ZZ-EFEM/Framework/AitexSorterRT/EFEMs/Tasks/PickTask.cs

using Aitex.Core.RT.Device;
using Aitex.Core.RT.Log;
using Aitex.Core.Util;
using Aitex.Sorter.Common;
using Aitex.Sorter.RT.EFEMs.Servers;
using MECF.Framework.Common.Equipment;
using MECF.Framework.Common.SubstrateTrackings;
using MECF.Framework.RT.EquipmentLibrary.HardwareUnits.Robot;

namespace Aitex.Sorter.RT.EFEMs.Tasks
{
    public class PickTask : RobotImp, ITask
    {
        Hand _arm = Hand.Blade2;
        public PickTask()
        {
        }
        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;
            }

            
            if (!ParseMoveArm(args[1], out _arm))
            {
                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($"PickTask {device} Busy");
                return false;
            }
            if (!Check<ClosePolicy>(device, out result))
            {
                return false;
            }
            if (!Check<NoWaferMappingCompletedPolicy>(device, out result))
            {
                return false;
            }
            if (!Check<NoPodPolicy>(device, out result))
            {
                return false;
            }

            //do not check loadlock
            if (!ModuleHelper.IsLoadLock(target) && !Singleton<WaferManager>.Instance.CheckHasWafer(target,slot-1))
            {
                result = "NONWAF";
                return false;
            }

            if (_arm == Hand.Blade1)
            {
                if (Singleton<WaferManager>.Instance.CheckHasWafer(ModuleName.Robot,0))
                {
                    result = "WAFER";
                    return false;
                }
            }
            else if (_arm == Hand.Blade2)
            {
                if (Singleton<WaferManager>.Instance.CheckHasWafer(ModuleName.Robot,1))
                {
                    result = "WAFER";
                    return false;
                }
            }
            else
            {
                if (Singleton<WaferManager>.Instance.CheckHasWafer(ModuleName.Robot,0))
                {
                    result = "WAFER";
                    return false;
                }
                if (Singleton<WaferManager>.Instance.CheckHasWafer(ModuleName.Robot,1))
                {
                    result = "WAFER";
                    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;
            }

            if (Singleton<EfemEntity>.Instance.EfemDevice.IsError)
            {
                result = "ERROR";
                return false;
            }

            if (!Singleton<EfemEntity>.Instance.EfemDevice.IsIdle)
            {
                LOG.Write($"PickTask RouteManager is Busy");

                result = "BUSY";
                return false;
            }

            _token = Singleton<EfemEntity>.Instance.EfemDevice.Invoke("Pick", target.ToString(), slot - 1, _arm);

            return true;
        }
        public bool? Monitor(out string result, params string[] args)
        {
            result = string.Empty;

            if (Singleton<EfemEntity>.Instance.EfemDevice.CheckIsError(ModuleName.Robot))
            {
                string param1 = "";
                if (_arm == Hand.Blade1)
                {
                    if (Singleton<WaferManager>.Instance.CheckHasWafer(ModuleName.Robot, 0))
                    {
                        param1 = "WAFER";
                    }
                    else
                    {
                        param1 = "NONWAF";
                    }
                }
                else if (_arm == Hand.Blade2)
                {
                    if (Singleton<WaferManager>.Instance.CheckHasWafer(ModuleName.Robot, 1))
                    {
                        param1 = "WAFER";
                    }
                    else
                    {
                        param1 = "NONWAF";
                    }
                }

                result = $"ERROR|{param1}";
                return false;
            }
            if (Singleton<EfemEntity>.Instance.EfemDevice.CheckIsIdle(ModuleName.Robot)
            && Singleton<EfemEntity>.Instance.EfemDevice.CheckIsIdle(ModuleName.System)
                && Singleton<EfemEntity>.Instance.EfemDevice.CheckAcked(_token))
                return true;

            return null;
        }
    }



}