SicMultiplate/SicRT/Equipments/Schedulers/SchedulerTrayRobot.cs

using Aitex.Core.Util;
using Aitex.Sorter.Common;
using SicRT.Modules.Schedulers;
using MECF.Framework.Common.Equipment;
using MECF.Framework.Common.SubstrateTrackings;
using SicRT.Equipments.Systems;
using Mainframe.EFEMs;

namespace SicRT.Scheduler
{
	public class SchedulerTrayRobot : SchedulerModule
	{
		public override bool IsAvailable
		{
			get { return _trayRobot.IsIdle && _trayRobot.IsOnline  && CheckTaskDone(); }
		}

		public override bool IsOnline
		{
			get { return _trayRobot.IsOnline; }
		}

		public override bool IsError
		{
			get { return _trayRobot.IsError; }

		}

        public ModuleName? Target { get; private set; }

        private TrayRobotModule _trayRobot = null;

		private Hand _taskHand;
		public SchedulerTrayRobot() : base(ModuleName.TrayRobot.ToString())
		{
			_trayRobot = Singleton<EquipmentManager>.Instance.Modules[ModuleName.TrayRobot] as TrayRobotModule;
		}

		public bool IsReadyForPick(Hand blade)
		{
			return WaferManager.Instance.CheckNoWafer(ModuleName.TrayRobot, (int)blade);
		}

		public bool IsReadyForPlace(Hand blade)
		{
			return WaferManager.Instance.CheckHasWafer(ModuleName.TrayRobot, (int)blade);
		}

		public bool Pick(ModuleName target, int slot, Hand hand)
		{
			if (_trayRobot.PickTray(target, hand, slot))
			{
                Target = target;
                _task = TaskType.Pick;
                _taskHand = hand;
				LogTaskStart(_task, $"{target}.{slot + 1}=>{Module}.{hand}");
            }

            return true;
        }

		public bool Place(ModuleName target, int slot, Hand hand)
		{
			if (_trayRobot.PlaceTray(target, hand, slot))
			{
                Target = target;
                _task = TaskType.Place;
				_taskHand = hand;
				LogTaskStart(_task, $"{Module}.{hand}=>{target}.{slot + 1}");
            }

            return true;
        }

        public bool Map(ModuleName target)
        {
            if (_trayRobot.MapTray(target))
            {
                _task = TaskType.Map;
                LogTaskStart(_task, $"{Module}.TrayRobot Map");
            }

            return true;
        }

        public bool Monitor()
		{
			return true;
		}

        public bool CheckTaskDone()
        {
            var taskSucceed = false;
            switch (_task)
            {
                case TaskType.None:
                    taskSucceed = true;
                    break;
                case TaskType.Pick:
                    taskSucceed = WaferManager.Instance.CheckHasTray(ModuleName.TrayRobot, (int)_taskHand);

                    break;
                case TaskType.Place:
                    taskSucceed = WaferManager.Instance.CheckNoTray(ModuleName.TrayRobot, (int)_taskHand);
                    break;
            }

            return SuperCheckTaskDone(taskSucceed, _trayRobot.IsIdle | _trayRobot.IsError);
        }
    }


}