From 454827a3db5f435b81eca239f5cf38b0c9188e25 Mon Sep 17 00:00:00 2001
From: HCL <1625932291@qq.com>
Date: Thu, 7 Dec 2023 10:26:38 +0800
Subject: [PATCH] =?UTF-8?q?1.=E5=AE=8C=E5=96=84SunwayRobot=20Pick?=
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---
 .../HardwareUnits/Robots/RobotBase/RobotBase.cs    |  8 +++++---
 .../HardwareUnits/Robots/Sunway/SunwayRobot.cs     | 14 ++++++++++++--
 .../Robots/Sunway/SunwayRobotHandler.cs            |  9 ++++++---
 3 files changed, 23 insertions(+), 8 deletions(-)

diff --git a/MECF.Framework.RT.EquipmentLibrary/HardwareUnits/Robots/RobotBase/RobotBase.cs b/MECF.Framework.RT.EquipmentLibrary/HardwareUnits/Robots/RobotBase/RobotBase.cs
index bf1e5db..3255e35 100644
--- a/MECF.Framework.RT.EquipmentLibrary/HardwareUnits/Robots/RobotBase/RobotBase.cs
+++ b/MECF.Framework.RT.EquipmentLibrary/HardwareUnits/Robots/RobotBase/RobotBase.cs
@@ -1224,6 +1224,10 @@ namespace MECF.Framework.RT.EquipmentLibrary.HardwareUnits.Robots.RobotBase
             Transition(RobotStateEnum.ReadingData, RobotMsg.ReadDataComplete, null, RobotStateEnum.Idle);
             Transition(RobotStateEnum.ReadingData, FSM_MSG.TIMER, fMonitorReadData, RobotStateEnum.Idle);
 
+            Transition(RobotStateEnum.Idle, RobotMsg.ExtendForPick, fStartExtendForPick, RobotStateEnum.ExtendingForPick);
+            Transition(RobotStateEnum.ExtendingForPick, RobotMsg.ExtendComplete, fExtendForPickComplete, RobotStateEnum.Idle);
+            Transition(RobotStateEnum.ExtendingForPick, RobotMsg.ActionDone, fExtendForPickComplete, RobotStateEnum.Idle);
+
             Transition(RobotStateEnum.Idle, RobotMsg.PickWafer, fStartPickWafer, RobotStateEnum.Picking);
             Transition(RobotStateEnum.Picking, RobotMsg.PickComplete, fPickComplete, RobotStateEnum.Idle);
             Transition(RobotStateEnum.Picking, RobotMsg.ActionDone, fPickComplete, RobotStateEnum.Idle);
@@ -1275,9 +1279,7 @@ namespace MECF.Framework.RT.EquipmentLibrary.HardwareUnits.Robots.RobotBase
             Transition(RobotStateEnum.UnGripping, FSM_MSG.TIMER, fMonitorUnGrip, RobotStateEnum.Idle);
 
 
-            Transition(RobotStateEnum.Idle, RobotMsg.ExtendForPick, fStartExtendForPick, RobotStateEnum.ExtendingForPick);
-            Transition(RobotStateEnum.ExtendingForPick, RobotMsg.ExtendComplete, fExtendForPickComplete, RobotStateEnum.Idle);
-            Transition(RobotStateEnum.ExtendingForPick, RobotMsg.ActionDone, fExtendForPickComplete, RobotStateEnum.Idle);
+            
 
 
             Transition(RobotStateEnum.Idle, RobotMsg.ExtendForPlace, fStartExtendForPlace, RobotStateEnum.ExtendingForPlace);
diff --git a/MECF.Framework.RT.EquipmentLibrary/HardwareUnits/Robots/Sunway/SunwayRobot.cs b/MECF.Framework.RT.EquipmentLibrary/HardwareUnits/Robots/Sunway/SunwayRobot.cs
index 68f82aa..f29a042 100644
--- a/MECF.Framework.RT.EquipmentLibrary/HardwareUnits/Robots/Sunway/SunwayRobot.cs
+++ b/MECF.Framework.RT.EquipmentLibrary/HardwareUnits/Robots/Sunway/SunwayRobot.cs
@@ -1118,9 +1118,19 @@ namespace MECF.Framework.RT.EquipmentLibrary.HardwareUnits.Robots.Sunway
                     return false;
                 }
 
-                if (WaferManager.Instance.CheckHasWafer(sourceModule, sourceSlot))
+                if (RobotModuleName == ModuleName.WaferRobot)
                 {
-                    WaferManager.Instance.WaferMoved(sourceModule, sourceSlot, RobotModuleName, 0);
+                    if (WaferManager.Instance.CheckHasWafer(sourceModule, sourceSlot))
+                    {
+                        WaferManager.Instance.WaferMoved(sourceModule, sourceSlot, RobotModuleName, 0);
+                    }
+                }
+                else
+                {
+                    if (WaferManager.Instance.CheckHasTray(sourceModule, sourceSlot))
+                    {
+                        WaferManager.Instance.TrayMoved(sourceModule, sourceSlot, RobotModuleName, 0);
+                    }
                 }
 
                 //lock (_locker)
diff --git a/MECF.Framework.RT.EquipmentLibrary/HardwareUnits/Robots/Sunway/SunwayRobotHandler.cs b/MECF.Framework.RT.EquipmentLibrary/HardwareUnits/Robots/Sunway/SunwayRobotHandler.cs
index fdc8286..b43c79b 100644
--- a/MECF.Framework.RT.EquipmentLibrary/HardwareUnits/Robots/Sunway/SunwayRobotHandler.cs
+++ b/MECF.Framework.RT.EquipmentLibrary/HardwareUnits/Robots/Sunway/SunwayRobotHandler.cs
@@ -397,6 +397,9 @@ namespace MECF.Framework.RT.EquipmentLibrary.HardwareUnits.Robots.Sunway
             {
                 if (!isRetract)
                 {
+                    //将Robot的状态从ExtendingForPick转到Idle
+                    Device.NoteActionCompleted();
+
                     //伸出
                     Device.MoveInfo = new RobotMoveInfo()
                     {
@@ -404,13 +407,13 @@ namespace MECF.Framework.RT.EquipmentLibrary.HardwareUnits.Robots.Sunway
                         ArmTarget = _blade == RobotArmEnum.Blade1 ? RobotArm.ArmA : RobotArm.ArmB,
                         BladeTarget = cModule,
                     };
-
-                    Device.NoteActionCompleted();
                 }
                 else
                 {
-                    //缩回
+                    //将Robot的状态从Picking转到Idle
                     Device.NoteActionCompleted();
+
+                    //缩回
                     Device.MoveInfo = new RobotMoveInfo()
                     {
                         Action = RobotAction.Moving,