ZZ-EFEM/Framework/RTEquipmentLibrary1/HardwareUnits/Robots/JEL/JELC500Flippe/JelC5000RobotFlippeV1.cs

using System;
using System.Collections.Generic;
using System.IO.Ports;
using System.Linq;
using System.Text;
using Aitex.Core.Common.DeviceData;
using Aitex.Core.RT.Device;
using Aitex.Core.RT.Device.Unit;
using Aitex.Core.RT.Event;
using Aitex.Core.RT.Log;
using Aitex.Core.RT.OperationCenter;
using Aitex.Core.RT.SCCore;
using Aitex.Core.Util;
using MECF.Framework.Common.Communications;
using MECF.Framework.Common.Device.Bases;
using MECF.Framework.RT.EquipmentLibrary.HardwareUnits.Common;
using Newtonsoft.Json;
using MECF.Framework.RT.EquipmentLibrary.HardwareUnits.Robots.RobotBase;
using MECF.Framework.Common.Equipment;
using MECF.Framework.Common.SubstrateTrackings;
using System.Threading;
using Aitex.Core.Common;
using Aitex.Core.RT.DataCenter;
using System.Text.RegularExpressions;
using MECF.Framework.RT.EquipmentLibrary.HardwareUnits.LoadPorts;
using MECF.Framework.RT.EquipmentLibrary.HardwareUnits.LoadPorts.LoadPortBase;
using MECF.Framework.Common.CommonData;
using Aitex.Core.RT.IOCore;
using MECF.Framework.RT.EquipmentLibrary.HardwareUnits.Flipper.FlipperBase;

namespace MECF.Framework.RT.EquipmentLibrary.HardwareUnits.Robots.JEL
{
    public class JelC5000RobotFlippeV1 : JelC5000RobotFlippe
    {

        public JelC5000RobotFlippeV1(string module, string name, string scRoot, AOAccessor aoBladeRegulator, string robotModel = "") 
            : base(module, name, scRoot,  aoBladeRegulator,  robotModel = "")
        {
           
        }

        private int _defaultRegulatorRatio
        {
            get
            {
                if (SC.ContainsItem($"Robot.{Name}.DefaultRegulatorRatio"))
                return SC.GetValue<int>($"Robot.{Name}.DefaultRegulatorRatio");

                return 0;
            }
            
        }
        protected override bool fStartInit(object[] param)
        {
            //string speedtype = string.Empty;
            //if (param != null && param.Length >0)
            //    speedtype = Regex.Replace(param[0].ToString().Replace("（", "(").Replace("）", ")"), @"\([^\(]*\)", "");

            //if (speedtype != "" && speedtype != "M" && speedtype != "L") return false;
            _dtActionStart = DateTime.Now;
            int compaundcmdNO = SC.GetValue<int>($"Robot.{Name}.InitCmdNO");
            int Robotspeed = SC.GetValue<int>($"Robot.{Name}.RobotSpeed");
            if (Robotspeed < 0)
                Robotspeed = 0;
            if (Robotspeed > 99)
                Robotspeed = 99;
            lock (_locker)
            {
                _lstMonitorHandler.AddLast(new JelC5000RobotFlippeCompaundCommandHandler(this, compaundcmdNO.ToString()));
                _lstMonitorHandler.AddLast(new JelC5000RobotFlippeReadHandler(this, ""));
                _lstMonitorHandler.AddLast(new JelC5000RobotFlippeReadHandler(this, "G"));
                _lstMonitorHandler.AddLast(new JelC5000RobotFlippeReadHandler(this, "BC"));     // Read bank number
                _lstMonitorHandler.AddLast(new JelC5000RobotFlippeReadHandler(this, "WCP"));    // Read Cassette Number
                _lstMonitorHandler.AddLast(new JelC5000RobotFlippeReadHandler(this, "6", "1"));
                _lstMonitorHandler.AddLast(new JelC5000RobotFlippeReadHandler(this, "6", "2"));
                _lstMonitorHandler.AddLast(new JelC5000RobotFlippeReadHandler(this, "6", "3"));
                _lstMonitorHandler.AddLast(new JelC5000RobotFlippeReadHandler(this, "6", "4"));
                _lstMonitorHandler.AddLast(new JelC5000RobotFlippeReadHandler(this, "6", "X"));
                _lstMonitorHandler.AddLast(new JelC5000RobotFlippeReadHandler(this, "6", "Y"));
                _lstMonitorHandler.AddLast(new JelC5000RobotFlippeReadHandler(this, "6", "U"));
                _lstMonitorHandler.AddLast(new JelC5000RobotFlippeReadHandler(this, "6", "Z"));
                _lstMonitorHandler.AddLast(new JelC5000RobotFlippeSetHandler(this, "SPA", Robotspeed.ToString()));
                _lstMonitorHandler.AddLast(new JelC5000RobotFlippeReadHandler(this, "SPA"));
                _lstMonitorHandler.AddLast(new JelC5000RobotFlippeReadHandler(this, $"C5", null, 2));
            }

            _aoBladeRegulator.Value = (short)(_defaultRegulatorRatio*100);
            return true;
        }

        protected override bool fStartUnGrip(object[] param)
        {
            if (param == null || param.Length < 1) return false;
            RobotArmEnum arm = (RobotArmEnum)((int)param[0]);
            lock (_locker)
            {
                _lstMonitorHandler.AddLast(new JelC5000RobotFlippeSetHandler(this, "DS", "10")); 
                _lstMonitorHandler.AddLast(new JelC5000RobotFlippeSetHandler(this, "WS", "0"));
                _lstMonitorHandler.AddLast(new JelC5000RobotFlippeReadHandler(this, ""));

            }
            return true;

        }


        protected override bool fMonitorUnGrip(object[] param)
        {
            IsBusy = false;

            if (_lstMonitorHandler.Count == 0 && !_connection.IsBusy)
            {
                if (JelC5000RobotStatus != JelAxisStatus.NormalEnd
                || AxisStatus != JelAxisStatus.NormalEnd)
                {
                    lock (_locker)
                    {
                        _lstMonitorHandler.AddLast(new JelC5000RobotFlippeReadHandler(this, ""));
                        //_lstMonitorHandler.AddLast(new JelC5000RobotFlippeReadHandler(this, $"CS{_lowerArmWaferSensorIndex}"));
                    }
                    return false;
                }
                RobotArmEnum arm = (RobotArmEnum)((int)CurrentParamter[0]);
                //if(IsVacuumSensorON)
                //    HandlerError("UnGrip wafer failed!");  
                IsBusy = false;
                return true;
            }
            return false;
        }

        protected override bool fStartGrip(object[] param)
        {
            if (param == null || param.Length < 1) return false;

            RobotArmEnum arm = (RobotArmEnum)((int)param[0]);
            lock (_locker)
            {
                _lstMonitorHandler.AddLast(new JelC5000RobotFlippeSetHandler(this, "DS", "11"));
                _lstMonitorHandler.AddLast(new JelC5000RobotFlippeSetHandler(this, "WS", "1"));
                _lstMonitorHandler.AddLast(new JelC5000RobotFlippeReadHandler(this, ""));

            }
            return true;
        }
        protected override bool fMonitorGrip(object[] param)
        {
            IsBusy = false;
            if (_lstMonitorHandler.Count == 0 && !_connection.IsBusy)
            {
                if (JelC5000RobotStatus != JelAxisStatus.NormalEnd
                || AxisStatus != JelAxisStatus.NormalEnd)
                {
                    lock (_locker)
                    {
                        _lstMonitorHandler.AddLast(new JelC5000RobotFlippeReadHandler(this, ""));
                        
                    }
                    return false;
                }
                //if (!IsVacuumSensorON)
                //    HandlerError("UnGrip wafer failed!");

                IsBusy = false;
                return true;
            }

            return false;
        }

        protected override bool fStartPickWafer(object[] param)
        {
            _dtActionStart = DateTime.Now;
            try
            {
                //RobotArmEnum arm = (RobotArmEnum)param[0];
                ModuleName tempmodule = (ModuleName)Enum.Parse(typeof(ModuleName), param[1].ToString());

                int slotindex = int.Parse(param[2].ToString());
                //JelC5000RobotArm jelarm = (JelC5000RobotArm)(int)arm;

                var wz = WaferManager.Instance.GetWaferSize(tempmodule, slotindex);

                if (!GetBankAndCassetteNumber(tempmodule, wz, false, out int bankno, out int cassetteNO))
                {
                    EV.PostAlarmLog("Robot", $"{RobotModuleName} can't find the bankno or cassette no for {tempmodule}");
                    OnError("ParseStationError");
                    return false;
                }

                int compaundcmdNO = SC.GetValue<int>($"Robot.{Name}.PickCmdNO");
                int compaundcmdNOforSafe = SC.GetValue<int>($"Robot.{Name}.SafeCmdNO");

                if (!ModuleHelper.IsLoadPort(tempmodule) && Blade1ActionPosture == BladePostureEnum.Degree180)
                {
                    if (!GetBankAndCassetteNumber(tempmodule, wz, true, out bankno, out cassetteNO))
                    {
                        EV.PostAlarmLog("Robot", $"{RobotModuleName} can't find the bankno or cassette no for {tempmodule}");
                        OnError("ParseStationError");
                        return false;
                    }

                    compaundcmdNO = SC.GetValue<int>($"Robot.{Name}.OverPickCmdNO");
                    compaundcmdNOforSafe = SC.GetValue<int>($"Robot.{Name}.SafeCmdNO");
                }

                if (ModuleHelper.IsLoadPort(tempmodule))
                {
                    var lp = DEVICE.GetDevice<LoadPortBaseDevice>(tempmodule.ToString());
                    if (lp != null)
                        lp.NoteTransferStart();
                }


                lock (_locker)
                {
                    _lstMonitorHandler.AddLast(new JelC5000RobotFlippeReadHandler(this, "BC"));
                    _lstMonitorHandler.AddLast(new JelC5000RobotFlippeReadHandler(this, "WCP"));
                }
                DateTime readstarttime = DateTime.Now;
                while (_lstMonitorHandler.Count != 0 || _connection.IsBusy)
                {
                    if (DateTime.Now - readstarttime > TimeSpan.FromSeconds(20))
                    {
                        OnError("Read bankno and cassette no for pick Timeout.");
                        return false;
                    }
                }

                lock (_locker)
                {
                    if (LastTargeModule != tempmodule)//(ReadBankNumber != bankno.ToString("X") || cassetteNO != ReadCassetNumber)
                    {
                        _lstMonitorHandler.AddLast(new JelC5000RobotFlippeCompaundCommandHandler(this, compaundcmdNOforSafe.ToString()));
                        _lstMonitorHandler.AddLast(new JelC5000RobotFlippeReadHandler(this, "G"));
                    }
                    _lstMonitorHandler.AddLast(new JelC5000RobotFlippeSetHandler(this, "BC", bankno.ToString("X")));
                    _lstMonitorHandler.AddLast(new JelC5000RobotFlippeSetHandler(this, "WCP", cassetteNO.ToString()));
                    _lstMonitorHandler.AddLast(new JelC5000RobotFlippeSetHandler(this, "WCD", (slotindex + 1).ToString()));
                    _lstMonitorHandler.AddLast(new JelC5000RobotFlippeReadHandler(this, "BC"));
                    _lstMonitorHandler.AddLast(new JelC5000RobotFlippeReadHandler(this, "WCP"));
                    _lstMonitorHandler.AddLast(new JelC5000RobotFlippeCompaundCommandHandler(this, compaundcmdNO.ToString()));
                    _lstMonitorHandler.AddLast(new JelC5000RobotFlippeReadHandler(this, "G"));
                    _lstMonitorHandler.AddLast(new JelC5000RobotFlippeReadHandler(this, $"C5",null,2));

                }
                Blade1Target = tempmodule;
                Blade2Target = tempmodule;


                CmdTarget = tempmodule;
                LastTargeModule = tempmodule;
                MoveInfo = new RobotMoveInfo()
                {
                    Action = RobotAction.Picking,
                    ArmTarget = CmdRobotArm == RobotArmEnum.Lower ? RobotArm.ArmA : RobotArm.ArmB,
                    BladeTarget = BuildBladeTarget(),
                };
            }
            catch (Exception ex)
            {
                string reason = "";
                if (param != null)
                {
                    foreach (var strpara in param)
                        reason += strpara.ToString();
                }
                LOG.Write(ex);
                OnError($"{Name} Pick command valid:" + reason);

                return false;
            }

            return true;
        }

        protected override bool fStartPlaceWafer(object[] param)
        {
            _dtActionStart = DateTime.Now;
            try
            {
                RobotArmEnum arm = (RobotArmEnum)param[0];
                ModuleName tempmodule = (ModuleName)Enum.Parse(typeof(ModuleName), param[1].ToString());

                int slotindex = int.Parse(param[2].ToString());
                //JelC5000RobotArm jelarm = (JelC5000RobotArm)(int)arm;

                var wz = WaferManager.Instance.GetWaferSize(RobotModuleName, arm == RobotArmEnum.Both ? 0 : (int)arm);
                int wzindex = 0;

                if (!GetBankAndCassetteNumber(tempmodule, wz, false, out int bankno, out int cassetteNO))
                {
                    EV.PostAlarmLog("Robot", $"{RobotModuleName} can't find the bankno or cassette no for {tempmodule}");
                    OnError("ParseStationError");
                    return false;
                }


                int compaundcmdNO = SC.GetValue<int>($"Robot.{Name}.PlaceCmdNO");
                int compaundcmdNOforSafe = SC.GetValue<int>($"Robot.{Name}.SafeCmdNO");

                if (!ModuleHelper.IsLoadPort(tempmodule) && Blade1ActionPosture == BladePostureEnum.Degree180)
                {
                    if (!GetBankAndCassetteNumber(tempmodule, wz, true, out bankno, out cassetteNO))
                    {
                        EV.PostAlarmLog("Robot", $"{RobotModuleName} can't find the bankno or cassette no for {tempmodule}");
                        OnError("ParseStationError");
                        return false;
                    }
                    compaundcmdNO = SC.GetValue<int>($"Robot.{Name}.OverPlaceCmdNO");
                    compaundcmdNOforSafe = SC.GetValue<int>($"Robot.{Name}.SafeCmdNO");
                }


                lock (_locker)
                {
                    _lstMonitorHandler.AddLast(new JelC5000RobotFlippeReadHandler(this, "BC"));
                    _lstMonitorHandler.AddLast(new JelC5000RobotFlippeReadHandler(this, "WCP"));
                }
                DateTime readstarttime = DateTime.Now;
                while (_lstMonitorHandler.Count != 0 || _connection.IsBusy)
                {
                    if (DateTime.Now - readstarttime > TimeSpan.FromSeconds(10))
                    {
                        OnError("Read bankno and cassette no for place Timeout.");
                        return false;
                    }
                }

                if (ModuleHelper.IsLoadPort(tempmodule))
                {
                    var lp = DEVICE.GetDevice<LoadPortBaseDevice>(tempmodule.ToString());
                    if (lp != null)
                        lp.NoteTransferStart();

                }

                lock (_locker)
                {
                    if (LastTargeModule != tempmodule) //(ReadBankNumber != bankno.ToString("X") || cassetteNO != ReadCassetNumber)
                    {
                        _lstMonitorHandler.AddLast(new JelC5000RobotFlippeCompaundCommandHandler(this, compaundcmdNOforSafe.ToString()));
                        _lstMonitorHandler.AddLast(new JelC5000RobotFlippeReadHandler(this, "G"));
                    }
                    _lstMonitorHandler.AddLast(new JelC5000RobotFlippeSetHandler(this, "BC", bankno.ToString("X")));
                    _lstMonitorHandler.AddLast(new JelC5000RobotFlippeSetHandler(this, "WCP", cassetteNO.ToString()));
                    _lstMonitorHandler.AddLast(new JelC5000RobotFlippeSetHandler(this, "WCD", (slotindex + 1).ToString()));
                    _lstMonitorHandler.AddLast(new JelC5000RobotFlippeReadHandler(this, "BC"));
                    _lstMonitorHandler.AddLast(new JelC5000RobotFlippeReadHandler(this, "WCP"));
                    _lstMonitorHandler.AddLast(new JelC5000RobotFlippeCompaundCommandHandler(this, compaundcmdNO.ToString()));
                    _lstMonitorHandler.AddLast(new JelC5000RobotFlippeReadHandler(this, "G"));
                    _lstMonitorHandler.AddLast(new JelC5000RobotFlippeReadHandler(this, $"C5", null, 2));
                }
                Blade1Target = tempmodule;
                Blade2Target = tempmodule;
                CmdTarget = tempmodule;
                LastTargeModule = tempmodule;
                MoveInfo = new RobotMoveInfo()
                {
                    Action = RobotAction.Placing,
                    ArmTarget = RobotArm.Both,  // CmdRobotArm == RobotArmEnum.Lower ? RobotArm.ArmA : RobotArm.ArmB,
                    BladeTarget = BuildBladeTarget(),
                };
            }
            catch (Exception ex)
            {
                string reason = "";
                if (param != null)
                    foreach (var strpara in param)
                        reason += strpara.ToString();
                OnError($"{Name} place command valid:" + reason);
                LOG.Write(ex);
                return false;
            }
            return true;
        }


        protected override bool fMonitorPlace(object[] param)
        {
            IsBusy = false;
            if (DateTime.Now - _dtActionStart > TimeSpan.FromSeconds(RobotCommandTimeout))
            {
                OnError("Place wafer timeout");
                return true;
            }

            if (_lstMonitorHandler.Count == 0 && !_connection.IsBusy)
            {
                if (CurrentCompoundCommandStatus == JelCommandStatus.NormalEnd)
                {
                    RobotArmEnum arm = (RobotArmEnum)CurrentParamter[0];
                    ModuleName sourcemodule;
                    if (!Enum.TryParse(CurrentParamter[1].ToString(), out sourcemodule)) return false;
                    int Sourceslotindex;
                    if (!int.TryParse(CurrentParamter[2].ToString(), out Sourceslotindex)) return false;

                    if (IsVacuumSensorON)
                    {
                        OnError("Vacuum sensor on blade is ON");
                        return false;
                    }

                    WaferManager.Instance.WaferMoved(RobotModuleName, 0, sourcemodule, Sourceslotindex);
                    if(Blade1ActionPosture == BladePostureEnum.Degree180)
                        WaferManager.Instance.UpdateWaferTurnOver(sourcemodule, Sourceslotindex);


                    Blade1Target = ModuleName.System;
                    Blade2Target = ModuleName.System;

                    if (ModuleHelper.IsLoadPort(sourcemodule))
                    {
                        var lp = DEVICE.GetDevice<LoadPortBaseDevice>(sourcemodule.ToString());
                        if (lp != null)
                            lp.NoteTransferStop();
                    }

                    IsBusy = false;

                    CmdTarget = ModuleName.System;
                    MoveInfo = new RobotMoveInfo()
                    {
                        Action = RobotAction.Picking,
                        ArmTarget = CmdRobotArm == RobotArmEnum.Lower ? RobotArm.ArmA : RobotArm.ArmB,
                        BladeTarget = BuildBladeTarget(),
                    };

                    return true;

                }

                if (CurrentCompoundCommandStatus == JelCommandStatus.InError)
                {
                    _lstMonitorHandler.AddLast(new JelC5000RobotFlippeReadHandler(this, "GER"));
                    HandlerError("PlaceFailed");
                }

            }
            return false;
        }
        protected override bool fMonitorPick(object[] param)
        {
            IsBusy = false;
            if (DateTime.Now - _dtActionStart > TimeSpan.FromSeconds(RobotCommandTimeout))
            {
                OnError("Pick wafer timeout");
                return true;
            }
            if (_lstMonitorHandler.Count == 0 && !_connection.IsBusy)
            {
                if (CurrentCompoundCommandStatus == JelCommandStatus.NormalEnd)
                {
                    RobotArmEnum arm = (RobotArmEnum)CurrentParamter[0];
                    ModuleName sourcemodule;
                    if (!Enum.TryParse(CurrentParamter[1].ToString(), out sourcemodule)) return false;
                    int SourceslotIndex;
                    if (!int.TryParse(CurrentParamter[2].ToString(), out SourceslotIndex)) return false;

                    if (!IsVacuumSensorON)
                    {
                        OnError("Vacuum sensor is not ON");
                        return false;
                    }

                    WaferManager.Instance.WaferMoved(sourcemodule, SourceslotIndex, RobotModuleName, 0);
                    if(Blade1ActionPosture == BladePostureEnum.Degree180)
                        WaferManager.Instance.UpdateWaferTurnOver(RobotModuleName, 0);




                    //if (arm == RobotArmEnum.Lower)
                    //WaferManager.Instance.WaferMoved(sourcemodule, SourceslotIndex, RobotModuleName, 0);
                    //if (arm == RobotArmEnum.Upper)
                    //    WaferManager.Instance.WaferMoved(sourcemodule, SourceslotIndex, RobotModuleName, 1);
                    //if (arm == RobotArmEnum.Both)
                    //{
                    //    WaferManager.Instance.WaferMoved(sourcemodule, SourceslotIndex, RobotModuleName, 0);
                    //    WaferManager.Instance.WaferMoved(sourcemodule, SourceslotIndex, RobotModuleName, 1);
                    //}
                    Blade1Target = ModuleName.System;
                    Blade2Target = ModuleName.System;

                    if (ModuleHelper.IsLoadPort(sourcemodule))
                    {
                        var lp = DEVICE.GetDevice<LoadPortBaseDevice>(sourcemodule.ToString());
                        if (lp != null)
                            lp.NoteTransferStop();
                    }
                    IsBusy = false;


                    CmdTarget = ModuleName.System;
                    MoveInfo = new RobotMoveInfo()
                    {
                        Action = RobotAction.Picking,
                        ArmTarget = CmdRobotArm == RobotArmEnum.Lower ? RobotArm.ArmA : RobotArm.ArmB,
                        BladeTarget = BuildBladeTarget(),
                    };
                    return true;
                }
                if (CurrentCompoundCommandStatus == JelCommandStatus.InError)
                {
                    _lstMonitorHandler.AddLast(new JelC5000RobotFlippeReadHandler(this, "GER"));
                    OnError("Compaund Comand execution failed");
                }
                else
                {
                    _lstMonitorHandler.AddLast(new JelC5000RobotFlippeReadHandler(this, "G"));
                    _lstMonitorHandler.AddLast(new JelC5000RobotFlippeReadHandler(this, $"CS{_lowerArmWaferSensorIndex}"));
                }

            }
            return false;
        }


        public override void ParseData(string command, string parameter, string data)
        {
            try
            {
                string datavalue = data.Replace($"${BodyNumber}", "").Replace("\r", "").Replace($"$2", "");
                
                if (command.Contains($"C5"))
                {
                    IsVacuumSensorON = datavalue == "1";
                }

                base.ParseData(command, parameter, data);
                


            }
            catch (Exception ex)
            {
                LOG.Write($"Parse {command}.{parameter ?? parameter} data {data} error:" + ex.ToString());
                OnError($"Parse data error:{command}.{parameter ?? parameter} data {data}");
            }

        }
        public override WaferSize GetCurrentWaferSize()
        {
            if (WaferManager.Instance.CheckHasWafer(RobotModuleName, 0))
                return WaferManager.Instance.GetWaferSize(RobotModuleName, 0);
            return WaferSize.WS8;
        }

    }

}