ZZ-EFEM/Jet/Jet_001_2P_Jet/EfemRT/Tasks/InitTask.cs

using System.Threading;
using Aitex.Core.Util;
using EFEM.RT.Modules;

using Aitex.Sorter.Common;
using Efem;
using MECF.Framework.Common.Equipment;
using Aitex.Core.RT.Device;
using MECF.Framework.RT.EquipmentLibrary.HardwareUnits.LoadPorts.LoadPortBase;

namespace EFEM.RT.Tasks
{
    public class InitTask : CheckImp, ITask
    {
        public InitTask()
        {
        }

        public bool Execute(out string result, params string[] args)
        {
            result = string.Empty;

            string device = args.Length > 0 ? Args2Unit(args[0]) : DeviceName.System;            
            IServerModule entity = GetEntity(device);
            
            if (entity == null)
            {
                result = PARAM_NG;
                return false;
            }
            if (!Check<InitNoReadyPolicy>(device, out result))
            {
                return false;
            }

            if (!Check<InitBusyPolicy>(device, out result))
            {
                return false;
            }

            if (!Check<HoldPolicy>(device, out result))
            {
                return false;
            }

            if (!Check<RemovePolicy>(device, out result))
            {
                return false;
            }

            if (!Check<MaintenancePolicy>(DeviceName.System, out result))
            {
                return false;
            }

            if (!Check<LinkPolicy>(device, out result))
            {
                return false;
            }


            if (device == DeviceName.System)
            {
                GetEntity(DeviceName.Robot).Initialized = false;
                for (int i = 0; i < LoadPortQuantity; i++)
                {
                    GetEntity($"LP{i + 1}").Initialized = false;
                }
                if (AlignerInstalled)
                {
                    GetEntity(DeviceName.Aligner).Initialized = false;
                }
                // GetEntity(DeviceName.System).Initialized = false;
                // Singleton<RouteManager>.Instance.CheckToPostMsg(RouteManager.MSG.HOME);
            }
            entity.Initialized = false;
            if (!entity.Init(out result))
            {
                return false;
            }
            return true;
        }

        public bool? Monitor(out string result, params string[] args)
        {
            result = string.Empty;
            string devicemodule = args.Length > 0 ? args[0].ToString() : string.Empty;
            string device = Args2Unit(args.Length > 0 ? args[0] : string.Empty);
            if (string.IsNullOrEmpty(device))
                device = DeviceName.System;

            IServerModule entity = GetEntity(device);

            if (entity.Error)
            {
                flag1 = ErrorCheckList1.VAC | ErrorCheckList1.AIR | ErrorCheckList1.STALL
                        | ErrorCheckList1.LIMIT | ErrorCheckList1.SENSOR | ErrorCheckList1.POSITION |
                        ErrorCheckList1.EMS
                        | ErrorCheckList1.COMM | ErrorCheckList1.COMM2 | ErrorCheckList1.VACON | ErrorCheckList1.VACOFF
                        | ErrorCheckList1.CLAMPON | ErrorCheckList1.CLAMPOF;
                flag2 = ErrorCheckList2.RRTWAF | ErrorCheckList2.CRSWAF | ErrorCheckList2.THICKWAF |
                        ErrorCheckList2.THINWAF
                        | ErrorCheckList2.DBLWAF | ErrorCheckList2.BAOWAF | ErrorCheckList2.COMMAND |
                        ErrorCheckList2.PODNG
                        | ErrorCheckList2.PODMISMATCH | ErrorCheckList2.VAC_S | ErrorCheckList2.CLAMP_S |
                        ErrorCheckList2.SAFTY
                        | ErrorCheckList2.LOCKNG | ErrorCheckList2.UNLOCKNG | ErrorCheckList2.L_KEY_LK |
                        ErrorCheckList2.L_KEY_UL;

                flag3 = ErrorCheckList3.MAP_S | ErrorCheckList3.MAP_S1 | ErrorCheckList3.MAP_S2 |
                        ErrorCheckList3.WAFLOST
                        | ErrorCheckList3.ALIGNNG
                        | ErrorCheckList3.DRIVER | ErrorCheckList3.DRPOWERDOWN | ErrorCheckList3.HARDWARE
                        | ErrorCheckList3.INTERNAL | ErrorCheckList3.E84_TIMEOUTx | ErrorCheckList3.E84_CS_VALID |
                        ErrorCheckList3.READFAIL;

                return CheckError(device, out result);
            }

            if (!entity.Busy)
            {
                if (device==DeviceName.System)
                {
                    GetEntity(DeviceName.Robot).Initialized = true;
                    GetEntity(DeviceName.System).Initialized = true;
                    GetEntity(DeviceName.Robot).OriginSearched = true;
                    GetEntity(DeviceName.System).OriginSearched = true;
                   
                    
                    for (int i = 0; i < LoadPortQuantity; i++)
                    {
                        GetEntity($"LP{i + 1}").Initialized = true;
                        GetEntity($"LP{i + 1}").OriginSearched = true;
                        if (devicemodule != "SYSTEM")
                           Singleton<EfemEntity>.Instance.SendSigStatEvent(ModuleHelper.Converter($"LP{i + 1}"));
                    }
                    
                    if (AlignerInstalled)
                    {
                        //GetEntity(DeviceName.Aligner).Initialized = true;
                        //GetEntity(DeviceName.Aligner).OriginSearched = true;
                       
                        GetEntity(DeviceName.Aligner1).Initialized = true;
                        GetEntity(DeviceName.Aligner1).OriginSearched = true;
                        GetEntity(DeviceName.Aligner2).Initialized = true;
                        GetEntity(DeviceName.Aligner2).OriginSearched = true;

                        GetEntity(DeviceName.CoolingBuffer1).Initialized = true;
                        GetEntity(DeviceName.CoolingBuffer1).OriginSearched = true;
                        GetEntity(DeviceName.CoolingBuffer2).Initialized = true;
                        GetEntity(DeviceName.CoolingBuffer2).OriginSearched = true;

                    }

                    if (CoolingBufferInstalled)
                    {
                        GetEntity(DeviceName.Aligner1).Initialized = true;
                        GetEntity(DeviceName.Aligner1).OriginSearched = true;
                        GetEntity(DeviceName.Aligner2).Initialized = true;
                        GetEntity(DeviceName.Aligner2).OriginSearched = true;

                        GetEntity(DeviceName.CoolingBuffer1).Initialized = true;
                        GetEntity(DeviceName.CoolingBuffer1).OriginSearched = true;
                        GetEntity(DeviceName.CoolingBuffer2).Initialized = true;
                        GetEntity(DeviceName.CoolingBuffer2).OriginSearched = true;
                    }
                    Singleton<EfemEntity>.Instance.SetInitialize(ModuleName.System, true);
                    Singleton<EfemEntity>.Instance.SetInitialize(ModuleName.LP1, true);
                    Singleton<EfemEntity>.Instance.SetInitialize(ModuleName.LP2, true);
                  
                    Singleton<EfemEntity>.Instance.SetInitialize(ModuleName.Robot, true);
                    Singleton<EfemEntity>.Instance.SetInitialize(ModuleName.Aligner1, true);
                    Singleton<EfemEntity>.Instance.SetInitialize(ModuleName.Aligner2, true);
                    Singleton<EfemEntity>.Instance.SetInitialize(ModuleName.CoolingBuffer1, true);
                    Singleton<EfemEntity>.Instance.SetInitialize(ModuleName.CoolingBuffer1, true);
                    Singleton<EfemEntity>.Instance.SendSigStatEvent(ModuleHelper.Converter(device));

                    if(DeviceDefineManager.Instance.GetValue<bool>("LLDoorControlByStation") ?? false)
                    {
                        Singleton<EfemEntity>.Instance.SendSigStatEvent(ModuleName.LL1);
                    }
                    return true;
                }
                entity.Initialized = true;
                //entity.OriginSearched = true;
                if(ModuleHelper.IsLoadPort(ModuleHelper.Converter(device)))
                {
                    var lp = DEVICE.GetDevice<LoadPortBaseDevice>(device);
                    if (lp.IsHomed)
                    {
                        //if (devicemodule != "SYSTEM")
                        //   Singleton<EfemEntity>.Instance.SendSigStatEvent(ModuleHelper.Converter(device));
                    }
                    else return null;
                }
                return true;
            }


            return null;
        }
    }
}