Stop);
                }
                PostMessage((int)Swap.PostMessage, string.Format("Swap wafer {0}{1:D2} place blade {2}", Source.ToString(), Slot + 1, PlaceBlade.ToString()));
                CheckBladeWaferIsExist((int)Swap.CheckBlade1WaferPrecenseAfterSwap, robot, Hand.Blade1, _timeout);
                CheckBladeWaferIsExist((int)Swap.CheckBlade2WaferPrecenseAfterSwap, robot, Hand.Blade2, _timeout);
                CheckAfterSwap((int)Swap.CheckAfterSwap, "Check wafer information after swap", Source, Slot, PlaceBlade, Notify, Stop);
            }
            catch (RoutineBreakException)
            {
                return Result.RUN;
            }
            catch (RoutineFaildException)
            {
                IsStopped = true;
                return Result.FAIL;
            }
            IsStopped = true;
            return Result.DONE;
        }

        

        protected override void Notify(string message)
        {
            EV.PostMessage(Module, EventEnum.GeneralInfo, String.Format("Swap wafer:{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(ModuleName.System.ToString(), EventEnum.GeneralInfo, string.Format("Swap wafer {0}{1:D2} with arm {2} failed, {3}", Source.ToString(), Slot + 1, PlaceBlade.ToString(), failReason));
        }

        private void SwapWafer(int id, string name, ModuleName chamber, int slot, Hand blade, int x, int y, int z,
            Action<string> notify, Action<string> error)
        {
            Tuple<bool, Result> ret = Execute(id, () =>
            {
                notify(String.Format("Swap wafer {0}{1:D2}", chamber.ToString(), slot));
                string reason = string.Empty;

                if (x == 0 && y == 0 && z == 0)
                    return robot.Swap((RobotArmEnum)blade,chamber.ToString(), slot);
                return robot.SwapEx((RobotArmEnum)blade, chamber.ToString(), slot, x, y, z,0);
            });

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



        public void CheckBeforeSwap(int id, string name, ModuleName chamber, int slot, Hand blade, Action<string> notify, Action<string> error)
        {
            Tuple<bool, Result> ret = Execute(id, () =>
            {
                notify(String.Format("Check target {0}{1:D2} wafer information", chamber.ToString(), slot));

                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;
                }


                if (blade == Hand.Blade1)
                {
                    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;
                    }

                    bHasWafer = WaferManager.Instance.CheckWafer(ModuleName.Robot, (int)Hand.Blade1, WaferStatus.Normal);
                    if (bHasWafer)
                    {
                        EV.PostMessage(ModuleName.System.ToString(), EventEnum.WaferNotDetectedBeforeSend);
                        return false;
                    }

                    bHasWafer = CheckSeneorHasWafer(ModuleName.Robot, (int)Hand.Blade1);  //check sensor
                    if (bHasWafer)
                    {
                        EV.PostMessage(ModuleName.System.ToString(), EventEnum.WaferNotDetectedBeforeSend);
                        return false;
                    }

                    bool bNoWafer = WaferManager.Instance.CheckWafer(ModuleName.Robot, (int)Hand.Blade2, WaferStatus.Normal);
                    if (!bNoWafer)
                    {
                        EV.PostMessage(ModuleName.System.ToString(), EventEnum.WaferDetectedBeforePick);
                        return false;
                    }

                    bNoWafer = CheckSensorNoWafer(ModuleName.Robot, (int)Hand.Blade2);  //check sensor
                    if (bNoWafer)
                    {
                        EV.PostMessage(ModuleName.System.ToString(), EventEnum.WaferDetectedBeforePick);
                        return false;
                    }
                }
                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;
                    }

                    bHasWafer = WaferManager.Instance.CheckWafer(ModuleName.Robot, (int)Hand.Blade2, WaferStatus.Normal);
                    if (bHasWafer)
                    {
                        EV.PostMessage(ModuleName.System.ToString(), EventEnum.WaferNotDetectedBeforeSend);
                        return false;
                    }
                    bHasWafer = CheckSeneorHasWafer(ModuleName.Robot, (int)Hand.Blade2);  //check sensor
                    if (bHasWafer)
                    {
                        EV.PostMessage(ModuleName.System.ToString(), EventEnum.WaferNotDetectedBeforeSend);
                        return false;
                    }


                    bool bNoWafer = WaferManager.Instance.CheckWafer(ModuleName.Robot, (int)Hand.Blade1, WaferStatus.Normal);
                    if (!bNoWafer)
                    {
                        EV.PostMessage(ModuleName.System.ToString(), EventEnum.WaferDetectedBeforePick);
                        return false;
                    }

                    bNoWafer = CheckSensorNoWafer(ModuleName.Robot, (int)Hand.Blade1);  //check sensor
                    if (bNoWafer)
                    {
                        EV.PostMessage(ModuleName.System.ToString(), EventEnum.WaferDetectedBeforePick);
                        return false;
                    }
                }

                return true;
            });

            if (ret.Item1)
            {
                if (ret.Item2 == Result.FAIL)
                {
                    error(String.Format("Failed to swap, wafer information not correct."));
                    throw (new RoutineFaildException());
                }
            }
        }


        public void CheckAfterSwap(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 bNoWafer = CheckSensorNoWafer(ModuleName.Robot, (int)Hand.Blade1);
                    if (!bNoWafer)
                    {
                        EV.PostMessage(ModuleName.System.ToString(), EventEnum.WaferDetectedAfterSend);
                        return false;
                    }

                    bool bHasWafer = CheckSeneorHasWafer(ModuleName.Robot, (int)Hand.Blade2);
                    if (!bHasWafer)
                    {
                        EV.PostMessage(ModuleName.System.ToString(), EventEnum.WaferNotDetectedAfterPick);
                        return false;
                    }
                }
                else
                {
                    bool bNoWafer = CheckSensorNoWafer(ModuleName.Robot, (int)Hand.Blade2);
                    if (!bNoWafer)
                    {
                        EV.PostMessage(ModuleName.System.ToString(), EventEnum.WaferDetectedAfterSend);
                        return false;
                    }

                    bool bHasWafer = CheckSeneorHasWafer(ModuleName.Robot, (int)Hand.Blade1);
                    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 information after swap."));
                    throw (new RoutineFaildException());
                }
            }
        }
    }
}