ZZ-EFEM/Jet/Jet_001_2P_Jet/EfemRT/Modules/RobotOffsetConfig.cs

using System;
using System.Collections.Generic;
using Aitex.Core.RT.Event;
using Aitex.Core.RT.SCCore;
using Aitex.Core.Util;
using MECF.Framework.Common.Equipment;

namespace EFEM.RT.Modules
{
    public class RobotOffsetConfig : Singleton<RobotOffsetConfig>
    {
        public enum MotionName
        {
            GET,
            PUT,
            EXCHANGE
        }
        private string[] scOffsetsLoadLock = new string[]
        {
            "Robot.OffsetForLL.LLAGET",
            "Robot.OffsetForLL.LLAPUT",
            "Robot.OffsetForLL.LLAEXCHANGE",
            "Robot.OffsetForLL.LLBGET",
            "Robot.OffsetForLL.LLBPUT",
            "Robot.OffsetForLL.LLBEXCHANGE",

            "Robot.OffsetForLL.LL1GET",
            "Robot.OffsetForLL.LL1PUT",
            "Robot.OffsetForLL.LL1EXCHANGE",
            "Robot.OffsetForLL.LL2GET",
            "Robot.OffsetForLL.LL2PUT",
            "Robot.OffsetForLL.LL2EXCHANGE",
            "Robot.OffsetForLL.LL3GET",
            "Robot.OffsetForLL.LL3PUT",
            "Robot.OffsetForLL.LL3EXCHANGE",
            "Robot.OffsetForLL.LL4GET",
            "Robot.OffsetForLL.LL4PUT",
            "Robot.OffsetForLL.LL4EXCHANGE",
            "Robot.OffsetForLL.LL5GET",
            "Robot.OffsetForLL.LL5PUT",
            "Robot.OffsetForLL.LL5EXCHANGE",
            "Robot.OffsetForLL.LL6GET",
            "Robot.OffsetForLL.LL6PUT",
            "Robot.OffsetForLL.LL6EXCHANGE",
            "Robot.OffsetForLL.LL7GET",
            "Robot.OffsetForLL.LL7PUT",
            "Robot.OffsetForLL.LL7EXCHANGE",
            "Robot.OffsetForLL.LL8GET",
            "Robot.OffsetForLL.LL8PUT",
            "Robot.OffsetForLL.LL8EXCHANGE",
        };
        
        private string[] scOffsets = new string[]
        {
            "Robot.OffsetForLP.Type1",
            "Robot.OffsetForLP.Type2",
            "Robot.OffsetForLP.Type3",
            "Robot.OffsetForLP.Type4",
            "Robot.OffsetForLP.Type5",
            "Robot.OffsetForLP.Type6",
            "Robot.OffsetForLP.Type7",
            "Robot.OffsetForLP.Type8",
            "Robot.OffsetForLP.Type9",
            "Robot.OffsetForLP.Type10",
            "Robot.OffsetForLP.Type11",
            "Robot.OffsetForLP.Type12",
            "Robot.OffsetForLP.Type13",
            "Robot.OffsetForLP.Type14",
            "Robot.OffsetForLP.Type15",
            "Robot.OffsetForLP.Type16",
            "Robot.OffsetForLP.Type17",
            "Robot.OffsetForLP.Type18",
            "Robot.OffsetForLP.Type19",
            "Robot.OffsetForLP.Type20"
        };

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

        /// <summary>
        /// Get offset for different cassette type
        /// </summary>
        /// <param name="chamber">Load Port Name</param>
        /// <param name="x">Reference for x</param>
        /// <param name="y">Reference for y</param>
        /// <param name="z">Reference for z</param>
        /// <param name="reason">out reason</param>
        /// <returns>return whether success or not</returns>
        public bool GetOffset(ModuleName chamber, ref int x, ref int y, ref int z, out string reason)
        {
            x = 0;
            y = 0;
            z = 0;
            reason = "";
            if (!ModuleHelper.IsLoadPort(chamber))
                return true;

            string scNameType = $"LoadPort.{chamber.ToString().Replace("LP", "LoadPort")}CassetteType";
            
            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;
            }

            UpdateOffsetConfigForLoadPort();

            if (!_offsetsForLoadPort.ContainsKey(type))
            {
                reason = $"did not find {chamber} {type} type robot offset config";
                return false;
            }

            x = _offsetsForLoadPort[type].Item1;
            y = _offsetsForLoadPort[type].Item2;
            z = _offsetsForLoadPort[type].Item3;

            return true;
        }
        
        /// <summary>
        /// Get offset for get/put/exchange motion on Load Lock
        /// </summary>
        /// <param name="chamber">LLA/LLB</param>
        /// <param name="ePutOrGet">MotionName</param>
        /// <param name="x">Reference for x</param>
        /// <param name="y">Reference for y</param>
        /// <param name="z">Reference for z</param>
        /// <param name="reason">out reason</param>
        /// <returns>return whether success or not</returns>
        public bool GetOffset(ModuleName chamber,MotionName ePutOrGet, ref int x, ref int y, ref int z, out string reason)
        {
            x = 0;
            y = 0;
            z = 0;
            reason = "";
            
            string scNameType = $"Robot.OffsetForLL.{chamber.ToString()}{ePutOrGet.ToString()}";
            
            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;
            }

            UpdateOffsetConfigForLoadLock();

            if (!_offsetsForLoadLock.ContainsKey(scNameType))
            {
                reason = $"did not find {chamber} {type} type robot offset config";
                return false;
            }

            x = _offsetsForLoadLock[scNameType].Item1;
            y = _offsetsForLoadLock[scNameType].Item2;
            z = _offsetsForLoadLock[scNameType].Item3;

            return true;
        }

        private void UpdateOffsetConfigForLoadPort()
        {
            _offsetsForLoadPort.Clear();
            
            //有配置错误的SC,这里忽略。
            foreach (var sc in scOffsets)
            {
                string[] config = SC.ContainsItem(sc) ? SC.GetStringValue(sc).Split(',') : null;
                if (config == null || config.Length != 4)
                {
                    continue;
                }

                if (string.IsNullOrEmpty(config[0]))
                    continue;

                int x = 0;
                int y = 0;
                int z = 0;
                if (!int.TryParse(config[1].Trim(), out x))
                    continue;
                if (!int.TryParse(config[2].Trim(), out y))
                    continue;
                if (!int.TryParse(config[3].Trim(), out z))
                    continue;

                if (x < SC.GetValue<int>("Robot.Offset.OffsetXMin")
                    || x > SC.GetValue<int>("Robot.Offset.OffsetXMax")
                    || y < SC.GetValue<int>("Robot.Offset.OffsetYMin")
                    || y > SC.GetValue<int>("Robot.Offset.OffsetYMax")
                    || z < SC.GetValue<int>("Robot.Offset.OffsetZMin")
                    || z > SC.GetValue<int>("Robot.Offset.OffsetZMax"))
                {
                    EV.PostWarningLog(ModuleNameString.System, $"Robot offset config {sc} value out of range");
                    continue;
                }

                _offsetsForLoadPort[config[0]] = Tuple.Create(x, y, z);
            }
        }
        
        private void UpdateOffsetConfigForLoadLock()
        {
            _offsetsForLoadLock.Clear();
            var i = 0;

            //有配置错误的SC,这里忽略。
            foreach (var sc in scOffsetsLoadLock)
            {
                string[] config = SC.ContainsItem(sc) ? SC.GetStringValue(sc).Split(',') : null;
                if (config == null || config.Length != 3)
                {
                    continue;
                }
                int x = 0;
                int y = 0;
                int z = 0;
                if (!int.TryParse(config[0].Trim(), out x))
                    continue;
                if (!int.TryParse(config[1].Trim(), out y))
                    continue;
                if (!int.TryParse(config[2].Trim(), out z))
                    continue;

                if (x < SC.GetValue<int>("Robot.Offset.OffsetXMin")
                    || x > SC.GetValue<int>("Robot.Offset.OffsetXMax")
                    || y < SC.GetValue<int>("Robot.Offset.OffsetYMin")
                    || y > SC.GetValue<int>("Robot.Offset.OffsetYMax")
                    || z < SC.GetValue<int>("Robot.Offset.OffsetZMin")
                    || z > SC.GetValue<int>("Robot.Offset.OffsetZMax"))
                {
                    EV.PostWarningLog(ModuleNameString.System, $"Robot offset config {sc} value out of range");
                    continue;
                }

                _offsetsForLoadLock[scOffsetsLoadLock[i]] = Tuple.Create(x, y, z);
                i++;
            }
        }


    }
}