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

using System.Diagnostics.Eventing.Reader;
using Aitex.Core.RT.Device;
using Aitex.Core.RT.Event;
using Aitex.Core.RT.Log;
using Aitex.Core.Util;
using EFEM.RT.Modules;
using Aitex.Sorter.Common;
using MECF.Framework.Common.Equipment;
using MECF.Framework.Common.SubstrateTrackings;
using MECF.Framework.RT.EquipmentLibrary.HardwareUnits.Robot;
using MECF.Framework.RT.EquipmentLibrary.HardwareUnits.Robots.RobotBase;
using System.Linq;

namespace EFEM.RT.Tasks
{
    public enum MpntTaskEnum    //按客户要求此处全部大写
    {
        G1,
        GB,
        G4,
        P1,
        PB,
        P4,
        ParamNg
    }

    public class MpntTask : CheckImp, ITask
    {
        private bool ParseTaskEnum(string args, out MpntTaskEnum taskEnum)
        {
            taskEnum = MpntTaskEnum.ParamNg;

            switch (args)
            {
                case "G1":
                    taskEnum = MpntTaskEnum.G1;
                    break;
                case "GB":
                    taskEnum = MpntTaskEnum.GB;
                    break;
                case "G4":
                    taskEnum = MpntTaskEnum.G4;
                    break;
                case "P1":
                    taskEnum = MpntTaskEnum.P1;
                    break;
                case "PB":
                    taskEnum = MpntTaskEnum.PB;
                    break;
                case "P4":
                    taskEnum = MpntTaskEnum.P4;
                    break;
                default:
                    return false;
            }
            return true;
        }

        private bool IsGetCommand(MpntTaskEnum taskEnum)
        {
            return taskEnum == MpntTaskEnum.G1 || taskEnum == MpntTaskEnum.GB || taskEnum == MpntTaskEnum.G4;
        }

        public bool Execute(out string result, params string[] args)
        {
            string device = DeviceName.Robot;
            IServerModule entity = GetEntity(device);
            ModuleName target = ModuleName.System;
            MpntTaskEnum taskEnum = MpntTaskEnum.ParamNg;
            int slot = 1;
            
            if (!ParseMoveTarget(args[0], out target, out slot))
            {
                result = PARAM_NG;
                return false;
            }

            if (!ParseTaskEnum(args[1], out taskEnum))
            {
                result = PARAM_NG;
                return false;
            }

            Hand arm = Hand.Blade2;
            if (!ParseMoveArm(args[2], out arm))
            {
                result = PARAM_NG;
                return false;
            }

            if (!ModuleHelper.IsLoadLock(target))
            {
                 
                result = PARAM_NG;
                return false;
            }

            if (MultiWaferSize)
            {
                if (args.Length < 2)
                {
                    result = PARAM_NG;
                    return false;
                }
                if (args.Length == 4)
                {
                    if (!CheckWaferSize(args[3], ModuleName.Robot, args[2] == "ARM1" ? 1 : 0))
                    {
                        result = PARAM_NG;
                        return false;
                    }
                }
                else
                {
                    if (!CheckWaferSize("WS6", ModuleName.Robot, args[2]=="ARM1"?1:0))
                    {
                        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))
            {
                LOG.Write($"MPNTTask {device} Busy");
                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<NoWaferMappingCompletedPolicy>(target.ToString(), out result))
            {
                return false;
            }
            if (!Check<NoPodPolicy>(target.ToString(), out result))
            {
                return false;
            }
            if (!Check<ClosePolicy>(target.ToString(), out result))
            {
                return false;
            }

            //do not check loadlock
            if (!ModuleHelper.IsLoadLock(target) && !Singleton<WaferManager>.Instance.CheckNoWafer(target,slot-1))
            {
                result = "WAFER";
                return false;
            }
            
            if (!Check<PowerDownPolicy>(device, out result))
            {
                return false;
            }

            if (!Singleton<RouteManager>.Instance.IsIdle)
            {
                LOG.Write($"Mpnt Task RouteManager is Busy");
                result = "BUSY";
                return false;
            }

            if (IsGetCommand(taskEnum)) 
            {
                if (taskEnum == MpntTaskEnum.GB)
                {
                    if (arm == Hand.Blade1)
                    {
                        if (!Singleton<WaferManager>.Instance.CheckNoWafer(ModuleName.Robot,0))
                        {
                            result = "WAFER";
                            return false;
                        }
                    }
                    else if (arm == Hand.Blade2)
                    {
                        if (!Singleton<WaferManager>.Instance.CheckNoWafer(ModuleName.Robot,1))
                        {
                            result = "WAFER";
                            return false;
                        }
                    }
                    else
                    {
                        if (!Singleton<WaferManager>.Instance.CheckNoWafer(ModuleName.Robot,0))
                        {
                            result = "WAFER";
                            return false;
                        }
                        if (!Singleton<WaferManager>.Instance.CheckNoWafer(ModuleName.Robot,1))
                        {
                            result = "WAFER";
                            return false;
                        }
                    }
                }
                _token = Singleton<RouteManager>.Instance.Invoke("MPNTPick", target.ToString(), slot - 1, arm, taskEnum);
                return true;
            }
            else
            {
                if (taskEnum == MpntTaskEnum.PB)
                {
                    if (arm == Hand.Blade1)
                    {
                        if (!Singleton<WaferManager>.Instance.CheckHasWafer(ModuleName.Robot,0))
                        {
                            result = "NONWAF";
                            return false;
                        }
                    }
                    else if (arm == Hand.Blade2)
                    {
                        if (!Singleton<WaferManager>.Instance.CheckHasWafer(ModuleName.Robot,1))
                        {
                            result = "NONWAF";
                            return false;
                        }
                    }
                    else
                    {
                        if (!Singleton<WaferManager>.Instance.CheckHasWafer(ModuleName.Robot,0))
                        {
                            result = "NONWAF";
                            return false;
                        }
                        if (!Singleton<WaferManager>.Instance.CheckHasWafer(ModuleName.Robot,1))
                        {
                            result = "NONWAF";
                            return false;
                        }
                    }
                }
                _token = Singleton<RouteManager>.Instance.Invoke("MPNTPlace", target.ToString(), slot - 1, arm, taskEnum);
                return true;
            }
        }

        public bool? Monitor(out string result, params string[] args)
        {
            result = string.Empty;
            RobotBaseDevice _device = DEVICE.GetDevice<RobotBaseDevice>(DeviceName.Robot);
            if (_device.IsError || Singleton<RouteManager>.Instance.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;

                var ret = CheckError(DeviceName.Robot, out result);
                if (!ret)
                {
                    result = "";
                    if (Singleton<EfemEntity>.Instance.EventError != null)
                    {
                        //result = Singleton<EfemEntity>.Instance.EventError.ToList().Where(m => m.Source == "System" || m.Source == "Robot")?.LastOrDefault()?.Description;
                        var items = Singleton<EfemEntity>.Instance.EventError.ToList().Where(m => m.Source == "System" || m.Source == "Robot").Reverse().ToList();
                        for (int i = 0; i < items.Count; i++)
                        {
                            if (i < 3)
                                result += items[i].Description + "|";
                        }
                    }
                    
                }
                return ret;
            }

            if (Singleton<RouteManager>.Instance.IsIdle&&_device.IsReady()&&!_device.IsBusy && Singleton<RouteManager>.Instance.CheckAcked(_token))
                return true;

            return null;
        }
    }
}