ZZ-EFEM/Framework/AitexSorterRT/SorterCommonFrame/Modules/RobotOffsetConfig.cs

using Aitex.Core.RT.DataCenter;
using Aitex.Core.RT.Event;
using Aitex.Core.RT.SCCore;
using Aitex.Core.Util;
using MECF.Framework.Common.Equipment;
using MECF.Framework.RT.EquipmentLibrary.HardwareUnits.LoadPorts;
using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Threading.Tasks;
using Aitex.Core.RT.Device;
using MECF.Framework.RT.EquipmentLibrary.HardwareUnits.LoadPorts.LoadPortBase;

namespace Aitex.Sorter.RT.SorterCommonFrame.Modules
{
    public class RobotOffsetConfig : Singleton<RobotOffsetConfig>
    {
        private string[] scPickOffsets = new string[]
        {
            "CarrierInfo.Get.Offset0",
            "CarrierInfo.Get.Offset1",
            "CarrierInfo.Get.Offset2",
            "CarrierInfo.Get.Offset3",
            "CarrierInfo.Get.Offset4",
            "CarrierInfo.Get.Offset5",
            "CarrierInfo.Get.Offset6",
            "CarrierInfo.Get.Offset7",
            "CarrierInfo.Get.Offset8",
            "CarrierInfo.Get.Offset9",
            "CarrierInfo.Get.Offset10",
            "CarrierInfo.Get.Offset11",
            "CarrierInfo.Get.Offset12",
            "CarrierInfo.Get.Offset13",
            "CarrierInfo.Get.Offset14",
            "CarrierInfo.Get.Offset15",
            "CarrierInfo.Get.Offset16",
            "CarrierInfo.Get.Offset17",
            "CarrierInfo.Get.Offset18",
            "CarrierInfo.Get.Offset19",
            "CarrierInfo.Get.Offset20",
            "CarrierInfo.Get.Offset21",
            "CarrierInfo.Get.Offset22",
            "CarrierInfo.Get.Offset23",
            "CarrierInfo.Get.Offset24",
            "CarrierInfo.Get.Offset25",
            "CarrierInfo.Get.Offset26",
            "CarrierInfo.Get.Offset27",
            "CarrierInfo.Get.Offset28",
            "CarrierInfo.Get.Offset29",
            "CarrierInfo.Get.Offset30",
            "CarrierInfo.Get.Offset31",
            "CarrierInfo.Get.Offset32",
            "CarrierInfo.Get.Offset33",
            "CarrierInfo.Get.Offset34",
            "CarrierInfo.Get.Offset35",
            "CarrierInfo.Get.Offset36",
            "CarrierInfo.Get.Offset37",
            "CarrierInfo.Get.Offset38",
            "CarrierInfo.Get.Offset39",
            "CarrierInfo.Get.Offset40",
            "CarrierInfo.Get.Offset41",
            "CarrierInfo.Get.Offset42",
            "CarrierInfo.Get.Offset43",
            "CarrierInfo.Get.Offset44",
            "CarrierInfo.Get.Offset45",
            "CarrierInfo.Get.Offset46",
            "CarrierInfo.Get.Offset47",
            "CarrierInfo.Get.Offset48",
            "CarrierInfo.Get.Offset49",
            "CarrierInfo.Get.Offset50",
            "CarrierInfo.Get.Offset51",
            "CarrierInfo.Get.Offset52",
            "CarrierInfo.Get.Offset53",
            "CarrierInfo.Get.Offset54",
            "CarrierInfo.Get.Offset55",
            "CarrierInfo.Get.Offset56",
            "CarrierInfo.Get.Offset57",
            "CarrierInfo.Get.Offset58",
            "CarrierInfo.Get.Offset59",
            "CarrierInfo.Get.Offset60",
            "CarrierInfo.Get.Offset61",
            "CarrierInfo.Get.Offset62",
            "CarrierInfo.Get.Offset63",
            "CarrierInfo.Get.Offset64",
            "CarrierInfo.Get.Offset65",
            "CarrierInfo.Get.Offset66",
            "CarrierInfo.Get.Offset67",
            "CarrierInfo.Get.Offset68",
            "CarrierInfo.Get.Offset69",
            "CarrierInfo.Get.Offset70",
            "CarrierInfo.Get.Offset71",
            "CarrierInfo.Get.Offset72",
            "CarrierInfo.Get.Offset73",
            "CarrierInfo.Get.Offset74",
            "CarrierInfo.Get.Offset75",
            "CarrierInfo.Get.Offset76",
            "CarrierInfo.Get.Offset77",
            "CarrierInfo.Get.Offset78",
            "CarrierInfo.Get.Offset79",
            "CarrierInfo.Get.Offset80",
            "CarrierInfo.Get.Offset81",
            "CarrierInfo.Get.Offset82",
            "CarrierInfo.Get.Offset83",
            "CarrierInfo.Get.Offset84",
            "CarrierInfo.Get.Offset85",
            "CarrierInfo.Get.Offset86",
            "CarrierInfo.Get.Offset87",
            "CarrierInfo.Get.Offset88",
            "CarrierInfo.Get.Offset89",
            "CarrierInfo.Get.Offset90",
            "CarrierInfo.Get.Offset91",
            "CarrierInfo.Get.Offset92",
            "CarrierInfo.Get.Offset93",
            "CarrierInfo.Get.Offset94",
            "CarrierInfo.Get.Offset95",
            "CarrierInfo.Get.Offset96",
            "CarrierInfo.Get.Offset97",
            "CarrierInfo.Get.Offset98",
            "CarrierInfo.Get.Offset99",
            "CarrierInfo.Get.Offset100",

        };
        private string[] scPlaceOffsets = new string[]
        {
            "CarrierInfo.Put.Offset0",
            "CarrierInfo.Put.Offset1",
            "CarrierInfo.Put.Offset2",
            "CarrierInfo.Put.Offset3",
            "CarrierInfo.Put.Offset4",
            "CarrierInfo.Put.Offset5",
            "CarrierInfo.Put.Offset6",
            "CarrierInfo.Put.Offset7",
            "CarrierInfo.Put.Offset8",
            "CarrierInfo.Put.Offset9",
            "CarrierInfo.Put.Offset10",
            "CarrierInfo.Put.Offset11",
            "CarrierInfo.Put.Offset12",
            "CarrierInfo.Put.Offset13",
            "CarrierInfo.Put.Offset14",
            "CarrierInfo.Put.Offset15",
            "CarrierInfo.Put.Offset16",
            "CarrierInfo.Put.Offset17",
            "CarrierInfo.Put.Offset18",
            "CarrierInfo.Put.Offset19",
            "CarrierInfo.Put.Offset20",
            "CarrierInfo.Put.Offset21",
            "CarrierInfo.Put.Offset22",
            "CarrierInfo.Put.Offset23",
            "CarrierInfo.Put.Offset24",
            "CarrierInfo.Put.Offset25",
            "CarrierInfo.Put.Offset26",
            "CarrierInfo.Put.Offset27",
            "CarrierInfo.Put.Offset28",
            "CarrierInfo.Put.Offset29",
            "CarrierInfo.Put.Offset30",
            "CarrierInfo.Put.Offset31",
            "CarrierInfo.Put.Offset32",
            "CarrierInfo.Put.Offset33",
            "CarrierInfo.Put.Offset34",
            "CarrierInfo.Put.Offset35",
            "CarrierInfo.Put.Offset36",
            "CarrierInfo.Put.Offset37",
            "CarrierInfo.Put.Offset38",
            "CarrierInfo.Put.Offset39",
            "CarrierInfo.Put.Offset40",
            "CarrierInfo.Put.Offset41",
            "CarrierInfo.Put.Offset42",
            "CarrierInfo.Put.Offset43",
            "CarrierInfo.Put.Offset44",
            "CarrierInfo.Put.Offset45",
            "CarrierInfo.Put.Offset46",
            "CarrierInfo.Put.Offset47",
            "CarrierInfo.Put.Offset48",
            "CarrierInfo.Put.Offset49",
            "CarrierInfo.Put.Offset50",
            "CarrierInfo.Put.Offset51",
            "CarrierInfo.Put.Offset52",
            "CarrierInfo.Put.Offset53",
            "CarrierInfo.Put.Offset54",
            "CarrierInfo.Put.Offset55",
            "CarrierInfo.Put.Offset56",
            "CarrierInfo.Put.Offset57",
            "CarrierInfo.Put.Offset58",
            "CarrierInfo.Put.Offset59",
            "CarrierInfo.Put.Offset60",
            "CarrierInfo.Put.Offset61",
            "CarrierInfo.Put.Offset62",
            "CarrierInfo.Put.Offset63",
            "CarrierInfo.Put.Offset64",
            "CarrierInfo.Put.Offset65",
            "CarrierInfo.Put.Offset66",
            "CarrierInfo.Put.Offset67",
            "CarrierInfo.Put.Offset68",
            "CarrierInfo.Put.Offset69",
            "CarrierInfo.Put.Offset70",
            "CarrierInfo.Put.Offset71",
            "CarrierInfo.Put.Offset72",
            "CarrierInfo.Put.Offset73",
            "CarrierInfo.Put.Offset74",
            "CarrierInfo.Put.Offset75",
            "CarrierInfo.Put.Offset76",
            "CarrierInfo.Put.Offset77",
            "CarrierInfo.Put.Offset78",
            "CarrierInfo.Put.Offset79",
            "CarrierInfo.Put.Offset80",
            "CarrierInfo.Put.Offset81",
            "CarrierInfo.Put.Offset82",
            "CarrierInfo.Put.Offset83",
            "CarrierInfo.Put.Offset84",
            "CarrierInfo.Put.Offset85",
            "CarrierInfo.Put.Offset86",
            "CarrierInfo.Put.Offset87",
            "CarrierInfo.Put.Offset88",
            "CarrierInfo.Put.Offset89",
            "CarrierInfo.Put.Offset90",
            "CarrierInfo.Put.Offset91",
            "CarrierInfo.Put.Offset92",
            "CarrierInfo.Put.Offset93",
            "CarrierInfo.Put.Offset94",
            "CarrierInfo.Put.Offset95",
            "CarrierInfo.Put.Offset96",
            "CarrierInfo.Put.Offset97",
            "CarrierInfo.Put.Offset98",
            "CarrierInfo.Put.Offset99",
            "CarrierInfo.Put.Offset100",


        };


        private Dictionary<string, Tuple<int, int, int>> _offsets = new Dictionary<string, Tuple<int, int, int>>();

        public bool GetPickOffset(ModuleName chamber, ref int x, ref int y, ref int z, out string reason)
        {
            x = 0;
            y = 0;
            z = 0;
            reason = "";
            if (chamber == ModuleName.Aligner || chamber == ModuleName.TurnOverStation)
                return true;
            if (!ModuleHelper.IsLoadPort(chamber))
                return true;
            var lp = DEVICE.GetDevice<LoadPortBaseDevice>(chamber.ToString());
            if (lp == null) return true;

            int offsetindex = lp.InfoPadCarrierIndex;
            if (offsetindex < 0 || offsetindex >= scPlaceOffsets.Length) offsetindex = 0;


            string scNameType = scPickOffsets[offsetindex];
            
            if(SC.ContainsItem($"CarrierInfo.Carrier{offsetindex}.GetOffset"))
            {
                scNameType = $"CarrierInfo.Carrier{offsetindex}.GetOffset";
            }

            if (!SC.ContainsItem(scNameType))
            {
                reason = $"Not found {chamber} foup type system config item";
                return false;
            }


            string type = SC.GetStringValue(scNameType);



            if (string.IsNullOrEmpty(type.Trim()))
            {
                reason = $"{chamber} foup type system config can not be empty";
                return false;
            }

            string[] offs = type.Split(',');
            if (offs.Length < 3) return false;
            int value;
            if (!int.TryParse(offs[0], out value)) return false;
            x = value;
            if (!int.TryParse(offs[1], out value)) return false;
            y = value;
            if (!int.TryParse(offs[2], out value)) return false;
            z = value;

            return true;
        }

        public bool GetPlaceOffset(ModuleName chamber, ref int x, ref int y, ref int z, out string reason)
        {
            x = 0;
            y = 0;
            z = 0;
            reason = "";
            if (chamber == ModuleName.Aligner || chamber == ModuleName.TurnOverStation)
                return true;

            var lp = DEVICE.GetDevice<LoadPortBaseDevice>(chamber.ToString());
            if (lp == null) return true;

            int offsetindex = lp.InfoPadCarrierIndex;
            if (offsetindex < 0 || offsetindex>= scPlaceOffsets.Length) offsetindex = 0;

           

            string scNameType = scPlaceOffsets[offsetindex];

            if(SC.ContainsItem($"CarrierInfo.Carrier{offsetindex}.PutOffset"))
            {
                scNameType = $"CarrierInfo.Carrier{offsetindex}.PutOffset";
            }

            if (!SC.ContainsItem(scNameType))
            {
                reason = $"Not found {chamber} foup type system config item";
                return false;
            }

            string type = SC.GetStringValue(scNameType);
            if (string.IsNullOrEmpty(type.Trim()))
            {
                reason = $"{chamber} foup type system config can not be empty";
                return false;
            }

            string[] offs = type.Split(',');
            if (offs.Length < 3) return false;
            int value;
            if (!int.TryParse(offs[0], out value)) return false;
            x = value;
            if (!int.TryParse(offs[1], out value)) return false;
            y = value;
            if (!int.TryParse(offs[2], out value)) return false;
            z = value;

            return true;
        }





    }
}