Sic02/Modules/Mainframe/TMs/TMRobotPickAndPlaceRoutine.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.Core.Util;
using Aitex.Sorter.Common;
using MECF.Framework.Common.Equipment;
using MECF.Framework.Common.Schedulers;
using MECF.Framework.Common.SubstrateTrackings;
using MECF.Framework.RT.EquipmentLibrary.HardwareUnits.LoadLocks;
using MECF.Framework.RT.EquipmentLibrary.HardwareUnits.PMs;

namespace Mainframe.TMs
{
    public class TMRobotPickAndPlaceRoutine : TMBaseRoutine 
    {
        enum RoutineStep
        {
            WaitOpenSlitValveInterlock,

            OpenSlitValve,

            CheckBeforePick,
            Pick,
            PickLiftMove,
            PickExtend,
            PickHandoff,
            PickHandoffDelay,
            PickRetract,
            PickUpdateWaferInfoByHandoff,
            PickRequestWaferPresent,
            PickCheckWaferInfoByRobotSensor,
            PickWaitCloseSlitValveInterlock,
            PickRequestAWCData,

            CheckBeforePlace,
            Place,
            PlaceLiftMove,
            PlaceExtend,
            PlaceHandoff,
            PlaceHandoffDelay,
            PlaceRetract,
            PlaceUpdateWaferInfoByHandoff,
            PlaceRequestWaferPresent,
            PlaceCheckWaferInfoByRobotSensor,
            PlaceWaitCloseSlitValveInterlock,
            PlaceRequestAWCData,

            CloseSlitValve,

            PostTransfer,
        }

        private Hand _pickBlade;
        private Hand _placeBlade;
        private ModuleName _targetModule;
        private int _pickSlot;
        private int _placeSlot;
        private int _pickTimeout;
        private int _placeTimeout;
        private int _postTransferTimeout;
        private TMSlitValveRoutine _openSlitValveRoutine = new TMSlitValveRoutine();
        private TMSlitValveRoutine _closeSlitValveRoutine = new TMSlitValveRoutine();

        private bool _requestAWCDataPick;
        private bool _requestAWCDataPlace;

        public TMRobotPickAndPlaceRoutine()
        {
            Module = "TMRobot";
            Name = "Swap";
        }

        public void Init(ModuleName targetModule, int pickSlot, int placeSlot, Hand pickBlade, Hand placeBlade)
        {
            _pickBlade = pickBlade;
            _placeBlade = placeBlade;
            _targetModule = targetModule;
            _pickSlot = pickSlot;
            _placeSlot = placeSlot;
            _openSlitValveRoutine.Init(targetModule.ToString(), true);
            _closeSlitValveRoutine.Init(targetModule.ToString(), false);
        }

        public override Result Start(params object[] objs)
        {
            Reset();

            _pickTimeout = SC.GetValue<int>("TMRobot.PickTimeout");
            _placeTimeout = SC.GetValue<int>("TMRobot.PlaceTimeout");
            _postTransferTimeout = SC.GetValue<int>($"{_targetModule}.PostTransferTimeout");
            _requestAWCDataPick = SC.GetValue<bool>("System.RequestAWCDataAfterPick");
            _requestAWCDataPlace = SC.GetValue<bool>("System.RequestAWCDataAfterPlace");

            if (!WaferManager.Instance.CheckNoWafer(ModuleName.TMRobot, (int) _pickBlade))
            {
                EV.PostWarningLog(Module, $"Can not pick by {_pickBlade}, found wafer on");
                return Result.FAIL;
            }

            if (!WaferManager.Instance.CheckHasWafer(ModuleName.TMRobot, (int)_placeBlade))
            {
                EV.PostWarningLog(Module, $"Can not place by {_placeBlade}, no wafer on");
                return Result.FAIL;
            }

            if (_pickSlot != _placeSlot)
            {
                if (!WaferManager.Instance.CheckHasWafer(_targetModule, _pickSlot))
                {
                    EV.PostWarningLog(Module, $"Can not pick from {_targetModule} slot {_pickSlot + 1}, no wafer on");
                    return Result.FAIL;
                }
                if (!WaferManager.Instance.CheckNoWafer(_targetModule, _placeSlot))
                {
                    EV.PostWarningLog(Module, $"Can not place to {_targetModule} slot {_placeSlot + 1}, found wafer on");
                    return Result.FAIL;
                }
            }
            else
            {
                if (!WaferManager.Instance.CheckHasWafer(_targetModule, _placeSlot))
                {
                    {
                        EV.PostWarningLog(Module, $"Can not pick&place from {_targetModule} slot {_placeSlot + 1}, no wafer on");
                        return Result.FAIL;
                    }
                }
            }

             

            Notify("Start");

            return Result.RUN;
        }

        public override void Abort()
        {
            Notify("Abort");
        }


        public override Result Monitor()
        {
            try
            {
                //Open slit valve
                //WaitSlitValveOpenInterlock((int)RoutineStep.WaitOpenSlitValveInterlock, TMDevice.GetSlitValve(_targetModule), _pickTimeout);

                //ExecuteRoutine((int)RoutineStep.OpenSlitValve, _openSlitValveRoutine);

                //if (ModuleHelper.IsLoadLock(_targetModule))
                //{
                //    LLLiftMove((int)RoutineStep.PickLiftMove, DEVICE.GetDevice<LoadLock>(_targetModule.ToString()), _pickSlot, _pickTimeout);
                //}
                ////Pick
                //CheckBeforePick((int)RoutineStep.CheckBeforePick, _targetModule, _pickSlot, _pickBlade);

                //if (ModuleHelper.IsPm(_targetModule) && DEVICE.GetDevice<PM>(_targetModule.ToString()).IsActiveHandoff)
                //{
                //    PickExtend((int)RoutineStep.PickExtend, RobotDevice, _targetModule, _pickSlot, _pickBlade, _pickTimeout);

                //    TransferHandoff((int)RoutineStep.PickHandoff, DEVICE.GetDevice<PM>(_targetModule.ToString()), EnumTransferType.Pick, _pickTimeout);
                //    Delay((int)RoutineStep.PickHandoffDelay, 2);

                //    UpdateWaferInfoDueHandoff((int)RoutineStep.PickUpdateWaferInfoByHandoff, _targetModule, _pickSlot, ModuleHelper.Converter(Module), (int)_pickBlade);

                //    PickRetract((int)RoutineStep.PickRetract, RobotDevice, _targetModule, _pickSlot, _pickBlade, _pickTimeout);
                //}
                //else
                //{
                //    Pick((int)RoutineStep.Pick, RobotDevice, _targetModule, _pickSlot, _pickBlade, _pickTimeout);
                //}

                //RobotRequestWaferPresent((int)RoutineStep.PickRequestWaferPresent, RobotDevice, _pickTimeout);

                //CheckWaferInfoByRobotSensor((int)RoutineStep.PickCheckWaferInfoByRobotSensor, RobotDevice, _pickBlade);

                //if (_requestAWCDataPick)
                //{
                //    RobotRequestWaferAWCData((int)RoutineStep.PickRequestAWCData, RobotDevice, _pickTimeout);
                //}

                ////Place
                //if (ModuleHelper.IsLoadLock(_targetModule))
                //{
                //    LLLiftMove((int)RoutineStep.PlaceLiftMove, DEVICE.GetDevice<LoadLock>(_targetModule.ToString()), _placeSlot, _placeTimeout);
                //}

                //CheckBeforePlace((int)RoutineStep.CheckBeforePlace, _targetModule, _placeSlot, _placeBlade);

                //if (ModuleHelper.IsPm(_targetModule) && DEVICE.GetDevice<PM>(_targetModule.ToString()).IsActiveHandoff)
                //{
                //    PlaceExtend((int)RoutineStep.PlaceExtend, RobotDevice, _targetModule, _placeSlot, _placeBlade, _placeTimeout);

                //    TransferHandoff((int)RoutineStep.PlaceHandoff, DEVICE.GetDevice<PM>(_targetModule.ToString()), EnumTransferType.Place, _placeTimeout);

                //    Delay((int)RoutineStep.PlaceHandoffDelay, 2);


                //    UpdateWaferInfoDueHandoff((int)RoutineStep.PlaceUpdateWaferInfoByHandoff, ModuleHelper.Converter(Module), (int)_placeBlade, _targetModule, _placeSlot);

                //    PlaceRetract((int)RoutineStep.PlaceRetract, RobotDevice, _targetModule, _placeSlot, _placeBlade, _placeTimeout);
                //}
                //else
                //{

                //    Place((int)RoutineStep.Place, RobotDevice, _targetModule, _placeSlot, _placeBlade, _placeTimeout);
                //}

                //RobotRequestWaferPresent((int)RoutineStep.PlaceRequestWaferPresent, RobotDevice, _placeTimeout);

                //CheckWaferInfoByRobotSensor((int)RoutineStep.PlaceCheckWaferInfoByRobotSensor, RobotDevice, _placeBlade);

                //if (_requestAWCDataPlace)
                //{
                //    RobotRequestWaferAWCData((int)RoutineStep.PlaceRequestAWCData, RobotDevice, _placeTimeout);
                //}
                ////Close slit valve
                //WaitSlitValveCloseInterlock((int)RoutineStep.PlaceWaitCloseSlitValveInterlock, TMDevice.GetSlitValve(_targetModule), _placeTimeout);

                //ExecuteRoutine((int)RoutineStep.CloseSlitValve, _closeSlitValveRoutine);

                //if (ModuleHelper.IsPm(_targetModule) && DEVICE.GetDevice<PM>(_targetModule.ToString()).IsNeedPostTransfer)
                //{
                //    PostTransfer((int)RoutineStep.PostTransfer, DEVICE.GetDevice<PM>(_targetModule.ToString()), EnumTransferType.Place, _postTransferTimeout);
                //}
            }
            catch (RoutineBreakException)
            {
                return Result.RUN;
            }
            catch (RoutineFaildException)
            {
                return Result.FAIL;
            }

            Notify("Finished");

            return Result.DONE;
        }

        protected void LLLiftMove(int id, LoadLock ll, int slot, int timeout)
        {
            Tuple<bool, Result> ret = ExecuteAndWait(id, () =>
                {
                    Notify($"Move {ll.Name} Lift to {slot + 1}");
                    if (!ll.SetLift(slot, out string reason))
                    {
                        Stop(reason);
                        return false;
                    }

                    return true;
                }, () =>
                {
                    
                    return ll.CheckLift(slot);
                }, timeout * 1000);

            if (ret.Item1)
            {
                if (ret.Item2 == Result.FAIL)
                {
                    throw (new RoutineFaildException());
                }
                else if (ret.Item2 == Result.TIMEOUT) //timeout
                {
                    Stop($"Timeout, over {timeout} seconds");
                    throw (new RoutineFaildException());
                }
                else
                    throw (new RoutineBreakException());
            }
        }

    }
}