435 lines
13 KiB
C#
435 lines
13 KiB
C#
using Aitex.Core.RT.DataCenter;
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using Aitex.Core.RT.Device;
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using Aitex.Core.RT.Event;
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using Aitex.Core.RT.Fsm;
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using Aitex.Core.RT.OperationCenter;
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using Aitex.Core.RT.Routine;
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using Aitex.Core.Util;
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using Aitex.Core.Utilities;
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using Aitex.Sorter.Common;
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using MECF.Framework.Common.Equipment;
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using MECF.Framework.Common.Fsm;
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using MECF.Framework.Common.Schedulers;
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using System;
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namespace Mainframe.EFEMs
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{
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public class WaferRobotModule : ModuleFsmDevice, IModuleDevice
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{
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public enum STATE
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{
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NotInstall,
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Init,
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Idle,
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Homing,
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Error,
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WaferRobotPick,
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WaferRobotPlace,
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WaferRobotMap,
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RobotHoming,
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}
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public enum MSG
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{
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Home,
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Reset,
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Abort,
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Error,
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ToInit,
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SetOnline,
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SetOffline,
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RobotHome,
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WaferRobotPick,
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WaferRobotPlace,
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WaferRobotMap,
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}
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public SicWaferRobot WaferRobotDevice { get; set; }
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public bool IsReady
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{
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get { return FsmState == (int)STATE.Idle && CheckAllMessageProcessed(); }
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}
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public bool IsError
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{
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get { return FsmState == (int)STATE.Error; }
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}
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public bool IsInit
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{
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get { return FsmState == (int)STATE.Init; }
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}
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public bool IsBusy
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{
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get { return !IsInit && !IsError && !IsReady; }
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}
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public bool IsIdle
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{
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get { return FsmState == (int)STATE.Idle && CheckAllMessageProcessed(); }
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}
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public bool IsAlarm
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{
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get
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{
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return FsmState == (int)STATE.Error;
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}
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}
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public event Action<string> OnEnterError;
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private WaferRobotHomeRoutine _waferRobotHomeRoutine;
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private WaferRobotPlaceRoutine _waferRobotPlaceRoutine;
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private WaferRobotPickRoutine _waferRobotPickRoutine;
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private WaferRobotMapRoutine _waferRobotMapRoutine;
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private bool _isInit;
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public WaferRobotModule(ModuleName module)
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{
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Module = module.ToString();
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Name = module.ToString();
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IsOnline = false;
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EnumLoop<STATE>.ForEach((item) =>
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{
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MapState((int)item, item.ToString());
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});
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EnumLoop<MSG>.ForEach((item) =>
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{
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MapMessage((int)item, item.ToString());
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});
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EnableFsm(50, IsInstalled ? STATE.Init : STATE.NotInstall);
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}
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public override bool Initialize()
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{
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InitRoutine();
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InitDevice();
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InitFsm();
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InitOp();
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InitData();
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return base.Initialize();
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}
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private void InitRoutine()
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{
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ModuleName module = ModuleHelper.Converter(Module);
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_waferRobotHomeRoutine = new WaferRobotHomeRoutine();
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_waferRobotPlaceRoutine = new WaferRobotPlaceRoutine();
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_waferRobotPickRoutine = new WaferRobotPickRoutine();
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_waferRobotMapRoutine = new WaferRobotMapRoutine();
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}
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private void InitDevice()
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{
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WaferRobotDevice = DEVICE.GetDevice<SicWaferRobot>($"{ModuleName.WaferRobot}.{ModuleName.WaferRobot}");
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}
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private void InitFsm()
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{
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//Error
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AnyStateTransition(MSG.Error, FsmOnError, STATE.Error);
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AnyStateTransition(FSM_MSG.ALARM, FsmOnError, STATE.Error);
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Transition(STATE.Error, MSG.Reset, FsmReset, STATE.Idle);
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EnterExitTransition<STATE, FSM_MSG>(STATE.Error, FsmEnterError, FSM_MSG.NONE, FsmExitError);
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//Home
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Transition(STATE.Init, MSG.Home, FsmStartHome, STATE.Homing);
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Transition(STATE.Error, MSG.Home, FsmStartHome, STATE.Homing);
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Transition(STATE.Idle, MSG.Home, FsmStartHome, STATE.Homing);
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Transition(STATE.Homing, FSM_MSG.TIMER, FsmMonitorHomeTask, STATE.Idle);
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Transition(STATE.Homing, MSG.Error, null, STATE.Init);
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Transition(STATE.Homing, MSG.Abort, FsmAbortTask, STATE.Init);
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EnterExitTransition((int)STATE.Homing, FsmEnterIdle, (int)FSM_MSG.NONE, FsmExitIdle);
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AnyStateTransition(MSG.ToInit, FsmToInit, STATE.Init);
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//Online
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Transition(STATE.Idle, MSG.SetOnline, FsmStartSetOnline, STATE.Idle);
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Transition(STATE.Idle, MSG.SetOffline, FsmStartSetOffline, STATE.Idle);
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Transition(STATE.Idle, MSG.WaferRobotMap, FsmStartWaferRobotMap, STATE.WaferRobotMap);
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Transition(STATE.WaferRobotMap, FSM_MSG.TIMER, FsmMonitorTask, STATE.Idle);
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Transition(STATE.WaferRobotMap, MSG.Abort, FsmAbortTask, STATE.Idle);
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Transition(STATE.Idle, MSG.WaferRobotPick, FsmStartWaferRobotPick, STATE.WaferRobotPick);
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Transition(STATE.WaferRobotPick, FSM_MSG.TIMER, FsmMonitorTask, STATE.Idle);
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Transition(STATE.WaferRobotPick, MSG.Abort, FsmAbortTask, STATE.Idle);
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Transition(STATE.Idle, MSG.WaferRobotPlace, FsmStartWaferRobotPlace, STATE.WaferRobotPlace);
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Transition(STATE.WaferRobotPlace, FSM_MSG.TIMER, FsmMonitorTask, STATE.Idle);
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Transition(STATE.WaferRobotPlace, MSG.Abort, FsmAbortTask, STATE.Idle);
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Transition(STATE.Idle, MSG.RobotHome, FsmStartRobotHome, STATE.RobotHoming);
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Transition(STATE.RobotHoming, FSM_MSG.TIMER, FsmMonitorTask, STATE.Idle);
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Transition(STATE.RobotHoming, MSG.Abort, FsmAbortTask, STATE.Idle);
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}
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private void InitOp()
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{
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OP.Subscribe($"{Name}.Home", (string cmd, object[] args) => CheckToPostMessage((int)MSG.Home));
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OP.Subscribe($"{Name}.Reset", (string cmd, object[] args) => CheckToPostMessage((int)MSG.Reset));
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OP.Subscribe($"{Name}.Abort", (string cmd, object[] args) => CheckToPostMessage((int)MSG.Abort));
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OP.Subscribe($"{Module}.SetOnline", (string cmd, object[] args) => CheckToPostMessage((int)MSG.SetOnline));
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OP.Subscribe($"{Module}.SetOffline", (string cmd, object[] args) => CheckToPostMessage((int)MSG.SetOffline));
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OP.Subscribe($"{Module}.PickWafer", (string cmd, object[] args) => CheckToPostMessage((int)MSG.WaferRobotPick, args[0], args[1]));
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OP.Subscribe($"{Module}.PlaceWafer", (string cmd, object[] args) => CheckToPostMessage((int)MSG.WaferRobotPlace, args[0], args[1]));
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OP.Subscribe($"{Module}.MapWafer", (string cmd, object[] args) => CheckToPostMessage((int)MSG.WaferRobotMap, args[0]));
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OP.Subscribe($"{Module}.RobotHome", (string cmd, object[] args) => CheckToPostMessage((int)MSG.RobotHome));
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}
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private void InitData()
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{
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DATA.Subscribe($"{Module}.Status", () => StringFsmStatus);
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DATA.Subscribe($"{Module}.IsOnline", () => IsOnline);
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DATA.Subscribe($"{Module}.IsBusy", () => IsBusy);
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DATA.Subscribe($"{Module}.IsAlarm", () => IsAlarm);
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}
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private bool FsmOnError(object[] param)
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{
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IsOnline = false;
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if (FsmState == (int)STATE.Error)
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{
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return false;
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}
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if (FsmState == (int)STATE.Init)
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return false;
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return true;
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}
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private bool FsmReset(object[] param)
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{
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if (!_isInit)
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{
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PostMsg(MSG.ToInit);
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return false;
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}
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WaferRobotDevice.RobotReset();
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return true;
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}
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private bool FsmExitError(object[] param)
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{
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return true;
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}
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private bool FsmEnterError(object[] param)
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{
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if (OnEnterError != null)
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OnEnterError(Module);
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return true;
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}
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private bool FsmStartHome(object[] param)
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{
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Result ret = StartRoutine(_waferRobotHomeRoutine);
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if (ret == Result.FAIL || ret == Result.DONE)
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return false;
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return ret == Result.RUN;
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}
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private bool FsmMonitorHomeTask(object[] param)
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{
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Result ret = MonitorRoutine();
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if (ret == Result.FAIL)
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{
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PostMsg(MSG.Error);
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return false;
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}
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if (ret == Result.DONE)
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{
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_isInit = true;
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OP.DoOperation($"{Module}.ResetTask");
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return true;
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}
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return false;
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}
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private bool FsmAbortTask(object[] param)
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{
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AbortRoutine();
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WaferRobotDevice.Abort();
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return true;
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}
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private bool FsmExitIdle(object[] param)
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{
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return true;
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}
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private bool FsmEnterIdle(object[] param)
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{
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return true;
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}
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private bool FsmToInit(object[] param)
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{
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WaferRobotDevice.RobotReset();
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return true;
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}
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private bool FsmStartSetOffline(object[] param)
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{
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IsOnline = false;
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return true;
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}
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private bool FsmStartSetOnline(object[] param)
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{
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IsOnline = true;
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return true;
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}
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private bool FsmMonitorTask(object[] param)
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{
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Result ret = MonitorRoutine();
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if (ret == Result.FAIL)
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{
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PostMsg(MSG.Error);
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return false;
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}
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return ret == Result.DONE;
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}
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public bool Abort()
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{
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CheckToPostMessage((int)MSG.Abort);
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return true;
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}
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public bool Home(out string reason)
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{
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CheckToPostMessage((int)MSG.Home);
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reason = string.Empty;
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return true;
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}
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public bool CheckAcked(int entityTaskToken)
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{
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return FsmState == (int)STATE.Idle && CheckAllMessageProcessed();
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}
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public void InvokeOffline()
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{
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PostMsg((int)MSG.SetOffline);
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}
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public void InvokeOnline()
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{
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PostMsg((int)MSG.SetOnline);
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}
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public bool MapWafer(object[] objs)
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{
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if (CheckToPostMessage((int)MSG.WaferRobotMap, objs))
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{
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return true;
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}
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return false;
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}
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public bool MapWafer(ModuleName target)
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{
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if(CheckToPostMessage((int)MSG.WaferRobotMap, target.ToString()))
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{
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return true;
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}
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return false;
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}
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public bool PickWafer(object[] objs)
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{
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if (CheckToPostMessage((int)MSG.WaferRobotPick, objs))
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return true;
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return false;
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}
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public bool PickWafer(ModuleName target, Hand blade, int targetSlot)
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{
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if (CheckToPostMessage((int)MSG.WaferRobotPick, target.ToString(), targetSlot, blade))
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return true;
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return false;
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}
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public bool PlaceWafer(object[] objs)
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{
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if (CheckToPostMessage((int)MSG.WaferRobotPlace, objs))
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return true;
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return false;
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}
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public bool PlaceWafer(ModuleName target, Hand blade, int targetSlot)
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{
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if (CheckToPostMessage((int)MSG.WaferRobotPlace, target.ToString(), targetSlot, blade))
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return true;
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return false;
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}
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private bool FsmStartWaferRobotMap(object[] param)
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{
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_waferRobotMapRoutine.Init(ModuleHelper.Converter((string)param[0]));
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Result ret = StartRoutine(_waferRobotMapRoutine);
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if (ret == Result.FAIL || ret == Result.DONE)
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return false;
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return ret == Result.RUN;
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}
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private bool FsmStartWaferRobotPick(object[] param)
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{
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_waferRobotPickRoutine.Init(ModuleHelper.Converter((string)param[0]), (int)param[1]);
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Result ret = StartRoutine(_waferRobotPickRoutine);
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if (ret == Result.FAIL || ret == Result.DONE)
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return false;
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return ret == Result.RUN;
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}
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private bool FsmStartWaferRobotPlace(object[] param)
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{
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_waferRobotPlaceRoutine.Init(ModuleHelper.Converter((string)param[0]), (int)param[1]);
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Result ret = StartRoutine(_waferRobotPlaceRoutine);
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if (ret == Result.FAIL || ret == Result.DONE)
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return false;
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return ret == Result.RUN;
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}
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private bool FsmStartRobotHome(object[] param)
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{
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Result ret = StartRoutine(_waferRobotHomeRoutine);
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if (ret == Result.FAIL || ret == Result.DONE)
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return false;
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return ret == Result.RUN;
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}
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public int InvokeError()
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{
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if (CheckToPostMessage((int)MSG.Error))
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return (int)MSG.Error;
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return (int)FSM_MSG.NONE;
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}
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}
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}
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