ZZ-EFEM/Jet/Jet_001_2P_Jet/EfemRT/Tasks/GotoTask.cs

using Aitex.Core.Common;
using Aitex.Core.RT.Device;
using Aitex.Core.RT.Event;
using Aitex.Core.RT.SCCore;
using Aitex.Sorter.Common;

using Efem;
using Efem.Protocol;
using MECF.Framework.Common.Equipment;
using MECF.Framework.Common.SubstrateTrackings;
using MECF.Framework.RT.EquipmentLibrary.HardwareUnits.LoadPorts;
using MECF.Framework.RT.EquipmentLibrary.HardwareUnits.LoadPorts.LoadPortBase;
using MECF.Framework.RT.EquipmentLibrary.HardwareUnits.Robot;
using MECF.Framework.RT.EquipmentLibrary.HardwareUnits.Robots;
using MECF.Framework.RT.EquipmentLibrary.HardwareUnits.Robots.RobotBase;

namespace EFEM.RT.Tasks
{
    public class GotoTask : RobotImp, ITask
    {
        //public int spd1ForPick => SC.GetValue<int>("Robot.Robot.GotoReadyXSpeedForPick");
        //public int ZForPick => SC.GetValue<int>("Robot.Robot.GotoReadyZDistanceForPick");
        //public int falg1 => SC.GetValue<int>("Robot.Robot.GotoReadyCICheckWaferForPlace");
        //public int falg4 => SC.GetValue<int>("Robot.Robot.GotoReadyXCheckWaferForPlace");
        //public int spd1ForPlace=> SC.GetValue<int>("Robot.Robot.GotoReadyXSpeedForPlace");
        //public int spd2ForPlace=> SC.GetValue<int>("Robot.Robot.GotoReadyCISpeedForPlace");
        //public int ZForPlace => SC.GetValue<int>("Robot.Robot.GotoReadyZDistanceForPlace");
        public bool EnableGotoReady
        {
            get 
            {
                if (SC.ContainsItem("Robot.Robot.EnableGotoReady"))
                    return SC.GetValue<bool>("Robot.Robot.EnableGotoReady");
                return true;
            }
        }
        public GotoTask()
        {
        }
        public bool Execute(out string result, params string[] args)
        {
            string device = DeviceName.Robot;
            IServerModule entity = GetEntity(device);
            ModuleName target = ModuleName.System;
            int slot = 1;

            if (!ParseMoveTarget(args[0], out target, out slot))
            {
                result = PARAM_NG;
                return false;
            }

            Hand arm = Hand.Blade2;
            if (!ParseMoveArm(args[1], out arm))
            {
                result = PARAM_NG;
                return false;
            }

            var isPick = true;
            isPick = !WaferManager.Instance.CheckHasWafer(ModuleName.Robot, arm == Hand.Blade2 ?1:0);

            if (MultiWaferSize && false)
            {
                if (args.Length < 2)
                {
                    result = PARAM_NG;
                    return false;
                }
                if (isPick)
                {
                    if (!CheckWaferSize(args[2], target, slot - 1))
                    {
                        result = PARAM_NG;
                        return false;
                    }
                }
                else
                {
                    if (!CheckWaferSize(args[2], ModuleName.Robot, 0))
                    {
                        result = PARAM_NG;
                        return false;
                    }
                }

                //if (ModuleHelper.IsLoadPort(target))
                //{
                //    OpenStageWithWaferSizeLoadPort lp = DEVICE.GetDevice<OpenStageWithWaferSizeLoadPort>(target.ToString());
                //    if (slot == 1 && lp.WaferSize == WaferSize.WS3)
                //    {
                //        EV.PostWarningLog("EFEM", $"{target} is 3', slot 1 is disabled");
                //        result = PARAM_NG;
                //        return false;
                //    }
                //}
            }

                

            if (!Check<NoReadyPolicy>(device, out result))
            {
                return false;
            }
            if (!Check<NoInitCompletedPolicy>(device, out result))
            {
                return false;
            }
            if (!Check<NoOriginCompletedPolicy>(device, out result))
            {
                return false;
            }
            if (!Check<VacPolicy>(device, out result))
            {
                return false;
            }
            if (!Check<EMSPolicy>(device, out result))
            {
                return false;
            }
            if (!Check<ErrorPolicy>(device, out result))
            {
                return false;
            }
            if (!Check<BusyPolicy>(device, out result))
            {
                return false;
            }
            if (!Check<HoldPolicy>(device, out result))
            {
                return false;
            }
            if (!Check<RemovePolicy>(device, out result))
            {
                return false;
            }
            if (!Check<MaintenancePolicy>(device, out result))
            {
                return false;
            }
            if (!Check<LinkPolicy>(device, out result))
            {
                return false;
            }

            if (!Check<PowerDownPolicy>(device, out result))
            {
                return false;
            }

            RobotBaseDevice _device = DEVICE.GetDevice<RobotBaseDevice>(device);

            if (ModuleHelper.IsLoadPort(target))
            {
                LoadPortBaseDevice lp = DEVICE.GetDevice<LoadPortBaseDevice>(target.ToString());
                if (!lp.IsEnableTransferWafer(out string reason))
                {
                    EV.PostWarningLog("EFEM", $"Can not goto, {reason}");
                    result = "NOPOS";
                    return false;
                }
            }
            if(!EnableGotoReady) return true;
            object[] objs;
            if (isPick)
            {
                // objs = new object[] { arm, target, slot - 1,  RobotPostionEnum.PickReady, spd1ForPick, ZForPick };  
                objs = new object[] { arm, target, slot - 1, RobotPostionEnum.PickReady};
            } else
            {
                // objs = new object[] { arm, target, slot - 1,  RobotPostionEnum.PlaceReady, falg1, falg4, spd1ForPlace, spd2ForPlace, ZForPlace };
                objs = new object[] { arm, target, slot - 1, RobotPostionEnum.PlaceReady };
            }
            _device.GoTo(objs);
            return true;
        }
        public bool? Monitor(out string result, params string[] args)
        {
            result = string.Empty;
            RobotBaseDevice _device = DEVICE.GetDevice<RobotBaseDevice>(DeviceName.Robot);
            if (_device.IsError)
            {
                flag1 = ErrorCheckList1.VAC | ErrorCheckList1.AIR | ErrorCheckList1.STALL
                        | ErrorCheckList1.LIMIT | ErrorCheckList1.SENSOR | ErrorCheckList1.POSITION | ErrorCheckList1.EMS
                        | ErrorCheckList1.COMM | ErrorCheckList1.COMM2 | ErrorCheckList1.VACON | ErrorCheckList1.VACOFF
                        | ErrorCheckList1.CLAMPON | ErrorCheckList1.CLAMPOF;
                flag2 = ErrorCheckList2.RRTWAF | ErrorCheckList2.CRSWAF | ErrorCheckList2.THICKWAF | ErrorCheckList2.THINWAF
                        | ErrorCheckList2.DBLWAF | ErrorCheckList2.BAOWAF | ErrorCheckList2.COMMAND | ErrorCheckList2.PODNG
                        | ErrorCheckList2.PODMISMATCH | ErrorCheckList2.VAC_S | ErrorCheckList2.CLAMP_S | ErrorCheckList2.SAFTY
                        | ErrorCheckList2.LOCKNG | ErrorCheckList2.UNLOCKNG | ErrorCheckList2.L_KEY_LK | ErrorCheckList2.L_KEY_UL;

                flag3 = ErrorCheckList3.MAP_S | ErrorCheckList3.MAP_S1 | ErrorCheckList3.MAP_S2 | ErrorCheckList3.WAFLOST
                        | ErrorCheckList3.ALIGNNG
                         | ErrorCheckList3.DRIVER | ErrorCheckList3.DRPOWERDOWN | ErrorCheckList3.HARDWARE
                        | ErrorCheckList3.INTERNAL | ErrorCheckList3.E84_TIMEOUTx | ErrorCheckList3.E84_CS_VALID | ErrorCheckList3.READFAIL;

                return CheckError(DeviceName.Robot, out result);
            }

            if (_device.IsReady())
                return true;

            return null;
        }
    }



}