SicMultiplate/Modules/Mainframe/EFEMs/TrayRobotModule.cs

using System;
using Aitex.Core.RT.DataCenter;
using Aitex.Core.RT.Device;
using Aitex.Core.RT.Fsm;
using Aitex.Core.RT.OperationCenter;
using Aitex.Core.RT.Routine;
using Aitex.Core.RT.SCCore;
using Aitex.Core.Utilities;
using Aitex.Sorter.Common;
using MECF.Framework.Common.Equipment;
using MECF.Framework.Common.Fsm;
using MECF.Framework.RT.EquipmentLibrary.HardwareUnits.Robots.HwinRobot;
using MECF.Framework.RT.EquipmentLibrary.HardwareUnits.Robots.RobotBase;
using MECF.Framework.RT.EquipmentLibrary.HardwareUnits.Robots.Sunway;
using SicModules.EFEMs.Routines;

namespace SicModules.EFEMs
{
    public class TrayRobotModule : ModuleFsmDevice, IModuleDevice
    {
        private enum STATE
        {
            NotInstall,
            Init,
            Idle,
            Homing,
            Error,

            RobotHoming,
            Pick, 
            Place,
            Map,
        }

        private enum MSG
        {
            Home,
            Reset,
            Abort,
            Error,
            ToInit,

            SetOnline,
            SetOffline,

            RobotHome,
            Pick,
            Place,
            Map, 
        };

        public RobotBaseDevice TrayRobotDevice { get; set; }

        public  bool IsReady => FsmState == (int)STATE.Idle && CheckAllMessageProcessed();

        public  bool IsError => FsmState == (int)STATE.Error;

        public bool IsInit => FsmState == (int)STATE.Init;

        public bool IsBusy => !IsInit && !IsError && !IsReady;

        public bool IsIdle => FsmState == (int)STATE.Idle && CheckAllMessageProcessed();

        public bool IsAlarm => FsmState == (int)STATE.Error;

        private TrayRobotPickRoutine _trayRobotPickRoutine;
        private TrayRobotPlaceRoutine _trayRobotPlaceRoutine;
        private TrayRobotHomeRoutine _trayRobotHomeRoutine;
        private TrayRobotMapRoutine _trayRobotMapRoutine;

        private bool _isInit;

        public TrayRobotModule(ModuleName module) 
        {
            Module = module.ToString();
            Name = module.ToString();
            IsOnline = false;

            EnumLoop<STATE>.ForEach((item) =>
            {
                MapState((int)item, item.ToString());
            });

            EnumLoop<MSG>.ForEach((item) =>
            {
                MapMessage((int)item, item.ToString());
            });

            EnableFsm(50, IsInstalled ? STATE.Init : STATE.NotInstall);
        }

        public override bool Initialize()
        {
            InitRoutine();

            InitDevice();

            InitFsm();

            InitOp();

            InitData();

            return base.Initialize();
        }

        private void InitRoutine()
        {
            ModuleName module = ModuleHelper.Converter(Module);

            _trayRobotHomeRoutine = new TrayRobotHomeRoutine();
            _trayRobotPickRoutine = new TrayRobotPickRoutine();
            _trayRobotPlaceRoutine = new TrayRobotPlaceRoutine();
            _trayRobotMapRoutine = new TrayRobotMapRoutine();
        }

        private void InitDevice()
        {
            if (SC.GetStringValue("TrayRobot.RobotType") == "SunwayRobot")
            {
                TrayRobotDevice = DEVICE.GetDevice<SunwayRobot>($"TrayRobot.TrayRobot");
            }
            else
            {
                TrayRobotDevice = DEVICE.GetDevice<HwinRobotB>($"TrayRobot.TrayRobot");
            }
        }

        private void InitFsm()
        {
            //Error
            AnyStateTransition(MSG.Error, FsmOnError, STATE.Error);
            AnyStateTransition(FSM_MSG.ALARM, FsmOnError, STATE.Error);
            Transition(STATE.Error, MSG.Reset, FsmReset, STATE.Idle);
            EnterExitTransition<STATE, FSM_MSG>(STATE.Error, FsmEnterError, FSM_MSG.NONE, FsmExitError);

            //Home
            Transition(STATE.Init, MSG.Home, FsmStartHome, STATE.Homing);
            Transition(STATE.Error, MSG.Home, FsmStartHome, STATE.Homing);
            Transition(STATE.Idle, MSG.Home, FsmStartHome, STATE.Homing);
            Transition(STATE.Homing, FSM_MSG.TIMER, FsmMonitorHomeTask, STATE.Idle);
            Transition(STATE.Homing, MSG.Error, null, STATE.Init);
            Transition(STATE.Homing, MSG.Abort, FsmAbortTask, STATE.Init);
            EnterExitTransition((int)STATE.Homing, FsmEnterIdle, (int)FSM_MSG.NONE, FsmExitIdle);
            AnyStateTransition(MSG.ToInit, FsmToInit, STATE.Init);

            //Online
            Transition(STATE.Idle, MSG.SetOnline, FsmStartSetOnline, STATE.Idle);
            Transition(STATE.Idle, MSG.SetOffline, FsmStartSetOffline, STATE.Idle);

            Transition(STATE.Idle, MSG.RobotHome, FsmStartRobotHome, STATE.RobotHoming);
            Transition(STATE.RobotHoming, FSM_MSG.TIMER, FsmMonitorTask, STATE.Idle);
            Transition(STATE.RobotHoming, MSG.Abort, FsmAbortTask, STATE.Idle);

            Transition(STATE.Idle, MSG.Map, FsmStartTrayRobotMap, STATE.Map);
            Transition(STATE.Map, FSM_MSG.TIMER, FsmMonitorTask, STATE.Idle);
            Transition(STATE.Map, MSG.Abort, FsmAbortTask, STATE.Idle);

            Transition(STATE.Idle, MSG.Pick, FsmStartTrayRobotPick, STATE.Pick);
            Transition(STATE.Pick, FSM_MSG.TIMER, FsmMonitorTask, STATE.Idle);
            Transition(STATE.Pick, MSG.Abort, FsmAbortTask, STATE.Idle);

            Transition(STATE.Idle, MSG.Place, FsmStartTrayRobotPlace, STATE.Place);
            Transition(STATE.Place, FSM_MSG.TIMER, FsmMonitorTask, STATE.Idle);
            Transition(STATE.Place, MSG.Abort, FsmAbortTask, STATE.Idle);
        }

        private void InitOp()
        {
            OP.Subscribe($"{Name}.Home", (string cmd, object[] args) => CheckToPostMessage((int)MSG.Home));
            OP.Subscribe($"{Name}.Reset", (string cmd, object[] args) => CheckToPostMessage((int)MSG.Reset));
            OP.Subscribe($"{Name}.Abort", (string cmd, object[] args) => CheckToPostMessage((int)MSG.Abort));
            OP.Subscribe($"{Module}.SetOnline", (string cmd, object[] args) => CheckToPostMessage((int)MSG.SetOnline));
            OP.Subscribe($"{Module}.SetOffline", (string cmd, object[] args) => CheckToPostMessage((int)MSG.SetOffline));

            OP.Subscribe($"{Module}.RobotHome", (string cmd, object[] args) => CheckToPostMessage((int)MSG.RobotHome));
            OP.Subscribe($"{Module}.PickTray", (string cmd, object[] args) => CheckToPostMessage((int)MSG.Pick, args[0], args[1]));
            OP.Subscribe($"{Module}.PlaceTray", (string cmd, object[] args) => CheckToPostMessage((int)MSG.Place, args[0], args[1]));
            OP.Subscribe($"{Module}.MapTray", (string cmd, object[] args) => CheckToPostMessage((int)MSG.Map, args[0]));
        }

        private void InitData()
        {
            DATA.Subscribe($"{Module}.Status", () => StringFsmStatus);
            DATA.Subscribe($"{Module}.IsOnline", () => IsOnline);
            DATA.Subscribe($"{Module}.IsBusy", () => IsBusy);
            DATA.Subscribe($"{Module}.IsAlarm", () => IsAlarm);
        }

        private bool FsmOnError(object[] param)
        {
            IsOnline = false;

            if (FsmState == (int)STATE.Error)
            {
                return false;
            }

            if (FsmState == (int)STATE.Init)
                return false;

            return true;
        }

        private bool FsmReset(object[] param)
        {
            if (!_isInit)
            {
                PostMsg(MSG.ToInit);
                return false;
            }

            TrayRobotDevice.RobotReset();
            return true;
        }

        private bool FsmExitError(object[] param)
        {
            return true;
        }

        private bool FsmEnterError(object[] param)
        {
            InvokeOnEnterError(Module);
            return true;
        }

        private bool FsmStartHome(object[] param)
        {
            Result ret = StartRoutine(_trayRobotHomeRoutine);
            if (ret == Result.FAIL || ret == Result.DONE)
                return false;
            return ret == Result.RUN;
        }

        private bool FsmMonitorHomeTask(object[] param)
        {
            Result ret = MonitorRoutine();
            if (ret == Result.FAIL)
            {
                PostMsg(MSG.Error);
                return false;
            }

            if (ret == Result.DONE)
            {
                _isInit = true;
                OP.DoOperation($"{Module}.ResetTask");
                return true;
            }

            return false;
        }

        private bool FsmAbortTask(object[] param)
        {
            AbortRoutine();

            TrayRobotDevice.Abort();
            return true;
        }

        private bool FsmExitIdle(object[] param)
        {
            return true;
        }

        private bool FsmEnterIdle(object[] param)
        {
            return true;
        }

        private bool FsmToInit(object[] param)
        {
            TrayRobotDevice.RobotReset();
            return true;
        }

        private bool FsmStartSetOffline(object[] param)
        {
            IsOnline = false;
            return true;
        }

        private bool FsmStartSetOnline(object[] param)
        {
            IsOnline = true;
            return true;
        }

        private bool FsmMonitorTask(object[] param)
        {
            Result ret = MonitorRoutine();
            if (ret == Result.FAIL)
            {
                PostMsg(MSG.Error);
                return false;
            }

            return ret == Result.DONE;
        }

        public bool Abort()
        {
            CheckToPostMessage((int)MSG.Abort);
            return true;
        }

        public  bool Home(out string reason)
        {
            CheckToPostMessage((int)MSG.Home);
            reason = string.Empty;
            return true;
        }

        public  bool CheckAcked(int entityTaskToken)
        {
            return FsmState == (int)STATE.Idle && CheckAllMessageProcessed();
            //return true;
        }

        public void InvokeOffline()
        {
            PostMsg((int)MSG.SetOffline);
        }

        public void InvokeOnline()
        {
            PostMsg((int)MSG.SetOnline);
        }

        public bool MapTray(object[] objs)
        {
            if (CheckToPostMessage((int)MSG.Map, objs))
                return true;
            return false;
        }

        public bool MapTray(ModuleName target)
        {
            if (CheckToPostMessage((int)MSG.Map, target.ToString()))
                return true;
            return false;
        }

        public bool PickTray(object[] objs)
        {
            if (CheckToPostMessage((int)MSG.Pick, objs))
                return true;
            return false;
        }

        public bool PickTray(ModuleName target, Hand blade, int targetSlot)
        {
            if (CheckToPostMessage((int)MSG.Pick, target.ToString(), targetSlot, blade))
                return true;
            return false;
        }

        public bool PlaceTray(object[] objs)
        {
            if (CheckToPostMessage((int)MSG.Place, objs))
                return true;
            return false;
        }

        public bool PlaceTray(ModuleName target, Hand blade, int targetSlot)
        {
            if (CheckToPostMessage((int)MSG.Place, target.ToString(), targetSlot, blade))
                return true;
            return false;
        }


        private bool FsmStartRobotHome(object[] param)
        {
            Result ret = StartRoutine(_trayRobotHomeRoutine);
            if (ret == Result.FAIL || ret == Result.DONE)
                return false;
            return ret == Result.RUN;
        }
        private bool FsmStartTrayRobotMap(object[] param)
        {
            _trayRobotMapRoutine.Init(ModuleHelper.Converter((string)param[0]));
            Result ret = StartRoutine(_trayRobotMapRoutine);
            if (ret == Result.FAIL || ret == Result.DONE)
                return false;
            return ret == Result.RUN;
        }


        private bool FsmStartTrayRobotPick(object[] param)
        {
            _trayRobotPickRoutine.Init(ModuleHelper.Converter((string)param[0]), (int)param[1]);
            Result ret = StartRoutine(_trayRobotPickRoutine);
            if (ret == Result.FAIL || ret == Result.DONE)
                return false;
            return ret == Result.RUN;
        }

        private bool FsmStartTrayRobotPlace(object[] param)
        {
            _trayRobotPlaceRoutine.Init(ModuleHelper.Converter((string)param[0]), (int)param[1]);
            Result ret = StartRoutine(_trayRobotPlaceRoutine);
            if (ret == Result.FAIL || ret == Result.DONE)
                return false;
            return ret == Result.RUN;
        }

        public int InvokeError()
        {
            if (CheckToPostMessage((int)MSG.Error))
                return (int)MSG.Error;

            return (int)FSM_MSG.NONE;
        }
    }
}