Sic03-8inch/Modules/Mainframe/Aligners/Routines/Base/AlignerBaseRoutine.cs

using System;
using Aitex.Core.RT.Device;
using Aitex.Core.RT.Routine;
using MECF.Framework.Common.Equipment;
using MECF.Framework.Common.SubstrateTrackings;
using MECF.Framework.RT.EquipmentLibrary.HardwareUnits.Aligners.HiWinAligner;

namespace SicModules.Aligners.Routines.Base
{
     public class AlignerBaseRoutine : ModuleRoutine, IRoutine
    {

        private readonly HwAlignerGuide _alignerDevice = null;

        protected AlignerBaseRoutine() : base(ModuleName.Aligner.ToString())
        {
            _alignerDevice = DEVICE.GetDevice<HwAlignerGuide>($"EFEM.HiWinAligner");
        }


        public override void Abort()
        {
        }

        //清除Aligner报警
        protected void AlignerERS(int id,int timeout)
        {
            Tuple<bool, Result> ret = ExecuteAndWait(id, () =>
            {
                Notify($"Aligner ERS");
                _alignerDevice.Set("ERS");
                return true;
            }, () => !_alignerDevice.IsBusy, timeout * 1000);

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

        //初始化变量
        protected void ResetVar(int id)
        {
            Tuple<bool, Result> ret = Execute(id, () =>
            {
                Notify($"Aligner Reset Variate ");
                _alignerDevice.Reset();
                return true;
            });

            if (ret.Item1)
            {
                if (ret.Item2 == Result.FAIL)
                {
                    Stop($"Sensor[DI-32] check no tray");
                    throw (new RoutineFaildException());
                }
                else
                    throw (new RoutineBreakException());
            }
        }

        //电机回原点
        protected void Home(int id, int timeout)
        {
            Tuple<bool, Result> ret = ExecuteAndWait(id, () =>
            {
                Notify($"Aligner Home Msg");
                _alignerDevice.Set("HOM");
                return true;
            }, () =>
            {
                return !_alignerDevice.IsBusy;

            }, timeout * 1000);

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

        //移动到测量中心
        protected void AlignerMoveToMeasure(int id, int timeout)
        {
            Tuple<bool, Result> ret = ExecuteAndWait(id, () =>
            {
                Notify($"Move to Measure position");
                _alignerDevice.Set("MTM");
                return true;
            }, () =>
            {
                return !_alignerDevice.IsBusy;

            }, timeout * 1000);

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

        //检查是否有Wafer
        protected void CheckHaveWafer(int id, int timeout)
        {
            Tuple<bool, Result> ret = ExecuteAndWait(id, () =>
            {
                Notify($"Check wafer in position");

                _alignerDevice.CheckWaferLoad();
                return true;
            }, () =>
            {
                if (!_alignerDevice.IsBusy)
                {
                    if (_alignerDevice.HaveWafer)
                    {
                        if (WaferManager.Instance.CheckNoWafer(Module, 0))
                        {
                            WaferManager.Instance.CreateWafer(ModuleHelper.Converter(Module), 0,Aitex.Core.Common.WaferStatus.Normal);
                        }
                        return true;
                    }
                    else
                    {
                        if (WaferManager.Instance.CheckHasWafer(Module, 0))
                        {
                            WaferManager.Instance.DeleteWafer(ModuleHelper.Converter(Module), 0);
                        }
                        return true;
                    }
                }
                return false;

            }, timeout * 1000);

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


        protected void MoveToMeasurementCenter(int id, int timeout)
        {
            Tuple<bool, Result> ret = ExecuteAndWait(id, () =>
            {
                Notify($"Move to aligner put place");
                _alignerDevice.MoveToRobotPutPlace();
                return true;
            }, () => !_alignerDevice.IsBusy, timeout * 1000);

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

        protected void AlignerMove(int id, int timeout)
        {
            var ret = ExecuteAndWait(id, () =>
            {
                Notify($"Start to align");
                _alignerDevice.DoAliger();
                return true;
            }, () => !_alignerDevice.IsBusy, timeout * 1000);

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

    }
}