1373 lines
44 KiB
C#
1373 lines
44 KiB
C#
using System;
|
||
using System.Collections.Generic;
|
||
using System.Diagnostics;
|
||
using System.Threading;
|
||
using Aitex.Core.RT.DataCenter;
|
||
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.CommonData;
|
||
using MECF.Framework.Common.Communications;
|
||
using MECF.Framework.Common.Equipment;
|
||
using MECF.Framework.Common.SubstrateTrackings;
|
||
using MECF.Framework.RT.EquipmentLibrary.Core.Extensions;
|
||
using MECF.Framework.RT.EquipmentLibrary.HardwareUnits.Common;
|
||
using MECF.Framework.RT.EquipmentLibrary.HardwareUnits.Robots.HwinRobort;
|
||
using MECF.Framework.RT.EquipmentLibrary.HardwareUnits.Robots.HwinRobort.Errors;
|
||
using MECF.Framework.RT.EquipmentLibrary.HardwareUnits.Robots.RobotBase;
|
||
|
||
namespace MECF.Framework.RT.EquipmentLibrary.HardwareUnits.Robots.HwinRobot
|
||
{
|
||
public class HwinRobot : RobotBaseDevice, IConnection
|
||
{
|
||
#region Variables
|
||
|
||
public object _locker = new object();
|
||
|
||
public PeriodicJob _thread;
|
||
|
||
public readonly Dictionary<string, string> _errorCodeReferenceDic = new Dictionary<string, string>();
|
||
public readonly LinkedList<HandlerBase> _lstHandler = new LinkedList<HandlerBase>();
|
||
public readonly SCConfigItem _scHomeTimeout;
|
||
public readonly SCConfigItem _scMotionTimeout;
|
||
public readonly R_TRIG _trigCommunicationError = new R_TRIG();
|
||
public readonly R_TRIG _trigRetryConnect = new R_TRIG();
|
||
|
||
public List<ModuleName> _disabledIntlkModules = new List<ModuleName>();
|
||
|
||
public readonly bool _enableLog;
|
||
public string _scRoot;
|
||
|
||
public readonly R_TRIG _trigError = new R_TRIG();
|
||
public bool _isAlarm;
|
||
|
||
#endregion
|
||
|
||
#region Constructors
|
||
|
||
public HwinRobot(string module, string name, string endof = "\r\n") : base(module, name)
|
||
{
|
||
DATA.Subscribe($"{Module}.IsConnected", () => IsConnected);
|
||
DATA.Subscribe($"{Module}.Address", () => Address);
|
||
DATA.Subscribe($"{Module}.IsBobotReady", () => IsReady());
|
||
OP.Subscribe($"{Module}.Reconnect", (string cmd, object[] args) =>
|
||
{
|
||
Disconnect();
|
||
Connect();
|
||
return true;
|
||
});
|
||
|
||
OP.Subscribe($"{Module}.STAT", (string cmd, object[] args) =>
|
||
{
|
||
RobotCheckStat();
|
||
return true;
|
||
});
|
||
|
||
OP.Subscribe($"{Module}.ERR", (string cmd, object[] args) =>
|
||
{
|
||
RobotCheckError();
|
||
return true;
|
||
});
|
||
|
||
OP.Subscribe($"{Module}.MAP", (string cmd, object[] args) =>
|
||
{
|
||
RobotMap(args);
|
||
return true;
|
||
});
|
||
OP.Subscribe($"{Module}.RSR", (string cmd, object[] args) =>
|
||
{
|
||
RobotRsr();
|
||
return true;
|
||
});
|
||
OP.Subscribe($"{Module}.HOME", (string cmd, object[] args) =>
|
||
{
|
||
RobotHome();
|
||
return true;
|
||
});
|
||
|
||
OP.Subscribe($"{Module}.PUTSP", (string cmd, object[] args) =>
|
||
{
|
||
RobotPlaceSP(args);
|
||
return true;
|
||
});
|
||
OP.Subscribe($"{Module}.GETSP", (string cmd, object[] args) =>
|
||
{
|
||
RobotPickSP(args);
|
||
return true;
|
||
});
|
||
OP.Subscribe($"{Module}.InputA", (string cmd, object[] args) =>
|
||
{
|
||
InputA();
|
||
return true;
|
||
});
|
||
|
||
OP.Subscribe($"{Module}.GETA", (string cmd, object[] args) =>
|
||
{
|
||
RobotPickA(args);
|
||
return true;
|
||
});
|
||
OP.Subscribe($"{Module}.PUTA", (string cmd, object[] args) =>
|
||
{
|
||
RobotPlaceA(args);
|
||
return true;
|
||
});
|
||
OP.Subscribe($"{Module}.GETB", (string cmd, object[] args) =>
|
||
{
|
||
RobotPickB(args);
|
||
return true;
|
||
});
|
||
OP.Subscribe($"{Module}.PUTB", (string cmd, object[] args) =>
|
||
{
|
||
RobotPlaceB(args);
|
||
return true;
|
||
});
|
||
OP.Subscribe($"{Module}.RobotConnectHomeAll", (string cmd, object[] args) =>
|
||
{
|
||
RobotConnectHomeAll();
|
||
return true;
|
||
});
|
||
OP.Subscribe($"{Module}.RESP", (string cmd, object[] args) =>
|
||
{
|
||
RobotRESP();
|
||
return true;
|
||
});
|
||
OP.Subscribe($"{Module}.REMS", (string cmd, object[] args) =>
|
||
{
|
||
RobotREMS();
|
||
return true;
|
||
});
|
||
OP.Subscribe($"{Module}.SVON", (string cmd, object[] args) =>
|
||
{
|
||
RobotSVON();
|
||
return true;
|
||
});
|
||
OP.Subscribe($"{Module}.AbortAction", (string cmd, object[] args) =>
|
||
{
|
||
fAbort(args);
|
||
OnActionDone(args);
|
||
return true;
|
||
});
|
||
//开真空
|
||
OP.Subscribe($"{Module}.VacuumOn", (string cmd, object[] args) =>
|
||
{
|
||
RobotVacuumOn();
|
||
return true;
|
||
});
|
||
//关真空
|
||
OP.Subscribe($"{Module}.VacuumOff", (string cmd, object[] args) =>
|
||
{
|
||
RobotVacuumOff();
|
||
return true;
|
||
});
|
||
//开夹爪
|
||
OP.Subscribe($"{Module}.HandOn", (string cmd, object[] args) =>
|
||
{
|
||
RobotHandOn();
|
||
return true;
|
||
});
|
||
//关夹爪
|
||
OP.Subscribe($"{Module}.HandOff", (string cmd, object[] args) =>
|
||
{
|
||
RobotHandOff();
|
||
return true;
|
||
});
|
||
ModuleAssociateStationDic = new Dictionary<string, string>()
|
||
{
|
||
{$"{ModuleName.LoadLock }", "D" },
|
||
{$"{ModuleName.UnLoad}", "E" },
|
||
{$"{ModuleName.CassAL}", "A"},
|
||
{$"{ModuleName.CassAR}", "B"},
|
||
{$"{ModuleName.Aligner}", "C"},
|
||
};
|
||
|
||
|
||
try
|
||
{
|
||
string deviceIP = "";
|
||
deviceIP = SC.GetStringValue($"{Module}.Address");
|
||
_enableLog = SC.GetValue<bool>($"{Module}.EnableLogMessage");
|
||
_scHomeTimeout = SC.GetConfigItem($"{Module}.HomeTimeout");
|
||
_scMotionTimeout = SC.GetConfigItem($"{Module}.MotionTimeout");
|
||
|
||
if(Module == "WaferRobot")
|
||
{
|
||
WaferManager.Instance.SubscribeLocation(Module, 1, true, false);
|
||
}
|
||
else
|
||
{
|
||
WaferManager.Instance.SubscribeLocation(Module, 1, false, true);
|
||
}
|
||
|
||
Connection = new HwinRobotTCPConnection(deviceIP, endof);
|
||
Connection.EnableLog(_enableLog);
|
||
|
||
Status = new HiwinRobotStatus();
|
||
|
||
if (Connection.Connect())
|
||
{
|
||
_trigConnection.CLK = true;
|
||
PortStatus = "Open";
|
||
EV.PostInfoLog(Module, $"{Module}.{Name} connected");
|
||
}
|
||
else
|
||
{
|
||
PortStatus = "Close";
|
||
EV.PostInfoLog(Module, $"{Module}.{Name} connect failed");
|
||
}
|
||
|
||
_thread = new PeriodicJob(100, OnTimer, $"{Module}.{Name} MonitorHandler", true);
|
||
}
|
||
catch (Exception ex)
|
||
{
|
||
EV.PostAlarmLog(Module, ex.ToString());
|
||
}
|
||
}
|
||
|
||
#endregion
|
||
|
||
#region Properties
|
||
|
||
public string Address => Connection.Address;
|
||
|
||
public bool IsConnected => Connection.IsConnected && !Connection.IsCommunicationError;
|
||
|
||
public string PortStatus { get; set; } = "Closed";
|
||
|
||
public bool Connect() { return Connection.Connect(); }
|
||
|
||
public bool Disconnect() { return Connection.Disconnect(); }
|
||
|
||
public HwinRobotTCPConnection Connection { get; }
|
||
|
||
public Dictionary<string, string> ModuleAssociateStationDic { get; set; }
|
||
|
||
public R_TRIG _trigConnection = new R_TRIG();
|
||
|
||
public HiwinRobotStatus Status { get; private set; }
|
||
|
||
public HiwinRobotAggregatedErrors Errors { get; private set; }
|
||
|
||
#endregion
|
||
|
||
#region Methods
|
||
private void CheckStateThenDo(Action onCheckSucceed, Action onCheckFailed = null)
|
||
{
|
||
// 检查Robot状态
|
||
_lstHandler.AddLast(new HwinRobotERRHandler(this, onHandlerEndTask: () =>
|
||
{
|
||
if (Errors.AggregateErrorMessages != null && Errors.AggregateErrorMessages.Count > 0)
|
||
{
|
||
try
|
||
{
|
||
onCheckFailed?.Invoke();
|
||
}
|
||
catch (Exception ex)
|
||
{
|
||
EV.PostWarningLog(Module, "onCheckFailed action error");
|
||
LOG.Error(ex.Message);
|
||
}
|
||
}
|
||
else
|
||
{
|
||
try
|
||
{
|
||
onCheckSucceed?.Invoke();
|
||
}
|
||
catch (Exception ex)
|
||
{
|
||
EV.PostWarningLog(Module, "onCheckSucceed action error");
|
||
LOG.Error(ex.Message);
|
||
}
|
||
}
|
||
}));
|
||
}
|
||
public override bool IsReady()
|
||
{
|
||
return !Connection.IsBusy && _lstHandler.Count == 0 && !Connection.IsCommunicationError && !IsBusy;// && !_isAlarm;//&& (RobotState == RobotStateEnum.Idle)
|
||
}
|
||
|
||
protected override bool Init()
|
||
{
|
||
return true;
|
||
}
|
||
|
||
private bool OnTimer()
|
||
{
|
||
try
|
||
{
|
||
Connection.MonitorTimeout();
|
||
|
||
if (!Connection.IsConnected || Connection.IsCommunicationError)
|
||
{
|
||
lock (_locker)
|
||
{
|
||
_lstHandler.Clear();
|
||
}
|
||
|
||
_trigRetryConnect.CLK = !Connection.IsConnected;
|
||
if (_trigRetryConnect.Q)
|
||
{
|
||
if (!Connection.Connect())
|
||
{
|
||
EV.PostAlarmLog(Module, $"Can not connect with {Connection.Address}, {Module}.{Name}");
|
||
}
|
||
else
|
||
{
|
||
_trigConnection.CLK = true;
|
||
EV.PostInfoLog(Module, $"Retry connect succee with {Connection.Address}, {Module}.{Name}");
|
||
|
||
}
|
||
}
|
||
return true;
|
||
}
|
||
|
||
HandlerBase handler = null;
|
||
if (!Connection.IsBusy)
|
||
{
|
||
lock (_locker)
|
||
{
|
||
|
||
if (_lstHandler.Count > 0)
|
||
{
|
||
Debug.WriteLine($"[Thread {Thread.CurrentThread.ManagedThreadId}] Handler Count before: {_lstHandler.Count}");
|
||
Debug.WriteLine($"Connection Busy = {Connection.IsBusy}");
|
||
|
||
handler = _lstHandler.First.Value;
|
||
|
||
_lstHandler.RemoveFirst();
|
||
|
||
Debug.WriteLine($"[Thread {Thread.CurrentThread.ManagedThreadId}] Handler Removed: {handler?.GetType().FullName}");
|
||
Debug.WriteLine($"[Thread {Thread.CurrentThread.ManagedThreadId}] Handler Count after: {_lstHandler.Count}");
|
||
}
|
||
}
|
||
|
||
if (handler != null)
|
||
{
|
||
Debug.WriteLine($"[Thread {Thread.CurrentThread.ManagedThreadId}] Executing Handler: {handler?.GetType().FullName}");
|
||
Connection.Execute(handler);
|
||
Debug.WriteLine($"Connection Busy = {Connection.IsBusy}");
|
||
}
|
||
}
|
||
}
|
||
catch (Exception ex)
|
||
{
|
||
LOG.Write(ex);
|
||
}
|
||
|
||
return true;
|
||
}
|
||
|
||
public override void Monitor()
|
||
{
|
||
try
|
||
{
|
||
_trigCommunicationError.CLK = Connection.IsCommunicationError;
|
||
if (_trigCommunicationError.Q)
|
||
{
|
||
EV.PostAlarmLog(Module, $"{Module}.{Name} communication error, {Connection.LastCommunicationError}");
|
||
}
|
||
}
|
||
catch (Exception ex)
|
||
{
|
||
LOG.Write(ex);
|
||
}
|
||
|
||
}
|
||
|
||
protected override void SubscribeWaferLocation()
|
||
{
|
||
//do nothing
|
||
}
|
||
|
||
public override void Reset()
|
||
{
|
||
_trigError.RST = true;
|
||
|
||
Connection.SetCommunicationError(false, "");
|
||
_trigCommunicationError.RST = true;
|
||
_trigWarningMessage.RST = true;
|
||
_trigRetryConnect.RST = true;
|
||
|
||
base.Reset();
|
||
}
|
||
|
||
#endregion
|
||
|
||
#region Command Functions
|
||
internal bool PraseGetWaferData()
|
||
{
|
||
if (CurrentParamter != null && CurrentParamter.Length >= 3)
|
||
{
|
||
ModuleName sourceModule;
|
||
int sourceSlot;
|
||
if (!int.TryParse(CurrentParamter[2].ToString(), out sourceSlot) || !Enum.TryParse(CurrentParamter[1].ToString(), out sourceModule))
|
||
{
|
||
return false;
|
||
}
|
||
|
||
if (!WaferManager.Instance.CheckHasTray(RobotModuleName, 0))
|
||
{
|
||
WaferManager.Instance.WaferMoved(sourceModule, sourceSlot, RobotModuleName, 0);
|
||
return true;
|
||
}
|
||
|
||
}
|
||
return false;
|
||
|
||
}
|
||
|
||
/// <summary>
|
||
/// 解析STAT指令返回值。
|
||
/// </summary>
|
||
/// <param name="response"></param>
|
||
/// <returns></returns>
|
||
public virtual bool ParseStatusData(string response)
|
||
{
|
||
try
|
||
{
|
||
if (!int.TryParse(response, out var status))
|
||
{
|
||
EV.PostAlarmLog(Module, $"Incorrect format of STA Response, {response}");
|
||
return false;
|
||
}
|
||
|
||
var stat = status.ToBitTypeClass<HiwinRobotStatus>(16);
|
||
Status = stat;
|
||
var sInfo = Status.AggregateErrorMessages();
|
||
if (sInfo != null)
|
||
{
|
||
foreach (var s in sInfo)
|
||
{
|
||
EV.PostWarningLog(Module, s);
|
||
}
|
||
}
|
||
|
||
return true;
|
||
}
|
||
catch (Exception ex)
|
||
{
|
||
EV.PostWarningLog(Module, $"{nameof(ParseStatusData)}() excepted, {ex.Message}");
|
||
return false;
|
||
}
|
||
|
||
}
|
||
|
||
/// <summary>
|
||
/// 从控制器获取错误代码。
|
||
/// <para>注意：如果控制器返回的字符串格式错误，则解析失败，Errors设置为null。</para>
|
||
/// </summary>
|
||
/// <param name="response"></param>
|
||
/// <returns></returns>
|
||
internal virtual bool ParseErrData(string response)
|
||
{
|
||
try
|
||
{
|
||
if (HiwinRobotAggregatedErrors.IsErrResponse(response, out _) == false)
|
||
{
|
||
EV.PostAlarmLog(Module, $"Incorrect format of ERR Response, {response}");
|
||
}
|
||
else
|
||
{
|
||
Errors = null;
|
||
Errors = new HiwinRobotAggregatedErrors(response);
|
||
if (Errors.AggregateErrorMessages.Count > 0)
|
||
{
|
||
foreach (string errMsg in Errors.AggregateErrorMessages)
|
||
{
|
||
EV.PostAlarmLog(Module, errMsg);
|
||
}
|
||
}
|
||
}
|
||
|
||
return true;
|
||
}
|
||
catch (Exception ex)
|
||
{
|
||
return true;
|
||
}
|
||
}
|
||
|
||
internal bool PrasePutWaferData()
|
||
{
|
||
if (CurrentParamter != null && CurrentParamter.Length >= 3)
|
||
{
|
||
ModuleName sourceModule;
|
||
int sourceSlot;
|
||
if (!int.TryParse(CurrentParamter[2].ToString(), out sourceSlot) || !Enum.TryParse(CurrentParamter[1].ToString(), out sourceModule))
|
||
{
|
||
return false;
|
||
}
|
||
|
||
if (!WaferManager.Instance.CheckHasTray(sourceModule, sourceSlot))
|
||
{
|
||
WaferManager.Instance.WaferMoved(RobotModuleName, 0, sourceModule, sourceSlot);
|
||
return true;
|
||
}
|
||
}
|
||
return false;
|
||
}
|
||
|
||
public virtual void RobotPickB(object[] args)
|
||
{
|
||
if (args.Length >= 2)
|
||
{
|
||
lock (_locker)
|
||
{
|
||
_lstHandler.Clear();
|
||
CheckStateThenDo(() =>
|
||
{
|
||
_lstHandler.AddLast(new HwinRobotGETBHandler(this, args[0].ToString(), Convert.ToInt32(args[1])));
|
||
});
|
||
}
|
||
}
|
||
}
|
||
|
||
public virtual void RobotPlaceB(object[] args)
|
||
{
|
||
if (args.Length >= 2)
|
||
{
|
||
lock (_locker)
|
||
{
|
||
_lstHandler.Clear();
|
||
CheckStateThenDo(() =>
|
||
{
|
||
_lstHandler.AddLast(new HwinRobotPUTBHandler(this, args[0].ToString(), Convert.ToInt32(args[1])));
|
||
});
|
||
|
||
}
|
||
}
|
||
}
|
||
|
||
public void RobotPickA(object[] args)
|
||
{
|
||
if (args.Length >= 2)
|
||
{
|
||
|
||
lock (_locker)
|
||
{
|
||
_lstHandler.Clear();
|
||
|
||
CheckStateThenDo(() =>
|
||
{
|
||
_lstHandler.AddLast(new HwinRobotGETAHandler(this, args[0].ToString(),
|
||
Convert.ToInt32(args[1])));
|
||
});
|
||
|
||
}
|
||
}
|
||
}
|
||
|
||
public void RobotPlaceA(object[] args)
|
||
{
|
||
if (args.Length >= 2)
|
||
{
|
||
|
||
lock (_locker)
|
||
{
|
||
_lstHandler.Clear();
|
||
CheckStateThenDo(() =>
|
||
{
|
||
_lstHandler.AddLast(new HwinRobotPUTAHandler(this, args[0].ToString(),
|
||
Convert.ToInt32(args[1])));
|
||
});
|
||
|
||
}
|
||
}
|
||
}
|
||
|
||
public virtual void RobotPickSP(object[] args)
|
||
{
|
||
if (args.Length >= 3)
|
||
{
|
||
lock (_locker)
|
||
{
|
||
_lstHandler.Clear();
|
||
CheckStateThenDo(() =>
|
||
{
|
||
_lstHandler.AddLast(new HwinRobotGETSPHandler(this, args[0].ToString(),
|
||
Convert.ToInt32(args[1]), Convert.ToInt32(args[2])));
|
||
});
|
||
|
||
}
|
||
}
|
||
}
|
||
|
||
public void RobotPlaceSP(object[] args)
|
||
{
|
||
if (args.Length >= 3)
|
||
{
|
||
|
||
lock (_locker)
|
||
{
|
||
_lstHandler.Clear();
|
||
CheckStateThenDo(() =>
|
||
{
|
||
_lstHandler.AddLast(new HwinRobotPUTSPHandler(this, args[0].ToString(),
|
||
Convert.ToInt32(args[1]), Convert.ToInt32(args[2])));
|
||
});
|
||
|
||
}
|
||
}
|
||
}
|
||
|
||
public virtual void SetWaferData(string data)
|
||
{
|
||
//0:未扫片 1:有 2:没有 3:斜放 4:两片 5:薄片
|
||
string errorMessage = "";
|
||
int waferCount = 1;
|
||
if (CurrentInteractModule == ModuleName.CassAL || CurrentInteractModule == ModuleName.CassAR)
|
||
{
|
||
waferCount = 25;
|
||
}
|
||
if (data.Length == 25)//Wafer Cassette
|
||
{
|
||
for (int i = 0; i < waferCount; i++)
|
||
{
|
||
string waferStatue = data.Substring(i, 1);
|
||
if (waferStatue == "1")
|
||
{
|
||
if (!WaferManager.Instance.CheckHasWafer(CurrentInteractModule, i))
|
||
{
|
||
WaferManager.Instance.CreateWafer(CurrentInteractModule, i, Aitex.Core.Common.WaferStatus.Normal);
|
||
}
|
||
}
|
||
else if (waferStatue == "0" || waferStatue == "X")
|
||
{
|
||
if (WaferManager.Instance.CheckHasWafer(CurrentInteractModule, i))
|
||
{
|
||
WaferManager.Instance.DeleteWafer(CurrentInteractModule, i);
|
||
}
|
||
}
|
||
else
|
||
{
|
||
string msg = "";
|
||
if (!WaferManager.Instance.CheckHasWafer(CurrentInteractModule, i))
|
||
{
|
||
WaferManager.Instance.CreateWafer(CurrentInteractModule, i, GetWaferStarusByNum(waferStatue, out msg));
|
||
}
|
||
else
|
||
{
|
||
WaferManager.Instance.GetWafer(CurrentInteractModule, i).WaferStatus = GetWaferStarusByNum(waferStatue, out msg);// Aitex.Core.Common.WaferStatus.Crossed;
|
||
}
|
||
errorMessage += $"slot {i + 1} has {msg}!" + "\r\n";
|
||
}
|
||
}
|
||
}
|
||
else if (data.Length == 1)
|
||
{
|
||
if (data == "0")
|
||
{
|
||
if (!WaferManager.Instance.CheckHasWafer(ModuleHelper.Converter(Module), 0))
|
||
{
|
||
WaferManager.Instance.CreateWafer(ModuleHelper.Converter(Module), 0, Aitex.Core.Common.WaferStatus.Normal);
|
||
}
|
||
}
|
||
else if (data == "1")
|
||
{
|
||
if (WaferManager.Instance.CheckHasWafer(ModuleHelper.Converter(Module), 0))
|
||
{
|
||
WaferManager.Instance.DeleteWafer(ModuleHelper.Converter(Module), 0);
|
||
}
|
||
}
|
||
}
|
||
if (!String.IsNullOrEmpty(errorMessage))
|
||
{
|
||
EV.PostWarningLog(Module, $"Module {CurrentInteractModule} {errorMessage}");
|
||
}
|
||
}
|
||
|
||
private Aitex.Core.Common.WaferStatus GetWaferStarusByNum(string num, out string msg)
|
||
{
|
||
switch (num)
|
||
{
|
||
case "2":
|
||
msg = "crossed wafer";
|
||
return Aitex.Core.Common.WaferStatus.Crossed;
|
||
case "3":
|
||
msg = "double wafer";
|
||
return Aitex.Core.Common.WaferStatus.Double;
|
||
case "4":
|
||
msg = "thin wafer";
|
||
return Aitex.Core.Common.WaferStatus.Double;
|
||
case "5":
|
||
msg = "flimsy wafer";
|
||
return Aitex.Core.Common.WaferStatus.Double;
|
||
default:
|
||
msg = "wafer";
|
||
return Aitex.Core.Common.WaferStatus.Crossed;
|
||
}
|
||
}
|
||
|
||
public void RobotCheckStat()
|
||
{
|
||
_lstHandler.Clear();
|
||
lock (_locker)
|
||
{
|
||
_lstHandler.AddLast(new HwinRobotSTATHandler(this));
|
||
}
|
||
}
|
||
|
||
public virtual void RobotCheckError()
|
||
{
|
||
lock (_locker)
|
||
{
|
||
_lstHandler.Clear();
|
||
_lstHandler.AddLast(new HwinRobotERRHandler(this));
|
||
}
|
||
}
|
||
|
||
public void RobotHome()
|
||
{
|
||
_lstHandler.Clear();
|
||
lock (_locker)
|
||
{
|
||
_lstHandler.AddLast(new HwinRobotHomeHandler(this));
|
||
}
|
||
}
|
||
|
||
public virtual void RobotRsr()
|
||
{
|
||
_lstHandler.Clear();
|
||
lock (_locker)
|
||
{
|
||
_lstHandler.AddLast(new HwinRobotRSRHandler(this));
|
||
}
|
||
}
|
||
|
||
public void RobotMap(object[] args)
|
||
{
|
||
lock (_locker)
|
||
{
|
||
_lstHandler.Clear();
|
||
CheckStateThenDo(() => { _lstHandler.AddLast(new HwinRobotMapHandler(this, args[0].ToString())); });
|
||
}
|
||
}
|
||
|
||
public virtual void InputA()
|
||
{
|
||
_lstHandler.Clear();
|
||
lock (_locker)
|
||
{
|
||
_lstHandler.AddLast(new HwinRobotOutpOpenHandler(this));
|
||
_lstHandler.AddLast(new HwinRobotINPUTHandler(this));
|
||
_lstHandler.AddLast(new HwinRobotOutpCloseHandler(this));
|
||
}
|
||
}
|
||
|
||
|
||
public virtual void RobotConnectHomeAll()
|
||
{
|
||
IsBusy = false;
|
||
Connection.ForceClear();
|
||
_lstHandler.Clear();
|
||
lock (_locker)
|
||
{
|
||
_lstHandler.AddLast(new HwinRobotRespHandler(this));
|
||
_lstHandler.AddLast(new HwinRobotRemsHandler(this));
|
||
_lstHandler.AddLast(new HwinRobotSVONHandler(this));
|
||
_lstHandler.AddLast(new HwinRobotHomeHandler(this, _scMotionTimeout.IntValue));
|
||
_lstHandler.AddLast(new HwinRobotOutpOpenHandler(this));
|
||
_lstHandler.AddLast(new HwinRobotINPUTHandler(this));
|
||
_lstHandler.AddLast(new HwinRobotOutpCloseHandler(this));
|
||
}
|
||
}
|
||
|
||
public void RobotRESP()
|
||
{
|
||
_lstHandler.Clear();
|
||
lock (_locker)
|
||
{
|
||
_lstHandler.AddLast(new HwinRobotRespHandler(this));
|
||
}
|
||
}
|
||
|
||
public void RobotREMS()
|
||
{
|
||
_lstHandler.Clear();
|
||
lock (_locker)
|
||
{
|
||
_lstHandler.AddLast(new HwinRobotRemsHandler(this));
|
||
}
|
||
}
|
||
|
||
public void RobotSVON()
|
||
{
|
||
_lstHandler.Clear();
|
||
lock (_locker)
|
||
{
|
||
_lstHandler.AddLast(new HwinRobotSVONHandler(this));
|
||
}
|
||
}
|
||
|
||
public void RobotVacuumOn()
|
||
{
|
||
_lstHandler.Clear();
|
||
lock (_locker)
|
||
{
|
||
_lstHandler.AddLast(new HwinRobotOutpOpenHandler(this));
|
||
}
|
||
}
|
||
|
||
public void RobotVacuumOff()
|
||
{
|
||
_lstHandler.Clear();
|
||
lock (_locker)
|
||
{
|
||
_lstHandler.AddLast(new HwinRobotOutpCloseHandler(this));
|
||
}
|
||
}
|
||
|
||
public void RobotHandOn()
|
||
{
|
||
_lstHandler.Clear();
|
||
lock (_locker)
|
||
{
|
||
_lstHandler.AddLast(new HwinRobotBOPTPHandler(this));
|
||
}
|
||
}
|
||
|
||
public void RobotHandOff()
|
||
{
|
||
_lstHandler.Clear();
|
||
lock (_locker)
|
||
{
|
||
_lstHandler.AddLast(new HwinRobotBOPTClosePHandler(this));
|
||
}
|
||
}
|
||
#endregion
|
||
|
||
#region Note Functions
|
||
public readonly R_TRIG _trigWarningMessage = new R_TRIG();
|
||
///<summary>
|
||
/// 查询并打印错误
|
||
///</summary>
|
||
///<param name = eason">当前指令的错误原因: 超时或返回? </param>
|
||
///<param name = erformErrCmd">是否执行ERR指令</param>
|
||
///<para>如果是E[指令本身返回“?，则不要再执行ERR指令，以免造成死循环。</para>
|
||
public void NoteError(string reason, bool performErrCmd = true)
|
||
{
|
||
//确保传入的信息不能为空
|
||
if (string.IsNullOrEmpty(reason))
|
||
reason = "Unknown Error";
|
||
|
||
//重置TCPConnection对象，否则RobotCheckError函数中添加ERR指令到命令列队会造成TCPConnection失效
|
||
fAbort(null);
|
||
EV.PostAlarmLog(Module, $"{Module}.{Name} error, {reason}");
|
||
|
||
|
||
// 查询机械手异常信息。
|
||
if (performErrCmd)// 如果是ERR指令本身返回?，则不要再执行ERR指令，以免造成死循环
|
||
RobotCheckError();
|
||
|
||
|
||
// if (reason != null)
|
||
// {
|
||
// fAbort(null);
|
||
//
|
||
// _trigWarningMessage.CLK = true;
|
||
// var content = reason;
|
||
// if (_errorCodeReferenceDic.ContainsKey(reason))
|
||
// {
|
||
// content = _errorCodeReferenceDic[reason];
|
||
// }
|
||
// if (_trigWarningMessage.Q)
|
||
// {
|
||
// EV.PostWarningLog(Module, $"{Module}.{Name} error, {reason} {content}");
|
||
// }
|
||
// _isAlarm = true;
|
||
// ErrorCode = reason;
|
||
// }
|
||
// else
|
||
// {
|
||
// _isAlarm = false;
|
||
// }
|
||
}
|
||
|
||
public virtual void NoteActionCompleted()
|
||
{
|
||
//Blade1Target = ModuleName.System;
|
||
//Blade2Target = ModuleName.System;
|
||
IsBusy = false;
|
||
CheckToPostMessage((int)RobotMsg.ActionDone);
|
||
}
|
||
|
||
internal void NotePickCompleted()
|
||
{
|
||
PostMessageWithoutCheck((int)RobotMsg.PickComplete, CurrentParamter);
|
||
}
|
||
|
||
internal void NotePlaceCompleted()
|
||
{
|
||
PostMessageWithoutCheck((int)RobotMsg.PlaceComplete, CurrentParamter);
|
||
}
|
||
|
||
protected override bool fStartHome(object[] param)
|
||
{
|
||
lock (_locker)
|
||
{
|
||
_lstHandler.AddLast(new HwinRobotHomeHandler(this, _scHomeTimeout.IntValue));
|
||
}
|
||
return true;
|
||
}
|
||
|
||
protected override bool fClear(object[] param)
|
||
{
|
||
return true;
|
||
}
|
||
|
||
public override bool ReadParameter(object[] param)
|
||
{
|
||
return CheckToPostMessage((int)RobotMsg.ReadData, param);
|
||
}
|
||
|
||
protected override bool fStartReadData(object[] param)
|
||
{
|
||
return true;
|
||
}
|
||
|
||
protected override bool fStartSetParameters(object[] param)
|
||
{
|
||
return true;
|
||
}
|
||
|
||
protected override bool fStartTransferWafer(object[] param)
|
||
{
|
||
return true;
|
||
}
|
||
|
||
protected override bool fStartUnGrip(object[] param)
|
||
{
|
||
return true;
|
||
}
|
||
|
||
protected override bool fStartGrip(object[] param)
|
||
{
|
||
return true;
|
||
}
|
||
|
||
protected override bool fStartGoTo(object[] param)
|
||
{
|
||
return true;
|
||
}
|
||
|
||
protected override bool fStartMapWafer(object[] param)
|
||
{
|
||
try
|
||
{
|
||
if (param.Length >= 1)
|
||
{
|
||
|
||
lock (_locker)
|
||
{
|
||
_lstHandler.AddLast(new HwinRobotMapHandler(this, param[0].ToString(), _scMotionTimeout.IntValue));
|
||
_lstHandler.AddLast(new HwinRobotRSRHandler(this, _scMotionTimeout.IntValue));
|
||
_lstHandler.AddLast(new HwinRobotHomeHandler(this, _scMotionTimeout.IntValue));
|
||
}
|
||
}
|
||
}
|
||
catch (Exception ex)
|
||
{
|
||
LOG.Write(ex);
|
||
return false;
|
||
}
|
||
|
||
return true;
|
||
}
|
||
|
||
protected override bool fStartSwapWafer(object[] param)
|
||
{
|
||
return false;
|
||
}
|
||
|
||
//(module, slot)
|
||
protected override bool fStartPlaceWafer(object[] param)
|
||
{
|
||
try
|
||
{
|
||
//arm, station, slot
|
||
if (param.Length >= 3)
|
||
{
|
||
ModuleName sourceModule;
|
||
int sourceSlot;
|
||
if (!int.TryParse(CurrentParamter[2].ToString(), out sourceSlot) || !Enum.TryParse(CurrentParamter[1].ToString(), out sourceModule))
|
||
{
|
||
return false;
|
||
}
|
||
|
||
if (WaferManager.Instance.CheckHasWafer(RobotModuleName, 0))
|
||
{
|
||
WaferManager.Instance.WaferMoved(RobotModuleName, 0, sourceModule, sourceSlot);
|
||
}
|
||
lock (_locker)
|
||
{
|
||
CheckStateThenDo(() =>
|
||
{
|
||
// 执行Place指令
|
||
_lstHandler.AddLast(new HwinRobotPUTSPHandler(this, param[1].ToString(), Convert.ToInt32(param[2]), 4, _scMotionTimeout.IntValue)); //收回
|
||
});
|
||
}
|
||
}
|
||
}
|
||
catch (Exception ex)
|
||
{
|
||
LOG.Write(ex);
|
||
return false;
|
||
}
|
||
|
||
return true;
|
||
}
|
||
|
||
//(module, slot)
|
||
protected override bool fStartPickWafer(object[] param)
|
||
{
|
||
try
|
||
{
|
||
//arm, station, slot
|
||
if (param.Length >= 3)
|
||
{
|
||
lock (_locker)
|
||
{
|
||
CheckStateThenDo(() =>
|
||
{
|
||
// 执行Pick指令
|
||
_lstHandler.AddLast(new HwinRobotGETSPHandler(this, param[1].ToString(), Convert.ToInt32(param[2]), 3, _scMotionTimeout.IntValue)); //吸住
|
||
_lstHandler.AddLast(new HwinRobotGETSPHandler(this, param[1].ToString(), Convert.ToInt32(param[2]), 4, _scMotionTimeout.IntValue)); //缩回
|
||
});
|
||
}
|
||
}
|
||
}
|
||
catch (Exception ex)
|
||
{
|
||
LOG.Write(ex);
|
||
return false;
|
||
}
|
||
|
||
return true;
|
||
}
|
||
|
||
protected override bool fPlaceComplete(object[] param)
|
||
{
|
||
Blade1Target = ModuleName.System;
|
||
Blade2Target = ModuleName.System;
|
||
|
||
try
|
||
{
|
||
|
||
////arm, station, slot
|
||
//if (param.Length >= 3)
|
||
//{
|
||
// ModuleName sourceModule;
|
||
// int sourceSlot;
|
||
// if (!int.TryParse(CurrentParamter[2].ToString(), out sourceSlot) || !Enum.TryParse(CurrentParamter[1].ToString(), out sourceModule))
|
||
// {
|
||
// return false;
|
||
// }
|
||
|
||
// if (WaferManager.Instance.CheckHasWafer(RobotModuleName, 0))
|
||
// {
|
||
// WaferManager.Instance.WaferMoved(RobotModuleName, 0, sourceModule, sourceSlot);
|
||
// }
|
||
|
||
// //lock (_locker)
|
||
// //{
|
||
// // _lstHandler.AddLast(new HwinRobotPUTSPHandler(this, CurrentParamter[1].ToString(), Convert.ToInt32(CurrentParamter[2]), 4, _scMotionTimeout.IntValue)); //缩回
|
||
// //}
|
||
//}
|
||
}
|
||
catch (Exception ex)
|
||
{
|
||
LOG.Write(ex);
|
||
return false;
|
||
}
|
||
|
||
return base.fPlaceComplete(param);
|
||
}
|
||
|
||
protected override bool fPickComplete(object[] param)
|
||
{
|
||
//arm, station, slot
|
||
|
||
Blade1Target = ModuleName.System;
|
||
Blade2Target = ModuleName.System;
|
||
|
||
if (CurrentParamter.Length >= 3)
|
||
{
|
||
ModuleName sourceModule;
|
||
int sourceSlot;
|
||
if (!int.TryParse(CurrentParamter[2].ToString(), out sourceSlot) || !Enum.TryParse(CurrentParamter[1].ToString(), out sourceModule))
|
||
{
|
||
return false;
|
||
}
|
||
|
||
if (WaferManager.Instance.CheckHasWafer(sourceModule, sourceSlot))
|
||
{
|
||
WaferManager.Instance.WaferMoved(sourceModule, sourceSlot, RobotModuleName, 0);
|
||
}
|
||
|
||
//lock (_locker)
|
||
//{
|
||
// CheckStateThenDo(() =>
|
||
// {
|
||
// _lstHandler.AddLast(new HwinRobotGETSPHandler(this, CurrentParamter[1].ToString(), Convert.ToInt32(CurrentParamter[2]), 4, _scMotionTimeout.IntValue)); //缩回
|
||
// });
|
||
//}
|
||
}
|
||
|
||
return base.fPickComplete(param);
|
||
}
|
||
|
||
protected override bool fResetToReady(object[] param)
|
||
{
|
||
return true;
|
||
}
|
||
|
||
protected override bool fReset(object[] param)
|
||
{
|
||
_trigError.RST = true;
|
||
|
||
Connection.SetCommunicationError(false, "");
|
||
_trigCommunicationError.RST = true;
|
||
|
||
_trigRetryConnect.RST = true;
|
||
if (_isAlarm)
|
||
{
|
||
lock (_locker)
|
||
{
|
||
//_lstHandler.AddLast(new HwinRobotResetHandler(this));
|
||
}
|
||
|
||
Thread.Sleep(100);
|
||
CheckToPostMessage((int)RobotMsg.ActionDone);
|
||
}
|
||
|
||
IsBusy = false;
|
||
|
||
return true;
|
||
}
|
||
|
||
protected override bool fMonitorReset(object[] param)
|
||
{
|
||
IsBusy = false;
|
||
return true;
|
||
}
|
||
|
||
protected override bool fStartInit(object[] param)
|
||
{
|
||
RobotConnectHomeAll();
|
||
return true;
|
||
}
|
||
|
||
protected override bool fError(object[] param)
|
||
{
|
||
return true;
|
||
}
|
||
|
||
//[module][slot] 伸出手臂
|
||
protected override bool fStartExtendForPick(object[] param)
|
||
{
|
||
try
|
||
{
|
||
if (param.Length >= 3)
|
||
{
|
||
|
||
lock (_locker)
|
||
{
|
||
CheckStateThenDo(() =>
|
||
{
|
||
//初始化和伸出
|
||
_lstHandler.AddLast(new HwinRobotGETSPHandler(this, param[1].ToString(), Convert.ToInt32(param[2]), 1, _scMotionTimeout.IntValue));
|
||
_lstHandler.AddLast(new HwinRobotGETSPHandler(this, param[1].ToString(), Convert.ToInt32(param[2]), 2, _scMotionTimeout.IntValue));
|
||
});
|
||
}
|
||
}
|
||
}
|
||
catch (Exception ex)
|
||
{
|
||
LOG.Write(ex);
|
||
return false;
|
||
}
|
||
|
||
return true;
|
||
}
|
||
|
||
protected override bool fStartExtendForPlace(object[] param)
|
||
{
|
||
try
|
||
{
|
||
if (param.Length >= 3)
|
||
{
|
||
lock (_locker)
|
||
{
|
||
CheckStateThenDo(() =>
|
||
{
|
||
//初始化和伸出
|
||
_lstHandler.AddLast(new HwinRobotPUTSPHandler(this, param[1].ToString(), Convert.ToInt32(param[2]), 1, _scMotionTimeout.IntValue));
|
||
_lstHandler.AddLast(new HwinRobotPUTSPHandler(this, param[1].ToString(), Convert.ToInt32(param[2]), 2, _scMotionTimeout.IntValue));
|
||
_lstHandler.AddLast(new HwinRobotPUTSPHandler(this, param[1].ToString(), Convert.ToInt32(param[2]), 3, _scMotionTimeout.IntValue));
|
||
});
|
||
}
|
||
}
|
||
}
|
||
catch (Exception ex)
|
||
{
|
||
LOG.Write(ex);
|
||
return false;
|
||
}
|
||
|
||
return true;
|
||
}
|
||
|
||
/// <summary>
|
||
/// 开始从Pick处缩回
|
||
/// </summary>
|
||
/// <param name="param"></param>
|
||
/// <returns></returns>
|
||
protected override bool fStartRetractFromPick(object[] param)
|
||
{
|
||
try
|
||
{
|
||
if (param.Length >= 2)
|
||
{
|
||
|
||
lock (_locker)
|
||
{
|
||
CheckStateThenDo(() =>
|
||
{
|
||
_lstHandler.AddLast(new HwinRobotPUTSPHandler(this, param[0].ToString(),
|
||
Convert.ToInt32(param[1]), 3, _scMotionTimeout.IntValue));
|
||
_lstHandler.AddLast(new HwinRobotPUTSPHandler(this, param[0].ToString(),
|
||
Convert.ToInt32(param[1]), 4, _scMotionTimeout.IntValue));
|
||
|
||
});
|
||
}
|
||
}
|
||
}
|
||
catch (Exception ex)
|
||
{
|
||
LOG.Write(ex);
|
||
return false;
|
||
}
|
||
|
||
return true;
|
||
}
|
||
|
||
/// <summary>
|
||
/// 开始从Place处缩回
|
||
/// </summary>
|
||
/// <param name="param"></param>
|
||
/// <returns></returns>
|
||
protected override bool fStartRetractFromPlace(object[] param)
|
||
{
|
||
try
|
||
{
|
||
if (param.Length >= 2)
|
||
{
|
||
lock (_locker)
|
||
{
|
||
_lstHandler.AddLast(new HwinRobotPUTSPHandler(this, param[0].ToString(), Convert.ToInt32(param[1]), 3, _scMotionTimeout.IntValue));
|
||
_lstHandler.AddLast(new HwinRobotPUTSPHandler(this, param[0].ToString(), Convert.ToInt32(param[1]), 4, _scMotionTimeout.IntValue));
|
||
}
|
||
}
|
||
}
|
||
catch (Exception ex)
|
||
{
|
||
LOG.Write(ex);
|
||
return false;
|
||
}
|
||
|
||
return true;
|
||
}
|
||
|
||
protected override bool fStartExecuteCommand(object[] param)
|
||
{
|
||
try
|
||
{
|
||
InputA();
|
||
}
|
||
catch (Exception ex)
|
||
{
|
||
LOG.Write(ex);
|
||
return false;
|
||
}
|
||
|
||
return true;
|
||
}
|
||
|
||
public override RobotArmWaferStateEnum GetWaferState(RobotArmEnum arm)
|
||
{
|
||
if (arm == RobotArmEnum.Blade1)
|
||
{
|
||
return IsWaferPresenceOnBlade1 ? RobotArmWaferStateEnum.Present : RobotArmWaferStateEnum.Absent;
|
||
}
|
||
|
||
return RobotArmWaferStateEnum.Unknown;
|
||
}
|
||
|
||
protected override bool fStop(object[] param)
|
||
{
|
||
lock (_locker)
|
||
{
|
||
IsBusy = false;
|
||
Connection.ForceClear();
|
||
_lstHandler.Clear();
|
||
}
|
||
return true;
|
||
}
|
||
|
||
protected override bool fAbort(object[] param)
|
||
{
|
||
lock (_locker)
|
||
{
|
||
IsBusy = false;
|
||
Connection.ForceClear();
|
||
_lstHandler.Clear();
|
||
}
|
||
return true;
|
||
}
|
||
|
||
#endregion
|
||
|
||
internal void GetWaferData()
|
||
{
|
||
Blade1Target = ModuleName.System;
|
||
Blade2Target = ModuleName.System;
|
||
IsBusy = false;
|
||
if (CurrentParamter.Length >= 3)
|
||
{
|
||
ModuleName sourceModule;
|
||
int sourceSlot = 0;
|
||
if (!int.TryParse(CurrentParamter[2].ToString(), out sourceSlot) || !Enum.TryParse(CurrentParamter[1].ToString(), out sourceModule))
|
||
{
|
||
return;
|
||
}
|
||
if (WaferManager.Instance.CheckNoTray(RobotModuleName, 0) && WaferManager.Instance.CheckHasTray(sourceModule, sourceSlot))
|
||
{
|
||
WaferManager.Instance.TrayMoved(sourceModule, sourceSlot, RobotModuleName, 0);
|
||
}
|
||
}
|
||
}
|
||
|
||
internal void PutWaferData()
|
||
{
|
||
Blade1Target = ModuleName.System;
|
||
Blade2Target = ModuleName.System;
|
||
IsBusy = false;
|
||
if (CurrentParamter.Length >= 3)
|
||
{
|
||
ModuleName sourceModule;
|
||
int sourceSlot = 0;
|
||
if (!int.TryParse(CurrentParamter[2].ToString(), out sourceSlot) || !Enum.TryParse(CurrentParamter[1].ToString(), out sourceModule))
|
||
{
|
||
return;
|
||
}
|
||
if (WaferManager.Instance.CheckHasTray(RobotModuleName, 0) && WaferManager.Instance.CheckNoTray(sourceModule, sourceSlot))
|
||
{
|
||
WaferManager.Instance.TrayMoved(RobotModuleName, 0, sourceModule, sourceSlot);
|
||
}
|
||
}
|
||
}
|
||
}
|
||
}
|