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

using System;
using System.Collections.Generic;
using Aitex.Core.Common;
using Aitex.Core.RT.Event;
using Aitex.Core.RT.Routine;
using EFEM.RT.Routines;
using Aitex.Sorter.Common;
using MECF.Framework.Common.Equipment;
using MECF.Framework.Common.SubstrateTrackings;
using Aitex.Sorter.RT.Module;

namespace EFEM.RT.Modules
{
    public class SingleArmMoveManager : IMoveManager
    {
        private IRoutine _alignerRoutine;


        private bool _pause = true;

        private IRoutine _robotRoutine;
        private readonly AlignRoutine alignRoutine;

        private int lastTaskCount;

        private readonly PickRoutine pickRoutine;
        private readonly PlaceRoutine placeRoutine;

        private MoveTask task1;

        private List<MoveTask> tasks = new List<MoveTask>();


        public SingleArmMoveManager()
        {
            pickRoutine = new PickRoutine("System", "PickWafer");
            pickRoutine.Initalize();

            placeRoutine = new PlaceRoutine("System", "PlaceWafer");
            placeRoutine.Initalize();

            alignRoutine = new AlignRoutine("System", "Alignment");
            alignRoutine.Initalize();
        }

        public Hand Blade { get; set; }
        public event Action<MoveErrorArgument> OnMoveError;
        public int TaskCount => tasks.Count;


        public bool IsPaused => !_pause;

        public int WaferCompleted
        {
            get
            {
                var count = tasks.Count;
                var completed = lastTaskCount - count;
                lastTaskCount = count;
                return completed;
            }
        }

        public bool Pause()
        {
            _pause = true;
            return true;
        }

        public bool Resume()
        {
            _pause = false;
            return true;
        }


        public bool Stop()
        {
            tasks.Clear();
            if (task1 != null)
                tasks.Add(task1);
            _pause = false;
            return true;
        }

        public bool Start(List<MoveTask> tasks)
        {
            _robotRoutine = null;
            _alignerRoutine = null;

            this.tasks = tasks;
            _pause = false;
            var bCheck = true;

            var isSameStation = false || tasks[0].SourceStaion == tasks[tasks.Count - 1].DestStaion;

            for (var i = 0; i < tasks.Count; i++)
                if (!(tasks[i].DestStaion == tasks[tasks.Count - 1].DestStaion && isSameStation))
                    if (IsSwap(tasks[i]))
                    {
                        var reason = string.Format("single arm can't support swap operation. {0}:{1} ---> {2}:{3}.",
                            tasks[i].SourceStaion.ToString(),
                            tasks[i].SourceSlot,
                            tasks[i].DestStaion.ToString(),
                            tasks[i].DestSlot);
                        EV.PostMessage(ModuleName.System.ToString(), EventEnum.DefaultWarning, reason);
                        bCheck = false;
                    }

            if (!bCheck)
                return false;

            foreach (var task in tasks)
            {
                WaferManager.Instance.UpdateWaferProcessStatus(task.SourceStaion, task.SourceSlot, EnumWaferProcessStatus.Wait);//(task.WaferID, ProcessStatus.Wait);
                task.WaferID = WaferManager.Instance.GetWaferID(task.SourceStaion, task.SourceSlot);
            }

            newTask();
            if (task1 == null) return true;

            _robotRoutine = null;
            _alignerRoutine = null;

            lastTaskCount = tasks.Count;
            return true;
        }

        public bool Monitor(object[] objs)
        {
            var ret = Result.RUN;

            if (tasks.Count == 0 && task1 == null) return true; //completed

            if (task1 == null)
                if (!_pause)
                    newTask();

            if (_alignerRoutine != null)
            {
                ret = _alignerRoutine.Monitor();
                if (ret == Result.DONE)
                {
                    _alignerRoutine = null;
                    AlignCompleted();
                    return false;
                }

                if (ret == Result.FAIL)
                {
                    WaferManager.Instance.UpdateWaferProcessStatus(ModuleName.Robot, 0, ProcessStatus.Failed);
                    WaferManager.Instance.UpdateWaferProcessStatus(ModuleName.Robot, 1, ProcessStatus.Failed);
                    WaferManager.Instance.UpdateWaferProcessStatus(ModuleName.Aligner, 0, ProcessStatus.Failed);
                    NotifyError("Aligner", "Aligner Error");
                    return true; //failed       
                }
            }

            if (_robotRoutine != null)
            {
                ret = _robotRoutine.Monitor();

                if (ret == Result.DONE)
                {
                    _robotRoutine = null;
                    return false;
                }

                if (ret == Result.FAIL)
                {
                    WaferManager.Instance.UpdateWaferProcessStatus(ModuleName.Robot, 0, ProcessStatus.Failed);
                    WaferManager.Instance.UpdateWaferProcessStatus(ModuleName.Robot, 1, ProcessStatus.Failed);
                    WaferManager.Instance.UpdateWaferProcessStatus(ModuleName.Aligner, 0, ProcessStatus.Failed);
                    NotifyError("Robot", "Robot Error");
                    return true; //failed       
                }
            }
            else
            {
                if (!_pause)
                {
                    var rountine = NextRoutine();
                    if (rountine != null)
                    {
                        ret = rountine.Start();
                        if (ret == Result.FAIL)
                        {
                            WaferManager.Instance.UpdateWaferProcessStatus(ModuleName.Robot, 0, ProcessStatus.Failed);
                            WaferManager.Instance.UpdateWaferProcessStatus(ModuleName.Robot, 1, ProcessStatus.Failed);
                            NotifyError("Robot", "Robot Error");
                            return true;
                        }

                        _robotRoutine = rountine;
                    }
                }
            }

            return false;
        }

        public Result Monitor()
        {
            var ret = Result.RUN;

            if (tasks.Count == 0 && task1 == null) return Result.DONE; //completed

            if (task1 == null)
                if (!_pause)
                    newTask();

            if (_alignerRoutine != null)
            {
                ret = _alignerRoutine.Monitor();
                if (ret == Result.DONE)
                {
                    _alignerRoutine = null;
                    AlignCompleted();
                    return Result.RUN;
                }

                if (ret == Result.FAIL)
                {
                    WaferManager.Instance.UpdateWaferProcessStatus(ModuleName.Robot, 0, EnumWaferProcessStatus.Failed);
                    WaferManager.Instance.UpdateWaferProcessStatus(ModuleName.Robot, 1, EnumWaferProcessStatus.Failed);
                    WaferManager.Instance.UpdateWaferProcessStatus(ModuleName.Aligner, 0, EnumWaferProcessStatus.Failed);
                    NotifyError("Aligner", "Aligner Error");
                    return Result.FAIL; //failed       
                }
            }

            if (_robotRoutine != null)
            {
                ret = _robotRoutine.Monitor();

                if (ret == Result.DONE)
                {
                    _robotRoutine = null;
                    IRoutine rountine = NextRoutine();
                    if (rountine != null)
                    {
                        if (rountine.Start() == Result.FAIL)
                        {
                            WaferManager.Instance.UpdateWaferProcessStatus(ModuleName.Robot, 0, EnumWaferProcessStatus.Failed);
                            WaferManager.Instance.UpdateWaferProcessStatus(ModuleName.Robot, 1, EnumWaferProcessStatus.Failed);
                            WaferManager.Instance.UpdateWaferProcessStatus(ModuleName.Aligner, 0, EnumWaferProcessStatus.Failed);
                            NotifyError("Robot", "Robot Error");
                            return Result.FAIL;
                        }
                        else
                        {
                            _robotRoutine = rountine;
                            return _robotRoutine.Monitor();
                        }
                    }
                    return Result.RUN;
                }

                if (ret == Result.FAIL)
                {
                    WaferManager.Instance.UpdateWaferProcessStatus(ModuleName.Robot, 0, EnumWaferProcessStatus.Failed);
                    WaferManager.Instance.UpdateWaferProcessStatus(ModuleName.Robot, 1, EnumWaferProcessStatus.Failed);
                    WaferManager.Instance.UpdateWaferProcessStatus(ModuleName.Aligner, 0, EnumWaferProcessStatus.Failed);
                    NotifyError("Robot", "Robot Error");
                    return Result.FAIL; //failed       
                }
            }
            else
            {
                if (!_pause)
                {
                    IRoutine rountine = NextRoutine();
                    if (rountine != null)
                    {
                        if (rountine.Start() == Result.FAIL)
                        {
                            WaferManager.Instance.UpdateWaferProcessStatus(ModuleName.Robot, 0, EnumWaferProcessStatus.Failed);
                            WaferManager.Instance.UpdateWaferProcessStatus(ModuleName.Robot, 1, EnumWaferProcessStatus.Failed);
                            WaferManager.Instance.UpdateWaferProcessStatus(ModuleName.Aligner, 0, EnumWaferProcessStatus.Failed);
                            NotifyError("Robot", "Robot Error");
                            return Result.FAIL; 
                        }
                        else
                        {
                            _robotRoutine = rountine;
                            return _robotRoutine.Monitor();
                        }
                        
                    }

                    return Result.RUN;
                }
            }

            return Result.RUN;
        }

        public bool Initialize()
        {
            return true;
        }

        private void newTask()
        {
            if (tasks.Count > 0)
                task1 = tasks[0];
            if (task1 != null) WaferManager.Instance.UpdateWaferProcessStatus(task1.SourceStaion, task1.SourceSlot, EnumWaferProcessStatus.Wait); //(task1.WaferID, ProcessStatus.Busy);
        }

        private bool IsSwap(MoveTask task)
        {
            if (task.DestStaion == task.SourceStaion && task.DestSlot == task.SourceSlot)
                return false;
            return WaferManager.Instance.CheckHasWafer(task.DestStaion, task.DestSlot);
        }

        private void AlignCompleted()
        {
            if (task1 != null)
                if (task1.Step == MoveStep.WaitAligner)
                    task1.Step = MoveStep.PickFromAligner;
        }

        private IRoutine NextRoutine()
        {
            IRoutine routine = null;
            if (task1.Step == MoveStep.PickFromSource)
            {
                pickRoutine.Source = task1.SourceStaion;
                pickRoutine.Slot = task1.SourceSlot;
                pickRoutine.Blade = GetEmptyHand();
                pickRoutine.WaitForPickTime = task1.DelayTimeBeforePick;

                task1.Blade = pickRoutine.Blade;
                routine = pickRoutine;

                if (PassAligner(task1.option))
                    task1.Step = MoveStep.PlaceToAligner;
                else
                    task1.Step = MoveStep.PlaceToDest;
            }
            else if (task1.Step == MoveStep.PlaceToAligner)
            {
                placeRoutine.Station = ModuleName.Aligner;
                placeRoutine.Slot = 0;
                placeRoutine.Blade = task1.Blade;

                task1.Step = MoveStep.Aligning;
                routine = placeRoutine;
            }
            else if (task1.Step == MoveStep.Aligning)
            {
                alignRoutine.Option = task1.option;
                alignRoutine.Notch = task1.Notch;

                alignRoutine.VerifyAny = task1.VerifyAny;
                alignRoutine.VerifyLaserMaker = task1.VerifyLaserMaker;
                alignRoutine.LaserMaker = task1.LaserMaker;
                alignRoutine.VerifyT7Code = task1.VerifyT7Code;
                alignRoutine.T7Code = task1.T7Code;


                _alignerRoutine = alignRoutine;
                _alignerRoutine.Start();

                task1.Step = MoveStep.WaitAligner;
            }
            else if (task1.Step == MoveStep.PickFromAligner)
            {
                if (_alignerRoutine == null) //aligning completed
                {
                    pickRoutine.Source = ModuleName.Aligner;
                    pickRoutine.Slot = 0;

                    pickRoutine.Blade = task1.Blade;
                    task1.Step = MoveStep.PlaceToDest;
                    routine = pickRoutine;
                }
            }
            else if (task1.Step == MoveStep.PlaceToDest)
            {
                placeRoutine.Station = task1.DestStaion;
                placeRoutine.Slot = task1.DestSlot;
                placeRoutine.Blade = task1.Blade;

                task1.Step = MoveStep.Completed;
                routine = placeRoutine;
            }
            else if (task1.Step == MoveStep.Completed)
            {
                WaferManager.Instance.UpdateWaferProcessStatus(task1.DestStaion, task1.DestSlot,
                    ProcessStatus.Completed);
                tasks.Remove(task1);
                task1 = GetNextTask();
            }

            return routine;
        }

        private bool PassAligner(MoveOption option)
        {
            return (option & MoveOption.Align) == MoveOption.Align || (option & MoveOption.ReadID) == MoveOption.ReadID
                                                                   || (option & MoveOption.ReadID2) ==
                                                                   MoveOption.ReadID2;
        }

        private Hand GetEmptyHand()
        {
            return Blade;
            /*
            if (!WaferManager.Instance.CheckWafer(UnitName.Robot, 0, WaferStatus.Normal))
            {
                return Hand.Blade1;
            }

            if (!WaferManager.Instance.CheckWafer(UnitName.Robot, 1, WaferStatus.Normal))
            {
                return Hand.Blade2;
            }
            */
            //return Hand.Blade1;
        }


        private MoveTask GetNextTask()
        {
            MoveTask newTask = null;
            if (tasks.Count > 0)
                newTask = tasks[0];

            if (newTask != null) WaferManager.Instance.UpdateWaferProcessStatus(newTask.SourceStaion, newTask.SourceSlot, EnumWaferProcessStatus.Wait);//(newTask.WaferID, ProcessStatus.Busy);
            return newTask;
        }

        //private void PostMsg(RouteManager.MSG msg, params object[] objs)
        //{
        //    Singleton<RouteManager>.Instance.PostMsg(msg, objs);
        //}

        private void NotifyError(string module, string message)
        {
            if (OnMoveError != null) OnMoveError(new MoveErrorArgument(module, message));
        }
    }
}