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

using System;
using System.Runtime.Remoting.Messaging;
using Aitex.Core.Common;
using Aitex.Core.RT.DataCenter;
using Aitex.Core.RT.Device;
using Aitex.Core.RT.Event;
using Aitex.Core.RT.Log;
using Aitex.Core.RT.Routine;
using Aitex.Core.RT.SCCore;
using EFEM.RT.Devices.LoadPorts.JetOpenCst;
using MECF.Framework.Common.Equipment;
using MECF.Framework.RT.EquipmentLibrary.HardwareUnits.LoadPorts;
using MECF.Framework.RT.EquipmentLibrary.HardwareUnits.LoadPorts.LoadPortBase;
using MECF.Framework.RT.EquipmentLibrary.HardwareUnits.Robots;

namespace EFEM.RT.Routines
{
    public class WaferMappingRoutine : CommonRoutine, IRoutine
    {
        enum Mapping
        {
            CheckLoadPortReadyMap,
            CheckRobotMapInterlock,
            CheckRobotReadyMap,
            QueryRobotParameter,
            
            RobotServoOff,
            WaitRobotServoOff,
            SetWaferSizeParameter0000,
            SetWaferSizeParameter0114,
            RobotServoOn,
            WaitRobotServoOn,
            
            MapWafer,
            WaitMapping,
            GetWaferMap,
        }

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

        private SCConfigItem _scPickTimeout = null;

        private int _timeout = 0;
        LoadPortBaseDevice _lp;
        
        public bool IsDeviceNull => _lp == null;

        public WaferMappingRoutine()
        {
            Name = "Wafer Mapping";
            _scPickTimeout = SC.GetConfigItem(SorterCommon.ScPathName.Robot_TimeLimitForPickWafer);
        }

        public bool Initalize()
        {
            return true;
        }

        public ModuleName Source { get; set; }

        private WaferSize _waferSize;

        public Result Start(params object[] objs)
        {
            Reset();
            _timeout = SC.GetValue<int>(SorterCommon.ScPathName.Robot_TimeLimitForPickWafer);
            Name = "Wafer Mapping";
            Reset();

            NeedSetParameter = true;
            
            string module = (string) objs[0];
            ModuleName source;
            if (string.IsNullOrEmpty(module) || !Enum.TryParse(module, out source))
            {
                LOG.Write("Start map wafer argument is not valid");
                return Result.FAIL;
            }
 

            Source = source;
            if (ModuleHelper.IsLoadPort(Source))
            {
                if (SC.GetValue<int>($"LoadPort.{Source}.CstType") == 0)
                {
                    _lp = DEVICE.GetDevice<LoadPortBaseDevice>(Source.ToString());
                    _waferSize = _lp.GetCurrentWaferSize();
                }
                else if (SC.GetValue<int>($"LoadPort.{Source}.CstType") == 1)
                {
                    _lp = DEVICE.GetDevice<OpenStageJet>(Source.ToString());
                    _waferSize = _lp.GetCurrentWaferSize();
                }
            }
            //if (_lp != null)
            //{
            //    var _lpOpen =  _lp as OpenStageWithWaferSizeLoadPort;
            //    _waferSize = _lpOpen.WaferSize;
            //}
            EV.PostMessage(ModuleName.System.ToString(), EventEnum.GeneralInfo, string.Format("Wafer Mapping {0} start.", Source.ToString()));

            return Result.RUN;
        }


        public Result Monitor()
        {
            try
            {   if(ModuleHelper.IsLoadPort(Source))
                CheckLoadPortReady((int)Mapping.CheckLoadPortReadyMap, _lp);

                if(DeviceDefineManager.Instance.GetValue<bool>("WAFSHEnable") == false)
                {
                    CheckRobotReady((int)Mapping.CheckRobotReadyMap);
                    
                    //QueryRbParameterAndCompare0114((int)Mapping.QueryRobotParameter, "Query Robot parameters", 0114, "URS", _waferSize,_timeout, Notify, Stop);
                    
                    
                    
                    MapWafer((int)Mapping.MapWafer);

                    WaitRobotMotion((int)Mapping.WaitMapping, robot, "Wait robot motion finish", _timeout, Notify, Stop);

                    GetWaferMap((int)Mapping.GetWaferMap, "Get wafer Mapping", Source, _timeout, Notify, Stop);
                }
                else
                {
                    GetWaferMap((int)Mapping.GetWaferMap, _lp, _timeout);
                }                
            }
            catch (RoutineBreakException)
            {
                return Result.RUN;
            }
            catch (RoutineFaildException)
            {
                return Result.FAIL;
            }

            EV.PostMessage(ModuleName.System.ToString(), EventEnum.GeneralInfo, string.Format("Wafer mapping {0} end.", Source.ToString()));

            return Result.DONE;
        }
        
        
        public void CheckLoadPortReady(int id, LoadPortBaseDevice device)
        {
            Tuple<bool, Result> ret = Check(id, () =>
                {
                Notify(String.Format("{0} check enable transfer", device.Name));
                string reason = null;
                bool IsEnableMap = device.IsEnableMapWafer(out reason);
                if(!IsEnableMap)
                {
                        EV.PostWarningLog(device.Name,$"{device.Name} can not maping,LP is not ready,{reason}. ");
 
                }
                return IsEnableMap;
                } );

            if (ret.Item1)
            {
                if (ret.Item2 == Result.FAIL)
                {
                    Stop("Load Port not ready to map wafer");
                    throw (new RoutineFaildException());
                }
                else
                    throw (new RoutineBreakException());
            }
        }


        public void CheckRobotReady(int id )
        {
            string reason=string.Empty;
            Tuple<bool, Result> ret = Check(id, () =>
            {
               

                Notify(String.Format("check robot ready map" ));

                return CheckRobotMotionInterlock(out reason) ;
            });

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


        protected override void Notify(string message)
        {
            EV.PostMessage(Module, EventEnum.GeneralInfo, String.Format("Wafer mapping:{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.DefaultWarning, string.Format("Wafer mapping {0} stopped, {1}", Source.ToString(), failReason));
        }

        public void MapWafer(int id )
        {
            string reason = string.Empty;

            Tuple<bool, Result> ret = Execute(id, () =>
            {
                Notify(String.Format("Wafer Mapping for {0}", Source));

                return robot.WaferMapping(Source, out reason);
            });

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

        protected void GetWaferMap(int id, LoadPortBaseDevice device, int time)
        {
            Tuple<bool, Result> ret = ExecuteAndWait(id, () =>
            {
                Notify(String.Format("Query Mapping"));
                string reason = string.Empty;
                return device.QueryWaferMap(out reason);
            }, () =>
            {
                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
                {
                    Stop(String.Format("Query Mapping time out, using more than {0} seconds", time));
                    throw (new RoutineFaildException());
                }
                else
                    throw (new RoutineBreakException());
            }
        }


        protected void GetWaferMap(int id, string name, ModuleName chamber, int time, Action<string> notify, Action<string> error)
        {
            Tuple<bool, Result> ret = ExecuteAndWait(id, () =>
            {
                notify(String.Format("Query Mapping"));
                string reason = string.Empty;
                return robot.QueryWaferMap(chamber, out reason);
            }, () =>
            {
                if (robot.RobotState ==  RobotStateEnum.Idle)
                {
                    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("Query Mapping time out, using more than {0} seconds", time));
                    throw (new RoutineFaildException());
                }
                else
                    throw (new RoutineBreakException());
            }
        }

 

    }
}