ELK/Furnace/FurnaceRT/Equipments/Boats/BoatModule.cs

using System;
using System.Diagnostics;
using System.Linq;
using Aitex.Core.Common;
using Aitex.Core.RT.DataCenter;
using Aitex.Core.RT.Device;
using Aitex.Core.RT.Device.Unit;
using Aitex.Core.RT.Event;
using Aitex.Core.RT.Fsm;
using Aitex.Core.RT.OperationCenter;
using Aitex.Core.RT.Routine;
using Aitex.Core.RT.SCCore;
using Aitex.Core.Utilities;
using Aitex.Sorter.Common;
using MECF.Framework.Common.Alarms;
using MECF.Framework.Common.Equipment;
using MECF.Framework.Common.Schedulers;
using MECF.Framework.Common.SubstrateTrackings;
using MECF.Framework.RT.EquipmentLibrary.HardwareUnits.LoadPorts;
using MECF.Framework.RT.EquipmentLibrary.HardwareUnits.Robot;
using FurnaceRT.Equipments.Systems;
using static Aitex.Core.RT.Device.Unit.IoAutoShutter;
using Aitex.Core.Util;
using MECF.Framework.Common.Device.Bases;
using Aitex.Core.RT.Log;
using FurnaceRT.Devices;

namespace FurnaceRT.Equipments.Boats
{
    public partial class BoatModule : ModuleFsmDevice, IModuleDevice
    {
        public enum STATE
        {
            Init,

            Idle,

            Error,

            Homing,

            InTransfer,

            ZAxisMoving,
            ZAxisManualMoving,
            RAxisMoving,
            RAxisMovingTest,
            ZAxisMovingTest,
            MovingTest,
            BoatMoving,
        }

        public enum MSG
        {
            Home,
            Reset,
            Init,
            Error,
            Abort,
            InTransfer,
            TransferComplete,
            ZAxisManualMove,
            ZAxisMove,
            RAxisMove,
            RAxisMoveTest,
            ZAxisMoveTest,
            MoveTest,
            ZAxisManualMoveRetry,
            ZAxisMoveRetry,
            RAxisMoveRetry,
            BoatMove,
            BoatMoveRetry,
        }

        public bool IsReady
        {
            get { return FsmState == (int)STATE.Idle; }
        }

        public bool IsError
        {
            get
            {
                return FsmState == (int)STATE.Error;
            }
        }

        public bool IsInit
        {
            get { return FsmState == (int)STATE.Init; }
        }
        public event Action<string> OnEnterError;
        private bool _jobDone;
        private bool _isInit;
        private Stopwatch _timerNotifyJobDone = new Stopwatch();
        private BoatHome _home;
        private BoatZAxisMove _zAxisMove;
        private BoatZAxisManualMove _zAxisManualMove;
        private BoatRAxisMove _rAxisMove;
        private BoatRAxisMoveCycleTest _rAxisMoveCycleTest;
        private BoatZAxisMoveCycleTest _zAxisMoveCycleTest;
        private BoatMoveCycleTest _moveCycleTest;
        private BoatMove _boatMove;
        public bool IsExcuteRoutineFailed { get; set; }

        public bool IsBoatElevatorAtHomePosition => ZAxisDevice == null ? false : ZAxisDevice.CheckServoAtPosition("HomePosition") && ZAxisDevice.IsReady;
        public bool IsBoatRotationAtHomePosition => RAxisDevice == null ? false : RAxisDevice.IsHomeDone && RAxisDevice.IsReady;
        public BoatModule(ModuleName module) : base()
        {
            Name = module.ToString();

            Module = module.ToString();

            IsOnline = true;
        }
        public override bool Initialize()
        {
            InitRoutine();

            InitDevice();

            InitFsm();

            InitOp();

            InitData();

            InitAlarmEvent();

            Singleton<EventManager>.Instance.OnAlarmEvent += Instance_OnAlarmEvent;

            return base.Initialize();
        }
        private void Instance_OnAlarmEvent(EventItem item)
        {
            if (item != null && item.Level == EventLevel.Alarm && (item.Source == Name || item.Source == Module))
            {
                DEVICE.GetDevice<SignalTowerBase>("System.SignalTower")?.Reset();
                LOG.Write($"{item.Source} {item.EventEnum} {item.Description}\n");
                PostMsg(MSG.Error);
            }
        }
        private void InitRoutine()
        {
            _home = new BoatHome(this);
            _zAxisMove = new BoatZAxisMove(this);
            _zAxisManualMove = new BoatZAxisManualMove(this);
            _rAxisMove = new BoatRAxisMove(this);
            _rAxisMoveCycleTest = new BoatRAxisMoveCycleTest(this);
            _zAxisMoveCycleTest = new BoatZAxisMoveCycleTest(this);
            _moveCycleTest = new BoatMoveCycleTest(this);
            _boatMove = new BoatMove(this);
        }

        private void InitData()
        {
            DATA.Subscribe($"{Module}.Status", () => IsExcuteRoutineFailed ? STATE.Error.ToString() : StringFsmStatus);
            DATA.Subscribe($"{Module}.IsError", () => IsError);
            DATA.Subscribe($"{Module}.IsOnline", () => IsOnline);
            DATA.Subscribe($"{Module}.BoatTestCycledCount", () => _moveCycleTest.LoopCounter);
        }

        private void InitOp()
        {
            OP.Subscribe($"{Module}.Home", (string cmd, object[] args) => CheckToPostMessage((int)MSG.Home));
            OP.Subscribe($"{Module}.Abort", (string cmd, object[] args) => CheckToPostMessage((int)MSG.Abort));
            OP.Subscribe($"{Module}.Reset", (string cmd, object[] args) => CheckToPostMessage((int)MSG.Reset));
            OP.Subscribe($"{Module}.ZAxisMove", (string cmd, object[] args) => CheckToPostMessage((int)MSG.ZAxisMove, args));
            OP.Subscribe($"{Module}.ZAxisManualMove", (string cmd, object[] args) => CheckToPostMessage((int)MSG.ZAxisManualMove, args));
            OP.Subscribe($"{Module}.RAxisMove", (string cmd, object[] args) => CheckToPostMessage((int)MSG.RAxisMove, args));
            OP.Subscribe($"{Module}.RAxisMovingTest", (string cmd, object[] args) => CheckToPostMessage((int)MSG.RAxisMoveTest, args));
            OP.Subscribe($"{Module}.ZAxisMovingTest", (string cmd, object[] args) => CheckToPostMessage((int)MSG.ZAxisMoveTest, args));
            OP.Subscribe($"{Module}.MovingTest", (string cmd, object[] args) => CheckToPostMessage((int)MSG.MoveTest, args));

            OP.Subscribe($"{Name}.SetBoatZAxisSpeed", SetBoatZAxisSpeed);
            OP.Subscribe($"{Name}.SetBoatRAxisSpeed", SetBoatRAxisSpeed);
            OP.Subscribe($"{Name}.SetBoatRAxisAngle", SetBoatRAxisAngle);
            OP.Subscribe($"{Name}.BoatZAxisStop", SetBoatZAxisStop);
            OP.Subscribe($"{Name}.BoatRAxisStop", SetBoatRAxisStop);

            OP.Subscribe($"{Module}.AlarmAction", (string cmd, object[] args) =>
            {
                Enum.TryParse(args[0].ToString(), out AlarmAction alarmAction);
                string eventName = null;
                if (args.Length > 1)
                    eventName = args[1].ToString();
                if (eventName != null)
                {
                    EV.ClearAlarmEvent(eventName);

                    var item = _triggeredAlarmList.FirstOrDefault(x => x.EventEnum == eventName);
                    if (item != null)
                    {
                        item.Reset();
                        _triggeredAlarmList.Remove(item);
                    }

                    if (item != null)
                    {
                        switch (alarmAction)
                        {
                            case AlarmAction.Retry:
                                {
                                    CheckToPostMessage((int)item.RetryMessage, item.RetryMessageParas);
                                }
                                break;
                            case AlarmAction.Abort:
                                {
                                    CheckToPostMessage((int)MSG.Abort);
                                }
                                break;
                            case AlarmAction.Clear:
                                {
                                    int alarmCount = 0;
                                    var alarms = EV.GetAlarmEvent();
                                    foreach (var alarm in alarms)
                                    {
                                        if (alarm.Level == EventLevel.Alarm && alarm.Source == Name)
                                            alarmCount++;
                                    }
                                    if (alarmCount == 0)
                                        CheckToPostMessage((int)MSG.Reset);
                                }
                                break;
                            case AlarmAction.Continue:
                                {
                                    int alarmCount = 0;
                                    var alarms = EV.GetAlarmEvent();
                                    foreach (var alarm in alarms)
                                    {
                                        if (alarm.Level == EventLevel.Alarm && alarm.Source == Name)
                                            alarmCount++;
                                    }
                                    if (alarmCount == 0)
                                        CheckToPostMessage((int)MSG.Reset);
                                }
                                break;
                        }
                    }
                }

                return true;
            });
        }

        private void InitFsm()
        {
            EnumLoop<STATE>.ForEach((item) =>
            {
                MapState((int)item, item.ToString());
            });

            EnumLoop<MSG>.ForEach((item) =>
            {
                MapMessage((int)item, item.ToString());
            });

            EnableFsm(100, STATE.Idle);

            //Init
            Transition(STATE.Init, MSG.Home, FsmStartHome, STATE.Homing);
            Transition(STATE.Error, MSG.Home, FsmStartHome, STATE.Homing);
            Transition(STATE.Idle, MSG.Home, FsmStartHome, STATE.Homing);
            Transition(STATE.Homing, FSM_MSG.TIMER, FsmMonitorHomeTask, STATE.Idle);
            Transition(STATE.Homing, MSG.Error, null, STATE.Init);
            Transition(STATE.Homing, MSG.Abort, FsmAbortTask, STATE.Init);
            EnterExitTransition<STATE, FSM_MSG>(STATE.Idle, FsmEnterIdle, FSM_MSG.NONE, FsmExitIdle);

            Transition(STATE.Idle, MSG.Abort, null, STATE.Idle);
            Transition(STATE.Idle, MSG.Reset, null, STATE.Idle);
            Transition(STATE.Init, MSG.Reset, null, STATE.Init);
            Transition(STATE.Error, MSG.Abort, null, STATE.Error);

            //Error
            AnyStateTransition(MSG.Error, FsmOnError, STATE.Error);
            Transition(STATE.Error, MSG.Reset, FsmReset, STATE.Idle);
            EnterExitTransition<STATE, FSM_MSG>(STATE.Error, FsmEnterError, FSM_MSG.NONE, FsmExitError);

            //ZAxisMove,open shutter
            Transition(STATE.Error, MSG.ZAxisMoveRetry, FsmStartZAxisMove, STATE.ZAxisMoving);
            Transition(STATE.Idle, MSG.ZAxisMove, FsmStartZAxisMove, STATE.ZAxisMoving);
            Transition(STATE.ZAxisMoving, FSM_MSG.TIMER, FsmMonitorTask, STATE.Idle);
            Transition(STATE.ZAxisMoving, MSG.Abort, FsmAbortTask, STATE.Idle);

            //ZAxisManualMove,not open shutter
            Transition(STATE.Error, MSG.ZAxisManualMoveRetry, FsmStartZAxisManualMove, STATE.ZAxisManualMoving);
            Transition(STATE.Idle, MSG.ZAxisManualMove, FsmStartZAxisManualMove, STATE.ZAxisManualMoving);
            Transition(STATE.ZAxisManualMoving, FSM_MSG.TIMER, FsmMonitorTask, STATE.Idle);
            Transition(STATE.ZAxisManualMoving, MSG.Abort, FsmAbortTask, STATE.Idle);

            //RAxisMove
            Transition(STATE.Error, MSG.RAxisMoveRetry, FsmStartRAxisMove, STATE.RAxisMoving);
            Transition(STATE.Idle, MSG.RAxisMove, FsmStartRAxisMove, STATE.RAxisMoving);
            Transition(STATE.RAxisMoving, FSM_MSG.TIMER, FsmMonitorTask, STATE.Idle);
            Transition(STATE.RAxisMoving, MSG.Abort, FsmAbortTask, STATE.Idle);

            //RAxisMoveCycleTest
            Transition(STATE.Idle, MSG.RAxisMoveTest, FsmStartRAxisMoveTest, STATE.RAxisMovingTest);
            Transition(STATE.RAxisMovingTest, FSM_MSG.TIMER, FsmMonitorTask, STATE.Idle);
            Transition(STATE.RAxisMovingTest, MSG.Abort, FsmAbortTask, STATE.Idle);

            //ZAxisMoveCycleTest
            Transition(STATE.Idle, MSG.ZAxisMoveTest, FsmStartZAxisMoveTest, STATE.ZAxisMovingTest);
            Transition(STATE.ZAxisMovingTest, FSM_MSG.TIMER, FsmMonitorTask, STATE.Idle);
            Transition(STATE.ZAxisMovingTest, MSG.Abort, FsmAbortTask, STATE.Idle);

            //MoveCycleTest
            Transition(STATE.Idle, MSG.MoveTest, FsmStartMoveTest, STATE.MovingTest);
            Transition(STATE.MovingTest, FSM_MSG.TIMER, FsmMonitorTask, STATE.Idle);
            Transition(STATE.MovingTest, MSG.Abort, FsmAbortTask, STATE.Idle);

            //BoatMove
            Transition(STATE.Error, MSG.BoatMoveRetry, FsmStartBoatMove, STATE.BoatMoving);
            Transition(STATE.Idle, MSG.BoatMove, FsmStartBoatMove, STATE.BoatMoving);
            Transition(STATE.BoatMoving, FSM_MSG.TIMER, FsmMonitorTask, STATE.Idle);
            Transition(STATE.BoatMoving, MSG.Abort, FsmAbortTask, STATE.Idle);

            Transition(STATE.Idle, MSG.InTransfer, null, STATE.InTransfer);
            Transition(STATE.InTransfer, MSG.InTransfer, null, STATE.InTransfer);
            Transition(STATE.InTransfer, MSG.TransferComplete, null, STATE.Idle);
            Transition(STATE.InTransfer, MSG.Abort, null, STATE.Idle);
        }

        public bool Home(out string reason)
        {
            if (!CheckToPostMessage((int)MSG.Home))
            {
                reason = $"Can not home in {StringFsmStatus} status";
                return false;
            }
            reason = string.Empty;
            return true;
        }

        public void NoteJobStart()
        {
            _jobDone = false;
        }

        public void NoteJobComplete()
        {
            _timerNotifyJobDone.Restart();
            _jobDone = true;
        }

        public override void Monitor()
        {
            base.Monitor();
        }

        public override void Reset()
        {
            if (IsError)
            {
                CheckToPostMessage((int)MSG.Reset);
            }
        }
        private bool FsmReset(object[] param)
        {
            return true;
        }

        private bool FsmOnError(object[] param)
        {
            if (FsmState == (int)STATE.Error)
            {
                return false;
            }

            AbortRoutine();

            if (FsmState == (int)STATE.Init)
                return false;

            return true;
        }

        private bool FsmExitIdle(object[] param)
        {
            return true;
        }

        private bool FsmEnterIdle(object[] param)
        {
            return true;
        }

        private bool FsmExitError(object[] param)
        {
            return true;
        }

        private bool FsmEnterError(object[] param)
        {
            if (OnEnterError != null)
                OnEnterError(Module);
            return true;
        }

        private bool FsmAbortTask(object[] param)
        {
            AbortRoutine();
            return true;
        }

        private bool FsmToInit(object[] param)
        {
            return true;
        }

        private bool FsmToIdle(object[] param)
        {
            return true;
        }

        private bool FsmStartHome(object[] param)
        {
            Result ret = StartRoutine(_home);
            if (ret == Result.FAIL || ret == Result.DONE)
                return false;

            _isInit = false;

            return ret == Result.RUN;
        }

        private bool FsmStartZAxisMove(object[] param)
        {
            _zAxisMove.Init(param[0].ToString(), param[1].ToString());

            Result ret = StartRoutine(_zAxisMove);
            if (ret == Result.FAIL || ret == Result.DONE)
                return false;
            return ret == Result.RUN;
        }
        private bool FsmStartZAxisManualMove(object[] param)
        {
            _zAxisManualMove.Init(param[0].ToString(), param.Length > 1 ? param[1].ToString() : "0");

            Result ret = StartRoutine(_zAxisManualMove);
            if (ret == Result.FAIL || ret == Result.DONE)
                return false;
            return ret == Result.RUN;
        }

        private bool FsmStartRAxisMove(object[] param)
        {
            _rAxisMove.Init(param[0].ToString(), param.Length > 1 ? param[1].ToString() : "0", param.Length > 2 ? param[2].ToString() : "0");

            Result ret = StartRoutine(_rAxisMove);
            if (ret == Result.FAIL || ret == Result.DONE)
                return false;
            return ret == Result.RUN;
        }
        private bool FsmStartMoveTest(object[] param)
        {
            _moveCycleTest.Init(param[0].ToString(), param[1].ToString(), param[2].ToString());

            Result ret = StartRoutine(_moveCycleTest);
            if (ret == Result.FAIL || ret == Result.DONE)
                return false;
            return ret == Result.RUN;
        }
        private bool FsmStartRAxisMoveTest(object[] param)
        {
            _rAxisMoveCycleTest.Init(param[0].ToString());

            Result ret = StartRoutine(_rAxisMoveCycleTest);
            if (ret == Result.FAIL || ret == Result.DONE)
                return false;
            return ret == Result.RUN;
        }
        private bool FsmStartZAxisMoveTest(object[] param)
        {
            _zAxisMoveCycleTest.Init(param[0].ToString(), param[1].ToString());

            Result ret = StartRoutine(_zAxisMoveCycleTest);
            if (ret == Result.FAIL || ret == Result.DONE)
                return false;
            return ret == Result.RUN;
        }
        private bool FsmStartBoatMove(object[] param)
        {
            _boatMove.Init(param[0].ToString(), param[1].ToString(), param[2].ToString());

            Result ret = StartRoutine(_boatMove);
            if (ret == Result.FAIL || ret == Result.DONE)
                return false;
            return ret == Result.RUN;
        }
        private bool FsmMonitorHomeTask(object[] param)
        {
            Result ret = MonitorRoutine();
            if (ret == Result.FAIL)
            {
                PostMsg(MSG.Error);
                return false;
            }

            if (ret == Result.DONE)
            {
                _isInit = true;
                return true;
            }

            return false;
        }

        private bool FsmMonitorTask(object[] param)
        {
            Result ret = MonitorRoutine();
            if (ret == Result.FAIL)
            {
                PostMsg(MSG.Error);
                return false;
            }

            return ret == Result.DONE;
        }

        public bool CheckPrepareMove(out string reason, bool isNeedCheckShutter = true)
        {
            reason = string.Empty;

            //if (!SensorPS13LStatus.Value)
            //{
            //    reason = "PS13 not true, tube not ATM";
            //    return false;
            //}
            if (!SensorVAC1.Value)
            {
                reason = "VAC1 not true";
                return false;
            }
            if (!SensorVAC2.Value)
            {
                reason = "VAC2 not true";
                return false;
            }
            if (!SensorVAC3.Value)
            {
                reason = "VAC3 not true";
                return false;
            }
            if (!SensorBoatUnloadInterlock.Value)
            {
                reason = "boat unload interlock is not OK, please check VAC1,VAV2,VAC3,PS13 status";
                return false;
            }
            if (isNeedCheckShutter && ShutterDevice.OpenCloseStatus != DeviceStatus.Open)
            {
                reason = "shutter not open";
                return false;
            }

            return true;
        }

        public void NoteTransferStart()
        {
            CheckToPostMessage((int)MSG.InTransfer);
        }

        public void NoteTransferStop()
        {
            if (FsmState == (int)STATE.InTransfer)
                CheckToPostMessage((int)MSG.TransferComplete);
        }

        public void ZAxisMove(string position, string speed)
        {
            CheckToPostMessage((int)MSG.ZAxisMove, position, speed);
        }
        public void BoatMove(string command, string targetPosition, float speed)
        {
            CheckToPostMessage((int)MSG.BoatMove, command, targetPosition, speed);
        }
    }
}