121 lines
2.8 KiB
C#
121 lines
2.8 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 SicModules.EFEMs;
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using SicRT.Equipments.Systems;
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using MECF.Framework.RT.EquipmentLibrary.HardwareUnits.EFEM;
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namespace SicRT.Scheduler
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{
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public class SchedulerWaferRobot : SchedulerModule
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{
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public override bool IsAvailable
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{
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get { return _efem.IsIdle && _efem.IsOnline && _efem.WaferRobotModule.IsIdle && _efem.WaferRobotModule.IsOnline && CheckTaskDone(); }
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}
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public override bool IsOnline
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{
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get { return _efem.IsOnline && _efem.WaferRobotModule.IsOnline; }
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}
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public override bool IsError
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{
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get { return _efem.IsError || _efem.WaferRobotModule.IsError; }
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}
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private EFEMModule _efem = null;
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private Hand _taskHand;
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private Hand _taskSwapPickHand;
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private Hand _taskSwapPlaceHand;
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public SchedulerWaferRobot() : base(ModuleName.WaferRobot.ToString())
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{
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_efem = Singleton<EquipmentManager>.Instance.Modules[ModuleName.EFEM] as EFEMModule;
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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.WaferRobot, (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.WaferRobot, (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 (_efem.PickWafer(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}.WaferRobot.{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 (_efem.PlaceWafer(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}.WaferRobot.{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 (_efem.MapWafer(target))
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{
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_task = TaskType.Map;
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LogTaskStart(_task, $"{Module}.WaferRobot Map");
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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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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.CheckHasWafer(ModuleName.WaferRobot, (int)_taskHand);
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break;
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case TaskType.Place:
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taskSucceed = WaferManager.Instance.CheckNoWafer(ModuleName.WaferRobot, (int)_taskHand);
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break;
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}
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return SuperCheckTaskDone(taskSucceed, _efem.WaferRobotModule.IsIdle | _efem.WaferRobotModule.IsError);
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}
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}
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}
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