using System; using System.Collections.Generic; using System.Text.RegularExpressions; using Aitex.Core.Common; using Aitex.Core.RT.Log; using Aitex.Core.RT.Event; using Aitex.Core.RT.DataCenter; using Aitex.Core.Util; using Aitex.Sorter.Common; using TSC = Aitex.Sorter.Common; using Aitex.Core.RT.Device; using Aitex.Core.RT.SCCore; using MECF.Framework.Common.Equipment; using MECF.Framework.Common.SubstrateTrackings; using Aitex.Core.RT.OperationCenter; using MECF.Framework.Common.CommonData; using MECF.Framework.Common.Communications; namespace MECF.Framework.RT.EquipmentLibrary.HardwareUnits.Robot { public enum RobotType { SR100, NX100, MAG7, DAIHEN, HAtm, HIRATA_R4 } public class Robot : BaseDevice, IDevice, IConnection { public event Action OnSlotMapRead; public event Action ActionDone; public string Address { get { return _addr; } } public virtual bool IsConnected { get { return _socket.IsConnected; } } public bool Disconnect() { _commErr = true; _socket.Dispose(); return true; } public bool IsOnline { get { return _isOnline; } } public const string delimiter = "\r"; private bool _isOnline; public int LastErrorCode { get; set; } public int Status { get; set; } public int ErrorCode { get; set; } public int ElapseTime { get; set; } public int Speed { get; set; } public int Rotation { get; set; } public int Extension { get; set; } public int Wrist1 { get; set; } public int Wrist2 { get; set; } public int Evevation { get; set; } public bool StateWaferOnBlade1 { get; set; } public bool StateWaferOnBlade2 { get; set; } public bool StateBlade1Gripped { get; set; } public bool StateBlade2Gripped { get; set; } public bool StateInterlock1 { get; set; } public bool StateInterlock2 { get; set; } public bool StateInterlock3 { get; set; } public bool StateInterlock4 { get; set; } public bool StateInterlock5 { get; set; } public bool StateInterlock6 { get; set; } public bool StateInterlock7 { get; set; } public bool StateInterlock8 { get; set; } public bool Swap { get; set; } public Hand PlaceBalde { get; set; } public ModuleName Blade1Target { get; set; } public ModuleName Blade2Target { get; set; } public RobotMoveInfo MoveInfo { get; set; } //naming follow PM1.A LL1.A PM2.B public string CmdBladeTarget { get; set; } //naming follow 0 1 public string CmdBlade1Extend { get; set; } //naming follow 0 1 public string CmdBlade2Extend { get; set; } public bool Blade1Enable { get { if (SC.ContainsItem($"{Name}.Blade1Enable")) { return SC.GetValue($"{Name}.Blade1Enable"); } return SC.GetValue($"Robot.Blade1Enable"); } set { if (SC.ContainsItem($"{Name}.Blade1Enable")) { SC.SetItemValue($"{Name}.Blade1Enable", value); }else if (SC.ContainsItem($"Robot.Blade1Enable")) { SC.SetItemValue($"Robot.Blade1Enable", value); } } } public bool Blade2Enable { get { if (SC.ContainsItem($"{Name}.Blade2Enable")) { return SC.GetValue($"{Name}.Blade2Enable"); } return SC.GetValue($"Robot.Blade2Enable"); } set { if (SC.ContainsItem($"{Name}.Blade2Enable")) { SC.SetItemValue($"{Name}.Blade2Enable", value); } else if (SC.ContainsItem($"Robot.Blade2Enable")) { SC.SetItemValue($"Robot.Blade2Enable", value); } } } public int Blade2Slots { get { if (SC.ContainsItem($"{Name}.Blade2Slots")) { return Math.Max(SC.GetValue($"{Name}.Blade2Slots"), 1); } if (SC.ContainsItem($"Robot.Blade2Slots")) { return Math.Max(SC.GetValue($"Robot.Blade2Slots"), 1); } return 1; } } public bool Initalized { get; set; } public bool Communication { get { return !_commErr; } } public virtual bool Busy { get { return _backgroundHandler != null || _foregroundHandler != null; } } public virtual bool Moving { get { return _backgroundHandler != null; } } public virtual bool Error { get { return ErrorCode > 0 || _commErr || _exceuteErr; } } public DeviceState State { get { if (!Initalized) { return DeviceState.Unknown; } if (Error) { return DeviceState.Error; } if (Busy) return DeviceState.Busy; return DeviceState.Idle; } } //public string ErrorMessage //{ // get // { // return _factory.GetError(LastErrorCode); // } //} public virtual bool WaferOnBlade1 { get { return (Status & (int)StateBit.WaferOnBlade1) > 0; } } public virtual bool WaferOnBlade2 { get { return (Status & (int)StateBit.WaferOnBlade2) > 0; } } public bool WaferPresentOnBlade1 { get; set; } public bool WaferPresentOnBlade2 { get; set; } public Hand TransferBlade { get { if (!Blade1Enable) return Hand.Blade2; if (!Blade2Enable) return Hand.Blade1; return Hand.Both; } } protected static Object _locker = new Object(); protected AsyncSocket _socket; protected IHandler _eventHandler = null; protected IHandler _backgroundHandler = null; //moving protected IHandler _foregroundHandler = null; //current handler private IRobotHandlerFactory _factory = null; private DeviceTimer _timerQuery = new DeviceTimer(); //private int _queryPeriod = 5000; //ms //private bool _queryState = true; protected bool _exceuteErr = false; protected bool _commErr = false; protected string _addr; protected RobotType _type = RobotType.SR100; private string AlarmRobotError = "RobotMotionError"; //Active wafer Center finder Data R public int CenterOffsetR { get; private set; } //Active wafer Center finder Data T public int CenterOffsetT { get; private set; } private int _bufferMaxSlot = 6; public int BufferMaxSlot { set { _bufferMaxSlot = value; } get { return _bufferMaxSlot; } } public Robot(string module, string name, string display, string deviceId, string address, RobotType type = RobotType.SR100) : base(module, name, display, deviceId) { _addr = address; if (!string.IsNullOrEmpty(_addr)) { _socket = new AsyncSocket(address); _socket.OnDataChanged += new AsyncSocket.MessageHandler(OnDataChanged); _socket.OnErrorHappened += new AsyncSocket.ErrorHandler(OnErrorHandler); } _type = type; Initalized = false; MoveInfo = new RobotMoveInfo() { Action = RobotAction.Moving, ArmTarget = RobotArm.Both, BladeTarget = "ArmA.System", }; WaferManager.Instance.SubscribeLocation(name, 1+ Blade2Slots); } public Robot(string module, string name, string address, RobotType type = RobotType.SR100, int bufferMaxSlot = 6) : this(module, name, name, name, address, type) { } public virtual bool Initialize() { switch (_type) { case RobotType.NX100: _factory = new NX100.NX100RobotHandlerFactory(this); break; case RobotType.SR100: _factory = new SR100.SR100RobotHandlerFactory(this); break; case RobotType.MAG7: _factory = new MAG7.Mag7RobotHandlerFactory(this); break; //case RobotType.DAIHEN: // _factory = new Daihen.DaihenRobotHandlerFactory(this); // break; } ConnectionManager.Instance.Subscribe(Name, this); if (!string.IsNullOrEmpty(_addr)) Connect(); DEVICE.Register(String.Format("{0}.{1}", ModuleName.Robot.ToString(), "Init"), (out string reason, int time, object[] param) => { bool ret = Init(out reason); if (ret) { reason = string.Format("{0} {1}", Name, "Initializing"); return true; } return false; }); DEVICE.Register(String.Format("{0}.{1}", ModuleName.Robot.ToString(), "Home"), (out string reason, int time, object[] param) => { bool ret = Home(out reason); if (ret) { reason = string.Format("{0} {1}", Name, "Homing"); return true; } return false; }); DEVICE.Register(String.Format("{0}.{1}", ModuleName.Robot.ToString(), "RobotHome"), (out string reason, int time, object[] param) => { bool ret = Home(out reason); if (ret) { reason = string.Format("{0} {1}", Name, "Homing"); return true; } return false; }); DEVICE.Register(String.Format("{0}.{1}", Name, "Reset"), (out string reason, int time, object[] param) => { bool ret = Clear(out reason); if (ret) { reason = string.Format("{0} {1}", Name, "Reset"); return true; } return false; }); DEVICE.Register(String.Format("{0}.{1}", Name, "RobotReset"), (out string reason, int time, object[] param) => { bool ret = Clear(out reason); if (ret) { reason = string.Format("{0} {1}", Name, "Reset"); return true; } return false; }); DEVICE.Register(String.Format("{0}.{1}", Name, "Grip"), (out string reason, int time, object[] param) => { Hand hand = (Hand)Enum.Parse(typeof(Hand), (string)param[0], true); bool ret = Grip(hand,out reason); //bool ret = WaferMapping(ModuleName.LP1, out reason); if (ret) { reason = string.Format("{0} {1}", Name, "Grip"); return true; } return false; }); DEVICE.Register(String.Format("{0}.{1}", Name, "RobotGrip"), (out string reason, int time, object[] param) => { Hand hand = (Hand)Enum.Parse(typeof(Hand), (string)param[0], true); bool ret = Grip(hand, out reason); //bool ret = WaferMapping(ModuleName.LP1, out reason); if (ret) { reason = string.Format("{0} {1}", Name, "Grip"); return true; } return false; }); DEVICE.Register(String.Format("{0}.{1}", Name, "Release"), (out string reason, int time, object[] param) => { Hand hand = (Hand)Enum.Parse(typeof(Hand), (string)param[0], true); bool ret = Release(hand, out reason); //bool ret = QueryWaferMap(ModuleName.LP1, out reason); if (ret) { reason = string.Format("{0} {1}", Name, "Release"); return true; } return false; }); DEVICE.Register(String.Format("{0}.{1}", Name, "RobotRelease"), (out string reason, int time, object[] param) => { Hand hand = (Hand)Enum.Parse(typeof(Hand), (string)param[0], true); bool ret = Release(hand, out reason); //bool ret = QueryWaferMap(ModuleName.LP1, out reason); if (ret) { reason = string.Format("{0} {1}", Name, "Release"); return true; } return false; }); DEVICE.Register(String.Format("{0}.{1}", Name, "Stop"), (out string reason, int time, object[] param) => { bool ret = Stop(false, out reason); if (ret) { reason = string.Format("{0} {1}", Name, "Stopping"); return true; } return false; }); DEVICE.Register(String.Format("{0}.{1}", Name, "RobotStop"), (out string reason, int time, object[] param) => { bool ret = Stop(false, out reason); if (ret) { reason = string.Format("{0} {1}", Name, "Stopping"); return true; } return false; }); DEVICE.Register(String.Format("{0}.{1}", Name, "Pick"), (out string reason, int time, object[] param) => { ModuleName chamber = (ModuleName)Enum.Parse(typeof(ModuleName), (string)param[0], true); int slot = int.Parse((string)param[1]); Hand hand = (Hand)Enum.Parse(typeof(Hand), (string)param[2], true); bool ret = Pick(chamber, slot, hand, out reason); if (ret) { reason = string.Format("{0} {1}", Name, "Pick wafer"); return true; } return false; }); DEVICE.Register(String.Format("{0}.{1}", Name, "RobotPick"), (out string reason, int time, object[] param) => { ModuleName chamber = (ModuleName)Enum.Parse(typeof(ModuleName), (string)param[0], true); int slot = int.Parse((string)param[1]); Hand hand = (Hand)Enum.Parse(typeof(Hand), (string)param[2], true); bool ret = Pick(chamber, slot, hand, out reason); if (ret) { reason = string.Format("{0} {1}", Name, "Pick wafer"); return true; } return false; }); DEVICE.Register(String.Format("{0}.{1}", Name, "Place"), (out string reason, int time, object[] param) => { ModuleName chamber = (ModuleName)Enum.Parse(typeof(ModuleName), (string)param[0], true); int slot = int.Parse((string)param[1]); Hand hand = (Hand)Enum.Parse(typeof(Hand), (string)param[2], true); bool ret = Place(chamber, slot, hand, out reason); if (ret) { reason = string.Format("{0} {1}", Name, "Place wafer"); return true; } return false; }); DEVICE.Register(String.Format("{0}.{1}", Name, "RobotPlace"), (out string reason, int time, object[] param) => { ModuleName chamber = (ModuleName)Enum.Parse(typeof(ModuleName), (string)param[0], true); int slot = int.Parse((string)param[1]); Hand hand = (Hand)Enum.Parse(typeof(Hand), (string)param[2], true); bool ret = Place(chamber, slot, hand, out reason); if (ret) { reason = string.Format("{0} {1}", Name, "Place wafer"); return true; } return false; }); DEVICE.Register(String.Format("{0}.{1}", Name, "Exchange"), (out string reason, int time, object[] param) => { ModuleName chamber = (ModuleName)Enum.Parse(typeof(ModuleName), (string)param[0], true); int slot = int.Parse((string)param[1]); Hand hand = (Hand)Enum.Parse(typeof(Hand), (string)param[2], true); bool ret = Exchange(chamber, slot, hand, out reason); if (ret) { reason = string.Format("{0} {1}", Name, "Swap wafer"); return true; } return false; }); DEVICE.Register(String.Format("{0}.{1}", Name, "RobotExchange"), (out string reason, int time, object[] param) => { ModuleName chamber = (ModuleName)Enum.Parse(typeof(ModuleName), (string)param[0], true); int slot = int.Parse((string)param[1]); Hand hand = (Hand)Enum.Parse(typeof(Hand), (string)param[2], true); bool ret = Exchange(chamber, slot, hand, out reason); if (ret) { reason = string.Format("{0} {1}", Name, "Swap wafer"); return true; } return false; }); DEVICE.Register(String.Format("{0}.{1}", Name, "Goto"), (out string reason, int time, object[] param) => { ModuleName chamber = (ModuleName)Enum.Parse(typeof(ModuleName), (string)param[0], true); int slot = int.Parse((string)param[1]); Hand hand = (Hand)Enum.Parse(typeof(Hand), (string)param[2], true); Motion next = (Motion)Enum.Parse(typeof(Motion), (string)param[3], true); int x = int.Parse((string)param[4]); int y = int.Parse((string)param[5]); int z = int.Parse((string)param[6]); bool ret = Goto(chamber, slot, next, hand, x,y,z, out reason); if (ret) { reason = string.Format("{0}{1}", Name, "Goto"); return true; } return false; }); DEVICE.Register(String.Format("{0}.{1}", Name, "RobotGoto"), (out string reason, int time, object[] param) => { ModuleName chamber = (ModuleName)Enum.Parse(typeof(ModuleName), (string)param[0], true); int slot = int.Parse((string)param[1]); Hand hand = (Hand)Enum.Parse(typeof(Hand), (string)param[2], true); Motion next = (Motion)Enum.Parse(typeof(Motion), (string)param[3], true); int x = int.Parse((string)param[4]); int y = int.Parse((string)param[5]); int z = int.Parse((string)param[6]); bool ret = Goto(chamber, slot, next, hand, x, y, z, out reason); if (ret) { reason = string.Format("{0}{1}", Name, "Goto"); return true; } return false; }); DEVICE.Register(String.Format("{0}.{1}", Name, "BladeEnable"), (out string reason, int time, object[] param) => { Hand hand = (Hand)Enum.Parse(typeof(Hand), (string)param[0], true); bool bEnable = bool.Parse((string)param[1]); bool ret = Enable(hand, bEnable, out reason); if (ret) { reason = string.Format("{0}{1}", Name, "Disable robot arm"); return true; } return false; }); DEVICE.Register(String.Format("{0}.{1}", Name, "RobotBladeEnable"), (out string reason, int time, object[] param) => { Hand hand = (Hand)Enum.Parse(typeof(Hand), (string)param[0], true); bool bEnable = bool.Parse((string)param[1]); bool ret = Enable(hand, bEnable, out reason); if (ret) { reason = string.Format("{0}{1}", Name, "Disable robot arm"); return true; } return false; }); OP.Subscribe($"{Name}.Reconnect", (string cmd, object[] args) => { return Connect(); }); OP.Subscribe($"{Name}.TestRobotPosition", (string cmd, object[] param) => { //int setValue = 0; Hand _hand = Hand.Blade1; Axis axis; if (param == null || param.Length < 2) return false; int moveValue = (int)(double.Parse(param[1].ToString())); switch (param[0].ToString()) { case "TestRobotUp": axis = Axis.Z; break; case "TestRobotDown": moveValue = -moveValue; axis = Axis.Z; break; case "TestRobotArmLeft": moveValue = -moveValue; axis = Axis.S;// Axis.H;//H1 break; case "TestRobotArmRight": axis = Axis.S; break; case "TestRobotArmUp": axis = Axis.A;// Axis.I;//H2 break; case "TestRobotArmDown": moveValue = -moveValue; axis = Axis.A; break; case "TestRobotBlade1Left": _hand = Hand.Blade1; axis = Axis.H; break; case "TestRobotBlade1Right": moveValue = -moveValue; _hand = Hand.Blade1; axis = Axis.H;//TH break; case "TestRobotBlade2Left": _hand = Hand.Blade2; axis = Axis.I; break; case "TestRobotBlade2Right": moveValue = -moveValue; _hand = Hand.Blade2; axis = Axis.I; break; default: axis = Axis.A; break; } string reason; bool ret = PositionAdjustment(axis,_hand, moveValue, out reason); if (ret) { reason = string.Format("{0}{1}", Name, reason); return true; } return false; }); OP.Subscribe($"{Name}.QueryPosition", (string cmd, object[] args) => { string reason; bool ret = QueryPosition(out reason); if (ret) { reason = string.Format("{0}.QueryPosition,{1}", Name, reason); return true; } return false; }); DATA.Subscribe($"{Name}.State", () => State); DATA.Subscribe($"{Name}.Busy", () => Busy); DATA.Subscribe($"{Name}.ErrorCode", () => ErrorCode); DATA.Subscribe($"{Name}.Blade1Target", () => Blade1Target); DATA.Subscribe($"{Name}.Blade2Target", () => Blade2Target); DATA.Subscribe($"{Name}.Blade1Enable", () => Blade1Enable); DATA.Subscribe($"{Name}.Blade2Enable", () => Blade2Enable); DATA.Subscribe($"{Name}.Swap", () => Swap); DATA.Subscribe($"{Name}.PlaceBalde", () => PlaceBalde); DATA.Subscribe($"{Name}.Speed", () => Speed); DATA.Subscribe($"{Name}.RobotSpeed", () => Speed.ToString()); DATA.Subscribe($"{Name}.RobotState", () => State.ToString()); DATA.Subscribe($"{Name}.Rotation", () => Rotation); DATA.Subscribe($"{Name}.Extension", () => Extension); DATA.Subscribe($"{Name}.Wrist1", () => Wrist1); DATA.Subscribe($"{Name}.Wrist2", () => Wrist2); DATA.Subscribe($"{Name}.Evevation", () => Evevation); DATA.Subscribe($"{Name}.CmdBladeTarget", () => CmdBladeTarget); DATA.Subscribe($"{Name}.CmdBlade1Extend", () => CmdBlade1Extend); DATA.Subscribe($"{Name}.CmdBlade2Extend", () => CmdBlade2Extend); DATA.Subscribe($"{Name}.RobotMoveInfo", () => MoveInfo); DATA.Subscribe($"{Name}.RobotBusy", () => Busy); DATA.Subscribe($"{Name}.RobotError", () => ErrorCode); DATA.Subscribe($"{Name}.RobotBlade1Traget", () => Blade1Target); DATA.Subscribe($"{Name}.RobotBlade2Traget", () => Blade2Target); DATA.Subscribe($"{Name}.RobotBlade1Enabled", () => Blade1Enable); DATA.Subscribe($"{Name}.RobotBlade2Enabled", () => Blade2Enable); DATA.Subscribe($"{Name}.RobotSwap", () => Swap); DATA.Subscribe($"{Name}.RobotSwapPlaceBlade", () => PlaceBalde); DATA.Subscribe($"{Name}.RobotPosRotationAxis", () => Rotation); DATA.Subscribe($"{Name}.RobotPosExtensionAxis", () => Extension); DATA.Subscribe($"{Name}.RobotPosWrist1Axis", () => Wrist1); DATA.Subscribe($"{Name}.RobotPosWrist2Axis", () => Wrist2); DATA.Subscribe($"{Name}.RobotPosEvevationAxis", () => Evevation); DATA.Subscribe($"{Name}.CenterOffsetR", () => CenterOffsetR); DATA.Subscribe($"{Name}.CenterOffsetT", () => CenterOffsetT); DATA.Subscribe($"{Name}.CommunicationStatus", () => _socket == null ? false : _socket.IsConnected); DATA.Subscribe($"{Name}.IsOnline", () => _isOnline); EV.Subscribe(new EventItem(60014,"Event", AlarmRobotError, "Robot error", EventLevel.Alarm, Aitex.Core.RT.Event.EventType.HostNotification)); Reset(); string str = string.Empty; if(_factory != null) _eventHandler = _factory.Event(); return true; } public virtual void Terminate() { if (SC.ContainsItem("Robot.CloseSocketOnShutDown") && SC.GetValue("Robot.CloseSocketOnShutDown")) { LOG.Write($"Robot {Name} termination process: close socket"); _socket.Dispose(); } } public virtual void Monitor() { } public virtual void Reset() { if (Error) { lock (_locker) { _foregroundHandler = null; _backgroundHandler = null; } } _exceuteErr = false; if (_commErr) { Connect(); } Swap = false; } public void SetOnline(bool online) { _isOnline = online; } public bool Enable(Hand hand, bool bEnable, out string reason) { reason = string.Empty; if (hand == Hand.Blade1) { Blade2Enable = bEnable; } else if (hand == Hand.Blade2) { Blade2Enable = bEnable; } else { reason = "Can't disable all blade"; return false; } return true; } public virtual bool Connect() { _commErr = false; _socket.Connect(this._addr); return true; } #region Command public virtual bool Init(out string reason) { lock (_locker) { _foregroundHandler = null; _backgroundHandler = null; } reason = string.Empty; return execute(_factory.Init(), out reason); } public virtual bool Home(out string reason) { lock (_locker) { _foregroundHandler = null; _backgroundHandler = null; } reason = string.Empty; return execute(_factory.Home(), out reason); } public virtual bool ArmHome(out string reason) { lock (_locker) { _foregroundHandler = null; _backgroundHandler = null; } reason = string.Empty; return execute(_factory.ArmHome(), out reason); } public virtual bool Grip(Hand hand,out string reason) { reason = string.Empty; return execute(_factory.Grip(hand), out reason); } public virtual bool Release(Hand hand, out string reason) { reason = string.Empty; return execute(_factory.Release(hand), out reason); } public virtual bool WaferMapping(ModuleName loadport, out string reason) { reason = string.Empty; return execute(_factory.WaferMapping(loadport), out reason); } public virtual bool QueryWaferMap(ModuleName loadport, out string reason) { reason = string.Empty; return execute(_factory.QueryWaferMap(loadport), out reason); } public virtual bool QueryState(out string reason) { reason = string.Empty; return execute(_factory.QueryState(), out reason); } public virtual bool QueryPosition(out string reason) { reason = string.Empty; return execute(_factory.QueryPosition(), out reason); } public virtual bool Clear(out string reason) { reason = string.Empty; return execute(_factory.Clear(), out reason); } public virtual bool Stop(bool isEmergency, out string reason) { reason = string.Empty; lock (_locker) { _foregroundHandler = null; _backgroundHandler = null; } return execute(_factory.Stop(isEmergency), out reason); } public virtual bool Resume( out string reason) { reason = string.Empty; return execute(_factory.Resume(), out reason); } public virtual bool SetSpeed(int speed, out string reason) { reason = string.Empty; return execute(_factory.SetSpeed(speed), out reason); } public virtual bool SetCommunication( out string reason) { lock (_locker) { _foregroundHandler = null; _backgroundHandler = null; } reason = string.Empty; return execute(_factory.SetCommunication(), out reason); } public virtual bool SetLoad(Hand hand, out string reason) { lock (_locker) { _foregroundHandler = null; _backgroundHandler = null; } reason = string.Empty; return execute(_factory.SetLoad(hand), out reason); } public virtual bool CheckLoad(ModuleName chamber, int slot, out string reason) { reason = string.Empty; return execute(_factory.CheckLoad(chamber, slot), out reason); } public virtual bool RequestWaferAWCData(out string reason) { reason = string.Empty; return execute(_factory.RequestAWCData(), out reason); } public virtual bool RequestWaferPresent( out string reason) { reason = string.Empty; return execute(_factory.RequestWaferPresent(), out reason); } public virtual bool Goto(ModuleName chamber, int slot, Motion motion,Hand hand, int x, int y, int z,out string reason) { reason = string.Empty; if (chamber == ModuleName.Robot) { reason = string.Format("Pick invalid parameter, chamber is {0}, slot is {1}", chamber.ToString(), slot); return false; } if (ModuleHelper.IsLoadPort(chamber)) { if (hand == Hand.Both) { if (!checkslot(0, 25 - Blade2Slots, slot)) //0-20 | 20,21,22,23,24 { reason = string.Format("Pick invalid parameter,double hand, chamber is {0}, slot is {1}", chamber.ToString(), slot); return false; } } else if(hand == Hand.Blade2) { if (!checkslot(0, 25 - Blade2Slots + 1, slot)) //0 - 21| 21,22,23,24 { reason = string.Format("Pick invalid parameter,pick, chamber is {0}, slot is {1}", chamber.ToString(), slot); return false; } } else { if (!checkslot(0, 25, slot)) { reason = string.Format("Pick invalid parameter,pick, chamber is {0}, slot is {1}", chamber.ToString(), slot); return false; } } } else { if (hand == Hand.Both) { reason = string.Format("Pick invalid parameter, double pick,chamber is {0}, slot is {1}", chamber.ToString(), slot); return false; } } return execute(_factory.Goto( chamber, slot, motion, hand, x,y,z), out reason); } public virtual bool MoveTo(ModuleName chamber, int slot, Hand hand, bool isPick, int x, int y, int z,out string reason) { reason = string.Empty; if (chamber == ModuleName.Robot) { reason = string.Format("Pick invalid parameter, chamber is {0}, slot is {1}", chamber.ToString(), slot); return false; } if (ModuleHelper.IsLoadPort(chamber)) { if (hand == Hand.Both) { if (!checkslot(0, 25 - Blade2Slots, slot)) //0-20 | 20,21,22,23,24 { reason = string.Format("Pick invalid parameter,double hand, chamber is {0}, slot is {1}", chamber.ToString(), slot); return false; } } else if(hand == Hand.Blade2) { if (!checkslot(0, 25 - Blade2Slots + 1, slot)) //0 - 21| 21,22,23,24 { reason = string.Format("Pick invalid parameter,pick, chamber is {0}, slot is {1}", chamber.ToString(), slot); return false; } } else { if (!checkslot(0, 25, slot)) { reason = string.Format("Pick invalid parameter,pick, chamber is {0}, slot is {1}", chamber.ToString(), slot); return false; } } } else { if (hand == Hand.Both) { reason = string.Format("Pick invalid parameter, double pick,chamber is {0}, slot is {1}", chamber.ToString(), slot); return false; } } return execute(_factory.MoveTo( chamber, slot, hand, isPick, x,y,z), out reason); } public virtual bool Extend(ModuleName chamber, int slot, Hand hand, out string reason) { reason = string.Empty; if (chamber == ModuleName.Robot) { reason = string.Format("Extend invalid parameter, chamber is {0}, slot is {1}", chamber.ToString(), slot); return false; } if (ModuleHelper.IsLoadPort(chamber)) { if (hand == Hand.Both) { if (!checkslot(0, 25 - Blade2Slots, slot)) //0-20 | 20,21,22,23,24 { reason = string.Format("Extend invalid parameter,double hand, chamber is {0}, slot is {1}", chamber.ToString(), slot); return false; } } else if (hand == Hand.Blade2) { if (!checkslot(0, 25 - Blade2Slots + 1, slot)) //0 - 21| 21,22,23,24 { reason = string.Format("Extend invalid parameter,pick, chamber is {0}, slot is {1}", chamber.ToString(), slot); return false; } } else { if (!checkslot(0, 25, slot)) { reason = string.Format("Extend invalid parameter,pick, chamber is {0}, slot is {1}", chamber.ToString(), slot); return false; } } } else { if (hand == Hand.Both) { reason = string.Format("Extend invalid parameter, double pick,chamber is {0}, slot is {1}", chamber.ToString(), slot); return false; } } return execute(_factory.Extend(chamber, slot, hand), out reason); } public virtual bool Retract(ModuleName chamber, int slot, Hand hand, out string reason) { reason = string.Empty; if (chamber == ModuleName.Robot) { reason = string.Format("Retract invalid parameter, chamber is {0}, slot is {1}", chamber.ToString(), slot); return false; } if (ModuleHelper.IsLoadPort(chamber)) { if (hand == Hand.Both) { if (!checkslot(0, 25 - Blade2Slots, slot)) //0-20 | 20,21,22,23,24 { reason = string.Format("Retract invalid parameter,double hand, chamber is {0}, slot is {1}", chamber.ToString(), slot); return false; } } else if (hand == Hand.Blade2) { if (!checkslot(0, 25 - Blade2Slots + 1, slot)) //0 - 21| 21,22,23,24 { reason = string.Format("Retract invalid parameter,pick, chamber is {0}, slot is {1}", chamber.ToString(), slot); return false; } } else { if (!checkslot(0, 25, slot)) { reason = string.Format("Retract invalid parameter,pick, chamber is {0}, slot is {1}", chamber.ToString(), slot); return false; } } } else { if (hand == Hand.Both) { reason = string.Format("Retract invalid parameter, double pick,chamber is {0}, slot is {1}", chamber.ToString(), slot); return false; } } return execute(_factory.Retract(chamber, slot, hand), out reason); } public virtual bool PickExtend(ModuleName chamber, int slot, Hand hand, out string reason) { reason = string.Empty; if (chamber.ToString() == Name || chamber == ModuleName.System || ModuleHelper.IsLoadPort(chamber) || ModuleHelper.IsBuffer(chamber)) { reason = $"Pick extend target not support, chamber is {chamber.ToString()}, slot is {slot}"; return false; } if (hand == Hand.Both) { reason = string.Format("Pick extend invalid parameter, do not support double arm extend ,chamber is {0}, slot is {1}", chamber.ToString(), slot); return false; } return execute(_factory.PickExtend(chamber, slot, hand), out reason); } public virtual bool PickRetract(ModuleName chamber, int slot, Hand hand, out string reason) { reason = string.Empty; if (chamber.ToString() == Name || chamber == ModuleName.System || ModuleHelper.IsLoadPort(chamber) || ModuleHelper.IsBuffer(chamber)) { reason = $"Pick retract target not support, chamber is {chamber.ToString()}, slot is {slot}"; return false; } if (hand == Hand.Both) { reason = string.Format("Pick retract invalid parameter, do not support double arm retract ,chamber is {0}, slot is {1}", chamber.ToString(), slot); return false; } return execute(_factory.PickRetract(chamber, slot, hand), out reason); } public virtual bool Pick(ModuleName chamber, int slot, Hand hand, out string reason) { reason = string.Empty; if (chamber == ModuleName.Robot) { reason = string.Format("Pick invalid parameter, chamber is {0}, slot is {1}", chamber.ToString(), slot); return false; } if (ModuleHelper.IsLoadPort(chamber)) { if (hand == Hand.Both) { if (!checkslot(0, 25 - Blade2Slots, slot)) //0-20 | 20,21,22,23,24 { reason = string.Format("Pick invalid parameter,double hand, chamber is {0}, slot is {1}", chamber.ToString(), slot); return false; } } else if (hand == Hand.Blade2) { if (!checkslot(0, 25 - Blade2Slots + 1, slot)) //0 - 21| 21,22,23,24 { reason = string.Format("Pick invalid parameter,pick, chamber is {0}, slot is {1}", chamber.ToString(), slot); return false; } } else { if (!checkslot(0, 25, slot)) { reason = string.Format("Pick invalid parameter,pick, chamber is {0}, slot is {1}", chamber.ToString(), slot); return false; } } } else if(ModuleHelper.IsBuffer(chamber)) { if (hand == Hand.Both) { if (!checkslot(0, _bufferMaxSlot - Blade2Slots, slot)) //0-20 | 20,21,22,23,24 { reason = string.Format("Pick invalid parameter,double hand, chamber is {0}, slot is {1}", chamber.ToString(), slot); return false; } } else if (hand == Hand.Blade2) { if (!checkslot(0, _bufferMaxSlot - Blade2Slots + 1, slot)) //0 - 21| 21,22,23,24 { reason = string.Format("Pick invalid parameter,pick, chamber is {0}, slot is {1}", chamber.ToString(), slot); return false; } } else { if (!checkslot(0, _bufferMaxSlot, slot)) { reason = string.Format("Pick invalid parameter,pick, chamber is {0}, slot is {1}", chamber.ToString(), slot); return false; } } } else { if (hand == Hand.Both) { reason = string.Format("Pick invalid parameter, double pick,chamber is {0}, slot is {1}", chamber.ToString(), slot); return false; } } return execute(_factory.Pick(chamber, slot, hand), out reason); } public virtual bool PickReadyPosition(ModuleName chamber, int slot, Hand hand, out string reason) { reason = string.Empty; if (chamber == ModuleName.Robot) { reason = string.Format("Pick invalid parameter, chamber is {0}, slot is {1}", chamber.ToString(), slot); return false; } return execute(_factory.PickReadyPosition(chamber, slot, hand), out reason); } public virtual bool Place(ModuleName chamber, int slot, Hand hand, out string reason) { reason = string.Empty; if (chamber == ModuleName.Robot) { reason = string.Format("Place invalid parameter, chamber is {0}, slot is {1}", chamber.ToString(), slot); return false; } if (ModuleHelper.IsLoadPort(chamber)) { if (hand == Hand.Both) { if (!checkslot(0, 25 - Blade2Slots, slot)) //0-20 | 20,21,22,23,24 { reason = string.Format("Place invalid parameter,double hand, chamber is {0}, slot is {1}", chamber.ToString(), slot); return false; } } else if (hand == Hand.Blade2) { if (!checkslot(0, 25 - Blade2Slots + 1, slot)) //0 - 21| 21,22,23,24 { reason = string.Format("Pick invalid parameter,pick, chamber is {0}, slot is {1}", chamber.ToString(), slot); return false; } } else { if (!checkslot(0, 25, slot)) { reason = string.Format("Place invalid parameter,place, chamber is {0}, slot is {1}", chamber.ToString(), slot); return false; } } } else if (ModuleHelper.IsBuffer(chamber)) { if (hand == Hand.Both) { if (!checkslot(0, _bufferMaxSlot - Blade2Slots, slot)) //0-6 { reason = string.Format("Place invalid parameter,double hand, chamber is {0}, slot is {1}", chamber.ToString(), slot); return false; } } else if (hand == Hand.Blade2) { if (!checkslot(0, _bufferMaxSlot - Blade2Slots + 1, slot)) //0 - 6 { reason = string.Format("Pick invalid parameter,pick, chamber is {0}, slot is {1}", chamber.ToString(), slot); return false; } } else { if (!checkslot(0, _bufferMaxSlot, slot)) { reason = string.Format("Place invalid parameter,place, chamber is {0}, slot is {1}", chamber.ToString(), slot); return false; } } } else { if (hand == Hand.Both) { reason = string.Format("Place invalid parameter, double place,chamber is {0}, slot is {1}", chamber.ToString(), slot); return false; } } return execute(_factory.Place(chamber, slot, hand), out reason); } public virtual bool PlaceReadyPosition(ModuleName chamber, int slot, Hand hand, out string reason) { reason = string.Empty; if (chamber == ModuleName.Robot) { reason = string.Format("Place invalid parameter, chamber is {0}, slot is {1}", chamber.ToString(), slot); return false; } return execute(_factory.PlaceReadyPosition(chamber, slot, hand), out reason); } public virtual bool PlaceExtend(ModuleName chamber, int slot, Hand hand, out string reason) { reason = string.Empty; if (chamber.ToString() == Name || chamber == ModuleName.System || ModuleHelper.IsLoadPort(chamber) || ModuleHelper.IsBuffer(chamber)) { reason = $"Place extend target not support, chamber is {chamber.ToString()}, slot is {slot}"; return false; } if (hand == Hand.Both) { reason = $"Place extend invalid parameter, do not support double arm extend ,chamber is {chamber.ToString()}, slot is {slot}"; return false; } return execute(_factory.PlaceExtend(chamber, slot, hand), out reason); } public virtual bool PlaceRetract(ModuleName chamber, int slot, Hand hand, out string reason) { reason = string.Empty; if (chamber.ToString() == Name || chamber == ModuleName.System || ModuleHelper.IsLoadPort(chamber) ||ModuleHelper.IsBuffer(chamber) ) { reason = $"Place retract target not support, chamber is {chamber.ToString()}, slot is {slot}"; return false; } if (hand == Hand.Both) { reason = $"Place retract invalid parameter, do not support double arm extend ,chamber is {chamber.ToString()}, slot is {slot}"; return false; } return execute(_factory.PlaceRetract(chamber, slot, hand), out reason); } public virtual bool Exchange(ModuleName chamber, int slot, Hand hand, out string reason) { reason = string.Empty; if (chamber == ModuleName.Robot) { reason = string.Format("Exchange invalid parameter, chamber is {0}, slot is {1}", chamber.ToString(), slot); return false; } if (Blade2Slots > 1) { reason = string.Format("this robot don't support exchange operation."); return false; } if (hand == Hand.Both) { reason = string.Format("Exchange invalid parameter,double hand"); return false; } if (ModuleHelper.IsLoadPort(chamber)) { if (!checkslot(0, 25, slot)) { reason = string.Format("Exchange invalid parameter,pick, chamber is {0}, slot is {1}", chamber.ToString(), slot); return false; } } return execute(_factory.Exchange(chamber, slot, hand), out reason); } public virtual bool ExchangeReadyPosition(ModuleName chamber, int slot, Hand pickHand, Hand placeHand, out string reason) { reason = string.Empty; if (chamber == ModuleName.Robot) { reason = string.Format("ExchangeReadyPosition invalid parameter, chamber is {0}, slot is {1}", chamber.ToString(), slot); return false; } if (Blade2Slots > 1) { reason = string.Format("this robot don't support exchange operation."); return false; } if (pickHand == Hand.Both || placeHand == Hand.Both) { reason = string.Format("ExchangeReadyPosition invalid parameter,double hand"); return false; } if (ModuleHelper.IsLoadPort(chamber)) { if (!checkslot(0, 25, slot)) { reason = string.Format("ExchangeReadyPosition invalid parameter,pick, chamber is {0}, slot is {1}", chamber.ToString(), slot); return false; } } return execute(_factory.ExchangeReadyPosition(chamber, slot, pickHand, placeHand), out reason); } public virtual bool ExchangeReadyPositionExtend(ModuleName chamber, int slot, Hand pickHand, Hand placeHand, out string reason) { reason = string.Empty; if (chamber == ModuleName.Robot) { reason = string.Format("ExchangeReadyPosition invalid parameter, chamber is {0}, slot is {1}", chamber.ToString(), slot); return false; } if (Blade2Slots > 1) { reason = string.Format("this robot don't support exchange operation."); return false; } if (pickHand == Hand.Both || placeHand == Hand.Both) { reason = string.Format("ExchangeReadyPosition invalid parameter,double hand"); return false; } if (ModuleHelper.IsLoadPort(chamber)) { if (!checkslot(0, 25, slot)) { reason = string.Format("ExchangeReadyPosition invalid parameter,pick, chamber is {0}, slot is {1}", chamber.ToString(), slot); return false; } } return execute(_factory.ExchangeReadyExtend(chamber, slot, pickHand, placeHand), out reason); } public virtual bool ExchangeAfterReadyPositionExtend(ModuleName chamber, int slot, Hand pickHand, Hand placeHand, out string reason) { reason = string.Empty; if (chamber == ModuleName.Robot) { reason = string.Format("ExchangeReadyPosition invalid parameter, chamber is {0}, slot is {1}", chamber.ToString(), slot); return false; } if (Blade2Slots > 1) { reason = string.Format("this robot don't support exchange operation."); return false; } if (pickHand == Hand.Both || placeHand == Hand.Both) { reason = string.Format("ExchangeReadyPosition invalid parameter,double hand"); return false; } if (ModuleHelper.IsLoadPort(chamber)) { if (!checkslot(0, 25, slot)) { reason = string.Format("ExchangeReadyPosition invalid parameter,pick, chamber is {0}, slot is {1}", chamber.ToString(), slot); return false; } } return execute(_factory.ExchangeAfterReadyExtend(chamber, slot, pickHand, placeHand), out reason); } public virtual bool ExchangePickExtend(ModuleName chamber, int slot, Hand pickHand, Hand placeHand, out string reason) { reason = string.Empty; if (chamber == ModuleName.Robot) { reason = string.Format("ExchangePickExtend invalid parameter, chamber is {0}, slot is {1}", chamber.ToString(), slot); return false; } if (Blade2Slots > 1) { reason = string.Format("this robot don't support exchange operation."); return false; } if (pickHand == Hand.Both || placeHand == Hand.Both) { reason = string.Format("ExchangePickExtend invalid parameter,double hand"); return false; } if (ModuleHelper.IsLoadPort(chamber)) { if (!checkslot(0, 25, slot)) { reason = string.Format("ExchangePickExtend invalid parameter,pick, chamber is {0}, slot is {1}", chamber.ToString(), slot); return false; } } return execute(_factory.ExchangePickExtend(chamber, slot, pickHand, placeHand), out reason); } public virtual bool ExchangePlaceExtend(ModuleName chamber, int slot, Hand pickHand, Hand placeHand, out string reason) { reason = string.Empty; if (chamber == ModuleName.Robot) { reason = string.Format("ExchangePlaceExtend invalid parameter, chamber is {0}, slot is {1}", chamber.ToString(), slot); return false; } if (Blade2Slots > 1) { reason = string.Format("this robot don't support exchange operation."); return false; } if (pickHand == Hand.Both || placeHand == Hand.Both) { reason = string.Format("ExchangePlaceExtend invalid parameter,double hand"); return false; } if (ModuleHelper.IsLoadPort(chamber)) { if (!checkslot(0, 25, slot)) { reason = string.Format("ExchangePlaceExtend invalid parameter,pick, chamber is {0}, slot is {1}", chamber.ToString(), slot); return false; } } return execute(_factory.ExchangePlaceExtend(chamber, slot, pickHand, placeHand), out reason); } public virtual bool ExchangePlaceRetract(ModuleName chamber, int slot, Hand pickHand, Hand placeHand, out string reason) { reason = string.Empty; if (chamber == ModuleName.Robot) { reason = string.Format("ExchangePlaceRetract invalid parameter, chamber is {0}, slot is {1}", chamber.ToString(), slot); return false; } if (Blade2Slots > 1) { reason = string.Format("this robot don't support exchange operation."); return false; } if (pickHand == Hand.Both || placeHand == Hand.Both) { reason = string.Format("ExchangePlaceRetract invalid parameter,double hand"); return false; } if (ModuleHelper.IsLoadPort(chamber)) { if (!checkslot(0, 25, slot)) { reason = string.Format("ExchangePlaceRetract invalid parameter,pick, chamber is {0}, slot is {1}", chamber.ToString(), slot); return false; } } return execute(_factory.ExchangePlaceRetract(chamber, slot, pickHand, placeHand), out reason); } public virtual bool SetWaferSize(int cmd, WaferSize size, out string reason) { reason = string.Empty; return execute(_factory.SetWaferSize(cmd, size), out reason); } public virtual bool QueryParameter(int parameter, string parameterType, out string reason) { reason = string.Empty; return execute(_factory.QueryParameter(parameter, parameterType), out reason); } public virtual bool SetServoOnOff(bool trueForOnFalseForOff, out string reason) { reason = string.Empty; return execute(_factory.SetServoOnOff(trueForOnFalseForOff), out reason); } public virtual bool PickEx(ModuleName chamber, int slot, Hand hand, int x, int y, int z, out string reason) { reason = string.Empty; if (chamber == ModuleName.Robot) { reason = string.Format("Pick invalid parameter, chamber is {0}, slot is {1}", chamber.ToString(), slot); return false; } if (ModuleHelper.IsLoadPort(chamber)) { if (hand == Hand.Both) { if (!checkslot(0, 25 - Blade2Slots, slot)) //0-20 | 20,21,22,23,24 { reason = string.Format("Pick invalid parameter,double hand, chamber is {0}, slot is {1}", chamber.ToString(), slot); return false; } } else if (hand == Hand.Blade2) { if (!checkslot(0, 25 - Blade2Slots + 1, slot)) //0 - 21| 21,22,23,24 { reason = string.Format("Pick invalid parameter,pick, chamber is {0}, slot is {1}", chamber.ToString(), slot); return false; } } else { if (!checkslot(0, 25, slot)) { reason = string.Format("Pick invalid parameter,pick, chamber is {0}, slot is {1}", chamber.ToString(), slot); return false; } } } else { if (hand == Hand.Both) { reason = string.Format("Pick invalid parameter, double pick,chamber is {0}, slot is {1}", chamber.ToString(), slot); return false; } } return execute(_factory.PickEx(chamber, slot, hand, x,y,z), out reason); } public virtual bool PlaceEx(ModuleName chamber, int slot, Hand hand, int x, int y, int z, out string reason) { reason = string.Empty; if (chamber == ModuleName.Robot) { reason = string.Format("Place invalid parameter, chamber is {0}, slot is {1}", chamber.ToString(), slot); return false; } if (ModuleHelper.IsLoadPort(chamber)) { if (hand == Hand.Both) { if (!checkslot(0, 25 - Blade2Slots, slot)) //0-20 | 20,21,22,23,24 { reason = string.Format("Place invalid parameter,double hand, chamber is {0}, slot is {1}", chamber.ToString(), slot); return false; } } else if (hand == Hand.Blade2) { if (!checkslot(0, 25 - Blade2Slots + 1, slot)) //0 - 21| 21,22,23,24 { reason = string.Format("Pick invalid parameter,pick, chamber is {0}, slot is {1}", chamber.ToString(), slot); return false; } } else { if (!checkslot(0, 25, slot)) { reason = string.Format("Place invalid parameter,place, chamber is {0}, slot is {1}", chamber.ToString(), slot); return false; } } } else { if (hand == Hand.Both) { reason = string.Format("Place invalid parameter, double place,chamber is {0}, slot is {1}", chamber.ToString(), slot); return false; } } return execute(_factory.PlaceEx(chamber, slot, hand,x,y,z), out reason); } public virtual bool ExchangeEx(ModuleName chamber, int slot, Hand hand, int x, int y, int z, out string reason) { reason = string.Empty; if (chamber == ModuleName.Robot) { reason = string.Format("Exchange invalid parameter, chamber is {0}, slot is {1}", chamber.ToString(), slot); return false; } if (Blade2Slots > 1) { reason = string.Format("this robot don't support exchange operation."); return false; } if (hand == Hand.Both) { reason = string.Format("Exchange invalid parameter,double hand"); return false; } if (ModuleHelper.IsLoadPort(chamber)) { if (!checkslot(0, 25, slot)) { reason = string.Format("Exchange invalid parameter,pick, chamber is {0}, slot is {1}", chamber.ToString(), slot); return false; } } return execute(_factory.ExchangeEx(chamber, slot, hand, x, y, z), out reason); } #endregion public virtual bool PositionAdjustment( Axis axis, Hand hand, int value, out string reason) { reason = string.Empty; return execute(_factory.PositionAdjustment( axis,hand,value), out reason); } public virtual bool execute(IHandler handler, out string reason) { reason = string.Empty; lock (_locker) { if (_foregroundHandler != null) { reason = "System busy, please wait or reset system."; EV.PostMessage(Name, EventEnum.DefaultWarning, string.Format("{0} {1} {2}", this.DeviceID, handler.ToString(), reason)); return false; } if (_backgroundHandler != null && handler.IsBackground) { reason = "System busy，one background command is running, please wait or reset system."; EV.PostMessage(Name, EventEnum.DefaultWarning, string.Format("{0} {1} {2}", this.DeviceID, handler.ToString(), reason)); //reason = "系统忙，后台命令正在处理,暂时不能处理新的后台命令"; return false; } handler.Unit = (int)RobotUnit.Robot; if(!handler.Execute(ref _socket)) { reason = "Communication error,please check it."; OnError(reason); return false; } if (handler.IsBackground) _backgroundHandler = handler; else _foregroundHandler = handler; } return true; } public virtual void OnDataChanged(string package) { try { if (!package.Contains("Gb") && !package.Contains("Pb")) package = package.ToUpper(); string[] msgs = Regex.Split(package, delimiter); foreach (string msg in msgs) { if (msg.Length > 0) { bool completed = false; string resp = msg; lock (_locker) { if (_foregroundHandler != null && _foregroundHandler.OnMessage(ref _socket, resp, out completed)) { _foregroundHandler = null; } else if (_backgroundHandler != null && _backgroundHandler.OnMessage(ref _socket, resp, out completed)) { if (completed) { //string reason = string.Empty; //QueryState(out reason); _backgroundHandler = null; if (ActionDone != null) ActionDone(true); } } else { if (_eventHandler != null) { if (_eventHandler.OnMessage(ref _socket, resp, out completed)) { if (completed) { EV.PostMessage("Robot", EventEnum.DefaultWarning, string.Format(" has error. {0:X}", ErrorCode)); OnError(string.Format("has error. {0:X}", ErrorCode)); _exceuteErr = true; } } } } } } } } catch (ExcuteFailedException e) { EV.PostMessage("Robot", EventEnum.DefaultWarning, string.Format("executed failed. {0}",e.Message)); OnError(string.Format("executed failed. {0}", e.Message)); _exceuteErr = false; } catch (InvalidPackageException e) { EV.PostMessage("Robot", EventEnum.DefaultWarning, string.Format("receive invalid package. {0}", e.Message)); OnError(string.Format("receive invalid package. {0}", e.Message)); } catch (System.Exception ex) { _commErr = true; LOG.Write("Robot failed：" + ex.ToString()); } } private void OnErrorHandler(ErrorEventArgs args) { _commErr = true; Initalized = false; EV.PostMessage(Module, EventEnum.CommunicationError, Display, args.Reason); OnError("CommunicationError"); } private bool checkslot(int min, int max, int slot) { return slot >= min && slot < max; } public void NotifySlotMapResult(ModuleName module, string slotMap) { if (OnSlotMapRead != null) { OnSlotMapRead(module, slotMap); } } public void OnError(string errorcode) { EV.Notify(AlarmRobotError,new SerializableDictionary { { "AlarmText",errorcode } }); if (ActionDone != null) ActionDone(false); } public void NotifyWaferPresent(Hand hand, WaferStatus status) { if (status == WaferStatus.Empty) { if (hand == Hand.Blade1) { WaferPresentOnBlade1 = status == WaferStatus.Empty; } if (hand == Hand.Blade2) { WaferPresentOnBlade2 = status == WaferStatus.Empty; } } if (status == WaferStatus.Unknown) { EV.PostWarningLog(Module, "Wafer present unknown"); return; } if (hand == Hand.Blade1) { WaferPresentOnBlade1 = status == WaferStatus.Normal; } if (hand == Hand.Blade2) { WaferPresentOnBlade2 = status == WaferStatus.Normal; } } //Active wafer Center finder Data public void NotifyAWCData(int rOffset, int tOffset) { CenterOffsetR = rOffset; CenterOffsetT = tOffset; } } }