ZZ-EFEM/Jet/Jet_001_2P_Jet/EfemRT/Routines/LP/LoadFoupRoutine.cs

using System;
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.Common.Equipment;
using MECF.Framework.RT.EquipmentLibrary.HardwareUnits.LoadPorts;
using MECF.Framework.RT.EquipmentLibrary.HardwareUnits.LoadPorts.LoadPortBase;

namespace EFEM.RT.Routines.LP
{
    internal class LoadFoupRoutine : CommonRoutine, IRoutine
    {
        public enum LoadFoup
        { 
            LOAD,
            WaitLoad,
            GetMap,
        }

        public ModuleName Chamber { get; set; }

        private SCConfigItem _scLoadTimeout = null;
        private int _timeoutLoad = 0;

        LoadPortBaseDevice _device = null;
      
        public bool IsDeviceNull => _device == null;


        public LoadFoupRoutine(string module, string name) 
        {         
            _scLoadTimeout = SC.GetConfigItem("LoadPort.TimeLimitLoadportLoad");
        }

        public bool Initalize()
        {
            IsStopped = true;
            return true;
        }

        public Result StartRoutine(ModuleName lp)
        {
            Chamber = lp;
            _timeoutLoad = _scLoadTimeout.IntValue;
            Reset();
            _device = DEVICE.GetDevice<LoadPortBaseDevice>(Chamber.ToString());
            
            if (_device.DockState == FoupDockState.Docked)
            {
                EV.PostMessage(Chamber.ToString(), EventEnum.DefaultWarning, string.Format("{0} is load already, can't do again", Chamber.ToString()));
                return Result.FAIL;
            }
         
            string reason = string.Empty;
            if (SC.GetValue<bool>("System.LPRobotActionIntervene"))
            {
                if (!CheckLoadportMotionInterlock(Chamber, out reason))
                {
                    EV.PostMessage(Chamber.ToString(), EventEnum.LoadFOUPFailed, reason);
                    return Result.FAIL;
                }
            }
            if (!_device.IsEnableLoad(out reason))
            {
                EV.PostMessage(Chamber.ToString(), EventEnum.DefaultWarning, reason);
                return Result.FAIL;
            }
            EV.PostMessage(Chamber.ToString(), EventEnum.LoadFOUPStart, Chamber.ToString());
            IsStopped = false;
            return Result.RUN;
        }

        public   Result Start(params object[] objs)
        {
     
            _timeoutLoad = _scLoadTimeout.IntValue;
            Reset();
            _device = DEVICE.GetDevice<LoadPortBaseDevice>(Chamber.ToString());

            if (_device.DockState == FoupDockState.Docked)
            {
                EV.PostMessage(Chamber.ToString(), EventEnum.DefaultWarning, string.Format("{0} is load already, can't do again", Chamber.ToString()));
                return Result.FAIL;
            }
            EV.PostMessage(Chamber.ToString(), EventEnum.LoadFOUPStart, Chamber.ToString());
            IsStopped = false;
            return Result.RUN;
        }        

        public Result Monitor()
        {
            if (IsStopped) return Result.DONE;
            try
            {
                MapLoadFoup((int)LoadFoup.LOAD, "Mapping&Load", _timeoutLoad, Notify, Stop);
                WaitLoadportMotion((int)LoadFoup.WaitLoad, _device, "Wait Load...", _timeoutLoad, Notify, Stop);
               // GetWaferMap((int)LoadFoup.GetMap, "Get Mapping", _timeoutLoad, Notify, Stop);
            }
            catch (RoutineBreakException)
            {
                return Result.RUN;
            }
            catch (RoutineFaildException)
            {
                IsStopped = true;
                return Result.FAIL;
            }
            IsStopped = true;
            EV.PostMessage(Chamber.ToString(), EventEnum.LoadFOUPEnd, Chamber.ToString());                    
            return Result.DONE;
        }

        public new void Abort()
        {
        }
  

        protected void MapLoadFoup(int id, string name, int time, Action<string> notify, Action<string> error)
        {
            Tuple<bool, Result> ret = Execute(id, () =>
            {
                notify(String.Format("{0} Load", _device.Name));
                string reason = string.Empty;
                return _device.Load(out reason);
            });

            if (ret.Item1)
            {
                if (ret.Item2 == Result.FAIL)
                {
                    throw (new RoutineFaildException());
                }
                else if (ret.Item2 == Result.TIMEOUT) //timeout
                {
                    error(String.Format("{0} timeout, than {1} seconds", name, time));
                    throw (new RoutineFaildException());
                }
                else
                    throw (new RoutineBreakException());
            }
        }
        
        protected void GetWaferMap(int id, string name, int time, Action<string> notify, Action<string> error)
        {
            Tuple<bool, Result> ret = ExecuteAndWait(id, () =>
            {
                notify(String.Format("Query Mapping"));
                string reason = string.Empty;
                return _device.QueryWaferMap(out reason);
            }, () =>
            {
                if (!_device.IsBusy)
                {
                    return true;
                }
                return false;
            }, time * 1000);

            if (ret.Item1)
            {
                if (ret.Item2 == Result.FAIL)
                {
                    throw (new RoutineFaildException());
                }
                else if (ret.Item2 == Result.TIMEOUT) //timeout
                {
                    error(String.Format("Query Mapping time out, using more than {0} seconds", time));
                    throw (new RoutineFaildException());
                }
                else
                    throw (new RoutineBreakException());
            }
        }

        protected override void Notify(string message)
        {
            EV.PostMessage(Module, EventEnum.GeneralInfo, String.Format("Load Foup:{0}", message));
        }

        /// <summary>
        /// prepare process failed
        /// </summary>
        /// <param name="failReason"></param>
        /// <param name="reactor"></param>
        protected override void Stop(string failReason)
        {
            string reason = String.Empty;

            EV.PostMessage(Module, EventEnum.LoadFOUPFailed, failReason);  
        }

    }
}