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

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

namespace EFEM.RT.Tasks
{
    public class PickTask : RobotImp, ITask
    {
        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;
            }

            Hand arm = Hand.Blade2;
            if (!ParseMoveArm(args[1], out arm))
            {
                EV.PostWarningLog("Server", $"{args[1]} not valid arm parameter");
                result = PARAM_NG;
                return false;
            }

            if (ModuleHelper.IsLoadLock(target) && !SC.GetValue<bool>("System.IsLoadLockEnableZMotion"))
            {
                EV.PostWarningLog("Server", $"not support LL z motion, can not LOAD {target}");
                result = PARAM_NG;
                return false;
            }

            if (MultiWaferSize)
            {
                if (args.Length < 2)
                {
                    result = PARAM_NG;
                    return false;
                }

                if (!CheckWaferSize(args[2], target, slot - 1))
                {
                    result = PARAM_NG;
                    return false;
                }

                //if (ModuleHelper.IsLoadPort(target))
                //{
                //OpenStageWithWaferSizeLoadPort lp = DEVICE.GetDevice<OpenStageWithWaferSizeLoadPort>(target.ToString());
                //var 
                //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<DisablePolicy>(device, out result))
            {
                // LOG.Write($"PickTask {device} Busy");
                return false;
            }
            if (!Check<BusyPolicy>(device, out result))
            {
                LOG.Write($"PickTask {device} Busy");
                return false;
            }
            if (!Check<DisablePolicy>(target.ToString(), 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<NoWaferMappingCompletedPolicy>(target.ToString(), out result))
            {
                return false;
            }
            if (!Check<NoPodPolicy>(device, out result))
            {
                return false;
            }

            //do not check loadlock
            if (!ModuleHelper.IsBuffer(target))
            { 
                if (!ModuleHelper.IsLoadLock(target)&& !Singleton<WaferManager>.Instance.CheckHasWafer(target, slot - 1))
                {
                    result = "NONWAF";
                    return false;
                }
            }
            if (ModuleHelper.IsLoadPort(target))
            {
                if (!Check<ErrorPolicy>(target.ToString(), out result))
                {
                    return false;
                }
            }
            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;
                }
            }
            
            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<RouteManager>.Instance.IsIdle)
            {
                LOG.Write($"PickTask RouteManager is Busy");

                result = "BUSY";
                return false;
            }

            _token = Singleton<RouteManager>.Instance.Invoke("Pick", target.ToString(), slot - 1, arm);

            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)
                    {
                        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()&& Singleton<RouteManager>.Instance.CheckAcked(_token))
                return true;

            return null;
        }
    }



}