ELK/Furnace/FurnaceRT/Equipments/Schedulers/SchedulerCarrierRobot.cs

using Aitex.Core.Common;
using Aitex.Core.RT.Log;
using Aitex.Core.Util;
using Aitex.Sorter.Common;
using MECF.Framework.Common.Equipment;
using MECF.Framework.Common.SubstrateTrackings;
using FurnaceRT.Equipments.CarrierRobots;
using FurnaceRT.Equipments.Systems;
using MECF.Framework.Common.Jobs;

namespace FurnaceRT.Equipments.Schedulers
{
    public class SchedulerCarrierRobot : SchedulerModule
    {
        public override bool IsAvailable
        {
            get { return _carrierRobot.IsReady && _carrierRobot.IsOnline && CheckTaskDone(); }
        }

        public override bool IsOnline
        {
            get { return _carrierRobot.IsOnline; }

        }
        public override bool IsError
        {
            get { return _carrierRobot.IsError; }

        }
        private CarrierRobotModule _carrierRobot = null;
        private CarrierPara _carrierPara = null;
        private Hand _hand;

        private ModuleName _source1;
        private ModuleName _source2;
        private int _sourceSlot1;
        private int _sourceSlot2;
        private ModuleName _destination1;
        private ModuleName _destination2;
        private int _destinationSlot1;
        private int _destinationSlot2;

        public ModuleName PreviousTarget { get; set; }

        public SchedulerCarrierRobot() : base(ModuleName.CarrierRobot.ToString())
        {
            _carrierRobot = Singleton<EquipmentManager>.Instance.Modules[ModuleName.CarrierRobot] as CarrierRobotModule;

            PreviousTarget = ModuleName.System;
        }

        public override void ResetTask()
        {
            base.ResetTask();

            PreviousTarget = ModuleName.System;
        }

        public bool IsReadyForPick(Hand blade)
        {
            return CarrierManager.Instance.CheckNoCarrier(ModuleName.CarrierRobot, (int)blade);
        }

        public bool IsReadyForPlace(Hand blade)
        {
            return CarrierManager.Instance.CheckHasCarrier(ModuleName.CarrierRobot, (int)blade);
        }

        public bool Pick(ModuleName source, int slot, Hand hand)
        {
            _task = TaskType.Pick;
            _hand = hand;
            if (!_carrierRobot.Pick(source, hand, slot, out string reason))
            {
                LOG.Write(reason);
            }

            PreviousTarget = source;

            LogTaskStart(_task, $"{source}.{slot + 1}=>{Module}.{hand}");
            return true;
        }

        public bool Place(ModuleName destination, int slot, Hand hand)
        {
            _task = TaskType.Place;
            _hand = hand;
            if (!_carrierRobot.Place(destination, hand, slot, out string reason))
            {
                LOG.Write(reason);
            }

            PreviousTarget = destination;

            LogTaskStart(_task, $"{Module}.{hand}=>{destination}.{slot + 1}");
            return true;
        }
        public bool Goto(ModuleName destination, int slot, Hand hand, bool isPickReady)
        {
            _task = TaskType.Goto;
            _hand = hand;
            if (!_carrierRobot.Goto(destination, hand, slot, isPickReady, out string reason))
            {
                LOG.Write(reason);
            }

            PreviousTarget = destination;

            LogTaskStart(_task, $"{Module}.{hand}=>{destination}.{slot + 1}");
            return true;
        }

        public bool Load(ModuleName source, int slot, Hand hand, ModuleName destinationStocker,
            CarrierType carrierType, string reservedCarrierId, CarrierPara carrierPara)
        {
            _task = TaskType.Load;
            _hand = hand;
            if (!_carrierRobot.Load(source, hand, slot, destinationStocker, carrierType, reservedCarrierId, out string reason))
            {
                LOG.Write(reason);
            }
            _carrierPara = carrierPara;
            PreviousTarget = source;

            LogTaskStart(_task, $"{source}.{slot + 1}=>{Module}.{hand}");
            return true;
        }

        public bool Unload(ModuleName destination, int slot, Hand hand, CarrierPara carrierPara)
        {
            _task = TaskType.Unload;
            _hand = hand;
            if (!_carrierRobot.Unload(destination, hand, slot, out string reason))
            {
                LOG.Write(reason);
            }
            _carrierPara = carrierPara;
            PreviousTarget = destination;

            LogTaskStart(_task, $"{Module}.{hand}=>{destination}.{slot + 1}");
            return true;
        }

        public bool CheckTaskDone()
        {
            bool ret = false;
            switch (_task)
            {
                case TaskType.None:
                    ret = true;
                    break;
                case TaskType.Map:
                    ret = _carrierRobot.IsReady;
                    break;
                case TaskType.Goto:
                    ret = _carrierRobot.IsReady;
                    break;
                case TaskType.Load:
                    ret = CarrierManager.Instance.CheckHasCarrier(ModuleName.CarrierRobot, 0);
                    if (ret && _carrierPara != null)
                    {
                        _carrierPara.IsLoaded = true;
                    }
                    break;
                case TaskType.Unload:
                    ret = CarrierManager.Instance.CheckNoCarrier(ModuleName.CarrierRobot, 0);
                    if (ret && _carrierPara != null)
                    {
                        _carrierPara.IsUnloaded = true;
                    }
                    break;
                case TaskType.Pick:
                    ret = CarrierManager.Instance.CheckHasCarrier(ModuleName.CarrierRobot, 0);
                    break;
                case TaskType.Place:
                    ret = CarrierManager.Instance.CheckNoCarrier(ModuleName.CarrierRobot, 0);
                    break;
            }

            if (ret && _task != TaskType.None)
            {
                LogTaskDone(_task, "");
                _task = TaskType.None;
            }

            return ret;
        }
    }
}