494 lines
15 KiB
C#
494 lines
15 KiB
C#
using Aitex.Core.RT.DataCenter;
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using Aitex.Core.RT.Device;
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using Aitex.Core.RT.Event;
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using Aitex.Core.RT.Fsm;
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using Aitex.Core.RT.OperationCenter;
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using Aitex.Core.RT.Routine;
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using Aitex.Core.Util;
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using Aitex.Core.Utilities;
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using Aitex.Sorter.Common;
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using MECF.Framework.Common.Equipment;
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using MECF.Framework.Common.Schedulers;
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using System;
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namespace Mainframe.EFEMs
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{
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public class EFEMModule : EFEMModuleBase
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{
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public enum STATE
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{
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NotInstall,
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Init,
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Idle,
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Homing,
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Cooling,
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Error,
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OpenSlitValve,
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CloseSlitValve,
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}
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public enum MSG
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{
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Home,
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Reset,
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Abort,
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Error,
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ToInit,
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SetOnline,
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SetOffline,
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OpenSlitValve,
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CloseSlitValve,
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};
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public WaferRobotModule WaferRobotModule { get; set; }
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public TrayRobotModule TrayRobotModule { get; set; }
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public override bool IsReady
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{
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get { return FsmState == (int)STATE.Idle && CheckAllMessageProcessed(); }
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}
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public override bool IsError
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{
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get { return FsmState == (int)STATE.Error; }
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}
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public override bool IsInit
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{
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get { return FsmState == (int)STATE.Init; }
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}
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public bool IsBusy
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{
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get { return !IsInit && !IsError && !IsReady; }
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}
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public override bool IsIdle
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{
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get { return FsmState == (int)STATE.Idle && CheckAllMessageProcessed(); }
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}
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public bool IsAlarm
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{
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get
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{
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return FsmState == (int)STATE.Error;
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}
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}
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public event Action<string> OnEnterError;
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private EfemSlitValveRoutine _slitValveRoutine;
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private bool _isInit;
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public SicEFEM _cassetteDevice { get; set; }
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public EFEMModule(ModuleName module) : base(1)
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{
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Module = module.ToString();
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Name = module.ToString();
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IsOnline = false;
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EnumLoop<STATE>.ForEach((item) =>
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{
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MapState((int)item, item.ToString());
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});
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EnumLoop<MSG>.ForEach((item) =>
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{
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MapMessage((int)item, item.ToString());
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});
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EnableFsm(50, IsInstalled ? STATE.Init : STATE.NotInstall);
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}
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public override bool Initialize()
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{
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InitRoutine();
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InitDevice();
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InitFsm();
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InitOp();
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InitData();
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WaferRobotModule.Initialize();
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TrayRobotModule.Initialize();
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return base.Initialize();
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}
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private void InitRoutine()
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{
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ModuleName module = ModuleHelper.Converter(Module);
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_slitValveRoutine = new EfemSlitValveRoutine();
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}
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private void InitDevice()
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{
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_cassetteDevice = DEVICE.GetDevice<SicEFEM>($"{Module}.{Module}");
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WaferRobotModule = new WaferRobotModule(ModuleName.WaferRobot);
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TrayRobotModule = new TrayRobotModule(ModuleName.TrayRobot);
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}
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private void InitFsm()
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{
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//Error
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AnyStateTransition(MSG.Error, FsmOnError, STATE.Error);
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AnyStateTransition(FSM_MSG.ALARM, FsmOnError, STATE.Error);
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Transition(STATE.Error, MSG.Reset, FsmReset, STATE.Idle);
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EnterExitTransition<STATE, FSM_MSG>(STATE.Error, FsmEnterError, FSM_MSG.NONE, FsmExitError);
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//Home
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Transition(STATE.Init, MSG.Home, FsmStartHome, STATE.Homing);
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Transition(STATE.Error, MSG.Home, FsmStartHome, STATE.Homing);
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Transition(STATE.Idle, MSG.Home, FsmStartHome, STATE.Homing);
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Transition(STATE.Homing, FSM_MSG.TIMER, FsmMonitorHomeTask, STATE.Idle);
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Transition(STATE.Homing, MSG.Error, null, STATE.Init);
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Transition(STATE.Homing, MSG.Abort, FsmAbortTask, STATE.Init);
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EnterExitTransition((int)STATE.Homing, FsmEnterIdle, (int)FSM_MSG.NONE, FsmExitIdle);
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AnyStateTransition(MSG.ToInit, FsmToInit, STATE.Init);
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//Online
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Transition(STATE.Idle, MSG.SetOnline, FsmStartSetOnline, STATE.Idle);
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Transition(STATE.Idle, MSG.SetOffline, FsmStartSetOffline, STATE.Idle);
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//open SlitValve
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Transition(STATE.Idle, MSG.OpenSlitValve, FsmStartOpenSlitValve, STATE.OpenSlitValve);
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Transition(STATE.OpenSlitValve, FSM_MSG.TIMER, FsmMonitorTask, STATE.Idle);
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Transition(STATE.OpenSlitValve, MSG.Abort, FsmAbortTask, STATE.Idle);
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//close SlitValve
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Transition(STATE.Idle, MSG.CloseSlitValve, FsmStartCloseSlitValve, STATE.CloseSlitValve);
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Transition(STATE.CloseSlitValve, FSM_MSG.TIMER, FsmMonitorTask, STATE.Idle);
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Transition(STATE.CloseSlitValve, MSG.Abort, FsmAbortTask, STATE.Idle);
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}
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private void InitOp()
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{
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OP.Subscribe($"{Name}.Home", (string cmd, object[] args) => CheckToPostMessage((int)MSG.Home));
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OP.Subscribe($"{Name}.Reset", (string cmd, object[] args) => CheckToPostMessage((int)MSG.Reset));
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OP.Subscribe($"{Name}.Abort", (string cmd, object[] args) => CheckToPostMessage((int)MSG.Abort));
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OP.Subscribe($"{Module}.SetOnline", (string cmd, object[] args) => CheckToPostMessage((int)MSG.SetOnline));
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OP.Subscribe($"{Module}.SetOffline", (string cmd, object[] args) => CheckToPostMessage((int)MSG.SetOffline));
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OP.Subscribe($"{Module}.PickWafer", (string cmd, object[] args) => WaferRobotModule.PickWafer(args));
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OP.Subscribe($"{Module}.PlaceWafer", (string cmd, object[] args) => WaferRobotModule.PlaceWafer(args));
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OP.Subscribe($"{Module}.MapWafer", (string cmd, object[] args) => WaferRobotModule.MapWafer(args));
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OP.Subscribe($"{Module}.RobotHome", (string cmd, object[] args) => WaferRobotModule.Home(out _) && TrayRobotModule.Home(out _));
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OP.Subscribe($"{Module}.PickTray", (string cmd, object[] args) => TrayRobotModule.PickTray(args));
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OP.Subscribe($"{Module}.PlaceTray", (string cmd, object[] args) => TrayRobotModule.PlaceTray(args));
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OP.Subscribe($"{Module}.MapTray", (string cmd, object[] args) => TrayRobotModule.MapTray(args));
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OP.Subscribe($"{Module}.OpenSlitValve", (string cmd, object[] args) => { return CheckToPostMessage((int)MSG.OpenSlitValve, args[0], args[1]); });
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OP.Subscribe($"{Module}.CloseSlitValve", (string cmd, object[] args) => { return CheckToPostMessage((int)MSG.CloseSlitValve, args[0], args[1]); });
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}
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private void InitData()
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{
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DATA.Subscribe($"{Name}.Status", () => StringFsmStatus);
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DATA.Subscribe($"{Name}.IsOnline", () => IsOnline);
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DATA.Subscribe($"{Name}.IsBusy", () => IsBusy);
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DATA.Subscribe($"{Module}.IsAlarm", () => IsAlarm);
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}
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private bool FsmOnError(object[] param)
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{
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IsOnline = false;
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if (FsmState == (int)STATE.Error)
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{
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return false;
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}
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if (FsmState == (int)STATE.Init)
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return false;
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return true;
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}
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private bool FsmReset(object[] param)
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{
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if (!_isInit)
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{
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PostMsg(MSG.ToInit);
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return false;
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}
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WaferRobotModule.Reset();
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TrayRobotModule.Reset();
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return true;
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}
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private bool FsmExitError(object[] param)
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{
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return true;
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}
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private bool FsmEnterError(object[] param)
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{
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if (OnEnterError != null)
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OnEnterError(Module);
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return true;
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}
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private bool FsmStartHome(object[] param)
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{
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return WaferRobotModule.Home(out _) && TrayRobotModule.Home(out _);
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}
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private bool FsmMonitorHomeTask(object[] param)
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{
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Result waferRobotRet = WaferRobotModule.MonitorRoutine();
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Result trayRobotRet = TrayRobotModule.MonitorRoutine();
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if (waferRobotRet == Result.FAIL || trayRobotRet == Result.FAIL)
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{
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PostMsg(MSG.Error);
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return false;
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}
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if (waferRobotRet == Result.DONE && trayRobotRet == Result.DONE)
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{
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_isInit = true;
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OP.DoOperation($"{Module}.ResetTask");
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return true;
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}
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return false;
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}
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private bool FsmAbortTask(object[] param)
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{
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AbortRoutine();
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WaferRobotModule.Abort();
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TrayRobotModule.Abort();
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return true;
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}
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private bool FsmExitIdle(object[] param)
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{
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return true;
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}
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private bool FsmEnterIdle(object[] param)
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{
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return true;
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}
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private bool FsmToInit(object[] param)
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{
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WaferRobotModule.Reset();
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TrayRobotModule.Reset();
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return true;
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}
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private bool FsmStartSetOffline(object[] param)
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{
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IsOnline = false;
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WaferRobotModule.IsOnline = false;
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TrayRobotModule.IsOnline = false;
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return true;
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}
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private bool FsmStartSetOnline(object[] param)
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{
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IsOnline = true;
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WaferRobotModule.IsOnline = true;
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TrayRobotModule.IsOnline = true;
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return true;
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}
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private bool FsmMonitorTask(object[] param)
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{
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Result ret = MonitorRoutine();
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if (ret == Result.FAIL)
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{
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PostMsg(MSG.Error);
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return false;
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}
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return ret == Result.DONE;
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}
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public override bool Home(out string reason)
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{
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CheckToPostMessage((int)MSG.Home);
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reason = string.Empty;
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return true;
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}
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public override bool CheckAcked(int entityTaskToken)
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{
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return FsmState == (int)STATE.Idle && CheckAllMessageProcessed();
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//return true;
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}
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public override void NoteTransferStart(ModuleName robot, Hand blade, int targetSlot, EnumTransferType transferType)
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{
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//CheckToPostMessage(MSG.InTransfer);
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}
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public override void NoteTransferStop(ModuleName robot, Hand blade, int targetSlot, EnumTransferType transferType)
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{
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//if (FsmState == (int)STATE.InTransfer)
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// CheckToPostMessage(MSG.TransferComplete);
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}
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public override bool PrepareTransfer(ModuleName robot, Hand blade, int targetSlot, EnumTransferType transferType, out string reason)
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{
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reason = string.Empty;
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return true;
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}
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public override bool TransferHandoff(ModuleName robot, Hand blade, int targetSlot, EnumTransferType transferType, out string reason)
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{
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reason = string.Empty;
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return true;
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}
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public override bool PostTransfer(ModuleName robot, Hand blade, int targetSlot, EnumTransferType transferType, out string reason)
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{
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reason = string.Empty;
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return true;
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}
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public override bool CheckReadyForTransfer(ModuleName robot, Hand blade, int targetSlot, EnumTransferType transferType,
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out string reason)
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{
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reason = string.Empty;
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return true;
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}
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public override bool CheckReadyForMap(ModuleName robot, Hand blade, out string reason)
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{
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reason = string.Empty;
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return true;
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}
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public void InvokeOffline()
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{
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PostMsg((int)MSG.SetOffline);
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}
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public void InvokeOnline()
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{
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PostMsg((int)MSG.SetOnline);
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}
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public override bool MapWafer(ModuleName target)
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{
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if (WaferRobotModule.MapWafer(target))
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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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public override bool PickWafer(ModuleName target, Hand blade, int targetSlot)
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{
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if (WaferRobotModule.PickWafer(target, blade, targetSlot))
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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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public override bool PlaceWafer(ModuleName target, Hand blade, int targetSlot)
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{
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if (WaferRobotModule.PlaceWafer(target, blade, targetSlot))
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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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public override bool GotoWafer(ModuleName target, Hand blade, int targetSlot)
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{
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throw new NotImplementedException();
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}
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public override bool MapTray(ModuleName target)
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{
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if (TrayRobotModule.MapTray(target))
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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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public override bool PickTray(ModuleName target, Hand blade, int targetSlot)
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{
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if (TrayRobotModule.PickTray(target, blade, targetSlot))
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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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public override bool PlaceTray(ModuleName target, Hand blade, int targetSlot)
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{
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if (TrayRobotModule.PlaceTray(target, blade, targetSlot))
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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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public override bool GotoTray(ModuleName target, Hand blade, int targetSlot)
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{
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throw new NotImplementedException();
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}
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private bool FsmStartOpenSlitValve(object[] param)
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{
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if (ModuleHelper.Converter(param[1].ToString()) == ModuleName.WaferRobot && !WaferRobotModule.IsIdle)
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return false;
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if (ModuleHelper.Converter(param[1].ToString()) == ModuleName.TrayRobot && !TrayRobotModule.IsIdle)
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return false;
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_slitValveRoutine.Init(ModuleHelper.Converter(param[0].ToString()), ModuleHelper.Converter(param[1].ToString()), true);
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Result ret = StartRoutine(_slitValveRoutine);
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if (ret == Result.FAIL || ret == Result.DONE)
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return false;
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return ret == Result.RUN;
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}
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private bool FsmStartCloseSlitValve(object[] param)
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{
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if (ModuleHelper.Converter(param[1].ToString()) == ModuleName.WaferRobot && !WaferRobotModule.IsIdle)
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return false;
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if (ModuleHelper.Converter(param[1].ToString()) == ModuleName.TrayRobot && !TrayRobotModule.IsIdle)
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return false;
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_slitValveRoutine.Init(ModuleHelper.Converter(param[0].ToString()), ModuleHelper.Converter(param[1].ToString()), false);
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Result ret = StartRoutine(_slitValveRoutine);
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if (ret == Result.FAIL || ret == Result.DONE)
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return false;
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return ret == Result.RUN;
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}
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public int InvokeError()
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{
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if (CheckToPostMessage((int)MSG.Error))
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return (int)MSG.Error;
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return (int)FSM_MSG.NONE;
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}
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}
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}
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