611 lines
16 KiB
C#
611 lines
16 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 Aitex.Core.RT.DataCenter;
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using Aitex.Core.RT.Device;
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using Aitex.Core.RT.Event;
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using Aitex.Core.RT.Log;
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using Aitex.Core.RT.OperationCenter;
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using Aitex.Core.RT.SCCore;
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using Aitex.Core.Util;
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using MECF.Framework.Common.Communications;
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using MECF.Framework.RT.EquipmentLibrary.HardwareUnits.Aligners.HiWinAligner.Handlers;
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namespace MECF.Framework.RT.EquipmentLibrary.HardwareUnits.Aligners.HiWinAligner
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{
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public class HwAlignerGuide : BaseDevice, IConnection, IDevice
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{
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#region Variables
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private enum CommandEnum
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{
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NULL,
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SME11,
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SME21,
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SME31,
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HOM,
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DOC,
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CVN,
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MTM,
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CCD,
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BAL,
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MVR,
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CVF,
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ERS,
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STA,
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//
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SPS,
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WSZ,
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_WT,
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GLM,
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FWO,
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};
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private HwAlignerGuideConnection _connection;
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private readonly bool _activeMonitorStatus;
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private readonly R_TRIG _trigCommunicationError = new();
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private readonly R_TRIG _trigRetryConnect = new();
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private bool _bIsDisconnect = false;
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private string _lastHandlerName;
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private CommandEnum _iCurrentOper = CommandEnum.NULL;
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private readonly LinkedList<HandlerBase> _lstHandler = new();
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private readonly object _locker = new();
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#endregion
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#region Constructors
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/// <summary>
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/// 构造上银巡边器对象实例。
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/// </summary>
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/// <param name="module">所属模组名称。</param>
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/// <param name="scRoot">系统配置定义了当前巡边器相关配置的节点。</param>
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/// <param name="name">当前巡边器名称。</param>
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public HwAlignerGuide(string module, string scRoot, string name) : base(module, name, name, name)
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{
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ScBasePath = scRoot;
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_activeMonitorStatus = true;
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}
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#endregion
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#region Properties
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public bool HaveWafer { get; set; }
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public string Address { get; set; }
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public bool IsConnected => _connection is { IsConnected: true };
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public bool AlarmStatus { get; set; }
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public bool PositionComplete { get; set; }
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public bool MotorBusy { get; set; }
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public bool IsBusy
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{
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get
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{
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lock (_locker)
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{
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return _lstHandler.Count > 0 || _iCurrentOper != CommandEnum.NULL;
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}
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}
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}
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#endregion
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#region Private Methods
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private void InitData()
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{
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DATA.Subscribe($"{Module}.{Name}.HaveWafer", () => HaveWafer);
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}
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private void InitOp()
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{
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//参数保存
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OP.Subscribe($"{Module}.{Name}.HwSaveParameters", (_, _) =>
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{
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Set("SPS");
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return true;
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});
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//读取/设定晶圆尺寸
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OP.Subscribe($"{Module}.{Name}.HwWaferSize", (_, param) =>
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{
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Set("WSZ" + " " + param[0]);
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return true;
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});
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//晶圆种类
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OP.Subscribe($"{Module}.{Name}.HwWaferType", (_, param) =>
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{
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Set("_WT" + " " + param[0]);
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return true;
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});
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//寻边材质
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OP.Subscribe($"{Module}.{Name}.HwWaferMaterial", (cmd, param) =>
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{
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Set("GLM" + " " + param[0]);
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return true;
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});
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//晶圆方向
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OP.Subscribe($"{Module}.{Name}.HwWaferOrientation", (cmd, param) =>
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{
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Set("FWO" + " " + param[0]);
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return true;
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});
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//------------------------------------------------------------
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//原点复归
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OP.Subscribe($"{Module}.{Name}.HwHOM", (_, _) => MsgHome());
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//晶圆确认
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OP.Subscribe($"{Module}.{Name}.HwDOC", (_, _) => CheckWaferLoad());
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//开启真空
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OP.Subscribe($"{Module}.{Name}.HwCVN", (_, _) => OpenVacuum());
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//寻边补正
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OP.Subscribe($"{Module}.{Name}.HwBAL", (_, _) => MsgAliger());
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//关闭真空
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OP.Subscribe($"{Module}.{Name}.HwCVF", (_, _) => CloseVacuum());
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//移至测量中心点
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OP.Subscribe($"{Module}.{Name}.HwMTM", (_, _) => MoveToRobotPutPlace());
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//清除报警
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OP.Subscribe($"{Module}.{Name}.HwERS", (_, _) => ClearError());
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//马达激磁
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OP.Subscribe($"{Module}.{Name}.HwSME", (_, _) =>
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{
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InitMachine();
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return true;
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});
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//相对位移
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OP.Subscribe($"{Module}.{Name}.HwMVR", (cmd, param) =>
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{
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Set("MVR");
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return true;
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});
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//
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OP.Subscribe($"{Module}.{Name}.HwAbort", (cmd, param) =>
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{
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Abort();
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return true;
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});
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}
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private bool OnTimer()
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{
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try
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{
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_connection.MonitorTimeout();
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//若断，重连
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if ((!_connection.IsConnected) || _connection.IsCommunicationError || _bIsDisconnect)
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{
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_trigRetryConnect.CLK = _bIsDisconnect;
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//重连机制要改，timeout之后，要是用心跳方式探测重连
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_trigRetryConnect.CLK = _bIsDisconnect;
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if (_connection.Connect())
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{
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_bIsDisconnect = false;
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//
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if (_trigRetryConnect.Q)
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{
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EV.PostInfoLog(Module, $"{Module}.{Name} connected");
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LOG.Write($"{Module}.{Name} connected");
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}
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}
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else
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{
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if (_trigRetryConnect.Q)
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{
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EV.PostInfoLog(Module,
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$"Trying to connect {Module}.{Name} with address: {_connection.Address}");
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LOG.Write($"Trying to connect {Module}.{Name} with address: {_connection.Address}");
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}
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}
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}
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//处理命令队列
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HandlerBase handler = null;
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if (!_connection.IsBusy)
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{
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lock (_locker)
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{
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if (_lstHandler.Count == 0 && _activeMonitorStatus && !IsBusy)
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{
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_lastHandlerName = "";
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}
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if (_lstHandler.Count > 0)
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{
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handler = _lstHandler.First.Value;
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_lstHandler.RemoveFirst();
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}
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}
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if (handler != null)
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{
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_lastHandlerName = handler.Name;
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_connection.Execute(handler);
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}
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}
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//
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return true;
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}
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catch (Exception ex)
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{
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LOG.Write(ex);
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}
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return true;
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}
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internal void NoteError()
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{
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}
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protected override void HandleMonitor()
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{
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try
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{
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_trigCommunicationError.CLK = _connection.IsCommunicationError;
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if (_trigCommunicationError.Q)
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{
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EV.PostAlarmLog(Module,
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$"{Module}.{Name} communication error, {_connection.LastCommunicationError}");
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}
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}
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catch (Exception ex)
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{
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LOG.Write(ex);
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}
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}
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#endregion
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#region Methods
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public bool Connect()
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{
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return true;
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}
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public bool Disconnect()
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{
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return true;
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}
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public bool Initialize()
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{
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// string portName = SC.GetStringValue($"{_scRoot}.{Module}.{Name}.Address");
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var portName = SC.GetStringValue($"{ScBasePath}.Address");
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Address = portName;
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var scEnableLog = $"{ScBasePath}.EnableLogMessage";
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var enableLog = SC.GetValue<bool>(scEnableLog);
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SC.RegisterValueChangedCallback(scEnableLog, scValue =>
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{
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if (scValue is bool bEnableLog)
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_connection.EnableLog(bEnableLog);
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});
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_connection = new HwAlignerGuideConnection(portName);
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_connection.EnableLog(enableLog);
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if (_connection.Connect())
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{
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EV.PostInfoLog(Module, $"{Module}.{Name} Connected");
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}
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var periodicJob = new PeriodicJob(200, OnTimer, $"{Name} MonitorHandler", true);
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InitData();
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InitOp();
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ConnectionManager.Instance.Subscribe($"{Name}", this);
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return true;
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}
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public void Abort()
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{
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}
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/// <summary>
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/// 初始化当前巡边器。
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/// </summary>
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public void InitMachine()
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{
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lock (_locker)
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{
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_lstHandler.Clear();
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_lstHandler.AddLast(new HwAlignerGuideSetHandler(this, "SME11", "SME 11"));
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_lstHandler.AddLast(new HwAlignerGuideSetHandler(this, "SME12", "SME 21"));
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_lstHandler.AddLast(new HwAlignerGuideSetHandler(this, "SME13", "SME 31"));
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}
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}
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/// <summary>
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/// 开始巡边。
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/// </summary>
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public void Aligner()
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{
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lock (_locker)
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{
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_lstHandler.Clear();
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_lstHandler.AddLast(new HwAlignerGuideSetHandler(this, "CVN", "CVN"));
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_lstHandler.AddLast(new HwAlignerGuideSetHandler(this, "BAL", "BAL"));
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_lstHandler.AddLast(new HwAlignerGuideSetHandler(this, "CVF", "CVF"));
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}
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}
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/// <summary>
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/// 回机械零点。
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/// </summary>
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/// <returns>
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/// <value>True：命令发送成功。</value>
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/// <br/>
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/// <value>False：命令发送失败</value>
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/// </returns>
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public bool MsgHome()
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{
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//_lstHandler.Clear();
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lock (_locker)
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{
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_lstHandler.AddLast(new HwAlignerGuideSetHandler(this, "HOM", "HOM", 30));
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}
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return true;
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}
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/// <summary>
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/// 检测当前巡边器上是否有晶圆。
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/// </summary>
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/// <returns>
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/// <value>True：命令发送成功。</value>
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/// <br/>
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/// <value>False：命令发送失败</value>
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/// </returns>
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public bool CheckWaferLoad()
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{
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lock (_locker)
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{
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_lstHandler.AddLast(new HwAlignerWaferCheckHandler(this));
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}
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return true;
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}
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/// <summary>
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/// 打开当前巡边器的真空吸附。
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/// </summary>
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/// <returns>
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/// <value>True：命令发送成功。</value>
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/// <br/>
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/// <value>False：命令发送失败</value>
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/// </returns>
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public bool OpenVacuum()
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{
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lock (_locker)
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{
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_lstHandler.AddLast(new HwAlignerGuideSetHandler(this, "CVN", "CVN"));
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}
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return true;
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}
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/// <summary>
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/// 关闭当前巡边器的真空吸附。
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/// </summary>
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/// <returns>
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/// <value>True：命令发送成功。</value>
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/// <br/>
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/// <value>False：命令发送失败</value>
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/// </returns>
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public bool CloseVacuum()
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{
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lock (_locker)
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{
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_lstHandler.AddLast(new HwAlignerGuideSetHandler(this, "CVF", "CVF"));
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}
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return true;
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}
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public bool MoveToRobotPutPlace()
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{
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lock (_locker)
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{
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_lstHandler.AddLast(new HwAlignerGuideSetHandler(this, "MTM", "MTM"));
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}
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return true;
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}
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public bool MsgAliger()
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{
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lock (_locker)
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{
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_lstHandler.AddLast(new HwAlignerGuideSetHandler(this, "BAL", "BAL"));
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}
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return true;
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}
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public bool DoAliger()
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{
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lock (_locker)
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{
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_lstHandler.Clear();
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_lstHandler.AddLast(new HwAlignerGuideSetHandler(this, "CVN", "CVN"));
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_lstHandler.AddLast(new HwAlignerGuideSetHandler(this, "BAL", "BAL"));
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_lstHandler.AddLast(new HwAlignerGuideSetHandler(this, "CVF", "CVF"));
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}
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return true;
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}
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public bool ClearError()
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{
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lock (_locker)
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{
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_lstHandler.Clear();
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_lstHandler.AddLast(new HwAlignerGuideSetHandler(this, "ERS", "ERS"));
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}
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return true;
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}
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/// <summary>
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/// 新增一条命令到命令执行列队。
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/// </summary>
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/// <param name="command">命令字符。</param>
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public void Set(string command)
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{
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lock (_locker)
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{
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_lstHandler.AddLast(new HwAlignerGuideSetHandler(this, command, command));
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}
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}
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public void Terminate()
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{
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try
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{
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if (_connection != null)
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{
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_connection.Disconnect();
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_connection = null;
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}
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}
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catch (Exception ex)
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{
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LOG.Write(ex);
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}
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}
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public void Reset()
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{
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_bIsDisconnect = _connection.IsCommunicationError;
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//这里重置了CommunicationError ，就是去了OnTimer里面的重连的触发，所以需要另设变量以触发之(使用timeout来触发的情况）
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_connection.SetCommunicationError(false,"");
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_trigCommunicationError.RST = true;
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_trigRetryConnect.RST = true;
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_iCurrentOper = CommandEnum.NULL;
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lock (_locker)
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_lstHandler.Clear();
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}
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public void SetCurrentOper()
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{
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_iCurrentOper = CommandEnum.CCD;
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}
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internal bool ParseData(string name, byte[] buffer, out bool bResult)
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{
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bResult = true;
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var sAnswer = Encoding.ASCII.GetString(buffer);
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if (sAnswer.Contains("END"))
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{
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_iCurrentOper = CommandEnum.NULL;
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return true;
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}
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if (sAnswer.Contains("ERR"))
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{
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lock (_locker)
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{
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_lstHandler.Clear();
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}
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_iCurrentOper = CommandEnum.NULL;
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bResult = false;
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EV.PostAlarmLog(Module, $"Aligner, Execute {_lastHandlerName} error, {sAnswer.TrimEnd('\r', '\n')}");
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return true; //Handled
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}
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return false;
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}
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internal bool CheckWaferDataA(string name, byte[] buffer, out bool bResult)
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{
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bResult = true;
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var sAnswer = Encoding.ASCII.GetString(buffer.ToArray());
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if (sAnswer.Contains("END"))
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{
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HaveWafer = sAnswer.Contains("1\r\nEND");
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_iCurrentOper = CommandEnum.NULL;
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return true;
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}
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if (sAnswer.Contains("ERR"))
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{
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lock (_locker)
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{
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_lstHandler.Clear();
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}
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_iCurrentOper = CommandEnum.NULL;
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bResult = false;
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EV.PostAlarmLog(Module, $"Aligner, Execute {_lastHandlerName} error, {sAnswer.TrimEnd('\r', '\n')}");
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return false; //Handle
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}
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return false;
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}
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}
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#endregion
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}
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