ZZ-EFEM/Framework/AitexSorterRT/SorterCommonFrame/Routines/PickRoutine.cs

using System;
using Aitex.Core.Common;
using Aitex.Core.RT.Device;
using Aitex.Core.RT.Event;
using Aitex.Core.RT.Routine;
using Aitex.Core.RT.SCCore;
using Aitex.Sorter.Common;
using MECF.Framework.RT.EquipmentLibrary.HardwareUnits.Robot;
using MECF.Framework.Common.Equipment;
using MECF.Framework.Common.SubstrateTrackings;
using MECF.Framework.RT.EquipmentLibrary.HardwareUnits.LoadPorts;
using Aitex.Sorter.RT.SorterCommonFrame.Modules;
using MECF.Framework.RT.EquipmentLibrary.HardwareUnits.Robots.RobotBase;
using MECF.Framework.RT.EquipmentLibrary.HardwareUnits.Aligners.AlignersBase;
using MECF.Framework.RT.EquipmentLibrary.HardwareUnits.Robots;
using MECF.Framework.RT.EquipmentLibrary.HardwareUnits.LoadPorts.LoadPortBase;
using System.Threading;
using Aitex.Core.RT.Log;
using Aitex.Core.Util;
using Aitex.Sorter.RT.SorterCommonFrame.SorterJobControl;
using MECF.Framework.RT.EquipmentLibrary.HardwareUnits.Flipper.FlipperBase;

namespace Aitex.Sorter.RT.SorterCommonFrame.Routines
{
    public class PickRoutine : CommonRoutineSorter, IRoutine
    {
        enum Pick
        {
            ReleaseAligner,
            WaitLastMotion,
            WaitAlignerReady,
            AlignerPostAction,
            TurnReady,
            WaitTurnReady,
            TurnTo0,
            WaitTurnTo0,
            CheckBeforePick,     
            GoPickPosition,
            WaitGotoPos,
            PickWafer,
            WaitPick,
            UnGrip,
            WaitUngrip,
            RobotRetract,
            WaitRobotRetract,
            CheckAfterPick,
            TurnBack,
            WaitTurnBack,
            Finish,
        }


        public PickRoutine(string module, string name)
        {
            Module = module;
            Name =name;            
        }

        public bool Initalize()
        {
            Reset();
            IsRoutineActive = false;
            return true;
        }

        public ModuleName Source { get; set; }
        public int Slot { get; set; }
        public Hand Blade { get; set; }        

      
        public ModuleName RobotModulename { get; set; } = ModuleName.Robot;

        private bool _isNeedWaitTurnOverIdle;
        private bool _isNeedReleasePA;
        public Result Start(params object[] objs)
        {
            Reset();           

            Robot = DEVICE.GetDevice<RobotBaseDevice>(RobotModulename.ToString());
            Aligner = DEVICE.GetDevice<AlignerBaseDevice>(ModuleName.Aligner.ToString());

            if (Blade == Hand.Blade1 && !Robot.Blade1Enable)
            {
                EV.PostAlarmLog(ModuleName.System.ToString(), $"Can not {Name}, {Blade} is not enable");
                return Result.FAIL;
            }
            if (Blade == Hand.Blade2 && !Robot.Blade2Enable)
            {
                EV.PostAlarmLog(ModuleName.System.ToString(), $"Can not {Name}, {Blade} is not enable");
                return Result.FAIL;
            }


            if (Blade == Hand.Blade1 || Blade == Hand.Blade2)
            {
                if (WaferManager.Instance.CheckHasWafer(RobotModulename, (int)Blade))
                {
                    EV.PostAlarmLog(ModuleName.System.ToString(), $"Can not {Name}, there's wafer on {Blade}.");
                    return Result.FAIL;
                }
            }
            if (Blade == Hand.Both)
            {
                if (WaferManager.Instance.CheckHasWafer(RobotModulename, 0))
                {
                    EV.PostAlarmLog(ModuleName.System.ToString(), $"Can not {Name}, there's wafer on lower arm.");
                    return Result.FAIL;
                }
                if (WaferManager.Instance.CheckHasWafer(RobotModulename, 1))
                {
                    EV.PostAlarmLog(ModuleName.System.ToString(), $"Can not {Name}, there's wafer on upper arm.");
                    return Result.FAIL;
                }

            }


            FixedTurnOverPosition = SC.ContainsItem("Process.FixedTurnOverPosition") ? SC.GetValue<bool>("Process.FixedTurnOverPosition") : true;

            if (Source == ModuleName.TurnOverStation && !_ioTurnOver.IsPlacement)
            {

                EV.PostAlarmLog(ModuleName.System.ToString(), $"Can not {Name}, destination no wafer.");
                return Result.FAIL;

            }

            if (!ModuleHelper.IsTurnOverStation(Source) && Source != ModuleName.Aligner)
            {
                if (!RobotOffsetConfig.Instance.GetPickOffset(Source, ref _offsetX, ref _offsetY, ref _offsetZ,
                    out string reason))
                {
                    EV.PostWarningLog(ModuleName.System.ToString(), $"Can not {Name}, {reason}");
                    return Result.FAIL;
                }
            }
            else
            {
                _offsetX = 0;
                _offsetY = 0;
                _offsetY = 0;
            }
            if(ModuleHelper.IsAligner(Source))
            {
                if (!DEVICE.GetDevice<AlignerBaseDevice>(Source.ToString()).IsReady())
                {
                    EV.PostAlarmLog(ModuleName.System.ToString(), "Aligner is not ready");
                    return Result.FAIL;
                }
                _isNeedReleasePA = Aligner.IsNeedRelease;
            }
            if (ModuleHelper.IsLoadPort(Source))
            {
                var lp = DEVICE.GetDevice<LoadPortBaseDevice>(Source.ToString());
                if(lp.IsForbidAccessSlotAboveWafer() && Slot>0  && WaferManager.Instance.CheckHasWafer(Source,Slot-1))
                {
                    EV.PostAlarmLog(ModuleName.System.ToString(), "Access dennied to the slot above wafer.");
                    return Result.FAIL;
                }
                string reason;
                if(!lp.IsEnableTransferWafer(out reason))
                {
                    EV.PostAlarmLog(ModuleName.System.ToString(), $"{Source} is not ready to transfer wafer:{reason}.");
                    return Result.FAIL;
                }
                var wafer = WaferManager.Instance.GetWafer(Source, Slot);
                if(ModuleHelper.IsLoadPort((ModuleName)wafer.DestinationStation))
                {
                    if(!Singleton<SorterJobManager>.Instance.CheckCarrierAccessPermit(Source, (ModuleName)wafer.DestinationStation))
                    {
                        EV.PostAlarmLog("System", $"Can't start pick routine: carrier access dennied.");
                        return  Result.FAIL;
                    }
                }
            }

            if (ModuleHelper.IsTurnOverStation(Source) && !_ioTurnOver.IsReady)
            {
                _isNeedWaitTurnOverIdle = true;
            }
            else
                _isNeedWaitTurnOverIdle = false;

          
            if (ModuleHelper.IsTurnOverStation(Source))
            {
                _isTurnOverOn0deg = _ioTurnOver.CurrentFlipperPosition == FlipperPosEnum.FrontSide;
            }
            EV.PostInfoLog("System",$"Start picking wafer from station:{Source} slot:{Slot+1} with blade {Blade}");

            IsRoutineActive = true;
            return Monitor();
        }
        private bool _isTurnOverOn0deg;

        public Result Monitor()
        {
            if (!IsRoutineActive) return Result.DONE;
            var ret = MonitorRoutine();
            if (ret == Result.FAIL)
            {
                IsRoutineActive = false;
            }
            if (ret == Result.DONE)
            {
                IsRoutineActive = false;
            }
            return ret;
        }
        private Result MonitorRoutine()
        {
            try
            {

                if (!ModuleHelper.IsTurnOverStation(Source))
                {
                    if (ModuleHelper.IsAligner(Source) && _isNeedReleasePA)
                    {
                        RtReleaseAligner((int)Pick.ReleaseAligner, Notify, Stop);
                        if (ExecuteResult.Item1)
                        {
                            if (ExecuteResult.Item2 == Result.RUN) return Result.RUN;
                            if (ExecuteResult.Item2 == Result.FAIL) return Result.FAIL;
                            if (ExecuteResult.Item2 == Result.TIMEOUT) return Result.FAIL;
                            if (ExecuteResult.Item2 == Result.DONE) return Result.RUN;
                        }

                        RtWaitAlignerMotion((int)Pick.WaitAlignerReady, Aligner, "Wait Aligner Ready",Aligner.TimeLimitAlignWafer, Notify, Stop);
                        if (ExecuteResult.Item1)
                        {
                            if (ExecuteResult.Item2 == Result.RUN) return Result.RUN;
                            if (ExecuteResult.Item2 == Result.FAIL) return Result.FAIL;
                            if (ExecuteResult.Item2 == Result.TIMEOUT) return Result.FAIL;
                            if (ExecuteResult.Item2 == Result.DONE) return Result.RUN;
                        }

                    }

                    RtPickWafer((int)Pick.PickWafer, "Start pick wafer", Source, Slot, Blade, Robot.RobotCommandTimeout, _offsetX, _offsetY, _offsetZ, Notify, Stop);
                    if (ExecuteResult.Item1)
                    {
                        if (ExecuteResult.Item2 == Result.RUN) return Result.RUN;
                        if (ExecuteResult.Item2 == Result.FAIL) return Result.FAIL;
                        if (ExecuteResult.Item2 == Result.TIMEOUT) return Result.FAIL;
                        if (ExecuteResult.Item2 == Result.DONE) return Result.RUN;
                    }

                    if (ModuleHelper.IsAligner(Source))
                    {
                        AlignerPostActionAfterPick((int)Pick.AlignerPostAction, Notify, Stop);
                        if (ExecuteResult.Item1)
                        {
                            if (ExecuteResult.Item2 == Result.RUN) return Result.RUN;
                            if (ExecuteResult.Item2 == Result.FAIL) return Result.FAIL;
                            if (ExecuteResult.Item2 == Result.TIMEOUT) return Result.FAIL;
                            if (ExecuteResult.Item2 == Result.DONE) return Result.RUN;
                        }
                    }


                }
                else
                {
                    if (_isNeedWaitTurnOverIdle)
                    {
                        RtWaitTurnOverMotion((int)Pick.WaitTurnReady, _ioTurnOver, _ioTurnOver.TimelimitAction, Notify, Stop);
                        if (ExecuteResult.Item1)
                        {
                            if (ExecuteResult.Item2 == Result.RUN) return Result.RUN;
                            if (ExecuteResult.Item2 == Result.FAIL) return Result.FAIL;
                            if (ExecuteResult.Item2 == Result.TIMEOUT) return Result.FAIL;
                            if (ExecuteResult.Item2 == Result.DONE) return Result.RUN;
                        }
                    }
                    if (FixedTurnOverPosition)
                    {
                        if (_isTurnOverOn0deg)
                        {
                            RtTurnOverTurn((int)Pick.TurnTo0, Notify, Stop);
                            if (ExecuteResult.Item1)
                            {
                                if (ExecuteResult.Item2 == Result.RUN) return Result.RUN;
                                if (ExecuteResult.Item2 == Result.FAIL) return Result.FAIL;
                                if (ExecuteResult.Item2 == Result.TIMEOUT) return Result.FAIL;
                                if (ExecuteResult.Item2 == Result.DONE) return Result.RUN;
                            }

                            RtWaitTurnOverTurnTo180((int)Pick.WaitTurnTo0, _ioTurnOver, _ioTurnOver.TimelimitAction, Notify, Stop);
                            if (ExecuteResult.Item1)
                            {
                                if (ExecuteResult.Item2 == Result.RUN) return Result.RUN;
                                if (ExecuteResult.Item2 == Result.FAIL) return Result.FAIL;
                                if (ExecuteResult.Item2 == Result.TIMEOUT) return Result.FAIL;
                                if (ExecuteResult.Item2 == Result.DONE) return Result.RUN;
                            }


                        }
                        RtRobotArmGoReadyForPickFromTurnOver((int)Pick.GoPickPosition, Source, Slot, Blade, Robot.RobotCommandTimeout, Notify, Stop, GetWaferOffsetForTurnOverOn180());
                        if (ExecuteResult.Item1)
                        {
                            if (ExecuteResult.Item2 == Result.RUN) return Result.RUN;
                            if (ExecuteResult.Item2 == Result.FAIL) return Result.FAIL;
                            if (ExecuteResult.Item2 == Result.TIMEOUT) return Result.FAIL;
                            if (ExecuteResult.Item2 == Result.DONE) return Result.RUN;
                        }

                        RtTurnOverUnGripWafer((int)Pick.UnGrip, Notify, Stop);
                        if (ExecuteResult.Item1)
                        {
                            if (ExecuteResult.Item2 == Result.RUN) return Result.RUN;
                            if (ExecuteResult.Item2 == Result.FAIL) return Result.FAIL;
                            if (ExecuteResult.Item2 == Result.TIMEOUT) return Result.FAIL;
                            if (ExecuteResult.Item2 == Result.DONE) return Result.RUN;
                        }

                        RtWaitTurnOverUnGrip((int)Pick.WaitUngrip, _ioTurnOver, _ioTurnOver.TimelimitAction, Notify, Stop);
                        if (ExecuteResult.Item1)
                        {
                            if (ExecuteResult.Item2 == Result.RUN) return Result.RUN;
                            if (ExecuteResult.Item2 == Result.FAIL) return Result.FAIL;
                            if (ExecuteResult.Item2 == Result.TIMEOUT) return Result.FAIL;
                            if (ExecuteResult.Item2 == Result.DONE) return Result.RUN;
                        }

                        RtPickWaferFromTurnOver((int)Pick.RobotRetract, Source, Slot, Blade, Robot.RobotCommandTimeout, Notify, Stop, GetWaferOffsetForTurnOverOn180());
                        if (ExecuteResult.Item1)
                        {
                            if (ExecuteResult.Item2 == Result.RUN) return Result.RUN;
                            if (ExecuteResult.Item2 == Result.FAIL) return Result.FAIL;
                            if (ExecuteResult.Item2 == Result.TIMEOUT) return Result.FAIL;
                            if (ExecuteResult.Item2 == Result.DONE) return Result.RUN;
                        }

                        RtTurnOverTurnBack((int)Pick.TurnBack, Notify, Stop);
                        if (ExecuteResult.Item1)
                        {
                            if (ExecuteResult.Item2 == Result.RUN) return Result.RUN;
                            if (ExecuteResult.Item2 == Result.FAIL) return Result.FAIL;
                            if (ExecuteResult.Item2 == Result.TIMEOUT) return Result.FAIL;
                            if (ExecuteResult.Item2 == Result.DONE) return Result.RUN;
                        }
                    }
                    else
                    {
                        if (_isTurnOverOn0deg)
                        {
                            RtRobotArmGoReadyForPickFromTurnOver((int)Pick.GoPickPosition, Source, Slot, Blade, Robot.RobotCommandTimeout, Notify, Stop);
                            if (ExecuteResult.Item1)
                            {
                                if (ExecuteResult.Item2 == Result.RUN) return Result.RUN;
                                if (ExecuteResult.Item2 == Result.FAIL) return Result.FAIL;
                                if (ExecuteResult.Item2 == Result.TIMEOUT) return Result.FAIL;
                                if (ExecuteResult.Item2 == Result.DONE) return Result.RUN;
                            }
                            RtTurnOverUnGripWafer((int)Pick.UnGrip, Notify, Stop);
                            if (ExecuteResult.Item1)
                            {
                                if (ExecuteResult.Item2 == Result.RUN) return Result.RUN;
                                if (ExecuteResult.Item2 == Result.FAIL) return Result.FAIL;
                                if (ExecuteResult.Item2 == Result.TIMEOUT) return Result.FAIL;
                                if (ExecuteResult.Item2 == Result.DONE) return Result.RUN;
                            }
                            RtWaitTurnOverUnGrip((int)Pick.WaitUngrip, _ioTurnOver, _ioTurnOver.TimelimitAction, Notify, Stop);
                            if (ExecuteResult.Item1)
                            {
                                if (ExecuteResult.Item2 == Result.RUN) return Result.RUN;
                                if (ExecuteResult.Item2 == Result.FAIL) return Result.FAIL;
                                if (ExecuteResult.Item2 == Result.TIMEOUT) return Result.FAIL;
                                if (ExecuteResult.Item2 == Result.DONE) return Result.RUN;
                            }
                            RtPickWaferFromTurnOver((int)Pick.RobotRetract, Source, Slot, Blade, Robot.RobotCommandTimeout, Notify, Stop);
                            if (ExecuteResult.Item1)
                            {
                                if (ExecuteResult.Item2 == Result.RUN) return Result.RUN;
                                if (ExecuteResult.Item2 == Result.FAIL) return Result.FAIL;
                                if (ExecuteResult.Item2 == Result.TIMEOUT) return Result.FAIL;
                                if (ExecuteResult.Item2 == Result.DONE) return Result.RUN;
                            }

                        }
                        else
                        {
                            RtRobotArmGoReadyForPickFromTurnOver((int)Pick.GoPickPosition, Source, Slot, Blade, Robot.RobotCommandTimeout, Notify, Stop, GetWaferOffsetForTurnOverOn180());
                            if (ExecuteResult.Item1)
                            {
                                if (ExecuteResult.Item2 == Result.RUN) return Result.RUN;
                                if (ExecuteResult.Item2 == Result.FAIL) return Result.FAIL;
                                if (ExecuteResult.Item2 == Result.TIMEOUT) return Result.FAIL;
                                if (ExecuteResult.Item2 == Result.DONE) return Result.RUN;
                            }
                            RtTurnOverUnGripWafer((int)Pick.UnGrip, Notify, Stop);
                            if (ExecuteResult.Item1)
                            {
                                if (ExecuteResult.Item2 == Result.RUN) return Result.RUN;
                                if (ExecuteResult.Item2 == Result.FAIL) return Result.FAIL;
                                if (ExecuteResult.Item2 == Result.TIMEOUT) return Result.FAIL;
                                if (ExecuteResult.Item2 == Result.DONE) return Result.RUN;
                            }
                            RtWaitTurnOverUnGrip((int)Pick.WaitUngrip, _ioTurnOver, _ioTurnOver.TimelimitAction, Notify, Stop);
                            if (ExecuteResult.Item1)
                            {
                                if (ExecuteResult.Item2 == Result.RUN) return Result.RUN;
                                if (ExecuteResult.Item2 == Result.FAIL) return Result.FAIL;
                                if (ExecuteResult.Item2 == Result.TIMEOUT) return Result.FAIL;
                                if (ExecuteResult.Item2 == Result.DONE) return Result.RUN;
                            }
                            RtPickWaferFromTurnOver((int)Pick.RobotRetract, Source, Slot, Blade, Robot.RobotCommandTimeout, Notify, Stop, GetWaferOffsetForTurnOverOn180());
                            if (ExecuteResult.Item1)
                            {
                                if (ExecuteResult.Item2 == Result.RUN) return Result.RUN;
                                if (ExecuteResult.Item2 == Result.FAIL) return Result.FAIL;
                                if (ExecuteResult.Item2 == Result.TIMEOUT) return Result.FAIL;
                                if (ExecuteResult.Item2 == Result.DONE) return Result.RUN;
                            }
                        }

                    }
                }
                RtUpdateWaferSingleStepProcessState((int)Pick.Finish, "Update wafer single step process state", RobotModulename, 0, Blade,
                     EnumWaferProcessStatus.Idle, Notify, Stop);
                if (ExecuteResult.Item1)
                {
                    if (ExecuteResult.Item2 == Result.RUN) return Result.RUN;
                    if (ExecuteResult.Item2 == Result.FAIL) return Result.FAIL;
                    if (ExecuteResult.Item2 == Result.TIMEOUT) return Result.FAIL;
                    if (ExecuteResult.Item2 == Result.DONE) return Result.DONE;
                }


                




                EV.PostInfoLog("System", $"Complete picking wafer from station:{Source} slot:{Slot + 1} with blade {Blade}.");

                IsRoutineActive = false;
                return Result.DONE;


            }
            catch (Exception ex)
            {
                EV.PostAlarmLog("System", $"Failed to pick wafer from station:{Source} slot:{Slot + 1} with blade {Blade}.");
                LOG.Write(ex);
                IsRoutineActive = false;
                return Result.FAIL;


            }

        }



    }
}