124 lines
2.6 KiB
C#
124 lines
2.6 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 ModuleName _target;
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public bool IsInPumping { get => ((_task == TaskType.Pick || _task == TaskType.Place) && (_target == ModuleName.UnLoad || _target == ModuleName.LoadLock || _target == ModuleName.Load)); }
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public SchedulerTMRobot() : base(ModuleName.TMRobot.ToString())
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{
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_tmRobot = Singleton<EquipmentManager>.Instance.Modules[ModuleName.TM] 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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if (_tmRobot.Pick(target, hand, slot, out string reason))
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{
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_task = TaskType.Pick;
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_taskHand = hand;
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_target = target;
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LogTaskStart(_task, $"{target}.{slot + 1}=>{Module}.{hand}");
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}
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return true;
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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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if (_tmRobot.Place(target, hand, slot, out string reason))
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{
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_task = TaskType.Place;
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_taskHand = hand;
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_target = target;
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LogTaskStart(_task, $"{Module}.{hand}=>{target}.{slot + 1}");
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}
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return true;
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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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ret = WaferManager.Instance.CheckHasTray(ModuleName.TMRobot, (int)_taskHand);
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break;
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case TaskType.Place:
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ret = WaferManager.Instance.CheckNoTray(ModuleName.TMRobot, (int)_taskHand);
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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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