715 lines
22 KiB
C#
715 lines
22 KiB
C#
using System;
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using System.Collections.Generic;
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using System.IO.Ports;
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using System.Linq;
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using Aitex.Core.Common.DeviceData;
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using Aitex.Core.RT.Device;
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using Aitex.Core.RT.Device.Unit;
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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.Common.Device.Bases;
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using MECF.Framework.RT.EquipmentLibrary.HardwareUnits.Common;
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using MECF.Framework.RT.EquipmentLibrary.HardwareUnits.LoadPorts.TDK;
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using Newtonsoft.Json;
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namespace MECF.Framework.RT.EquipmentLibrary.HardwareUnits.VCE.SiasunVCE
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{
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public class SiasunVCE : VCEBase, IConnection
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{
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public string Address { get { return _address; } }
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public override bool IsConnected => _connection.IsConnected;
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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 string PortStatus { get; set; } = "Closed";
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private SiasunVCEConnection _connection;
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public SiasunVCEConnection Connection
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{
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get { return _connection; }
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}
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private R_TRIG _trigError = new R_TRIG();
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private R_TRIG _trigCommunicationError = new R_TRIG();
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private R_TRIG _trigRetryConnect = new R_TRIG();
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private PeriodicJob _thread;
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private LinkedList<HandlerBase> _lstHandler = new LinkedList<HandlerBase>();
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private LinkedList<HandlerBase> _lstMonitorHandler = new LinkedList<HandlerBase>();
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public List<IOResponse> IOResponseList { get; set; } = new List<IOResponse>();
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private object _locker = new object();
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private bool _enableLog;
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private string _scRoot;
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private string _portName;
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public SiasunVCE(string module, string name, string scRoot) : base(module, name)
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{
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_scRoot = scRoot;
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}
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private void ResetPropertiesAndResponses()
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{
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DoorClosed = null;
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DoorOpened = null;
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IsHalted = null;
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foreach (var ioResponse in IOResponseList)
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{
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ioResponse.ResonseContent = null;
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ioResponse.ResonseRecievedTime = DateTime.Now;
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}
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}
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private string _address = "00";
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public override bool Initialize()
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{
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base.Initialize();
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ResetPropertiesAndResponses();
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if (_connection != null && _connection.IsConnected)
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return true;
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if (string.IsNullOrEmpty(_scRoot))
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{
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_portName = SC.GetStringValue($"{Name}.DeviceAddress");
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_enableLog = SC.GetValue<bool>($"{Name}.EnableLogMessage");
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}
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else
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{
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_portName = SC.GetStringValue($"{_scRoot}.{Module}.{Name}.DeviceAddress");
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_enableLog = SC.GetValue<bool>($"{_scRoot}.{Module}.{Name}.EnableLogMessage");
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}
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_connection = new SiasunVCEConnection(_portName);
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_connection.EnableLog(_enableLog);
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if (_connection.Connect())
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{
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PortStatus = "Open";
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EV.PostInfoLog(Module, $"{Module}.{Name} connected");
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}
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_thread = new PeriodicJob(100, OnTimer, $"{Module}.{Name} MonitorHandler", true);
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return true;
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}
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private bool OnTimer()
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{
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try
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{
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//return true;
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//_connection.MonitorTimeout();
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if (!_connection.IsConnected || _connection.IsCommunicationError)
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{
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lock (_locker)
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{
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_lstHandler.Clear();
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}
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_trigRetryConnect.CLK = !_connection.IsConnected;
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if (_trigRetryConnect.Q)
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{
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_connection.SetPortAddress(SC.GetStringValue($"{ScBasePath}.{Name}.Address"));
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if (!_connection.Connect())
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{
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EV.PostAlarmLog(Module, $"Can not connect with {_connection.Address}, {Module}.{Name}");
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}
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else
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{
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//_lstHandler.AddLast(new SiasunVCEQueryPinHandler(this, _deviceAddress));
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//_lstHandler.AddLast(new SiasunVCESetCommModeHandler(this, _deviceAddress, EnumRfPowerCommunicationMode.Host));
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}
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}
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return true;
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}
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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)
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{
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foreach (var monitorHandler in _lstMonitorHandler)
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{
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_lstHandler.AddLast(monitorHandler);
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}
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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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_connection.Execute(handler);
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}
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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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return true;
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}
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internal void NoteCommonActionResult(string command)
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{
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if (command == "JD")
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{
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}
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else if (command == "JU")
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{
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}
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else if (command == "LOAD")
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{
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LoadCompleted = true;
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}
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else if (command == "LP")
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{
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LoadPosition = true;
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}
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else if (command == "PI")
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{
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RetractPosition = true;
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}
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else if (command == "PICK")
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{
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Picked = true;
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}
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else if (command == "PLACE")
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{
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Placed = true;
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}
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else if (command == "PO")
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{
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ExtendPosition = true;
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}
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else if (command == "UNLOAD")
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{
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Unloaded = true;
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}
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}
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internal void NoteZAxisPosition(string pos)
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{
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ZAxisPosition = pos;
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}
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internal void NoteHomed(bool homed)
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{
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Homed = homed;
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}
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internal void NoteMoveResult(string position)
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{
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MovedPosition = position;
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}
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public override void Monitor()
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{
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try
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{
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//_connection.EnableLog(_enableLog);
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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, $"{Module}.{Name} communication error, {_connection.LastCommunicationError}");
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}
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}
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catch (Exception ex)
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{
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LOG.Write(ex);
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}
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}
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public override void Reset()
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{
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_trigError.RST = true;
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_connection.SetCommunicationError(false, "");
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_trigCommunicationError.RST = true;
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//_enableLog = SC.GetValue<bool>($"{ScBasePath}.{Name}.EnableLogMessage");
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_trigRetryConnect.RST = true;
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base.Reset();
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}
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public override bool Home(out string reason)
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{
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return base.Home(out reason);
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}
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#region Command Functions
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public void PerformRawCommand(string commandType)
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{
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lock (_locker)
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{
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_lstHandler.AddLast(new SiasunVCERawCommandHandler(this, commandType, ""));
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}
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}
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public void PerformRawCommand(string commandType, string command)
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{
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lock (_locker)
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{
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_lstHandler.AddLast(new SiasunVCERawCommandHandler(this, commandType, command));
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}
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}
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internal void NoteCurrentCommunicationMode(string data)
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{
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CurrentCommunicationMode = data;
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}
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public void PerformRawCommand(string commandType, string command, string comandArgument)
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{
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lock (_locker)
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{
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_lstHandler.AddLast(new SiasunVCERawCommandHandler(this, commandType, command, comandArgument));
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}
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}
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public void MonitorRawCommand(bool isSelected, string commandType, string command, string comandArgument)
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{
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lock (_locker)
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{
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string msg = comandArgument == null ? $"{command}\r" : $"{command} {comandArgument}\r";//??
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var existHandlers = _lstMonitorHandler.Where(handler => handler.GetType() == typeof(SiasunVCERawCommandHandler) && ((SiasunVCERawCommandHandler)handler).IsSendText(commandType, command, comandArgument));
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if (isSelected)
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{
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if (!existHandlers.Any())
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_lstMonitorHandler.AddFirst(new SiasunVCERawCommandHandler(this, commandType, command, comandArgument));
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}
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else
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{
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if (existHandlers.Any())
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{
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_lstMonitorHandler.Remove(existHandlers.First());
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}
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}
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}
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}
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internal void NoteCurrentACEStatus(string data)
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{
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throw new NotImplementedException();
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}
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internal void NoteCurrentErrorStatus(string data)
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{
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CurrentErrorStatus = data;
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}
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internal void NoteIsLoadPositon(string data)
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{
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InLoadPositon = data.Last() == 'Y';
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}
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public void RequestArmRPositon(bool isSelected, string axisPosition)
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{
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lock (_locker)
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{
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var existHandlers = _lstMonitorHandler.Where(handler => handler.GetType() == typeof(BrooksACERequestArmRPositonHandler) && handler.SendText.Contains(axisPosition));
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if (isSelected)
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{
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if (!existHandlers.Any())
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_lstMonitorHandler.AddFirst(new BrooksACERequestArmRPositonHandler(this, axisPosition));
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}
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else
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{
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if (existHandlers.Any())
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{
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_lstMonitorHandler.Remove(existHandlers.First());
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}
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}
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}
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}
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internal void NoteCurrentMappingInfo(string data)
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{
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CurrentMappingInfo = data;
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}
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internal void NoteIsPlatformPosition(string data)
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{
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InPlatformPosition = data.Last() == 'Y';
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}
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public void RequestArmZPositon(bool isSelected, string axisPosition)
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{
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lock (_locker)
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{
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var existHandlers = _lstMonitorHandler.Where(handler => handler.GetType() == typeof(BrooksACERequestArmZPositonHandler) && handler.SendText.Contains(axisPosition));
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if (isSelected)
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{
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if (!existHandlers.Any())
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_lstMonitorHandler.AddFirst(new BrooksACERequestArmZPositonHandler(this, axisPosition));
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}
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else
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{
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if (existHandlers.Any())
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{
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_lstMonitorHandler.Remove(existHandlers.First());
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}
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}
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}
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}
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public void RequestCommunicationMode(bool isSelected)
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{
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lock (_locker)
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{
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var existHandlers = _lstMonitorHandler.Where(handler => handler.GetType() == typeof(BrooksACERequestCommModeHandler));
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if (isSelected)
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{
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if (!existHandlers.Any())
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_lstMonitorHandler.AddFirst(new BrooksACERequestCommModeHandler(this));
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}
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else
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{
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if (existHandlers.Any())
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{
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_lstMonitorHandler.Remove(existHandlers.First());
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}
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}
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}
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}
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public void RequestErrorStatus(bool isSelected)
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{
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lock (_locker)
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{
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var existHandlers = _lstMonitorHandler.Where(handler => handler.GetType() == typeof(BrooksACERequestErrorStatusHandler));
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if (isSelected)
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{
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if (!existHandlers.Any())
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_lstMonitorHandler.AddFirst(new BrooksACERequestErrorStatusHandler(this));
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}
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else
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{
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if (existHandlers.Any())
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{
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_lstMonitorHandler.Remove(existHandlers.First());
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}
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}
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}
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}
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public void RequestVCEStatus(bool isSelected)
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{
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lock (_locker)
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{
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var existHandlers = _lstMonitorHandler.Where(handler => handler.GetType() == typeof(BrooksACERequestVCEStatusHandler));
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if (isSelected)
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{
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if (!existHandlers.Any())
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_lstMonitorHandler.AddFirst(new BrooksACERequestVCEStatusHandler(this));
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}
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else
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{
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if (existHandlers.Any())
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{
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_lstMonitorHandler.Remove(existHandlers.First());
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}
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}
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}
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}
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public void RequestLoadPositon(bool isSelected)
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{
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lock (_locker)
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{
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var existHandlers = _lstMonitorHandler.Where(handler => handler.GetType() == typeof(BrooksACERequestLoadPositionHandler));
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if (isSelected)
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{
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if (!existHandlers.Any())
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_lstMonitorHandler.AddFirst(new BrooksACERequestLoadPositionHandler(this));
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}
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else
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{
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if (existHandlers.Any())
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{
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_lstMonitorHandler.Remove(existHandlers.First());
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}
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}
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}
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}
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public void RequestMappingInfo(bool isSelected)
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{
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lock (_locker)
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{
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var existHandlers = _lstMonitorHandler.Where(handler => handler.GetType() == typeof(BrooksACERequestMappingInfoHandler));
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if (isSelected)
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{
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if (!existHandlers.Any())
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_lstMonitorHandler.AddFirst(new BrooksACERequestMappingInfoHandler(this));
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}
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else
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{
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if (existHandlers.Any())
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{
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_lstMonitorHandler.Remove(existHandlers.First());
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}
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}
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}
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}
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public void RequestPlatformPosition(bool isSelected)
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{
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lock (_locker)
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{
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var existHandlers = _lstMonitorHandler.Where(handler => handler.GetType() == typeof(BrooksACERequestPlatformPositionHandler));
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if (isSelected)
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{
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if (!existHandlers.Any())
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_lstMonitorHandler.AddFirst(new BrooksACERequestPlatformPositionHandler(this));
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}
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else
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{
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if (existHandlers.Any())
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{
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_lstMonitorHandler.Remove(existHandlers.First());
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}
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}
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}
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}
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public void CloseDoor()
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{
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lock (_locker)
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{
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_lstHandler.AddLast(new SiasunVCECloseDoorHandler(this));
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}
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}
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public void OpenDoor()
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{
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lock (_locker)
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{
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_lstHandler.AddLast(new SiasunVCEOpenDoorHandler(this));
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}
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}
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public void Load()
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{
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lock (_locker)
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{
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//_lstHandler.AddLast(new SiasunVCECommonActionHandler(this, "LOAD"));
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}
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}
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public void MoveToLoadPositon()
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{
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lock (_locker)
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{
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_lstHandler.AddLast(new SiasunVCECommonActionHandler(this, "LP"));
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}
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}
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public void MapCassette()
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{
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lock (_locker)
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{
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_lstHandler.AddLast(new SiasunVCECommonActionHandler(this, "MP"));
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}
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}
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public void Move(string axis, string type, string value)
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{
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lock (_locker)
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{
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_lstHandler.AddLast(new SiasunVCEMoveHandler(this, axis, type, value));
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}
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}
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public void RoateRAxisToRetractPosition()
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{
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lock (_locker)
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{
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//_lstHandler.AddLast(new SiasunVCECommonActionHandler(this, "PI"));
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}
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}
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public void RoateRAxisToExtendPosition()
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{
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lock (_locker)
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{
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//_lstHandler.AddLast(new SiasunVCECommonActionHandler(this, "PO"));
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}
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}
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public void Pick()
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{
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lock (_locker)
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{
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//_lstHandler.AddLast(new SiasunVCECommonActionHandler(this, "PICK"));
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}
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}
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public void Place()
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{
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lock (_locker)
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{
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//_lstHandler.AddLast(new SiasunVCECommonActionHandler(this, "PLACE"));
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}
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}
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public void Unload()
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{
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lock (_locker)
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{
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//_lstHandler.AddLast(new SiasunVCECommonActionHandler(this, "UNLOAD"));
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}
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}
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public void GotoZ(int slot)
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{
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lock (_locker)
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{
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_lstHandler.AddLast(new SiasunVCEGotoZHandler(this, slot));
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}
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}
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public void Home()
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{
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lock (_locker)
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{
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_lstHandler.AddLast(new SiasunVCEHomeHandler(this));
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}
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}
|
|
|
|
public void SetCommunicationMode(string commMode)
|
|
{
|
|
lock (_locker)
|
|
{
|
|
//_lstHandler.AddLast(new SiasunVCESetCommunicationModeHandler(this, commMode));
|
|
}
|
|
}
|
|
|
|
|
|
#endregion
|
|
|
|
#region Properties
|
|
|
|
public string DoorClosed { get; private set; }
|
|
public string DoorOpened { get; private set; }
|
|
public string IsHalted { get; private set; }
|
|
|
|
public string Error { get; private set; }
|
|
public string ArmRPosition { get; private set; }
|
|
public string CommunicationMode { get; private set; }
|
|
public string ZAxisPosition { get; private set; }
|
|
public bool Homed { get; private set; }
|
|
public bool LoadCompleted { get; private set; }
|
|
public bool LoadPosition { get; private set; }
|
|
public bool RetractPosition { get; private set; }
|
|
|
|
public bool Picked { get; private set; }
|
|
public bool Placed { get; private set; }
|
|
public bool ExtendPosition { get; private set; }
|
|
public bool Unloaded { get; private set; }
|
|
public string MovedPosition { get; private set; }
|
|
public string ArmZPosition { get; private set; }
|
|
public string CurrentCommunicationMode { get; private set; }
|
|
public string CurrentErrorStatus { get; private set; }
|
|
public bool InLoadPositon { get; private set; }
|
|
public string CurrentMappingInfo { get; private set; }
|
|
public bool InPlatformPosition { get; private set; }
|
|
|
|
#endregion
|
|
|
|
|
|
#region Note Functions
|
|
private R_TRIG _trigWarningMessage = new R_TRIG();
|
|
|
|
public void NoteError(string reason)
|
|
{
|
|
if (reason != null)
|
|
{
|
|
_trigWarningMessage.CLK = true;
|
|
if (_trigWarningMessage.Q)
|
|
{
|
|
EV.PostWarningLog(Module, $"{Module}.{Name} error, {reason}");
|
|
}
|
|
Error = reason;
|
|
}
|
|
else
|
|
{
|
|
Error = null;
|
|
}
|
|
}
|
|
|
|
internal void NoteDoorClosed(bool isClosed)
|
|
{
|
|
DoorClosed = isClosed ? "true" : "false";
|
|
DoorOpened = isClosed ? "false" : "true";
|
|
}
|
|
|
|
internal void NoteIsHalted(bool isHalted)
|
|
{
|
|
IsHalted = isHalted ? "true" : "false";
|
|
}
|
|
|
|
internal void NoteRawCommandInfo(string commandType, string command, string data)
|
|
{
|
|
var curIOResponse = IOResponseList.Find(res => res.SourceCommandName == command);
|
|
if (curIOResponse != null)
|
|
{
|
|
IOResponseList.Remove(curIOResponse);
|
|
}
|
|
IOResponseList.Add(new IOResponse() { SourceCommandType = commandType, SourceCommand = command, ResonseContent = data, ResonseRecievedTime = DateTime.Now });
|
|
}
|
|
|
|
internal void NoteArmRPositon(string armRPosition)
|
|
{
|
|
ArmRPosition = armRPosition;
|
|
}
|
|
internal void NoteArmZPositon(string armPosition)
|
|
{
|
|
ArmZPosition = armPosition;
|
|
}
|
|
internal void NoteCommunicationMode(string mode)
|
|
{
|
|
CommunicationMode = mode;
|
|
}
|
|
|
|
#endregion
|
|
}
|
|
|
|
|
|
}
|