110 lines
2.6 KiB
C#
110 lines
2.6 KiB
C#
using Aitex.Core.Util;
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using Aitex.Sorter.Common;
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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.EFEMs;
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namespace SicRT.Scheduler
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{
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public class SchedulerTrayRobot : SchedulerModule
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{
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public override bool IsAvailable
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{
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get { return _trayRobot.IsIdle && _trayRobot.IsOnline && CheckTaskDone(); }
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}
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public override bool IsOnline
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{
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get { return _trayRobot.IsOnline; }
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}
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public override bool IsError
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{
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get { return _trayRobot.IsError; }
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}
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private TrayRobotModule _trayRobot = null;
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private Hand _taskHand;
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public SchedulerTrayRobot() : base(ModuleName.TrayRobot.ToString())
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{
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_trayRobot = Singleton<EquipmentManager>.Instance.Modules[ModuleName.TrayRobot] as TrayRobotModule;
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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.TrayRobot, (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.TrayRobot, (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 (_trayRobot.PickTray(target, hand, slot))
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{
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_task = TaskType.Pick;
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_taskHand = hand;
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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 (_trayRobot.PlaceTray(target, hand, slot))
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{
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_task = TaskType.Place;
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_taskHand = hand;
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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 Map(ModuleName target)
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{
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if (_trayRobot.MapTray(target))
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{
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_task = TaskType.Map;
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LogTaskStart(_task, $"{Module}.TrayRobot Map");
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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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var taskSucceed = false;
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switch (_task)
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{
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case TaskType.None:
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taskSucceed = true;
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break;
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case TaskType.Pick:
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taskSucceed = WaferManager.Instance.CheckHasTray(ModuleName.TrayRobot, (int)_taskHand);
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break;
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case TaskType.Place:
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taskSucceed = WaferManager.Instance.CheckNoTray(ModuleName.TrayRobot, (int)_taskHand);
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break;
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}
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return SuperCheckTaskDone(taskSucceed, _trayRobot.IsIdle | _trayRobot.IsError);
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}
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}
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}
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