715 lines
26 KiB
C#
715 lines
26 KiB
C#
using System.Collections.Generic;
|
||
using Aitex.Core.RT.Event;
|
||
using Aitex.Core.RT.Routine;
|
||
using Aitex.Core.RT.SCCore;
|
||
using Aitex.Core.Util;
|
||
using Aitex.Sorter.Common;
|
||
using Mainframe.Aligners;
|
||
using Mainframe.Aligners.Routines;
|
||
using Mainframe.Buffers;
|
||
using Mainframe.TMs;
|
||
using MECF.Framework.Common.Equipment;
|
||
using MECF.Framework.Common.Schedulers;
|
||
using MECF.Framework.Common.SubstrateTrackings;
|
||
using SicRT.Modules.Schedulers;
|
||
namespace SicRT.Equipments
|
||
{
|
||
public class MoveItemEx : MoveItem
|
||
{
|
||
public int CoolingTime { get; set; }
|
||
|
||
public MoveItemEx(ModuleName sourceModule, int sourceSlot, ModuleName destinationModule, int destinationSlot, int coolingTime)
|
||
: base(sourceModule, sourceSlot, destinationModule, destinationSlot, Hand.Blade1)
|
||
{
|
||
CoolingTime = coolingTime;
|
||
}
|
||
}
|
||
|
||
public class ManualTransfer : SchedulerModuleFactory
|
||
{
|
||
private Queue<IRoutine> _moveTaskQueue = new Queue<IRoutine>();
|
||
private IRoutine _activeTask;
|
||
|
||
public Result Start(object[] objs)
|
||
{
|
||
_moveTaskQueue.Clear();
|
||
|
||
ModuleName source = (ModuleName)objs[0];
|
||
int ss = (int)objs[1];
|
||
ModuleName target = (ModuleName)objs[2];
|
||
int ds = (int)objs[3];
|
||
|
||
bool autoCooling = false;
|
||
bool autoAlign = SC.GetValue<bool>("System.AutoAlignManualTransfer");
|
||
int coolingTime = 0;
|
||
if (objs.Length >= 8)
|
||
{
|
||
autoCooling = (bool)objs[6];
|
||
coolingTime = (int)objs[7];
|
||
}
|
||
|
||
//判断是否可以传盘
|
||
if (!CheckCanMoveWafer(source, target))
|
||
{
|
||
EV.PostWarningLog("System", $"Invalid path,can not transfer from {source} to {target}");
|
||
return Result.DONE;
|
||
}
|
||
//TM范围内传盘
|
||
if (IsTmRobotRange(source) && IsTmRobotRange(target))
|
||
{
|
||
if (!WaferManager.Instance.CheckHasTray(source, ss))
|
||
{
|
||
EV.PostWarningLog("System", "source no tray");
|
||
return Result.FAIL;
|
||
}
|
||
if (!WaferManager.Instance.CheckNoTray(target, ds))
|
||
{
|
||
EV.PostWarningLog("System", "destination has tray");
|
||
return Result.FAIL;
|
||
}
|
||
|
||
_moveTaskQueue.Enqueue(new TmRobotMover(new MoveItemEx(source, ss, target, ds, 0)));
|
||
}
|
||
else if (IsTrayRobotRange(source) && IsTrayRobotRange(target))
|
||
{
|
||
if (!WaferManager.Instance.CheckHasTray(source, ss))
|
||
{
|
||
EV.PostWarningLog("System", "source no tray");
|
||
return Result.FAIL;
|
||
}
|
||
if (!WaferManager.Instance.CheckNoTray(target, ds))
|
||
{
|
||
EV.PostWarningLog("System", "destination has tray");
|
||
return Result.FAIL;
|
||
}
|
||
|
||
_moveTaskQueue.Enqueue(new EfemRobotMover(new MoveItemEx(source, ss, target, ds, 0)));
|
||
}
|
||
else if (IsWaferRobotRange(source) && IsWaferRobotRange(target))
|
||
{
|
||
if (!WaferManager.Instance.CheckHasWafer(source, ss))
|
||
{
|
||
EV.PostWarningLog("System", "source no wafer");
|
||
return Result.FAIL;
|
||
}
|
||
if (!WaferManager.Instance.CheckNoWafer(target, ds))
|
||
{
|
||
EV.PostWarningLog("System", "destination has wafer");
|
||
return Result.FAIL;
|
||
}
|
||
|
||
|
||
if (autoAlign)
|
||
{
|
||
if ((target == ModuleName.WaferRobot || target == ModuleName.EfemRobot) && source != ModuleName.Aligner)
|
||
{
|
||
_moveTaskQueue.Enqueue(new EfemRobotMover(new MoveItemEx(source, ss, target, ds, 0)));
|
||
}
|
||
else if (source == ModuleName.WaferRobot || source == ModuleName.EfemRobot)
|
||
{
|
||
_moveTaskQueue.Enqueue(new EfemRobotMover(new MoveItemEx(source, ss, target, ds, 0)));
|
||
}
|
||
else if (source != ModuleName.Aligner)
|
||
{
|
||
_moveTaskQueue.Enqueue(new EfemRobotMover(new MoveItemEx(source, ss, ModuleName.Aligner, 0, 0)));
|
||
_moveTaskQueue.Enqueue(new AlignerAlignRoutine());
|
||
if (target != ModuleName.Aligner)
|
||
_moveTaskQueue.Enqueue(new EfemRobotMover(new MoveItemEx(ModuleName.Aligner, 0, target, ds, 0)));
|
||
}
|
||
else
|
||
{
|
||
_moveTaskQueue.Enqueue(new AlignerAlignRoutine());
|
||
if (target != ModuleName.Aligner)
|
||
_moveTaskQueue.Enqueue(new EfemRobotMover(new MoveItemEx(ModuleName.Aligner, 0, target, ds, 0)));
|
||
}
|
||
}
|
||
else
|
||
{
|
||
_moveTaskQueue.Enqueue(new EfemRobotMover(new MoveItemEx(source, ss, target, ds, 0)));
|
||
}
|
||
}
|
||
_activeTask = _moveTaskQueue.Dequeue();
|
||
|
||
return _activeTask.Start();
|
||
}
|
||
|
||
|
||
public Result Monitor(object[] objs)
|
||
{
|
||
//System.Diagnostics.Debug.Assert(_activeTask != null, "mover should not be null, call start first");
|
||
|
||
Result ret = _activeTask.Monitor();
|
||
if (ret == Result.FAIL)
|
||
return ret;
|
||
|
||
if (ret == Result.DONE)
|
||
{
|
||
if (_moveTaskQueue.Count > 0)
|
||
{
|
||
_activeTask = _moveTaskQueue.Dequeue();
|
||
return _activeTask.Start();
|
||
}
|
||
|
||
return Result.DONE;
|
||
}
|
||
|
||
return Result.RUN;
|
||
}
|
||
|
||
public void Clear()
|
||
{
|
||
_moveTaskQueue.Clear();
|
||
_activeTask = null;
|
||
}
|
||
|
||
|
||
private bool IsWaferRobotRange(ModuleName module)
|
||
{
|
||
return module == ModuleName.CassAL || module == ModuleName.CassAR || module == ModuleName.LoadLock || module == ModuleName.Aligner || module == ModuleName.UnLoad || module == ModuleName.WaferRobot;
|
||
}
|
||
|
||
private bool IsTrayRobotRange(ModuleName module)
|
||
{
|
||
return module == ModuleName.CassBL || module == ModuleName.LoadLock || module == ModuleName.TrayRobot;
|
||
}
|
||
|
||
private bool IsTmRobotRange(ModuleName module)
|
||
{
|
||
return module == ModuleName.LoadLock || ModuleHelper.IsPm(module) || module == ModuleName.UnLoad || module == ModuleName.Buffer || module == ModuleName.TMRobot;
|
||
}
|
||
|
||
private bool CheckCanMoveWafer(ModuleName fromModule, ModuleName desModule)
|
||
{
|
||
if (IsTmRobotRange(fromModule) && IsTmRobotRange(desModule))
|
||
{
|
||
return true;
|
||
}
|
||
if (IsTrayRobotRange(fromModule) && IsTrayRobotRange(desModule))
|
||
{
|
||
return true;
|
||
}
|
||
if (IsWaferRobotRange(fromModule) && IsWaferRobotRange(desModule))
|
||
{
|
||
return true;
|
||
}
|
||
|
||
return false;
|
||
}
|
||
}
|
||
|
||
|
||
public class EfemRobotMover : SchedulerModuleFactory, IRoutine
|
||
{
|
||
private MoveItemEx _moveTask;
|
||
|
||
private SchedulerModule _source;
|
||
private SchedulerModule _destination;
|
||
private bool IsWaferRobot = true;
|
||
|
||
public EfemRobotMover(MoveItemEx moveTask)
|
||
{
|
||
_moveTask = moveTask;
|
||
}
|
||
|
||
public Result Start()
|
||
{
|
||
_source = GetModule(_moveTask.SourceModule.ToString());
|
||
_destination = GetModule(_moveTask.DestinationModule.ToString());
|
||
|
||
System.Diagnostics.Debug.Assert(_source != null, $"{_moveTask.SourceModule} not valid");
|
||
System.Diagnostics.Debug.Assert(_destination != null, $"{_moveTask.DestinationModule} not valid");
|
||
if (_moveTask.SourceModule == ModuleName.LoadLock || _moveTask.SourceModule == ModuleName.CassBL || _moveTask.SourceModule == ModuleName.TrayRobot)
|
||
{
|
||
if (_moveTask.DestinationModule == ModuleName.LoadLock || _moveTask.DestinationModule == ModuleName.CassBL || _moveTask.DestinationModule == ModuleName.TrayRobot)
|
||
{
|
||
IsWaferRobot = false;
|
||
}
|
||
}
|
||
|
||
_source.ResetTask();
|
||
_destination.ResetTask();
|
||
|
||
if (IsWaferRobot)
|
||
{
|
||
SchWaferRobot.ResetTask();
|
||
}
|
||
else
|
||
{
|
||
SchTrayRobot.ResetTask();
|
||
}
|
||
|
||
//如果是TrayRobot向LoadLock中手动传盘，不检查是否有Wafer，应该是有盘
|
||
|
||
if(IsTrayRobotRange(_moveTask.SourceModule)&& IsTrayRobotRange(_moveTask.DestinationModule))
|
||
{
|
||
if (!WaferManager.Instance.CheckHasTray(_moveTask.SourceModule, _moveTask.SourceSlot))
|
||
{
|
||
EV.PostWarningLog("System", $"Failed transfer, source {_moveTask.SourceModule} slot {_moveTask.SourceSlot + 1} not has tray");
|
||
return Result.FAIL;
|
||
}
|
||
|
||
if (WaferManager.Instance.CheckHasTray(_moveTask.DestinationModule, _moveTask.DestinationSlot))
|
||
{
|
||
EV.PostWarningLog("System", $"Failed transfer, destination {_moveTask.DestinationModule} slot {_moveTask.DestinationSlot + 1} has tray");
|
||
return Result.FAIL;
|
||
}
|
||
}
|
||
else if (IsWaferRobotRange(_moveTask.SourceModule) && IsWaferRobotRange(_moveTask.DestinationModule))
|
||
{
|
||
if (!WaferManager.Instance.CheckHasWafer(_moveTask.SourceModule, _moveTask.SourceSlot))
|
||
{
|
||
EV.PostWarningLog("System", $"Failed transfer, source {_moveTask.SourceModule} slot {_moveTask.SourceSlot + 1} not has wafer");
|
||
return Result.FAIL;
|
||
}
|
||
|
||
if (WaferManager.Instance.CheckHasWafer(_moveTask.DestinationModule, _moveTask.DestinationSlot))
|
||
{
|
||
EV.PostWarningLog("System", $"Failed transfer, destination {_moveTask.DestinationModule} slot {_moveTask.DestinationSlot + 1} has wafer");
|
||
return Result.FAIL;
|
||
}
|
||
}
|
||
|
||
|
||
if (IsWaferRobot)
|
||
{
|
||
if (!SchWaferRobot.IsOnline)
|
||
{
|
||
EV.PostWarningLog("System", $"Failed transfer, WaferRobot is not online");
|
||
return Result.FAIL;
|
||
}
|
||
}
|
||
else
|
||
{
|
||
if (!SchTrayRobot.IsOnline)
|
||
{
|
||
EV.PostWarningLog("System", $"Failed transfer, TrayRobot is not online");
|
||
return Result.FAIL;
|
||
}
|
||
}
|
||
if (!_source.IsAvailable)
|
||
{
|
||
EV.PostWarningLog("System", $"Failed transfer, source {_moveTask.SourceModule} not ready");
|
||
return Result.FAIL;
|
||
}
|
||
if (!_destination.IsAvailable)
|
||
{
|
||
EV.PostWarningLog("System", $"Failed transfer, Destination {_moveTask.DestinationModule} not ready");
|
||
return Result.FAIL;
|
||
}
|
||
|
||
_moveTask.RobotHand = Hand.Blade1;
|
||
|
||
return Result.RUN;
|
||
}
|
||
public Result Start(params object[] objs)
|
||
{
|
||
return this.Start();
|
||
}
|
||
|
||
public Result Monitor()
|
||
{
|
||
if (IsWaferRobot)
|
||
{
|
||
if (_source.NoWafer(_moveTask.SourceSlot) && _destination.HasWafer(_moveTask.DestinationSlot) &&
|
||
SchWaferRobot.IsAvailable)
|
||
{
|
||
if (_source.IsWaitTransfer(ModuleName.WaferRobot))
|
||
_source.StopWaitTransfer(ModuleName.WaferRobot);
|
||
|
||
if (_destination.IsWaitTransfer(ModuleName.WaferRobot))
|
||
_destination.StopWaitTransfer(ModuleName.WaferRobot);
|
||
|
||
return Result.DONE;
|
||
}
|
||
|
||
//Pick
|
||
if (_moveTask.SourceModule != ModuleName.WaferRobot)
|
||
{
|
||
if (_source.HasWafer(_moveTask.SourceSlot))
|
||
{
|
||
if (!_source.IsAvailable)
|
||
{
|
||
return Result.RUN;
|
||
}
|
||
|
||
if (!_source.IsReadyForPick(ModuleName.WaferRobot, _moveTask.SourceSlot))
|
||
{
|
||
if (!_source.PrepareTransfer(ModuleName.WaferRobot, EnumTransferType.Pick, _moveTask.SourceSlot))
|
||
return Result.FAIL;
|
||
}
|
||
|
||
if (!_source.IsAvailable)
|
||
{
|
||
return Result.RUN;
|
||
}
|
||
|
||
if (!SchWaferRobot.HasWafer((int)_moveTask.RobotHand))
|
||
{
|
||
if (!SchWaferRobot.Pick(_moveTask.SourceModule, _moveTask.SourceSlot, _moveTask.RobotHand))
|
||
{
|
||
return Result.FAIL;
|
||
}
|
||
|
||
_source.WaitTransfer(ModuleName.WaferRobot);
|
||
}
|
||
|
||
if (!SchWaferRobot.IsAvailable)
|
||
return Result.RUN;
|
||
}
|
||
else
|
||
{
|
||
if (!SchWaferRobot.IsAvailable)
|
||
return Result.RUN;
|
||
|
||
if (_source.IsWaitTransfer(ModuleName.WaferRobot))
|
||
_source.StopWaitTransfer(ModuleName.WaferRobot);
|
||
}
|
||
}
|
||
|
||
//Place
|
||
if (_moveTask.DestinationModule != ModuleName.WaferRobot)
|
||
{
|
||
if (!_destination.IsAvailable)
|
||
return Result.RUN;
|
||
|
||
if (_destination.NoWafer(_moveTask.DestinationSlot))
|
||
{
|
||
if (!_destination.IsReadyForPlace(ModuleName.WaferRobot, _moveTask.DestinationSlot))
|
||
{
|
||
if (!_destination.PrepareTransfer(ModuleName.WaferRobot, EnumTransferType.Place,
|
||
_moveTask.DestinationSlot))
|
||
return Result.FAIL;
|
||
}
|
||
|
||
if (!_destination.IsAvailable)
|
||
return Result.RUN;
|
||
|
||
if (SchWaferRobot.HasWafer((int)_moveTask.RobotHand))
|
||
{
|
||
if (!SchWaferRobot.Place(_moveTask.DestinationModule, _moveTask.DestinationSlot, _moveTask.RobotHand))
|
||
return Result.FAIL;
|
||
|
||
_destination.WaitTransfer(ModuleName.WaferRobot);
|
||
}
|
||
|
||
if (!SchWaferRobot.IsAvailable)
|
||
return Result.RUN;
|
||
}
|
||
else
|
||
{
|
||
if (!SchWaferRobot.IsAvailable)
|
||
return Result.RUN;
|
||
|
||
if (_destination.IsWaitTransfer(ModuleName.WaferRobot))
|
||
_destination.StopWaitTransfer(ModuleName.WaferRobot);
|
||
}
|
||
}
|
||
|
||
}
|
||
else
|
||
{
|
||
if (_source.NoTray(_moveTask.SourceSlot) && _destination.HasTray(_moveTask.DestinationSlot) &&
|
||
SchTrayRobot.IsAvailable)
|
||
{
|
||
if (_source.IsWaitTransfer(ModuleName.TrayRobot))
|
||
_source.StopWaitTransfer(ModuleName.TrayRobot);
|
||
|
||
if (_destination.IsWaitTransfer(ModuleName.TrayRobot))
|
||
_destination.StopWaitTransfer(ModuleName.TrayRobot);
|
||
|
||
return Result.DONE;
|
||
}
|
||
|
||
//Pick
|
||
if (_moveTask.SourceModule != ModuleName.TrayRobot)
|
||
{
|
||
if (_source.HasTray(_moveTask.SourceSlot))
|
||
{
|
||
if (!_source.IsAvailable)
|
||
{
|
||
return Result.RUN;
|
||
}
|
||
|
||
if (!_source.IsReadyForPick(ModuleName.TrayRobot, _moveTask.SourceSlot))
|
||
{
|
||
if (!_source.PrepareTransfer(ModuleName.TrayRobot, EnumTransferType.Pick, _moveTask.SourceSlot))
|
||
return Result.FAIL;
|
||
}
|
||
|
||
if (!_source.IsAvailable)
|
||
{
|
||
return Result.RUN;
|
||
}
|
||
|
||
if (!SchTrayRobot.HasTray((int)_moveTask.RobotHand))
|
||
{
|
||
if (!SchTrayRobot.Pick(_moveTask.SourceModule, _moveTask.SourceSlot, _moveTask.RobotHand))
|
||
{
|
||
return Result.FAIL;
|
||
}
|
||
|
||
_source.WaitTransfer(ModuleName.TrayRobot);
|
||
}
|
||
|
||
if (!SchTrayRobot.IsAvailable)
|
||
return Result.RUN;
|
||
}
|
||
else
|
||
{
|
||
if (!SchTrayRobot.IsAvailable)
|
||
return Result.RUN;
|
||
|
||
if (_source.IsWaitTransfer(ModuleName.TrayRobot))
|
||
_source.StopWaitTransfer(ModuleName.TrayRobot);
|
||
}
|
||
}
|
||
|
||
//Place
|
||
if (_moveTask.DestinationModule != ModuleName.TrayRobot)
|
||
{
|
||
if (!_destination.IsAvailable)
|
||
return Result.RUN;
|
||
|
||
if (_destination.NoTray(_moveTask.DestinationSlot))
|
||
{
|
||
if (!_destination.IsReadyForPlace(ModuleName.TrayRobot, _moveTask.DestinationSlot))
|
||
{
|
||
if (!_destination.PrepareTransfer(ModuleName.TrayRobot, EnumTransferType.Place,
|
||
_moveTask.DestinationSlot))
|
||
return Result.FAIL;
|
||
}
|
||
|
||
if (!_destination.IsAvailable)
|
||
return Result.RUN;
|
||
|
||
if (SchTrayRobot.HasTray((int)_moveTask.RobotHand))
|
||
{
|
||
if (!SchTrayRobot.Place(_moveTask.DestinationModule, _moveTask.DestinationSlot, _moveTask.RobotHand))
|
||
return Result.FAIL;
|
||
|
||
_destination.WaitTransfer(ModuleName.TrayRobot);
|
||
}
|
||
|
||
if (!SchTrayRobot.IsAvailable)
|
||
return Result.RUN;
|
||
}
|
||
else
|
||
{
|
||
if (!SchTrayRobot.IsAvailable)
|
||
return Result.RUN;
|
||
|
||
if (_destination.IsWaitTransfer(ModuleName.TrayRobot))
|
||
_destination.StopWaitTransfer(ModuleName.TrayRobot);
|
||
}
|
||
}
|
||
}
|
||
|
||
return Result.RUN;
|
||
}
|
||
public void Abort()
|
||
{
|
||
Clear();
|
||
}
|
||
|
||
public void Clear()
|
||
{
|
||
SchWaferRobot.ResetTask();
|
||
_source?.ResetTask();
|
||
_destination?.ResetTask();
|
||
}
|
||
|
||
private bool IsWaferRobotRange(ModuleName module)
|
||
{
|
||
return module == ModuleName.CassAL || module == ModuleName.CassAR || module == ModuleName.LoadLock || module == ModuleName.Aligner || module == ModuleName.UnLoad || module == ModuleName.WaferRobot;
|
||
}
|
||
|
||
private bool IsTrayRobotRange(ModuleName module)
|
||
{
|
||
return module == ModuleName.CassBL || module == ModuleName.LoadLock || module == ModuleName.TrayRobot;
|
||
}
|
||
|
||
private bool IsTmRobotRange(ModuleName module)
|
||
{
|
||
return module == ModuleName.LoadLock || ModuleHelper.IsPm(module) || module == ModuleName.UnLoad || module == ModuleName.Buffer || module == ModuleName.TMRobot;
|
||
}
|
||
|
||
}
|
||
|
||
|
||
|
||
public class TmRobotMover : SchedulerModuleFactory, IRoutine
|
||
{
|
||
private MoveItemEx _moveTask;
|
||
|
||
private SchedulerModule _source;
|
||
private SchedulerModule _destination;
|
||
|
||
public TmRobotMover(MoveItemEx moveTask)
|
||
{
|
||
_moveTask = moveTask;
|
||
}
|
||
|
||
public Result Start()
|
||
{
|
||
_source = GetModule(_moveTask.SourceModule.ToString());
|
||
_destination = GetModule(_moveTask.DestinationModule.ToString());
|
||
|
||
System.Diagnostics.Debug.Assert(_source != null, $"{_moveTask.SourceModule} not valid");
|
||
System.Diagnostics.Debug.Assert(_destination != null, $"{_moveTask.DestinationModule} not valid");
|
||
|
||
_source.ResetTask();
|
||
_destination.ResetTask();
|
||
SchTmRobot.ResetTask();
|
||
|
||
if (!WaferManager.Instance.CheckHasTray(_moveTask.SourceModule, _moveTask.SourceSlot))
|
||
{
|
||
EV.PostWarningLog("System", $"Failed transfer, source {_moveTask.SourceModule} slot {_moveTask.SourceSlot + 1} has not tray");
|
||
return Result.FAIL;
|
||
}
|
||
|
||
if (WaferManager.Instance.CheckHasTray(_moveTask.DestinationModule, _moveTask.DestinationSlot))
|
||
{
|
||
EV.PostWarningLog("System", $"Failed transfer, destination {_moveTask.DestinationModule} slot {_moveTask.DestinationSlot + 1} has tray");
|
||
return Result.FAIL;
|
||
}
|
||
if (!SchTmRobot.IsOnline)
|
||
{
|
||
EV.PostWarningLog("System", $"Failed transfer, TM is not online");
|
||
return Result.FAIL;
|
||
}
|
||
if (!_source.IsAvailable)
|
||
{
|
||
EV.PostWarningLog("System", $"Failed transfer, source {_moveTask.SourceModule} not ready");
|
||
return Result.FAIL;
|
||
}
|
||
if (!_destination.IsAvailable)
|
||
{
|
||
EV.PostWarningLog("System", $"Failed transfer, Destination {_moveTask.DestinationModule} not ready");
|
||
return Result.FAIL;
|
||
}
|
||
|
||
if (_moveTask.SourceModule == ModuleName.TMRobot)
|
||
_moveTask.RobotHand = (Hand)_moveTask.SourceSlot;
|
||
if (_moveTask.DestinationModule == ModuleName.TMRobot)
|
||
_moveTask.RobotHand = (Hand)_moveTask.DestinationSlot;
|
||
|
||
return Result.RUN;
|
||
}
|
||
public Result Start(params object[] objs)
|
||
{
|
||
return this.Start();
|
||
}
|
||
|
||
public Result Monitor()
|
||
{
|
||
if (_source.NoTray(_moveTask.SourceSlot) && _destination.HasTray(_moveTask.DestinationSlot) &&
|
||
SchTmRobot.IsAvailable)
|
||
{
|
||
if (_source.IsWaitTransfer(ModuleName.TMRobot))
|
||
_source.StopWaitTransfer(ModuleName.TMRobot);
|
||
|
||
if (_destination.IsWaitTransfer(ModuleName.TMRobot))
|
||
_destination.StopWaitTransfer(ModuleName.TMRobot);
|
||
|
||
return Result.DONE;
|
||
}
|
||
|
||
//Pick
|
||
if (_moveTask.SourceModule != ModuleName.TMRobot)
|
||
{
|
||
if (_source.HasTray(_moveTask.SourceSlot))
|
||
{
|
||
if (!_source.IsAvailable)
|
||
{
|
||
return Result.RUN;
|
||
}
|
||
|
||
if (!_source.IsReadyForPick(ModuleName.TMRobot, _moveTask.SourceSlot))
|
||
{
|
||
if (!_source.PrepareTransfer(ModuleName.TMRobot, EnumTransferType.Pick, _moveTask.SourceSlot))
|
||
return Result.FAIL;
|
||
}
|
||
|
||
if (!_source.IsAvailable)
|
||
{
|
||
return Result.RUN;
|
||
}
|
||
|
||
if (!SchTmRobot.HasTray((int)_moveTask.RobotHand))
|
||
{
|
||
if (!SchTmRobot.Pick(_moveTask.SourceModule, _moveTask.SourceSlot, _moveTask.RobotHand))
|
||
{
|
||
return Result.FAIL;
|
||
}
|
||
|
||
_source.WaitTransfer(ModuleName.TMRobot);
|
||
}
|
||
|
||
if (!SchTmRobot.IsAvailable)
|
||
return Result.RUN;
|
||
}
|
||
else
|
||
{
|
||
if (!SchTmRobot.IsAvailable)
|
||
return Result.RUN;
|
||
|
||
if (_source.IsWaitTransfer(ModuleName.TMRobot))
|
||
_source.StopWaitTransfer(ModuleName.TMRobot);
|
||
}
|
||
}
|
||
|
||
//Place
|
||
if (_moveTask.DestinationModule != ModuleName.TMRobot)
|
||
{
|
||
if (!_destination.IsAvailable)
|
||
return Result.RUN;
|
||
|
||
if (_destination.NoTray(_moveTask.DestinationSlot))
|
||
{
|
||
if (!_destination.IsReadyForPlace(ModuleName.TMRobot, _moveTask.DestinationSlot))
|
||
{
|
||
if (!_destination.PrepareTransfer(ModuleName.TMRobot, EnumTransferType.Place,
|
||
_moveTask.DestinationSlot))
|
||
return Result.FAIL;
|
||
}
|
||
|
||
if (!_destination.IsAvailable)
|
||
return Result.RUN;
|
||
|
||
if (SchTmRobot.HasTray((int)_moveTask.RobotHand))
|
||
{
|
||
if (!SchTmRobot.Place(_moveTask.DestinationModule, _moveTask.DestinationSlot, _moveTask.RobotHand))
|
||
return Result.FAIL;
|
||
|
||
_destination.WaitTransfer(ModuleName.TMRobot);
|
||
}
|
||
|
||
if (!SchTmRobot.IsAvailable)
|
||
return Result.RUN;
|
||
}
|
||
else
|
||
{
|
||
if (!SchTmRobot.IsAvailable)
|
||
return Result.RUN;
|
||
|
||
if (_destination.IsWaitTransfer(ModuleName.TMRobot))
|
||
_destination.StopWaitTransfer(ModuleName.TMRobot);
|
||
}
|
||
}
|
||
|
||
return Result.RUN;
|
||
}
|
||
public void Abort()
|
||
{
|
||
Clear();
|
||
}
|
||
|
||
public void Clear()
|
||
{
|
||
SchTmRobot.ResetTask();
|
||
_source?.ResetTask();
|
||
_destination?.ResetTask();
|
||
}
|
||
}
|
||
}
|