147 lines
4.6 KiB
C#
147 lines
4.6 KiB
C#
using System;
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using System.Collections.Generic;
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using System.Linq;
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using System.Text;
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using System.Threading.Tasks;
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using Aitex.Core.Util;
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using Aitex.Sorter.Common;
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using SicRT.Modules;
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using SicRT.Modules.Schedulers;
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using MECF.Framework.Common.Equipment;
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using MECF.Framework.Common.SubstrateTrackings;
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using SicRT.Equipments.Systems;
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using Mainframe.TMs;
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namespace SicRT.Scheduler
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{
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public class SchedulerTMRobot : SchedulerModule
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{
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public override bool IsAvailable
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{
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get { return _tmRobot.IsIdle && _tmRobot.IsOnline && CheckTaskDone(); }
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}
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public override bool IsOnline
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{
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get { return _tmRobot.IsOnline; }
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}
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public override bool IsError
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{
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get { return _tmRobot.IsError; }
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}
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private TMModuleBase _tmRobot = null;
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private Hand _taskHand;
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private Hand _taskSwapPickHand;
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private Hand _taskSwapPlaceHand;
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private int _taskSwapPickSlot;
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private int _taskSwapPlaceSlot;
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public SchedulerTMRobot() : base(ModuleName.TMRobot.ToString())
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{
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_tmRobot = Singleton<EquipmentManager>.Instance.Modules[ModuleName.TMRobot] as TMModuleBase;
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}
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public bool IsReadyForPick(Hand blade)
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{
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return WaferManager.Instance.CheckNoWafer(ModuleName.TMRobot, (int)blade);
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}
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public bool IsReadyForPlace(Hand blade)
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{
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return WaferManager.Instance.CheckHasWafer(ModuleName.TMRobot, (int)blade);
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}
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public bool Pick(ModuleName target, int slot, Hand hand)
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{
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_task = TaskType.Pick;
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_taskHand = hand;
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LogTaskStart(_task,$"{target}.{slot + 1}=>{Module}.{hand}");
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return _tmRobot.Pick(target, hand, slot, out string reason);
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}
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public bool Place(ModuleName target, int slot, Hand hand)
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{
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_task = TaskType.Place;
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_taskHand = hand;
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LogTaskStart(_task, $"{Module}.{hand}=>{target}.{slot + 1}");
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return _tmRobot.Place(target, hand, slot, out string reason);
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}
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//public bool PickAndPlace(ModuleName target, int pickSlot, int placeSlot, Hand pickHand, Hand placeHand)
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//{
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// _task = TaskType.PickAndPlace;
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// _taskSwapPickHand = pickHand;
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// _taskSwapPlaceHand = placeHand;
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// _taskSwapPickSlot = pickSlot;
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// _taskSwapPlaceSlot = placeSlot;
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// LogTaskStart(_task, $" {target}.{pickSlot + 1}=>{Module}.{pickHand} && {Module}.{placeHand}=>{target}.{placeSlot + 1}");
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// return _tmRobot.PickAndPlace(target, pickSlot, placeSlot, pickHand, placeHand);
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//}
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public bool Goto(ModuleName chamber, int slot, Hand hand)
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{
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return true;
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}
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public bool Monitor()
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{
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return true;
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}
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public bool CheckTaskDone()
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{
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bool ret = false;
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switch (_task)
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{
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case TaskType.None:
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ret = true;
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break;
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case TaskType.Pick:
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if (_taskHand == Hand.Both)
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{
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ret = WaferManager.Instance.CheckHasWafer(ModuleName.TMRobot, (int)Hand.Blade1)
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&& WaferManager.Instance.CheckHasWafer(ModuleName.TMRobot, (int)Hand.Blade2);
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}
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else
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{
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ret = WaferManager.Instance.CheckHasWafer(ModuleName.TMRobot, (int)_taskHand);
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}
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break;
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case TaskType.Place:
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if (_taskHand == Hand.Both)
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{
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ret = WaferManager.Instance.CheckNoWafer(ModuleName.TMRobot, (int)Hand.Blade1)
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&& WaferManager.Instance.CheckNoWafer(ModuleName.TMRobot, (int)Hand.Blade2);
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}
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else
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{
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ret = WaferManager.Instance.CheckNoWafer(ModuleName.TMRobot, (int)_taskHand);
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}
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break;
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case TaskType.PickAndPlace:
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ret = WaferManager.Instance.CheckHasWafer(ModuleName.TMRobot, (int)_taskSwapPickHand)
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&& WaferManager.Instance.CheckNoWafer(ModuleName.TMRobot, (int)_taskSwapPlaceHand);
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break;
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}
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if (ret && _task != TaskType.None)
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{
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LogTaskDone(_task,"");
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_task = TaskType.None;
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}
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return ret;
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}
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}
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}
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