440 lines
14 KiB
C#
440 lines
14 KiB
C#
using System;
|
|
using System.Collections.Generic;
|
|
using System.IO.Ports;
|
|
using System.Linq;
|
|
using System.Text;
|
|
using Aitex.Core.Common.DeviceData;
|
|
using Aitex.Core.RT.Device;
|
|
using Aitex.Core.RT.Device.Unit;
|
|
using Aitex.Core.RT.Event;
|
|
using Aitex.Core.RT.Log;
|
|
using Aitex.Core.RT.OperationCenter;
|
|
using Aitex.Core.RT.SCCore;
|
|
using Aitex.Core.Util;
|
|
using MECF.Framework.Common.Communications;
|
|
using MECF.Framework.Common.Device.Bases;
|
|
using MECF.Framework.RT.EquipmentLibrary.HardwareUnits.Common;
|
|
using MECF.Framework.RT.EquipmentLibrary.HardwareUnits.Robots.RobotBase;
|
|
using Newtonsoft.Json;
|
|
|
|
namespace MECF.Framework.RT.EquipmentLibrary.HardwareUnits.Robots.TazmoRobot
|
|
{
|
|
public enum TazmoRobotState
|
|
{
|
|
Standby=0,
|
|
TPInUse=1,
|
|
InOperation=2,
|
|
Running,
|
|
Pause=7,
|
|
Initializing=9,
|
|
StandbyDueToUnInit= 0X10,
|
|
RecoverabelErrorWithoutInit = 0X20,
|
|
ErrorRequiredInit =0xA0,
|
|
ErrorRequiredPowerCycle = 0xC0,
|
|
|
|
}
|
|
public enum TazmoRobotPositionEnum
|
|
{
|
|
UnloadLoad,
|
|
Mapping,
|
|
}
|
|
public enum TazmoRobotArmExtensionEnum
|
|
{
|
|
PositionToPull,
|
|
ArmExtension,
|
|
}
|
|
public enum TazmoRobotWorkPresenceInfoEnum
|
|
{
|
|
WorkExists,
|
|
NoWork,
|
|
}
|
|
public enum TazmoRobotGripPostionInfoEnum
|
|
{
|
|
Close,
|
|
Oepn,
|
|
WorkIsGripped,
|
|
PostionUnknow = 0xF,
|
|
}
|
|
public enum TazmoRobotZPositionInfo
|
|
{
|
|
Down=1,
|
|
MidDown,
|
|
Mid,
|
|
MidUp,
|
|
Up,
|
|
Unknow = 0xF,
|
|
}
|
|
|
|
|
|
|
|
|
|
public class TazmoRobot : RobotBaseDevice, IConnection
|
|
{
|
|
private bool isSimulatorMode;
|
|
private string _scRoot;
|
|
|
|
public TazmoRobotState DeviceState { get; private set; }
|
|
|
|
|
|
public bool TaExecuteSuccss { get; set; }
|
|
private TazmoRobotConnection _connection;
|
|
public TazmoRobotConnection Connection => _connection;
|
|
private R_TRIG _trigError = new R_TRIG();
|
|
|
|
private R_TRIG _trigWarningMessage = new R_TRIG();
|
|
|
|
private R_TRIG _trigCommunicationError = new R_TRIG();
|
|
private R_TRIG _trigRetryConnect = new R_TRIG();
|
|
private PeriodicJob _thread;
|
|
private static Object _locker = new Object();
|
|
|
|
private LinkedList<HandlerBase> _lstHandler = new LinkedList<HandlerBase>();
|
|
|
|
private bool _enableLog = true;
|
|
|
|
private bool _commErr = false;
|
|
private string _address;
|
|
|
|
|
|
public int CurrentStopPositionPoint { get; private set; }
|
|
public int CurrentSlotNumber { get; private set; }
|
|
|
|
public TazmoRobotPositionEnum CurrentPositionCate { get; private set; }
|
|
public TazmoRobotArmExtensionEnum CurrentArmExtensionPos { get; private set; }
|
|
public TazmoRobotWorkPresenceInfoEnum CurrentWorkPresnece { get; private set; }
|
|
|
|
public TazmoRobotWorkPresenceInfoEnum CurrentArm1WorkPresnece { get; private set; }
|
|
public TazmoRobotWorkPresenceInfoEnum CurrentArm2WorkPresnece { get; private set; }
|
|
public TazmoRobotGripPostionInfoEnum CurrentArm1GripperPosition { get; private set; }
|
|
public TazmoRobotGripPostionInfoEnum CurrentArm2GripperPosition { get; private set; }
|
|
public TazmoRobotZPositionInfo CurrentZpositionCate { get; private set; }
|
|
|
|
|
|
public string PortName { get; private set; }
|
|
public TazmoRobot(string module, string name, string scRoot, string portName="") : base(module, name)
|
|
{
|
|
|
|
isSimulatorMode = SC.ContainsItem("System.IsSimulatorMode") ? SC.GetValue<bool>("System.IsSimulatorMode") : false;
|
|
_scRoot = scRoot;
|
|
//base.Initialize();
|
|
ResetPropertiesAndResponses();
|
|
RegisterSpecialData();
|
|
|
|
|
|
int bautRate = SC.GetValue<int>($"{Name}.BaudRate");
|
|
int dataBits = SC.GetValue<int>($"{Name}.DataBits");
|
|
Enum.TryParse(SC.GetStringValue($"{Name}.Parity"), out Parity parity);
|
|
Enum.TryParse(SC.GetStringValue($"{Name}.StopBits"), out StopBits stopBits);
|
|
//_deviceAddress = SC.GetValue<int>($"{Name}.DeviceAddress");
|
|
_enableLog = SC.GetValue<bool>($"{Name}.EnableLogMessage");
|
|
_address = SC.GetStringValue($"{_scRoot}.{Name}.Address");
|
|
_enableLog = SC.GetValue<bool>($"{_scRoot}.{Name}.EnableLogMessage");
|
|
PortName = SC.GetStringValue($"{_scRoot}.{Name}.PortName");
|
|
_connection = new TazmoRobotConnection(this,PortName,bautRate,dataBits,parity,stopBits);
|
|
_connection.EnableLog(_enableLog);
|
|
|
|
if (_connection.Connect())
|
|
{
|
|
EV.PostInfoLog(Module, $"{Module}.{Name} connected");
|
|
}
|
|
|
|
_thread = new PeriodicJob(100, OnTimer, $"{Module}.{Name} MonitorHandler", true);
|
|
|
|
//_address = SC.GetStringValue($"{_scRoot}.{Name}.DeviceAddress");
|
|
|
|
|
|
|
|
|
|
}
|
|
public void ParseStatus(string state)
|
|
{
|
|
int statecode = Convert.ToInt32(state, 16);
|
|
|
|
if (statecode <= 0x10) DeviceState = (TazmoRobotState)statecode;
|
|
else
|
|
ErrorCode = statecode.ToString();
|
|
|
|
if (statecode >= 0x20 && statecode <= 0x99) DeviceState = TazmoRobotState.RecoverabelErrorWithoutInit;
|
|
if (statecode >= 0xA0 && statecode <= 0xBF) DeviceState = TazmoRobotState.ErrorRequiredInit;
|
|
if (statecode > 0xC0 && statecode <= 0xFF) DeviceState = TazmoRobotState.ErrorRequiredPowerCycle;
|
|
}
|
|
|
|
public void ParseStatusAndPostion(string statedata)
|
|
{
|
|
string[] data = statedata.Split(',');
|
|
if(data.Length !=11)
|
|
{
|
|
EV.PostAlarmLog("System", "Received in valid status and postion data:" + statedata);
|
|
return;
|
|
}
|
|
ParseStatus(data[0]);
|
|
CurrentStopPositionPoint = Convert.ToInt32(data[1]);
|
|
CurrentSlotNumber = Convert.ToInt32(data[2]);
|
|
CurrentPositionCate = (TazmoRobotPositionEnum)Convert.ToInt32(data[3]);
|
|
CurrentArmExtensionPos = (TazmoRobotArmExtensionEnum)Convert.ToInt32(data[4]);
|
|
CurrentWorkPresnece = (TazmoRobotWorkPresenceInfoEnum)Convert.ToInt32(data[5]);
|
|
CurrentArm1WorkPresnece = (TazmoRobotWorkPresenceInfoEnum)Convert.ToInt32(data[6]);
|
|
CurrentArm2WorkPresnece = (TazmoRobotWorkPresenceInfoEnum)Convert.ToInt32(data[7]);
|
|
CurrentArm1GripperPosition = (TazmoRobotGripPostionInfoEnum)Convert.ToInt32(data[8]);
|
|
CurrentArm2GripperPosition = (TazmoRobotGripPostionInfoEnum)Convert.ToInt32(data[9]);
|
|
CurrentZpositionCate = (TazmoRobotZPositionInfo)Convert.ToInt32(data[10]);
|
|
}
|
|
private void RegisterSpecialData()
|
|
{
|
|
|
|
}
|
|
|
|
private void ResetPropertiesAndResponses()
|
|
{
|
|
|
|
}
|
|
|
|
private bool OnTimer()
|
|
{
|
|
try
|
|
{
|
|
_connection.MonitorTimeout();
|
|
if (!_connection.IsConnected || _connection.IsCommunicationError)
|
|
{
|
|
lock (_locker)
|
|
{
|
|
_lstHandler.Clear();
|
|
}
|
|
|
|
_trigRetryConnect.CLK = !_connection.IsConnected;
|
|
if (_trigRetryConnect.Q)
|
|
{
|
|
_connection.SetPortAddress(SC.GetStringValue($"{Name}.Address"));
|
|
if (!_connection.Connect())
|
|
{
|
|
EV.PostAlarmLog(Module, $"Can not connect with {_connection.Address}, {Module}.{Name}");
|
|
}
|
|
|
|
}
|
|
return true;
|
|
}
|
|
|
|
HandlerBase handler = null;
|
|
if (!_connection.IsBusy)
|
|
{
|
|
lock (_locker)
|
|
{
|
|
if (_lstHandler.Count == 0)
|
|
{
|
|
}
|
|
|
|
if (_lstHandler.Count > 0)
|
|
{
|
|
handler = _lstHandler.First.Value;
|
|
if (handler != null) _connection.Execute(handler);
|
|
_lstHandler.RemoveFirst();
|
|
}
|
|
}
|
|
|
|
|
|
}
|
|
}
|
|
catch (Exception ex)
|
|
{
|
|
LOG.Write(ex);
|
|
}
|
|
|
|
return true;
|
|
}
|
|
|
|
public string Address { get; private set; }
|
|
|
|
public bool IsConnected { get; private set; }
|
|
|
|
public bool Connect()
|
|
{
|
|
return _connection.Connect();
|
|
}
|
|
|
|
public bool Disconnect()
|
|
{
|
|
return _connection.Disconnect();
|
|
}
|
|
|
|
public override RobotArmWaferStateEnum GetWaferState(RobotArmEnum arm)
|
|
{
|
|
if (arm == RobotArmEnum.Lower)
|
|
{
|
|
if (CurrentArm1WorkPresnece == TazmoRobotWorkPresenceInfoEnum.NoWork)
|
|
return RobotArmWaferStateEnum.Absent;
|
|
if (CurrentArm1WorkPresnece == TazmoRobotWorkPresenceInfoEnum.WorkExists)
|
|
return RobotArmWaferStateEnum.Present;
|
|
}
|
|
if(arm == RobotArmEnum.Upper)
|
|
{
|
|
if (CurrentArm2WorkPresnece == TazmoRobotWorkPresenceInfoEnum.NoWork)
|
|
return RobotArmWaferStateEnum.Absent;
|
|
if (CurrentArm2WorkPresnece == TazmoRobotWorkPresenceInfoEnum.WorkExists)
|
|
return RobotArmWaferStateEnum.Present;
|
|
}
|
|
return RobotArmWaferStateEnum.Unknown;
|
|
}
|
|
|
|
public override bool IsReady()
|
|
{
|
|
throw new NotImplementedException();
|
|
}
|
|
|
|
protected override bool fClear(object[] param)
|
|
{
|
|
throw new NotImplementedException();
|
|
}
|
|
|
|
protected override bool fError(object[] param)
|
|
{
|
|
throw new NotImplementedException();
|
|
}
|
|
|
|
protected override bool fReset(object[] param)
|
|
{
|
|
bool waferconfirm = SC.ContainsItem("Robot.WaferConfirmOnHome") &&
|
|
(SC.GetValue<int>("Robot.WaferConfirmOnHome") == 0); //0=auto detect,1=down move after release
|
|
lock (_locker)
|
|
{
|
|
_lstHandler.AddLast(new TazmoRobotTwinTransactionHandler(this, "RST", waferconfirm ? "0" : "1"));
|
|
}
|
|
return true;
|
|
}
|
|
protected override bool fStartInit(object[] param)
|
|
{
|
|
lock (_locker)
|
|
{
|
|
_lstHandler.AddLast(new TazmoRobotTwinTransactionHandler(this, "HOM", ""));
|
|
}
|
|
return true;
|
|
|
|
}
|
|
|
|
protected override bool fResetToReady(object[] param)
|
|
{
|
|
throw new NotImplementedException();
|
|
}
|
|
|
|
protected override bool fStartExtendForPick(object[] param)
|
|
{
|
|
throw new NotImplementedException();
|
|
}
|
|
|
|
protected override bool fStartExtendForPlace(object[] param)
|
|
{
|
|
throw new NotImplementedException();
|
|
}
|
|
|
|
protected override bool fStartGoTo(object[] param)
|
|
{
|
|
throw new NotImplementedException();
|
|
}
|
|
|
|
protected override bool fStartGrip(object[] param)
|
|
{
|
|
RobotArmEnum arm = (RobotArmEnum)((int)param[0]);
|
|
lock (_locker)
|
|
{
|
|
if (arm == RobotArmEnum.Both)
|
|
{
|
|
_lstHandler.AddLast(new TazmoRobotTwinTransactionHandler(this, "VVN", "1"));
|
|
_lstHandler.AddLast(new TazmoRobotTwinTransactionHandler(this, "VVN", "2"));
|
|
}
|
|
if(arm == RobotArmEnum.Lower)
|
|
{
|
|
_lstHandler.AddLast(new TazmoRobotTwinTransactionHandler(this, "VVN", "1"));
|
|
}
|
|
if(arm == RobotArmEnum.Upper)
|
|
{
|
|
_lstHandler.AddLast(new TazmoRobotTwinTransactionHandler(this, "VVN", "2"));
|
|
}
|
|
}
|
|
return true;
|
|
}
|
|
|
|
|
|
|
|
protected override bool fStartMapWafer(object[] param)
|
|
{
|
|
throw new NotImplementedException();
|
|
}
|
|
|
|
protected override bool fStartPickWafer(object[] param)
|
|
{
|
|
throw new NotImplementedException();
|
|
}
|
|
|
|
protected override bool fStartPlaceWafer(object[] param)
|
|
{
|
|
throw new NotImplementedException();
|
|
}
|
|
|
|
protected override bool fStartReadData(object[] param)
|
|
{
|
|
throw new NotImplementedException();
|
|
}
|
|
|
|
protected override bool fStartRetractFromPick(object[] param)
|
|
{
|
|
throw new NotImplementedException();
|
|
}
|
|
|
|
protected override bool fStartRetractFromPlace(object[] param)
|
|
{
|
|
throw new NotImplementedException();
|
|
}
|
|
|
|
protected override bool fStartSetParameters(object[] param)
|
|
{
|
|
throw new NotImplementedException();
|
|
}
|
|
|
|
protected override bool fStartSwapWafer(object[] param)
|
|
{
|
|
throw new NotImplementedException();
|
|
}
|
|
|
|
protected override bool fStartTransferWafer(object[] param)
|
|
{
|
|
throw new NotImplementedException();
|
|
}
|
|
|
|
protected override bool fStartUnGrip(object[] param)
|
|
{
|
|
RobotArmEnum arm = (RobotArmEnum)((int)param[0]);
|
|
lock (_locker)
|
|
{
|
|
if (arm == RobotArmEnum.Both)
|
|
{
|
|
_lstHandler.AddLast(new TazmoRobotTwinTransactionHandler(this, "VVF", "1"));
|
|
_lstHandler.AddLast(new TazmoRobotTwinTransactionHandler(this, "VVF", "2"));
|
|
}
|
|
if (arm == RobotArmEnum.Lower)
|
|
{
|
|
_lstHandler.AddLast(new TazmoRobotTwinTransactionHandler(this, "VVF", "1"));
|
|
}
|
|
if (arm == RobotArmEnum.Upper)
|
|
{
|
|
_lstHandler.AddLast(new TazmoRobotTwinTransactionHandler(this, "VVF", "2"));
|
|
}
|
|
}
|
|
return true;
|
|
}
|
|
public override void Reset()
|
|
{
|
|
_trigError.RST = true;
|
|
|
|
_connection.SetCommunicationError(false, "");
|
|
_trigCommunicationError.RST = true;
|
|
|
|
_enableLog = SC.GetValue<bool>($"{_scRoot}.{Name}.EnableLogMessage");
|
|
_connection.EnableLog(_enableLog);
|
|
|
|
_trigRetryConnect.RST = true;
|
|
|
|
//base.Reset();
|
|
}
|
|
}
|
|
|
|
}
|