620 lines
19 KiB
C#
620 lines
19 KiB
C#
using System;
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using System.Collections.Generic;
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using System.Diagnostics;
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using Aitex.Core.Common;
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using Aitex.Core.RT.Event;
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using Aitex.Core.Util;
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using MECF.Framework.Common.Equipment;
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using MECF.Framework.Common.Schedulers;
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using MECF.Framework.Common.SubstrateTrackings;
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using SicRT.Scheduler;
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namespace SicRT.Modules.Schedulers
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{
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public class SchedulerModule
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{
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protected enum TaskType
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{
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None,
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PrepareTransfer,
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Pick,
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Place,
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PickAndPlace,
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Preprocess,
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Process,
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PostProcess,
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OpenCover,
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CloseCover,
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Load,
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Unload,
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Align,
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TransferTarget,
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Cooling,
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WarmUp,
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Vent,
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Pump,
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Purge,
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Group,
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Separate,
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Map
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}
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/// <summary>
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/// 访问变量时先锁定，避免多线程竞争问题。
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/// </summary>
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protected readonly object SyncRoot = new object();
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public ModuleName Module
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{
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get { return ModuleHelper.Converter(_module); }
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}
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public virtual bool IsAvailable { get; }
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public virtual bool IsOnline { get; }
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public virtual bool IsError { get; }
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public virtual bool IsReady { get; }
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public virtual bool IsService { get; }
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private R_TRIG[] firstDetectWaferArriveTrigs = new R_TRIG[25];
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private R_TRIG[] firstDetectWaferLeaveTrigs = new R_TRIG[25];
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private R_TRIG[] firstDetectTrayArriveTrigs = new R_TRIG[25];
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private R_TRIG[] firstDetectTrayLeaveTrigs = new R_TRIG[25];
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protected string _module;
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protected TaskType _task = TaskType.None;
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protected ModuleName _inProcessRobot;
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public SchedulerModule(string module)
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{
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_module = module;
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for (int i = 0; i < firstDetectWaferArriveTrigs.Length; i++)
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{
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firstDetectWaferArriveTrigs[i] = new R_TRIG();
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}
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for (int i = 0; i < firstDetectWaferLeaveTrigs.Length; i++)
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{
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firstDetectWaferLeaveTrigs[i] = new R_TRIG();
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}
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for (int i = 0; i < firstDetectTrayArriveTrigs.Length; i++)
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{
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firstDetectTrayArriveTrigs[i] = new R_TRIG();
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}
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for (int i = 0; i < firstDetectTrayLeaveTrigs.Length; i++)
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{
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firstDetectTrayLeaveTrigs[i] = new R_TRIG();
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}
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}
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/// <summary>
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/// 检查Module的任务是否完成。
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/// <para>完成的条件除关键动作完成，例如Wafer到位以外，还需要判断Module的状态是否为Idle或Error。</para>
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/// <para>1. 如果关键动作完成，但Module还未Idle，则说明上个Routine还未执行完毕，则认为Task还未完成。</para>
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/// <para>2. 如果关键动作未完成，但Module已经Idle或Error，则说明Routine已执行完毕，但可能出错，则认为Task完成。</para>
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/// </summary>
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/// <param name="keyActionDone"></param>
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/// <param name="fsmStopped"></param>
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/// <returns></returns>
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protected bool SuperCheckTaskDone(bool keyActionDone, bool fsmStopped)
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{
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//TODO 需进一步抽象，将Module.IsIdle和Module.IsError的判断写在基类。
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keyActionDone &= fsmStopped;
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if (keyActionDone)
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{
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if (_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 true;
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}
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if (fsmStopped)
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{
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LogTaskDone(_task, "Task Failed");
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_task = TaskType.None;
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return true;
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}
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return false;
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}
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protected void LogTaskStart(TaskType cmd, string message)
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{
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EV.PostInfoLog("Scheduler", $"Task start:{_module},{cmd} {message}");
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}
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protected void LogTaskDone(TaskType cmd, string message)
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{
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EV.PostInfoLog("Scheduler", $"Task done:{_module},{cmd} {message}");
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}
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public void ResetTask()
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{
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lock (SyncRoot)
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{
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_task = TaskType.None;
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}
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}
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public bool WaitTransfer(ModuleName robot)
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{
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lock (SyncRoot)
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{
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_task = TaskType.TransferTarget;
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_inProcessRobot = robot;
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LogTaskStart(_task, $"Note {robot} in transfer");
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return true;
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}
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}
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public bool IsWaitTransfer(ModuleName robot)
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{
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lock (SyncRoot)
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{
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return _task == TaskType.TransferTarget && _inProcessRobot == robot;
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}
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}
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public bool StopWaitTransfer(ModuleName robot)
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{
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lock (SyncRoot)
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{
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LogTaskDone(_task, $"Note {robot} transfer complete");
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_inProcessRobot = ModuleName.System;
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_task = TaskType.None;
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return true;
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}
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}
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public WaferInfo GetWaferInfo(int slot)
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{
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lock (SyncRoot)
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{
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return WaferManager.Instance.GetWafer(ModuleHelper.Converter(_module), slot);
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}
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}
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public bool CheckWaferStatus(int slot, WaferStatus waferStatus)
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{
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lock (SyncRoot)
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{
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return WaferManager.Instance.CheckWafer(ModuleHelper.Converter(_module), slot, waferStatus);
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}
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}
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public bool HasWafer(int slot)
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{
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lock (SyncRoot)
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{
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return WaferManager.Instance.CheckHasWafer(ModuleHelper.Converter(_module), slot);
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}
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}
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public bool NoWafer(int slot)
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{
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lock (SyncRoot)
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{
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return WaferManager.Instance.CheckNoWafer(ModuleHelper.Converter(_module), slot);
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}
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}
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public bool HasTray(int slot)
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{
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lock (SyncRoot)
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{
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return WaferManager.Instance.CheckHasTray(ModuleHelper.Converter(_module), slot);
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}
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}
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public bool NoTray(int slot)
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{
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lock (SyncRoot)
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{
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return WaferManager.Instance.CheckNoTray(ModuleHelper.Converter(_module), slot);
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}
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}
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public bool FirstDetectWaferArrive(int slot)
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{
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firstDetectWaferArriveTrigs[slot].CLK = HasWafer(slot);
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return firstDetectWaferArriveTrigs[slot].Q;
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}
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public bool FirstDetectWaferLeave(int slot)
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{
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firstDetectWaferLeaveTrigs[slot].CLK = NoWafer(slot);
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return firstDetectWaferLeaveTrigs[slot].Q;
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}
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public bool FirstDetectTrayArrive(int slot)
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{
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firstDetectTrayArriveTrigs[slot].CLK = HasTray(slot);
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return firstDetectTrayArriveTrigs[slot].Q;
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}
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public bool FirstDetectTrayLeave(int slot)
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{
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firstDetectTrayLeaveTrigs[slot].CLK = NoTray(slot);
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return firstDetectTrayLeaveTrigs[slot].Q;
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}
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public bool HasTrayAndExceedProcessCount(int slot)
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{
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lock (SyncRoot)
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{
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WaferInfo wi = WaferManager.Instance.GetWafer(ModuleHelper.Converter(_module), slot);
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if (wi == null)
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return false;
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return wi.TrayState == WaferTrayStatus.Normal && wi.TrayProcessCount <= 0;
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}
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}
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public bool HasTrayAndNotExceedProcessCount(int slot)
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{
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lock (SyncRoot)
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{
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WaferInfo wi = WaferManager.Instance.GetWafer(ModuleHelper.Converter(_module), slot);
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if (wi == null)
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return false;
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return wi.TrayState == WaferTrayStatus.Normal && wi.TrayProcessCount > 0;
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}
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}
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public virtual bool CheckWaferNextStepIsThis(ModuleName module, int slot)
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{
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lock (SyncRoot)
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{
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if (!WaferManager.Instance.CheckHasWafer(module, slot))
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return false;
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WaferInfo wafer = WaferManager.Instance.GetWafer(module, slot);
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if (wafer.ProcessJob == null || wafer.ProcessJob.Sequence == null)
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return false;
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if (wafer.NextSequenceStep >= wafer.ProcessJob.Sequence.Steps.Count)
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return false;
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if (!wafer.ProcessJob.Sequence.Steps[wafer.NextSequenceStep].StepModules.Contains(Module))
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return false;
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return true;
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}
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}
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/// <summary>
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/// 判断下一步的模块是否有Wafer
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/// </summary>
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/// <param name="slot"></param>
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/// <returns></returns>
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public virtual bool CheckWaferNextStepModuleNoWafer(int slot)
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{
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lock (SyncRoot)
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{
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if (!WaferManager.Instance.CheckHasWafer(Module, slot))
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return false;
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WaferInfo wafer = WaferManager.Instance.GetWafer(Module, slot);
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if (wafer.ProcessJob == null || wafer.ProcessJob.Sequence == null)
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return false;
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if (wafer.NextSequenceStep >= wafer.ProcessJob.Sequence.Steps.Count)
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return false;
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List<ModuleName> lstModuleName = wafer.ProcessJob.Sequence.Steps[wafer.NextSequenceStep].StepModules;
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if (lstModuleName.Count > 0)
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{
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for (int i = 0; i < lstModuleName.Count; i++)
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{
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if (WaferManager.Instance.CheckNoWafer(lstModuleName[i], 0))
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{
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return true;
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}
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}
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}
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return false;
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}
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}
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public virtual bool CheckWaferNextStepModuleNoTray(int slot)
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{
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lock (SyncRoot)
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{
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if (!WaferManager.Instance.CheckHasWafer(Module, slot))
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return false;
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WaferInfo wafer = WaferManager.Instance.GetWafer(Module, slot);
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if (wafer.ProcessJob == null || wafer.ProcessJob.Sequence == null)
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return false;
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if (wafer.NextSequenceStep >= wafer.ProcessJob.Sequence.Steps.Count)
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return false;
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List<ModuleName> lstModuleName = wafer.ProcessJob.Sequence.Steps[wafer.NextSequenceStep].StepModules;
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if (lstModuleName.Count > 0)
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{
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for (int j = 0; j < lstModuleName.Count; j++)
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{
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if (lstModuleName[j] == ModuleName.Buffer)
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{
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string strSots = wafer.ProcessJob.Sequence.Steps[wafer.NextSequenceStep]
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.StepParameter["SlotSelection"].ToString();
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if (string.IsNullOrEmpty(strSots))
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{
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return false;
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}
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string[] bufferSlots = strSots.Split(',');
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for (int k = 0; k < bufferSlots.Length; k++)
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{
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if (Int32.TryParse(bufferSlots[k], out int bufferSlot))
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{
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if (WaferManager.Instance.CheckNoTray(ModuleName.Buffer, bufferSlot - 1))
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{
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return true;
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}
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}
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}
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}
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else if (WaferManager.Instance.CheckNoTray(lstModuleName[j], 0))
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{
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return true;
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}
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}
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}
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return false;
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}
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}
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/// <summary>
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/// 判断Wafer的步骤是否都完成了
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/// </summary>
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/// <param name="waferModule"></param>
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/// <param name="waferSlot"></param>
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/// <returns></returns>
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public virtual bool CheckWaferSequenceStepDone(int slot)
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{
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lock (SyncRoot)
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{
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WaferInfo wafer = WaferManager.Instance.GetWafer(Module, slot);
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if (wafer.IsEmpty)
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{
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return false;
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}
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if (wafer.ProcessJob == null || wafer.ProcessJob.Sequence == null)
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{
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return true;
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}
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if (wafer.NextSequenceStep >= wafer.ProcessJob.Sequence.Steps.Count &&
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wafer.ProcessJob.Sequence.Steps.Count > 0)
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{
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return true;
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}
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return false;
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}
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}
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public virtual bool CheckWaferNeedProcess(int waferSlot, ModuleName processIn = ModuleName.System)
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{
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lock (SyncRoot)
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{
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WaferInfo wafer = WaferManager.Instance.GetWafer(Module, waferSlot);
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if (wafer.IsEmpty)
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return false;
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if (wafer.Status == WaferStatus.Dummy && wafer.ProcessState == EnumWaferProcessStatus.Wait)
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{
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if (ModuleHelper.IsPm(processIn))
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{
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return (CheckNeedRunClean(out bool withWafer, out _) && withWafer);
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}
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return true;
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}
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if (wafer.ProcessJob == null || wafer.ProcessJob.Sequence == null ||
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wafer.ProcessJob.Sequence.Steps == null)
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return false;
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if (wafer.NextSequenceStep >= wafer.ProcessJob.Sequence.Steps.Count ||
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wafer.ProcessJob.Sequence.Steps[wafer.NextSequenceStep].StepModules == null)
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return false;
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if (processIn != ModuleName.System && !wafer.ProcessJob.Sequence.Steps[wafer.NextSequenceStep]
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.StepModules.Contains(processIn))
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return false;
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bool hasPm = false;
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for (int i = wafer.NextSequenceStep; i < wafer.ProcessJob.Sequence.Steps.Count; i++)
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{
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foreach (var stepModule in wafer.ProcessJob.Sequence.Steps[i].StepModules)
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{
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if (ModuleHelper.IsPm(stepModule))
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{
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hasPm = true;
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break;
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}
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}
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if (hasPm)
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break;
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}
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if (processIn == ModuleName.System && !hasPm)
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return false;
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return true;
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}
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}
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public virtual bool CheckNeedRunClean(out bool withWafer, out string recipeName)
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{
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lock (SyncRoot)
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{
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recipeName = string.Empty;
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withWafer = false;
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//SequenceInfo seq = GetCurrentSequenceInfo();
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//int waferProcessed = StatsDataManager.Instance.GetValue($"{Module}.WaferProcessedSincePreviousClean");
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//if (seq == null)
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// return false;
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//foreach (var stepInfo in seq.Steps)
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//{
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// if (!stepInfo.StepModules.Contains(Module))
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// continue;
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// if (stepInfo.StepParameter.ContainsKey("CleanIntervalWaferless")
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// && int.TryParse((string)stepInfo.StepParameter["CleanIntervalWaferless"], out int interval)
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// && stepInfo.StepParameter.ContainsKey("CleanRecipeWaferless")
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// && !string.IsNullOrEmpty((string)stepInfo.StepParameter["CleanRecipeWaferless"]))
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// {
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// if (interval > 0 && waferProcessed >= interval)
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// {
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// recipeName = (string)stepInfo.StepParameter["CleanRecipeWaferless"];
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// withWafer = false;
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// return true;
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// }
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// }
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// if (stepInfo.StepParameter.ContainsKey("CleanIntervalWafer")
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// && int.TryParse((string)stepInfo.StepParameter["CleanIntervalWafer"], out interval)
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// && stepInfo.StepParameter.ContainsKey("CleanRecipeWafer")
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// && !string.IsNullOrEmpty((string)stepInfo.StepParameter["CleanRecipeWafer"]))
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// {
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// if (interval > 0 && waferProcessed >= interval)
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// {
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// recipeName = (string)stepInfo.StepParameter["CleanRecipeWafer"];
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// withWafer = true;
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// return true;
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// }
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// }
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//}
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return false;
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}
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}
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public virtual bool IsReadyForPick(ModuleName robot, int slot)
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{
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lock (SyncRoot)
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{
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return true;
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}
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}
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public virtual bool IsReadyForPlace(ModuleName robot, int slot)
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{
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lock (SyncRoot)
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{
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return true;
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}
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}
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public virtual bool PrepareTransfer(ModuleName robot, EnumTransferType type, int slot)
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{
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lock (SyncRoot)
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{
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return true;
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}
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}
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public virtual bool PostTransfer(ModuleName robot, EnumTransferType type, int slot)
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{
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lock (SyncRoot)
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{
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return true;
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}
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}
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public virtual bool Process(string recipeName, bool isCleanRecipe, bool withDummyWafer)
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{
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lock (SyncRoot)
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{
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return true;
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}
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}
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public virtual bool Cooling(bool coolingType, int coolingTime)
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{
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lock (SyncRoot)
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{
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return true;
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}
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}
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public virtual bool Aligning()
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{
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lock (SyncRoot)
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{
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return true;
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}
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}
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public virtual bool WarmUp(int warmUpTime)
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{
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lock (SyncRoot)
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{
|
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return true;
|
||
}
|
||
}
|
||
|
||
|
||
public virtual bool CheckWaferTraySeparated()
|
||
{
|
||
lock (SyncRoot)
|
||
{
|
||
return true;
|
||
}
|
||
}
|
||
|
||
public virtual bool CheckWaferTrayGrouped()
|
||
{
|
||
lock (SyncRoot)
|
||
{
|
||
return true;
|
||
}
|
||
}
|
||
|
||
public virtual bool CheckSlitValveClosed() //检查闸板阀是否关闭
|
||
{
|
||
lock (SyncRoot)
|
||
{
|
||
return true;
|
||
}
|
||
}
|
||
|
||
}
|
||
|
||
}
|