843 lines
26 KiB
C#
843 lines
26 KiB
C#
using System;
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using System.Collections.Generic;
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using System.Linq;
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using System.Text;
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using System.Threading;
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using System.Threading.Tasks;
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using Aitex.Core.RT.Log;
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using MECF.Framework.Simulator.Core.Driver;
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namespace MECF.Framework.Simulator.Core.LoadPorts.Hirata
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{
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public class JelC5000RobotSimulator : SerialPortDeviceSimulator
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{
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public string SlotMap
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{
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get { return string.Join("", _slotMap); }
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}
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//public event Action<string> WriteDeviceEvent;
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private string[] _slotMap = new string[25];
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private string[] _state = new string[20];
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private string[] _led = new string[13];
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public string InforPadState { get; set; } = "0";
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//private bool _isPlaced;
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//private bool _isPresent;
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//private int _moveTime = 5000; //
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public JelC5000RobotSimulator(string portName)
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: base(portName, -1, "\r", ' ',false)
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{
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for (int i = 0; i < _slotMap.Length; i++)
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_slotMap[i] = "0";
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for (int i = 0; i < _state.Length; i++)
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_state[i] = "0";
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for (int i = 0; i < _led.Length; i++)
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_led[i] = "0";
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//00110 01?10 10001 01100
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//A000A 41010 10001 01000
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_state[0] = "0"; //Equipment status 0 = Normal A = Recoverable error E = Fatal error
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_state[1] = "0"; //Mode 0 = Online 1 = Teaching
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_state[2] = "0"; //Initial position 0 = Unexecuted 1 = Executed
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_state[3] = "0"; //Operation status 0 = Stopped 1 = Operating
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_state[4] = "0"; //Error code Error code (upper)
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_state[5] = "0"; // Error code Error code (lower)
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_state[6] = "0"; //Cassette presence 0 = None 1 = Normal position 2 = Error load
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_state[7] = "0"; //FOUP clamp status 0 = Open 1 = Close ? = Not defined
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_state[8] = "0"; //Latch key status 0 = Open 1 = Close ? = Not defined
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_state[9] = "0"; //Vacuum 0 = OFF 1 = ON
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_state[10] = "1"; //Door position 0 = Open position 1 = Close position ? = Not defined
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_state[11] = "0"; //Wafer protrusion sensor 0 = Blocked. 1 = Unblocked.
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_state[12] = "0";
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_state[13] = "0"; //Dock Position 0 = Undock, 1 = dock;
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_state[14] = "0";
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_state[15] = "0";
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_state[16] = "0";
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_state[17] = "0";
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_state[18] = "0";
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_state[19] = InforPadState;
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//A000A 41010 10001 01000
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_led[0] = "0"; //LOAD
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_led[1] = "0"; //UNLOAD
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_led[2] = "0"; //OP.ACCESS
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_led[3] = "0"; //PRESENCE
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_led[4] = "0"; //PLACEMENT
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_led[5] = "0"; // ALARM
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_led[6] = "0"; //STATUS1
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_led[7] = "0"; //STATUS2
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_led[8] = "0"; //
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_led[9] = "0"; //
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_led[10] = "0"; //
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_led[11] = "0"; //
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_led[12] = "0";
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}
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//public void ChangeSlotMap(SlotMapChangedEventArgs obj)
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//{
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// string slotMap = obj.SlotMap.Replace("'", "");
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// for (int i = 0; i < slotMap.Length; i++)
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// _slotMap[i] = slotMap.Substring(i, 1);
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//}
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protected override void ProcessUnsplitMessage(byte[] data)
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{
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string message = Encoding.ASCII.GetString(data).Replace("$1","").Replace("\r","");
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message = message.Replace("$2", "");
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if (message == "RD")
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{
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SendAck();
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return;
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}
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if(message == "")
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{
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SendStatus(message);
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return;
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}
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if(message.Contains("IRS"))
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{
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SendSubRountine(message);
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return;
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}
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if (message.Contains("IR"))
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{
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SendRountine(message);
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return;
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}
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if (message.Contains("OH")|| message.Contains("OL")||message.Contains("OS")
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|| message.Contains("OG") || message.Contains("OX") || message.Contains("OD"))
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{
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SendSpeedData(message);
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return;
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}
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if(message.Contains("6M"))
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{
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if (message == "6M1")
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{
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OnWriteMessage($">$1-{message.Replace("6M", "")}888.888\r");
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}
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else
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OnWriteMessage($">$1+{message.Replace("6M", "")}888.888\r");
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return;
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}
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if (message.Contains("6"))
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{
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if (message == "61")
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{
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OnWriteMessage($">$1-{message.Replace("6M", "")}888.888\r");
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}
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else
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OnWriteMessage($">$1+{message.Replace("6M", "")}888.888\r");
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return;
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}
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if (message.Contains("PSD"))
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{
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SendPositionData(message);
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return;
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}
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if (message.Contains("A") && message.Contains("D"))
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{
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OnWriteMessage($">$1+100{message.Replace("A", "").Replace("D", "")}\r");
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return;
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}
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if (message.Contains("CS"))
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{
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string strvalue = message.Replace("CS", "");
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if(strvalue == "1")
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{
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if (isrightarmOn) strvalue = "1";
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else strvalue = "0";
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}
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if(strvalue == "2")
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{
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if (isleftarmOn) strvalue = "1";
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else strvalue = "0";
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}
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if (strvalue == "4")
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{
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if (isrightarmOn) strvalue = "1";
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else strvalue = "0";
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}
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OnWriteMessage($">$1{strvalue}\r");
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return;
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}
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if(message.Contains("DS10"))
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{
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isrightarmOn = false;
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}
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if (message.Contains("DS20"))
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isleftarmOn = false;
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if (message.Contains("DS11"))
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isrightarmOn = true;
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if (message.Contains("DS21"))
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isleftarmOn = true;
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if(message == "G")
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{
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SendCompaundStatus(message);
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return;
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}
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if(message.Contains("DTD"))
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{
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string parano = message.Replace("DTD", "").Replace("\r", "");
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OnWriteMessage($">$11{parano}1111,-002{parano}2222,3{parano}3333\r");
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return;
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}
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if(message == "BC")
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{
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OnWriteMessage($">$1{bankno}\r");
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return;
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}
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if(message.Contains("BC"))
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{
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bankno = message.Replace("BC", "");
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}
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if (message == "GER")
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{
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OnWriteMessage($">$1CompaundStopPostion\r");
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return;
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}
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if(message == "WCP")
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{
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OnWriteMessage($">$1{CassetNO},0");
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Thread.Sleep(50);
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OnWriteMessage($"{SlotNO}\r");
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return;
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}
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if(message.Contains("WCD"))
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{
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SlotNO = message.Replace("WCD", "");
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}
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if (message.Contains("WCP"))
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{
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CassetNO = message.Replace("WCP", "");
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}
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if(message == "WLO")
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{
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OnWriteMessage($">$1{mappingfirstslotpostion}\r");
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return;
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}
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if (message.Contains("WLO"))
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{
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mappingfirstslotpostion = message.Replace("WLO", "");
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}
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if(message == "WHI")
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{
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OnWriteMessage($">$1{mappingtopslotpostion}\r");
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return;
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}
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if (message.Contains("WHI"))
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{
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mappingtopslotpostion = message.Replace("WHI", "");
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}
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if (message == "WFC")
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{
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OnWriteMessage($">$1{mappingslotsnumber}\r");
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return;
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}
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if (message.Contains("WFC"))
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{
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mappingslotsnumber = message.Replace("WFC", "");
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}
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if (message == "WWN")
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{
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OnWriteMessage($">$1{mappingminwidth}\r");
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return;
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}
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if (message.Contains("WWN"))
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{
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mappingminwidth = message.Replace("WWN", "");
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}
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if (message == "WWM")
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{
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OnWriteMessage($">$1{mappingmaxwidth}\r");
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return;
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}
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if (message.Contains("WWM"))
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{
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mappingmaxwidth = message.Replace("WWM", "");
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}
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if (message == "WWG")
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{
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OnWriteMessage($">$1{mappinggatewidth}\r");
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return;
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}
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if (message.Contains("WWG"))
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{
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mappinggatewidth = message.Replace("WWG", "");
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}
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if (message == "WEND")
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{
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OnWriteMessage($">$1{mappingendpos}\r");
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return;
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}
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if (message.Contains("WEND"))
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{
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mappingendpos = message.Replace("WEND", "");
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}
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if (message == "WSP")
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{
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OnWriteMessage($">$1{mappingspeed}\r");
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return;
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}
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if (message.Contains("WSP"))
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{
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mappingendpos = message.Replace("WSP", "");
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}
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if (message == "WFK")
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{
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OnWriteMessage($">$10,0,0");
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OnWriteMessage($",0,0,0,0");
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OnWriteMessage($",0,0,0,0");
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OnWriteMessage($",0,0,0,0");
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OnWriteMessage($",0,0,0,0");
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OnWriteMessage($",0,0,0,0");
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OnWriteMessage($",0,0\r");
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return;
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}
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if (message == "WFW")
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{
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OnWriteMessage($">$1{mappingwidthresult()}\r");
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return;
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}
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if(message == "G1") //LeftPick
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{
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//isleftarmOn = true;
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//isrightarmOn = true;
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SendAck();
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Thread.Sleep(2000);
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SendEnd("1");
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return;
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}
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if (message == "G2")
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{
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//isleftarmOn = false;
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//isrightarmOn = false;
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SendAck();
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Thread.Sleep(2000);
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SendEnd("2");
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return;
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}
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if(message == "G3")
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{
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//isleftarmOn = true;
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//isrightarmOn = true;
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SendAck();
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Thread.Sleep(2000);
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SendEnd("3");
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return;
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}
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if(message == "G4")
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{
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//isleftarmOn = false;
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SendAck();
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Thread.Sleep(2000);
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SendEnd("4");
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return;
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}
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if (message == "G5" || message == "G11")
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{
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isleftarmOn = true;
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isrightarmOn = true;
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SendAck();
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Thread.Sleep(2000);
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SendEnd("5");
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return;
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}
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//if (message == "G6")
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//{
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// isrightarmOn = false;
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// isleftarmOn = false;
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// SendAck();
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// Thread.Sleep(2000);
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// SendEnd("6");
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// return;
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//}
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if (message == "G7" || message == "G13")
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{
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isrightarmOn = false;
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isleftarmOn = false;
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SendAck();
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Thread.Sleep(2000);
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SendEnd("7");
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return;
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}
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//if (message == "G8")
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//{
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// //isrightarmOn = true;
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// //isleftarmOn = false;
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// SendAck();
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// Thread.Sleep(2000);
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// SendEnd("8");
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// return;
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//}
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if (message == "G9")
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{
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//isrightarmOn = true;
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//isleftarmOn = false;
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SendAck();
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Thread.Sleep(2000);
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SendEnd("9");
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return;
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}
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if (message.Contains("G")&&message !="G")
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{
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//isleftarmOn = true;
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//isrightarmOn = true;
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SendAck();
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Thread.Sleep(2000);
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SendEnd(message.Replace("G",""));
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return;
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}
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if (message == "SPA")
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{
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OnWriteMessage($">$1{speed}\r");
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return;
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}
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if(message.Contains("SPA"))
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{
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speed = message.Replace("SPA", "");
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}
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SendAck();
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}
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string speed = "10";
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private string mappingwidthresult()
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{
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string ret = "";
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for (int i = 0; i < Convert.ToInt16(mappingslotsnumber); i++)
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{
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if (i == Convert.ToInt16(mappingslotsnumber) - 1)
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ret += $"10{i}";
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else
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{
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if (i < 10)
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ret += $"10{i},";
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else ret += "0,";
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}
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}
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return ret;
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}
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private string mappingwaferresult()
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{
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string ret = "";
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for(int i=0;i<Convert.ToInt16(mappingslotsnumber);i++)
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{
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if (i == Convert.ToInt16(mappingslotsnumber)-1)
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ret += "1";
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else
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{
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if (i < 10)
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ret += "1,";
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else ret += "0,";
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}
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}
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return ret;
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}
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private string mappingspeed = "0020";
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private string mappingendpos = "5123";
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private string mappinggatewidth = "50";
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private string mappingmaxwidth = "150";
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private string mappingminwidth = "100";
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private string mappingslotsnumber = "25";
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private string mappingfirstslotpostion = "0";
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private string mappingtopslotpostion = "100";
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private string bankno = "0";
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private string CassetNO = "1";
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private string SlotNO = "1";
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private void SendPositionData(string message)
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{
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string posno = message.Replace("PSD", "").Replace("\r", "");
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OnWriteMessage($">$1-1{posno}1111,2{posno}2222,3{posno}3333,-4{posno}8444\r");
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}
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private bool isleftarmOn, isrightarmOn;
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private void SendSpeedData(string message)
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{
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OnWriteMessage($">$1888\r");
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}
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private void SendRountine(string message)
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{
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OnWriteMessage($">$1Routine Content Of {message.Replace("IRS", "")}\r");
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}
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private void SendSubRountine(string message)
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{
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OnWriteMessage($">$1Subroutine Content Of {message.Replace("IRS","")}\r");
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}
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private void SendCompaundStatus(string message)
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{
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string status = ">";
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if (message == "G")
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{
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status += "$10\r";
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//statuscount = 0;
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}
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OnWriteMessage(status);
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}
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//private int statuscount = 0;
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private void SendStatus(string message)
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{
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string status = ">";
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if (message == "")
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{
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status += "$100\r";
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//statuscount = 0;
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}
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OnWriteMessage(status);
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}
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private void ReceiveMovCommand(string cmd)
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{
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bool needINF = true;
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switch (cmd)
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{
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case "ORGSH": //back to initial
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_state[(int)StateIndex.ClampClosed] = "0";
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_state[(int)StateIndex.DoorClosed] = "1";
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break;
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case "ABORG": //Force back to initial
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_state[(int)StateIndex.ClampClosed] = "0";
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_state[(int)StateIndex.DoorClosed] = "1";
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break;
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case "PODCL": //FOUP clamp: Close
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_state[(int)StateIndex.ClampClosed] = "1";
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//needINF = false;
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break;
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case "PODOP": //FOUP clamp: open
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_state[(int)StateIndex.ClampClosed] = "0";
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break;
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case "CLDDK": //FOUP dock:
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_state[(int)StateIndex.ClampClosed] = "1";
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break;
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case "CUDCL": //FOUP undock
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_state[(int)StateIndex.ClampClosed] = "0";
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break;
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case "CULFC": //FOUP undock
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_state[(int)StateIndex.DoorClosed] = "1";
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break;
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case "CULDK": //Door Close
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_state[(int)StateIndex.DoorClosed] = "1";
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break;
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case "CLMPO": //Door open
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_state[(int)StateIndex.DoorClosed] = "0";
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break;
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case "CLDMP": //Maps and loads the FOUP.
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_state[(int)StateIndex.DoorClosed] = "0";
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_state[(int)StateIndex.ClampClosed] = "1";
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_state[(int)StateIndex.Z_AxisPos] = "1";
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_state[(int)StateIndex.Y_AxisPos] = "1"; //Dock
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break;
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case "CLOAD": //loads the FOUP.
|
|
_state[(int)StateIndex.DoorClosed] = "0";
|
|
_state[(int)StateIndex.ClampClosed] = "1";
|
|
_state[(int)StateIndex.Z_AxisPos] = "1";
|
|
_state[(int)StateIndex.Y_AxisPos] = "1";
|
|
break;
|
|
case "CULOD": //Unloads the FOUP (at the ejection position).
|
|
_state[(int)StateIndex.ClampClosed] = "0";
|
|
_state[(int)StateIndex.DoorClosed] = "1";
|
|
_state[(int)StateIndex.Z_AxisPos] = "0";
|
|
_state[(int)StateIndex.Y_AxisPos] = "0"; //Dock
|
|
break;
|
|
case "YDOOR": //move to dock pos in fosb mode
|
|
_state[(int)StateIndex.Y_AxisPos] = "1";
|
|
break;
|
|
case "YWAIT": //move to undock pos in fosb mode
|
|
_state[(int)StateIndex.Y_AxisPos] = "0";
|
|
break;
|
|
case "DORBK": //move to door open pos in fosb mode
|
|
_state[(int) StateIndex.DoorClosed] = "0";
|
|
break;
|
|
case "DORFW": //move to door close pos in fosb mode
|
|
_state[(int) StateIndex.DoorClosed] = "1";
|
|
break;
|
|
case "ZDRDW": //move to door down pos in fosb mode
|
|
_state[(int)StateIndex.Z_AxisPos] = "1";
|
|
break;
|
|
case "ZDRUP": //move to door up pos in fosb mode
|
|
_state[(int)StateIndex.Z_AxisPos] = "0";
|
|
break;
|
|
case "STOP_":
|
|
break;
|
|
|
|
}
|
|
|
|
SendAck();
|
|
|
|
Thread.Sleep(2000);
|
|
if(needINF) SendInf(cmd);
|
|
}
|
|
|
|
|
|
#region GET Command
|
|
|
|
private void ReceiveGetCommand(string cmdGet)
|
|
{
|
|
_state[19] = InforPadState;
|
|
switch (cmdGet)
|
|
{
|
|
case "STATE":
|
|
FeedbackGetStatus(cmdGet);
|
|
break;
|
|
|
|
case "VERSN":
|
|
FeedbackGetVersion();
|
|
break;
|
|
|
|
case "LEDST":
|
|
FeedbackGetIndicator(cmdGet);
|
|
break;
|
|
|
|
case "MAPDT":
|
|
FeedbackGetWaferMapDescendingOrder(cmdGet);
|
|
break;
|
|
|
|
case "MAPRD":
|
|
FeedbackGetWaferMapAscendingOrder(cmdGet);
|
|
break;
|
|
|
|
case "WFCNT":
|
|
FeedbackGetWaferCount();
|
|
break;
|
|
|
|
case "FSBxx":
|
|
FeedbackGetFOSBMode(cmdGet);
|
|
break;
|
|
}
|
|
}
|
|
|
|
private void FeedbackGetStatus(string cmd)
|
|
{
|
|
//string message = string.Format("s00ACK:{0}/{1};\r", cmd, string.Join("", _state));
|
|
|
|
string message = Encoding.ASCII.GetString(BuildMesage($"ACK:{cmd}/{string.Join("", _state)}"));
|
|
OnWriteMessage(message);
|
|
|
|
}
|
|
|
|
private void FeedbackGetVersion()
|
|
{
|
|
|
|
}
|
|
|
|
private void FeedbackGetIndicator(string cmd)
|
|
{
|
|
//string message = string.Format("s00ACK:{0}/{1};\r", cmd, string.Join("", _led));
|
|
|
|
string message = Encoding.ASCII.GetString(BuildMesage($"ACK:{cmd}/{string.Join("", _led)}"));
|
|
OnWriteMessage(message);
|
|
//OnWriteMessage(message);
|
|
|
|
}
|
|
|
|
//25 - 1
|
|
private void FeedbackGetWaferMapDescendingOrder(string cmd)
|
|
{
|
|
var sm = _slotMap.Reverse();
|
|
string message = Encoding.ASCII.GetString(BuildMesage($"ACK:{cmd}/{string.Join("", sm)}"));
|
|
OnWriteMessage(message);
|
|
}
|
|
|
|
//1-25
|
|
private void FeedbackGetWaferMapAscendingOrder(string cmd)
|
|
{
|
|
//string message = string.Format("s00ACK:{0}/{1};\r", cmd, string.Join("", _slotMap));
|
|
string message = Encoding.ASCII.GetString(BuildMesage($"ACK:{cmd}/{string.Join("", _slotMap)}"));
|
|
OnWriteMessage(message);
|
|
}
|
|
|
|
private void FeedbackGetWaferCount()
|
|
{
|
|
|
|
}
|
|
|
|
private void FeedbackGetFOSBMode(string cmd)
|
|
{
|
|
//string message = string.Format("s00ACK:{0}/{1};\r", cmd, string.Join("", _state));
|
|
string message = Encoding.ASCII.GetString(BuildMesage($"ACK:{cmd}/{string.Join("", _state)}"));
|
|
OnWriteMessage(message);
|
|
}
|
|
|
|
#endregion
|
|
|
|
|
|
private void ReceiveUnknownCommand(string message)
|
|
{
|
|
//LOG.Write("LoadPort" + _loadPortNumber + " Receive Unknown message," + message);
|
|
}
|
|
|
|
|
|
private void SendInf(string cmd)
|
|
{
|
|
Thread.Sleep(1000);
|
|
|
|
//string msg = _isPlaced ? "s00INF:PODON;\r" : "s00INF:PODOF;\r";
|
|
|
|
string message = Encoding.ASCII.GetString(BuildMesage($"INF:{cmd}"));
|
|
OnWriteMessage(message);
|
|
|
|
}
|
|
private void SendEnd(string cmd)
|
|
{
|
|
string ack = "END-" + cmd + "\r"; ;
|
|
OnWriteMessage(ack);
|
|
|
|
}
|
|
private void SendAck()
|
|
{
|
|
|
|
|
|
string ack = ">";
|
|
|
|
OnWriteMessage(ack);
|
|
|
|
}
|
|
public static byte[] BuildMesage(string data)
|
|
{
|
|
List<byte> ret = new List<byte>();
|
|
|
|
ret.Add(0x1);
|
|
|
|
List<byte> cmd = new List<byte>();
|
|
foreach (char c in data)
|
|
{
|
|
cmd.Add((byte)c);
|
|
}
|
|
//cmd.Add((byte)(':')); //3A
|
|
|
|
cmd.Add((byte)(';')); //3B
|
|
|
|
int length = cmd.Count + 4;
|
|
|
|
int checksum = length;
|
|
foreach (byte bvalue in cmd)
|
|
{
|
|
checksum += bvalue;
|
|
}
|
|
|
|
byte[] byteschecksum = Encoding.ASCII.GetBytes(Convert.ToString((int)((byte)(checksum & 0xFF)), 16));
|
|
byte[] blength = BitConverter.GetBytes((short)length);
|
|
ret.Add(blength[1]);
|
|
ret.Add(blength[0]);
|
|
ret.AddRange(new byte[] { 0, 0 });
|
|
ret.AddRange(cmd);
|
|
ret.AddRange(byteschecksum);
|
|
ret.Add(0xD);
|
|
return ret.ToArray();
|
|
|
|
}
|
|
|
|
public void PlaceCarrier()
|
|
{
|
|
//SimManager.Instance.PlaceFoup(_loadPortNumber);
|
|
|
|
//_isPlaced = _isPresent = true;
|
|
|
|
_state[6] = "1";
|
|
|
|
//_led[(int) Indicator.PLACEMENT] = _isPlaced ? "1" : "0";
|
|
//_led[(int) Indicator.PRESENCE] = _isPresent ? "1" : "0";
|
|
|
|
//string msg = "s00INF:PODON;\r";
|
|
string message = Encoding.ASCII.GetString(BuildMesage($"INF:PODON"));
|
|
OnWriteMessage(message);
|
|
}
|
|
|
|
public void RemoveCarrier()
|
|
{
|
|
//SimManager.Instance.RemoveFoup(_loadPortNumber);
|
|
|
|
//_isPlaced = _isPresent = false;
|
|
_state[6] = "0";
|
|
|
|
//_led[(int) Indicator.PLACEMENT] = "0";
|
|
//_led[(int) Indicator.PRESENCE] = "0";
|
|
|
|
//string msg = "s00INF:PODOF;\r";
|
|
string message = Encoding.ASCII.GetString(BuildMesage($"INF:PODOF"));
|
|
OnWriteMessage(message);
|
|
}
|
|
|
|
public void ClearWafer()
|
|
{
|
|
for (int i = 0; i < _slotMap.Length; i++)
|
|
{
|
|
_slotMap[i] = "0";
|
|
}
|
|
}
|
|
|
|
public void SetAllWafer()
|
|
{
|
|
for (int i = 0; i < _slotMap.Length; i++)
|
|
{
|
|
_slotMap[i] = "1";
|
|
}
|
|
}
|
|
|
|
|
|
public void SetUpWafer()
|
|
{
|
|
for (int i = 0; i < _slotMap.Length; i++)
|
|
{
|
|
_slotMap[i] = i>15 ? "1" : "0";
|
|
}
|
|
}
|
|
|
|
|
|
public void SetLowWafer()
|
|
{
|
|
for (int i = 0; i < _slotMap.Length; i++)
|
|
{
|
|
_slotMap[i] = i <10 ? "1" : "0";
|
|
}
|
|
}
|
|
|
|
public void RandomWafer()
|
|
{
|
|
Random _rd = new Random();
|
|
for (int i = 0; i < _slotMap.Length; i++)
|
|
{
|
|
_slotMap[i] = _rd.Next(0,10) < 6 ? "0" : "2";
|
|
}
|
|
}
|
|
|
|
}
|
|
|
|
}
|