Sic08/SicRT/Equipments/ReturnAllWafer.cs

using System.Collections.Generic;
using Aitex.Core.Common;
using Aitex.Core.RT.Routine;
using Aitex.Core.RT.SCCore;
using Aitex.Sorter.Common;
using SicRT.Modules.Schedulers;
using SicRT.Scheduler;
using MECF.Framework.Common.Schedulers;
using MECF.Framework.RT.EquipmentLibrary.HardwareUnits.Buffers;

namespace SicRT.Modules
{
    public class ReturnAllWafer : SchedulerModuleFactory
    {
        //private bool needAligner = false; 
        Dictionary<ModuleName, int> _checkPosition = new Dictionary<ModuleName, int>()
        {
            {ModuleName.PM1, 1},
            {ModuleName.PM2, 1},
            {ModuleName.LoadLock, 1},
            {ModuleName.UnLoad, 1},
            {ModuleName.WaferRobot, 1},
            {ModuleName.TrayRobot, 1},
            {ModuleName.TMRobot, 1},
            {ModuleName.Aligner, 1},
        };

        public ReturnAllWafer()
        {

        }

        public Result Start()
        {
            if (!_tmRobot.IsAvailable)
            {
                EV.PostWarningLog("Scheduler", "can not return wafer, TmRobort is not available!");
                return Result.FAIL;
            }

            if (!_trayRobot.IsAvailable)
            {
                EV.PostWarningLog("Scheduler", "can not return wafer, TrayRobort is not available!");
                return Result.FAIL;
            }

            if (!_waferRobot.IsAvailable)
            {
                EV.PostWarningLog("Scheduler", "can not return wafer, WaferRobort is not available!");
                return Result.FAIL;
            }

            if (!_load.IsAvailable)
            {
                EV.PostWarningLog("Scheduler", "can not return wafer, Load is not available!");
                return Result.FAIL;
            }

            if (!_unload.IsAvailable)
            {
                EV.PostWarningLog("Scheduler", "can not return wafer, UnLoad is not available!");
                return Result.FAIL;
            }

            if (!_buffer.IsAvailable)
            {
                EV.PostWarningLog("Scheduler", "can not return wafer, Buffer is not available!");
                return Result.FAIL;
            }

            return Result.RUN;
        }

        public Result Monitor()
        {
            MonitorModuleTasks();

            if (MonitorTaskDone())
            {
                return Result.DONE;
            }

            return Result.RUN;
        }

        public Result MonitorModuleTasks()
        {
            MonitorPMTask();
            MonitorLoadTask();
            MonitorUnLoadTask();
            MonitorBufferTask();
            MonitorAlignerTask();

            MonitorTmRobotTask();
            MonitorWaferRobotTask();
            MonitorTrayRobotTask();

            return Result.RUN;
        }

        private bool MonitorTaskDone()
        {
            foreach (var positions in _checkPosition)
            {
                for (int i = 0; i < positions.Value; i++)
                {
                    if (CheckWaferCouldBeReturn(positions.Key, i))
                    {
                        return false;
                    }
                }
            }

            if (_buffer.HasWafer(0) || _buffer.HasWafer(1) || _buffer.HasWafer(2))
            {
                return false;
            }
                
            if (_buffer.HasTrayAndExceedProcessCount(0) || _buffer.HasTrayAndExceedProcessCount(1) || _buffer.HasTrayAndExceedProcessCount(2))
            {
                return false;
            }
                
            if (!_tmRobot.IsAvailable)
            {
                return false;
            }
                
            if (!_waferRobot.IsAvailable)
            {
                return false;
            }
               
            if (!_trayRobot.IsAvailable)
            {
                return false;
            }

            if (!_unload.IsAvailable)
            {
                return false;
            }

            if (!_load.IsAvailable)
            {
                return false;
            }

            return true;
        }

        private void MonitorTmRobotTask()
        {
            if (!_tmRobot.IsAvailable)
                return;

            foreach (var pm in _lstPms)
            {
                if (pm.IsWaitTransfer(ModuleName.TMRobot))
                    pm.StopWaitTransfer(ModuleName.TMRobot);
            }

            if (_buffer.IsWaitTransfer(ModuleName.TMRobot))
                _buffer.StopWaitTransfer(ModuleName.TMRobot);

            if (_load.IsWaitTransfer(ModuleName.TMRobot))
                _load.StopWaitTransfer(ModuleName.TMRobot);

            if (_unload.IsWaitTransfer(ModuleName.TMRobot))
                _unload.StopWaitTransfer(ModuleName.TMRobot);

            MonitorTmRobotPMTask();

            MonitorTmRobotBufferTask();

            MonitorTmRobotLoadTask();

            MonitorTmRobotUnLoadTask();
        }

        private void MonitorWaferRobotTask()
        {
            foreach (var cass in _lstWaferCassettes)
            {
                if (cass.IsWaitTransfer(ModuleName.WaferRobot))
                    cass.StopWaitTransfer(ModuleName.WaferRobot);
            }

            if (_aligner.IsWaitTransfer(ModuleName.WaferRobot))
                _aligner.StopWaitTransfer(ModuleName.WaferRobot);

            if (_load.IsWaitTransfer(ModuleName.WaferRobot))
                _load.StopWaitTransfer(ModuleName.WaferRobot);

            if (_unload.IsWaitTransfer(ModuleName.WaferRobot))
                _unload.StopWaitTransfer(ModuleName.WaferRobot);

            MonitorWaferRobotCassetteTask();
            MonitorWaferRobotAlignerTask();
            MonitorWaferRobotLoadTask();
            MonitorWaferRobotUnLoadTask();
        }

        private void MonitorTrayRobotTask()
        {
            if (_cassetteBL.IsWaitTransfer(ModuleName.TrayRobot))
                _cassetteBL.StopWaitTransfer(ModuleName.TrayRobot);

            if (_load.IsWaitTransfer(ModuleName.TrayRobot))
                _load.StopWaitTransfer(ModuleName.TrayRobot);

            MonitorTrayRobotLoadTask();

            MonitorTrayRobotCassetteTask();
        }


        private void MonitorTmRobotLoadTask()
        {
            if (!_load.IsAvailable || !_tmRobot.IsAvailable)
            {
                return;
            }

            //place 第二种情况 : Load腔无Tray,TMRobot上有使用次数用完的Tray
            bool canPlace = _tmRobot.HasTrayAndExceedProcessCount(0) && _tmRobot.NoWafer(0) && _load.NoTray(0);
            if (canPlace)
            {
                if (_load.IsReadyForPlace(ModuleName.TMRobot, 0))
                {
                    if(_unload.IsInPumping)
                    {
                        return;
                    }

                    if (_tmRobot.Place(_load.Module, 0, Hand.Blade1))
                    {
                        _load.WaitTransfer(ModuleName.TMRobot);
                        return;
                    }
                }
            }

            //pick 第一种情况 : Load腔无Wafer有次数未超过的Tray,TMRobot无Tray
            bool canPick = _tmRobot.NoTray(0) && _tmRobot.NoWafer(0) && _load.HasTrayAndNotExceedProcessCount(0) && _load.NoWafer(0);
            if (canPick)
            {
                if (_load.IsReadyForPick(ModuleName.TMRobot, 0))
                {
                    if (_unload.IsInPumping)
                    {
                        return;
                    }

                    if (_tmRobot.Pick(_load.Module, 0, Hand.Blade1))
                    {
                        _load.WaitTransfer(ModuleName.TMRobot);
                        return;
                    }
                }
            }
        }

        private void MonitorTmRobotUnLoadTask()
        {
            if (!_unload.IsAvailable || !_tmRobot.IsAvailable)
            {
                return;
            }
               
            //place Robot有Wafer,UnLoad无Tray无Wafer
            bool canPlaceUnLoad = _tmRobot.HasWafer(0) 
                                  && _tmRobot.HasTray(0)
                                  && _unload.NoTray(0)
                                  && _unload.NoWafer(0);
            if (canPlaceUnLoad)
            {
                if (_unload.IsReadyForPlace(ModuleName.TMRobot, 0))
                {
                    if (_tmRobot.Place(_unload.Module, 0, Hand.Blade1))
                    {
                        _unload.WaitTransfer(ModuleName.TMRobot);
                        return;
                    }
                }
            }

            if (!_unload.IsAvailable || !_tmRobot.IsAvailable)
            {
                return;
            }

            //pick UnLoad有Tray,TM无Tray,UnLoad分离完成
            bool canPickUnLoad = _tmRobot.NoTray(0)
                                 && _unload.HasTray(0)
                                 && _unload.CheckWaferTraySeparated();
            if (canPickUnLoad)
            {
                if (_unload.IsReadyForPick(ModuleName.TMRobot, 0))
                {
                    if (_tmRobot.Pick(_unload.Module, 0, Hand.Blade1))
                    {
                        _unload.WaitTransfer(ModuleName.TMRobot);
                        return;
                    }
                }
            }

        }

        private void MonitorTmRobotBufferTask()
        {
            if (!_tmRobot.IsAvailable || !_buffer.IsAvailable)
            {
                return;
            }
                
            //place 次数未耗尽的Tray放入Buffer中
            bool canPalce = _tmRobot.NoWafer(0) && _tmRobot.HasTrayAndNotExceedProcessCount(0);
            if (canPalce)
            {
                SlotItem bufferEmptySlot = null;

                if(_tmRobot.GetWaferInfo(0).TrayOriginSlot % 2 == 0)
                {
                    if(_buffer.NoWafer(0) && _buffer.NoTray(0))
                    {
                        bufferEmptySlot = new SlotItem(ModuleName.Buffer, 0);
                    }
                    //else if (_buffer.NoWafer(2) && _buffer.NoTray(2))
                    //{
                    //    bufferEmptySlot = new SlotItem(ModuleName.Buffer, 2);
                    //}
                }
                else if (_tmRobot.GetWaferInfo(0).TrayOriginSlot % 2 == 1)
                {
                    if (_buffer.NoWafer(1) && _buffer.NoTray(1))
                    {
                        bufferEmptySlot = new SlotItem(ModuleName.Buffer,1);
                    }
                    //else if (_buffer.NoWafer(2) && _buffer.NoTray(2))
                    //{
                    //    bufferEmptySlot = new SlotItem(ModuleName.Buffer, 2);
                    //}
                }

                if (bufferEmptySlot == null)
                {
                    return;
                }

                if (_buffer.IsReadyForPlace(ModuleName.TMRobot, bufferEmptySlot.Slot))
                {
                    if (_tmRobot.Place(_buffer.Module, bufferEmptySlot.Slot, Hand.Blade1))
                    {
                        _buffer.WaitTransfer(ModuleName.TMRobot);
                        return;
                    }
                }
            }


            if (!_tmRobot.IsAvailable || !_buffer.IsAvailable)
            {
                return;
            }

            //pick 当前步(UnLoad没有Wafer),Buffer有Tray,机械手没有Tray
            bool canPick = _tmRobot.NoTray(0) && _unload.NoTray(0) && _unload.NoWafer(0);
            if (canPick)
            {
                for (int i = 0; i < 3; i++)
                {
                    if (_buffer.HasTray(i) && _buffer.HasWafer(i))
                    {
                        if (_buffer.IsReadyForPick(ModuleName.TMRobot, i))
                        {
                            if (_tmRobot.Pick(_buffer.Module, i, Hand.Blade1))
                            {
                                _buffer.WaitTransfer(ModuleName.TMRobot);
                                return;
                            }
                        }
                    }


                    if (_buffer.HasTrayAndExceedProcessCount(i) && _load.NoTray(0))
                    {
                        if (_buffer.IsReadyForPick(ModuleName.TMRobot, i))
                        {
                            if (_tmRobot.Pick(_buffer.Module, i, Hand.Blade1))
                            {
                                _buffer.WaitTransfer(ModuleName.TMRobot);
                                return;
                            }
                        }
                    }

                }

                if(_buffer.HasTray(2))
                {
                    if (_buffer.IsReadyForPick(ModuleName.TMRobot, 2))
                    {
                        if (_tmRobot.Pick(_buffer.Module, 2, Hand.Blade1))
                        {
                            _buffer.WaitTransfer(ModuleName.TMRobot);
                            return;
                        }
                    }
                }
            }

        }

        private void MonitorTmRobotPMTask()
        {
            if (!_tmRobot.IsAvailable)
            {
                return;
            }
                
            //pick from pm
            if (_tmRobot.NoWafer(0) && _tmRobot.NoTray(0) && _unload.NoWafer(0) && _unload.NoTray(0))
            {
                Hand pickBlade = Hand.Blade1;

                ModuleName pickPm = ModuleName.System;
                foreach (var schedulerPm in _lstPms)
                {
                    //增加温度低于900才能Pick的限制
                    if (!schedulerPm.IsAvailable
                        || GetModule(schedulerPm.Module).NoWafer(0)
                        || !schedulerPm.CheckTempBelow900())
                        continue;

                    pickPm = schedulerPm.Module;
                    break;
                }

                if (pickPm != ModuleName.System)
                {
                    SchedulerModule pm = GetModule(pickPm.ToString());
                    if (pm.IsReadyForPick(ModuleName.TMRobot, 0))
                    {
                        if (_tmRobot.Pick(pm.Module, 0, pickBlade))
                        {
                            pm.WaitTransfer(ModuleName.TMRobot);

                            return;
                        }
                    }
                }
            }

            //place to pm
            bool canPlace = _tmRobot.HasTrayAndNotExceedProcessCount(0) && _tmRobot.NoWafer(0);
            if(canPlace)
            {
                if(_tmRobot.GetWaferInfo(0).TrayOriginSlot % 2 == 0
                    && _pm1.NoWafer(0)
                    && _pm1.NoTray(0)
                    && _pm1.IsAvailable
                    && _pm1.CheckTempBelow900()
                    && _buffer.HasTray(0))
                {
                    if (_pm1.IsReadyForPlace(ModuleName.TMRobot, 0))
                    {
                        if (_tmRobot.Place(_pm1.Module, 0, Hand.Blade1))
                        {
                            _pm1.WaitTransfer(ModuleName.TMRobot);

                            return;
                        }
                    }
                }
                else if (_tmRobot.GetWaferInfo(0).TrayOriginSlot % 2 == 1
                   && _pm2.NoWafer(0)
                   && _pm2.NoTray(0)
                   && _pm2.IsAvailable
                   && _pm2.CheckTempBelow900()
                   && _buffer.HasTray(1))
                {
                    if (_pm2.IsReadyForPlace(ModuleName.TMRobot, 0))
                    {
                        if (_tmRobot.Place(_pm2.Module, 0, Hand.Blade1))
                        {
                            _pm2.WaitTransfer(ModuleName.TMRobot);

                            return;
                        }
                    }
                }
            }

        }

        private void MonitorWaferRobotLoadTask()
        {
            if (!_waferRobot.IsAvailable || !_load.IsAvailable)
            {
                return;
            }
               
            bool canPick = _waferRobot.NoWafer(0)
                            && _load.HasWafer(0)
                            &&_load.NoTray(0);
            if (canPick)
            {
                if (_load.IsReadyForPick(ModuleName.WaferRobot, 0))
                {
                    if (_waferRobot.Pick(_load.Module, 0, Hand.Blade1))
                    {
                        _load.WaitTransfer(ModuleName.WaferRobot);
                        return;
                    }
                }
            }
        }

        private void MonitorWaferRobotUnLoadTask()
        {
            if (!_waferRobot.IsAvailable || !_unload.IsAvailable)
            {
                return;
            }

            //WaferRobot没有Wafer,Unload有Wafer并且已分离
            bool canPick = _waferRobot.NoWafer(0)
                           && _unload.HasWafer(0)
                           && _unload.NoTray(0);

            if (canPick)
            {
                if (_unload.IsReadyForPick(ModuleName.WaferRobot, 0))
                {
                    if (_waferRobot.Pick(_unload.Module, 0, Hand.Blade1))
                    {
                        _unload.WaitTransfer(ModuleName.WaferRobot);
                        return;
                    }
                }
            }
        }

        private void MonitorWaferRobotAlignerTask()
        {
            if (_load.HasWafer(0) && _load.GetWaferInfo(0).NextStation != (int)ModuleName.Aligner)
            {
                _load.GetWaferInfo(0).NextStation = (int)ModuleName.Aligner;
            }
                
            if (_unload.HasWafer(0) && _unload.GetWaferInfo(0).NextStation != (int)ModuleName.Aligner)
            {
                _unload.GetWaferInfo(0).NextStation = (int)ModuleName.Aligner;
            }
               
            if (_waferRobot.HasWafer(0) && _waferRobot.GetWaferInfo(0).NextStation != (int)ModuleName.Aligner && _waferRobot.GetWaferInfo(0).NextStation != (int)ModuleName.System)
            {
                _waferRobot.GetWaferInfo(0).NextStation = (int)ModuleName.Aligner;
            }
               
            if (!_waferRobot.IsAvailable || !_aligner.IsAvailable)
            {
                return;
            }
                
            //place 任务还没完成,下一步是Aligner,Robot有片子,Aligner没片子
            bool canPlaceAligner = _aligner.NoWafer(0)
                && _waferRobot.HasWafer(0)
                && _waferRobot.GetWaferInfo(0).NextStation == (int)ModuleName.Aligner;
            if (canPlaceAligner)
            {
                if (_aligner.IsReadyForPlace(ModuleName.WaferRobot, 0))
                {
                    if (_waferRobot.Place(_aligner.Module, 0, Hand.Blade1))
                    {
                        _aligner.WaitTransfer(ModuleName.WaferRobot);
                        return;
                    }
                }
            }


            if (!_waferRobot.IsAvailable || !_aligner.IsAvailable)
            {
                return;
            }

            //pick Robot没片子,Aligner有片子
            bool canPickAligner = _aligner.HasWafer(0)
                && _waferRobot.NoWafer(0);
            if (canPickAligner)
            {
                if (_aligner.IsReadyForPick(ModuleName.WaferRobot, 0))
                {
                    if (_waferRobot.Pick(_aligner.Module, 0, Hand.Blade1))
                    {
                        _aligner.WaitTransfer(ModuleName.WaferRobot);
                        return;
                    }
                }
            }
        }

        private void MonitorWaferRobotCassetteTask()
        {
            if (!_waferRobot.IsAvailable)
            {
                return;
            }
                
            //place
            bool canPlaceCassette = _waferRobot.HasWafer(0)&& _waferRobot.GetWaferInfo(0).NextStation!=(int)ModuleName.Aligner;
            if (canPlaceCassette)
            {
                var wafer = _waferRobot.GetWaferInfo(0);
                if (wafer.OriginStation == (int)ModuleName.CassAL)
                {
                    if (_cassetteAL.IsReadyForPlace(ModuleName.WaferRobot, wafer.OriginSlot) && WaferManager.Instance.CheckNoWafer(ModuleName.CassAL, wafer.OriginSlot))
                    {
                        if (_waferRobot.Place(_cassetteAL.Module, wafer.OriginSlot, Hand.Blade1))
                        {
                            _cassetteAL.WaitTransfer(ModuleName.WaferRobot);
                            return;
                        }
                    }
                }
                else if (wafer.OriginStation == (int)ModuleName.CassAR)
                {
                    if (_cassetteAR.IsReadyForPlace(ModuleName.WaferRobot, wafer.OriginSlot) && WaferManager.Instance.CheckNoWafer(ModuleName.CassAR, wafer.OriginSlot))
                    {
                        if (_waferRobot.Place(_cassetteAR.Module, wafer.OriginSlot, Hand.Blade1))
                        {
                            _cassetteAR.WaitTransfer(ModuleName.WaferRobot);
                            return;
                        }
                    }
                }
            }
        }

        private void MonitorTrayRobotLoadTask()
        {
            if (!_load.IsAvailable)
            {
                return;
            }

            //先取Wafer再取石墨盘
            bool canPick = _load.HasTray(0) && _load.NoWafer(0);
            if (canPick)
            {
                if(_load.HasTrayAndExceedProcessCount(0))
                {
                    if(_trayRobot.IsAvailable)
                    {
                        return;
                    }

                    SlotItem emptyTraySlot = GetTrayOrignSlot(ModuleName.LoadLock, 0);
                    if (emptyTraySlot != null)
                    {
                        if (_load.IsReadyForPick(ModuleName.TrayRobot, 0))
                        {
                            if (_trayRobot.Pick(_load.Module, 0, Hand.Blade1))
                            {
                                _load.WaitTransfer(ModuleName.TrayRobot);
                                return;
                            }
                        }
                    }
                }
                else
                {
                    if (!_tmRobot.IsAvailable)
                    {
                        return;
                    }

                    if (_load.IsReadyForPick(ModuleName.TMRobot, 0))
                    {
                        if (_unload.IsInPumping)
                        {
                            return;
                        }

                        if (_tmRobot.Pick(_load.Module, 0, Hand.Blade1))
                        {
                            _load.WaitTransfer(ModuleName.TMRobot);
                            return;
                        }
                    }
                }
            }
        }

        private void MonitorTrayRobotCassetteTask()
        {
            if (!_trayRobot.IsAvailable || !_cassetteBL.IsAvailable)
            {
                return;
            }
               
            bool canPlace = _trayRobot.HasTray(0);
            if (canPlace)
            {
                SlotItem slotItem = GetTrayOrignSlot(ModuleName.TrayRobot, 0); 
                if (slotItem != null)
                {
                    if (_cassetteBL.IsReadyForPlace(ModuleName.TrayRobot, slotItem.Slot))
                    {
                        if (_trayRobot.Place(slotItem.Module, slotItem.Slot, Hand.Blade1))
                        {
                            _cassetteBL.WaitTransfer(ModuleName.TrayRobot);
                            return;
                        }
                    }
                }
            }

        }


        private void MonitorBufferTask()
        {
            if (!_buffer.IsAvailable)
            {
                return;
            }

            if (!_buffer.IsReadyForPick(ModuleName.TMRobot, 0))
            {
                _buffer.PrepareTransfer(ModuleName.TMRobot, EnumTransferType.Place, 0);
            }
        }

        private void MonitorAlignerTask()
        {
            if (!_aligner.IsAvailable)
            {
                return;
            }

            if (_aligner.HasWafer(0) && _aligner.GetWaferInfo(0).NextStation==(int)ModuleName.Aligner)
            {
                _aligner.Aligning();
                _aligner.GetWaferInfo(0).NextStation = (int)ModuleName.System;
            }
        }

        private void MonitorPMTask()
        {
            foreach (var pm in _lstPms)
            {
                if (!pm.IsAvailable)
                {
                    continue;
                }
                   
                if (pm.NoTray(0) && pm.NoWafer(0))
                {
                    continue;
                }

                int bufferIndex = 0;
                if(pm ==_pm2)
                {
                    bufferIndex = 1;
                }

                if(pm.NoWafer(0) && pm.HasTray(0) && _buffer.HasTray(bufferIndex))
                {
                    continue;
                }
                    
                if (!pm.IsReadyForPick(ModuleName.TMRobot, 0))
                {
                    pm.PrepareTransfer(ModuleName.TMRobot, EnumTransferType.Pick, 0);
                }
            }
        }

        private void MonitorLoadTask()
        {
            if (_load.FirstDetectWaferArrive(0) || _load.FirstDetectWaferLeave(0))
            {
                _load.ResetPurgedAndSeparatedStatus();
            }

            if (!_load.IsAvailable)
            {
                return;
            }

            bool canExcute = _load.HasWafer(0) && _load.HasTray(0);
            if (canExcute)
            {
                if (!_load.CheckWaferTraySeparated())
                {
                    _load.SeparateWaferTray();
                    return;
                }
            }

            if (_load.HasWafer(0))
            {
                if (!_load.IsReadyForPick(ModuleName.WaferRobot, 0))
                {
                    _load.PrepareTransfer(ModuleName.WaferRobot, EnumTransferType.Pick, 0);
                    return;
                }
            }
            else if (_load.HasTrayAndExceedProcessCount(0))
            {
                if (!_load.IsReadyForPick(ModuleName.TrayRobot, 0))
                {
                    _load.PrepareTransfer(ModuleName.TrayRobot, EnumTransferType.Pick, 0);
                    return;
                }
            }
            else if(_load.HasTrayAndNotExceedProcessCount(0))
            {
                if (!_load.IsReadyForPick(ModuleName.TMRobot, 0))
                {
                    _load.PrepareTransfer(ModuleName.TMRobot, EnumTransferType.Pick, 0);
                    return;
                }
            }
            else if (_tmRobot.HasTrayAndExceedProcessCount(0) && _tmRobot.NoWafer(0))
            {
                if (!_load.IsReadyForPlace(ModuleName.TMRobot, 0))
                {
                    _load.PrepareTransfer(ModuleName.TMRobot, EnumTransferType.Place, 0);
                    return;
                }
            }
            else
            {
                if (!_load.IsReadyForPlace(ModuleName.TMRobot, 0))
                {
                    _load.PrepareTransfer(ModuleName.TMRobot, EnumTransferType.Place, 0);
                    return;
                }
            }
        }

        private void MonitorUnLoadTask()
        {
            if (!_unload.IsAvailable)
            {
                return;
            }

            // 重置UnLoad Purge和分离状态
            if (_unload.FirstDetectWaferArrive(0) || _unload.FirstDetectWaferLeave(0))
            {
                _unload.ResetPurgedAndSeparatedStatus();
            }

            // TM把Wafer和Tray放如UnLoad后，先冷却，再分离，然后取Tray前Purge
            if (_unload.HasWafer(0) && _unload.HasTray(0))
            {
                // 取Tray前Purge
                if (!_unload.CheckPurgedBeforeTrayPicking())
                {
                    if (_tmRobot.IsInPumping)
                        return;

                    _unload.PurgeBeforeTrayPicking(
                        _unload.GetWaferPurgeCount(0),
                        _unload.GetWaferPumpDelayTime(0));

                    return;
                }

                // Cooling
                if (!_unload.CheckCoolingCompleted())
                {
                    GetWaferSequenceCoolingTime(_unload.Module, 0, out var coolingTime);
                    _unload.Cooling(true, coolingTime);
                    return;
                }

                // 如果没分离，先分离
                if (!_unload.CheckWaferTraySeparated())
                {
                    _unload.SeparateWaferTray();
                    return;
                }
            }

            if (_unload.HasTray(0)) // UnLoad有Tray，先让TMRobot取Tray
            {
                if (_unload.CheckWaferTraySeparated())
                {
                    // 如果Sequence下一步是UnLoad,并且W&T已冷却和分离
                    if (!_unload.CheckPurgedBeforeTrayPicking())
                    {
                        if (_tmRobot.IsInPumping)
                            return;

                        _unload.PurgeBeforeTrayPicking(
                            _unload.GetWaferPurgeCount(0),
                            _unload.GetWaferPumpDelayTime(0));
                        return;
                    }

                    // 如果Tray拿走以前还没Purge，先Purge，在让TMRobot取Tray
                    if (!_unload.CheckPurgedBeforeTrayPicking())
                        return;

                    if (!_unload.IsReadyForPick(ModuleName.TMRobot, 0))
                    {
                        if (_tmRobot.IsInPumping)
                            return;

                        // UnLoad中有Tray，则准备好让TMRobot来取
                        _unload.PrepareTransfer(ModuleName.TMRobot, EnumTransferType.Pick, 0);
                        return;
                    }
                }
            }
            else if (_unload.HasWafer(0)) // 如果没Tray，下一步让WaferRobot取Wafer
            {
                //if (_unload.CheckWaferTraySeparated())
                {
                    // 如果取Wafer前还未Purge，先Purge
                    if (!_unload.CheckPurgedBeforeWaferPicking())
                    {
                        if (_tmRobot.IsInPumping)
                            return;

                        var cycle = _unload.GetWaferPurgeCount(0, "PurgeCountBeforeWaferPicking");
                        var pumpDelay = _unload.GetWaferPumpDelayTime(0, "PumpDelayTimeBeforeWaferPicking");
                        _unload.PurgeBeforeWaferPicking(cycle, pumpDelay);
                        _unload.GetWaferInfo(0).NextSequenceStep++;
                        return;
                    }

                    if (_unload.CheckPurgedBeforeWaferPicking()
                        && !_unload.IsReadyForPick(ModuleName.WaferRobot, 0))
                    {
                        if (_tmRobot.IsInPumping)
                            return;

                        // 准备好让WaferRobot来取
                        _unload.PrepareTransfer(ModuleName.WaferRobot, EnumTransferType.Pick, 0);
                    }
                }

                return;
            }
            else // 如果UnLoad里啥也没有，则准备好下次TMRobot喂 W&T
            {
                // 如果Wafer取完后还没有Purge，先Purge
                if (!_unload.CheckPurgedAfterWaferPicked())
                {
                    if (_tmRobot.IsInPumping)
                        return;

                    var cycle = _unload.GetWaferPurgeCount(0, "PurgeCountAfterWaferPicking");
                    var pumpDelay = _unload.GetWaferPumpDelayTime(0, "PumpDelayTimeAfterWaferPicking");

                    _unload.PurgeAfterWaferPicked(cycle, pumpDelay);
                }

                // 如果Wafer取完后还没有Purge，则终止后去操作。
                if (!_unload.CheckPurgedAfterWaferPicked())
                    return;

                if (!_unload.IsReadyForPlace(ModuleName.TMRobot, 0))
                {
                    if (_tmRobot.IsInPumping)
                        return;

                    _unload.PrepareTransfer(ModuleName.TMRobot, EnumTransferType.Place, 0);
                    return;
                }
            }
        }

        private SlotItem GetEmptyTraySlot()
        {
            for (int i = 0; i < WaferManager.Instance.GetWafers(ModuleName.CassBL).Length; i++)
            {
                if (WaferManager.Instance.CheckNoTray(ModuleName.CassBL, i))
                {
                    return new SlotItem(ModuleName.CassBL, i);
                }
            }
            return null;
        }

        private SlotItem GetTrayOrignSlot(ModuleName module, int slot)
        {
            var wafer = GetModule(module).GetWaferInfo(slot);
            if (wafer != null && GetModule(module).HasTray(slot) && _cassetteBL.NoTray(wafer.TrayOriginSlot))
            {
                return new SlotItem(ModuleName.CassBL, wafer.TrayOriginSlot);
            }
            return null;
        }

        private bool CheckWaferCouldBeReturn(ModuleName module, int slot)
        {
            var wafer = WaferManager.Instance.GetWafer(module, slot);
            if (!wafer.IsEmpty)
            {
                return true;
            }
            
            if(module== ModuleName.Buffer || module == ModuleName.PM1 || module == ModuleName.PM2)
            {
                return false;
            }
            else if (wafer.TrayState == WaferTrayStatus.Normal)
            {
                return true;
            }

            return false;
        }

        private bool GetWaferSequenceCoolingTime(ModuleName module, int slot, out int coolingTime)
        {
            coolingTime = 0;

            if (!WaferManager.Instance.CheckHasWafer(module, slot))
                return false;

            var wafer = WaferManager.Instance.GetWafer(module, slot);

            if (wafer.ProcessJob == null || wafer.ProcessJob.Sequence == null)
                return false;

            if (wafer.NextSequenceStep >= wafer.ProcessJob.Sequence.Steps.Count)
                return false;

            if (!wafer.ProcessJob.Sequence.Steps[wafer.NextSequenceStep].StepModules.Contains(module))
                return false;

            if (!int.TryParse(wafer.ProcessJob.Sequence.Steps[wafer.NextSequenceStep].StepParameter["CoolingTime"].ToString(),
                    out coolingTime))
            {
                coolingTime = 0;
                //coolingTime = SC.GetValue<int>("Unload.DefaultCoolingTime");
                //EV.PostWarningLog("Scheduler", $"Sequence step Unload cooling time is not valid, instead with the SC default value {coolingTime} seconds");

                return false;
            }

            return true;
        }
    }

}