226 lines
6.7 KiB
C#
226 lines
6.7 KiB
C#
using System;
|
|
using System.Collections.Generic;
|
|
using System.Linq;
|
|
using System.Text;
|
|
using Aitex.Core.RT.Log;
|
|
using Aitex.Core.RT.SCCore;
|
|
using Aitex.Sorter.Common;
|
|
using MECF.Framework.Common.Equipment;
|
|
|
|
namespace MECF.Framework.RT.EquipmentLibrary.HardwareUnits.Robot.SR100
|
|
{
|
|
public class ProtocolTag
|
|
{
|
|
public const string tag_end = "\r";
|
|
public const string tag_cmd_start = "$";
|
|
public const string cmd_token = ",";
|
|
|
|
public const string resp_tag_normal = "$";
|
|
public const string resp_tag_error = "?";
|
|
public const string resp_tag_excute = "!";
|
|
public const string resp_tag_event = ">";
|
|
|
|
|
|
public const string resp_evt_error = "100";
|
|
}
|
|
|
|
public class RobotConvertor
|
|
{
|
|
public static Dictionary<ModuleName, string> TeachStation = new Dictionary<ModuleName, string>()
|
|
{
|
|
{ModuleName.LP1, "C01"},
|
|
{ModuleName.LP2, "C02"},
|
|
{ModuleName.LP3, "C03"},
|
|
{ModuleName.LP4, "C04"},
|
|
{ModuleName.LP5, "C05"},
|
|
{ModuleName.LP6, "C06"},
|
|
{ModuleName.LP7, "C07"},
|
|
{ModuleName.LP8, "C08"},
|
|
|
|
{ModuleName.Aligner, "P01"},
|
|
|
|
{ModuleName.Buffer, "C05"},
|
|
|
|
{ModuleName.TurnOverStation, "S01"},
|
|
|
|
{ModuleName.PM1, "S01"},
|
|
{ModuleName.PM2, "S02"},
|
|
{ModuleName.PM3, "S03"},
|
|
{ModuleName.PM4, "S04"},
|
|
{ModuleName.PM5, "S05"},
|
|
{ModuleName.PM6, "S06"},
|
|
{ModuleName.PM7, "S07"},
|
|
{ModuleName.PM8, "S08"},
|
|
|
|
{ModuleName.Spin1L, "S01"},
|
|
{ModuleName.Spin1H, "S02"},
|
|
{ModuleName.Spin2L, "S03"},
|
|
{ModuleName.Spin2H, "S04"},
|
|
{ModuleName.Spin3L, "S05"},
|
|
{ModuleName.Spin3H, "S06"},
|
|
{ModuleName.Spin4L, "S07"},
|
|
{ModuleName.Spin4H, "S08"},
|
|
|
|
{ModuleName.LL1, "S01"},
|
|
{ModuleName.LL2, "S02"},
|
|
{ModuleName.LL3, "S03"},
|
|
{ModuleName.LL4, "S04"},
|
|
};
|
|
|
|
public static string chamber2staion(ModuleName chamber)
|
|
{
|
|
|
|
if (!TeachStation.ContainsKey(chamber))
|
|
{
|
|
LOG.Error($"not define teach position {chamber}");
|
|
return "";
|
|
}
|
|
string ret =TeachStation[chamber];
|
|
if(chamber == ModuleName.Aligner && SC.ContainsItem("Aligner.AlignerStation"))
|
|
return SC.GetStringValue("Aligner.AlignerStation");
|
|
|
|
if (SC.ContainsItem($"CarrierInfo.{chamber}CarrierIndex"))
|
|
{
|
|
int idex = SC.GetValue<int>($"CarrierInfo.{chamber}CarrierIndex");
|
|
if(SC.ContainsItem($"CarrierInfo.{chamber}Station{idex}"))
|
|
{
|
|
ret = SC.GetStringValue($"CarrierInfo.{chamber}Station{idex}");
|
|
}
|
|
}
|
|
|
|
return ret;
|
|
}
|
|
|
|
public static Dictionary<ModuleName, string> Slot2Slot = new Dictionary<ModuleName, string>()
|
|
{
|
|
{ModuleName.LP1, "SlotPlusOne"},
|
|
{ModuleName.LP2, "SlotPlusOne"},
|
|
{ModuleName.LP3, "SlotPlusOne"},
|
|
{ModuleName.LP4, "SlotPlusOne"},
|
|
{ModuleName.LP5, "SlotPlusOne"},
|
|
{ModuleName.LP6, "SlotPlusOne"},
|
|
{ModuleName.LP7, "SlotPlusOne"},
|
|
{ModuleName.LP8, "SlotPlusOne"},
|
|
{ModuleName.LP9, "SlotPlusOne"},
|
|
{ModuleName.LP10, "SlotPlusOne"},
|
|
{ModuleName.Buffer, "SlotPlusOne"},
|
|
|
|
{ModuleName.Aligner, "00"},
|
|
{ModuleName.Robot, "00"},
|
|
{ModuleName.PM1, "00"},
|
|
{ModuleName.PM2, "00"},
|
|
{ModuleName.PM3, "00"},
|
|
{ModuleName.PM4, "00"},
|
|
{ModuleName.PM5, "00"},
|
|
{ModuleName.PM6, "00"},
|
|
{ModuleName.PM7, "00"},
|
|
{ModuleName.PM8, "00"},
|
|
{ModuleName.Spin1L, "00"},
|
|
{ModuleName.Spin1H, "00"},
|
|
{ModuleName.Spin2L, "00"},
|
|
{ModuleName.Spin2H, "00"},
|
|
{ModuleName.Spin3L, "00"},
|
|
{ModuleName.Spin3H, "00"},
|
|
{ModuleName.Spin4L, "00"},
|
|
{ModuleName.Spin4H, "00"},
|
|
{ModuleName.LL1, "00"},
|
|
{ModuleName.LL2, "00"},
|
|
{ModuleName.LL3, "00"},
|
|
{ModuleName.LL4, "00"},
|
|
{ModuleName.LL5, "00"},
|
|
{ModuleName.LL6, "00"},
|
|
{ModuleName.LL7, "00"},
|
|
{ModuleName.LL8, "00"},
|
|
{ModuleName.LLA, "00"},
|
|
{ModuleName.LLB, "00"},
|
|
{ModuleName.LLC, "00"},
|
|
{ModuleName.LLD, "00"},
|
|
{ModuleName.TurnOverStation, "00"},
|
|
};
|
|
|
|
public static string chamberSlot2Slot(ModuleName chamber, int slot)
|
|
{
|
|
if (!Slot2Slot.ContainsKey(chamber))
|
|
{
|
|
LOG.Error($"not define slot2slot config {chamber}");
|
|
return "";
|
|
}
|
|
|
|
string sslot = Slot2Slot[chamber];
|
|
if(sslot == "SlotPlusOne")
|
|
{
|
|
sslot = string.Format("{0:D2}", slot + 1);
|
|
}
|
|
return sslot;
|
|
}
|
|
|
|
public static string hand2string(Hand hand)
|
|
{
|
|
string st = "";
|
|
switch (hand)
|
|
{
|
|
case Hand.Blade1:
|
|
st = "1";
|
|
break;
|
|
case Hand.Blade2:
|
|
st = "2";
|
|
break;
|
|
case Hand.Both:
|
|
st = "F";
|
|
break;
|
|
}
|
|
|
|
return st;
|
|
}
|
|
|
|
public static string AxisToStr(Axis axis)
|
|
{
|
|
string st = "";
|
|
switch (axis)
|
|
{
|
|
case Axis.S:
|
|
st = "S";
|
|
break;
|
|
case Axis.A:
|
|
st = "A";
|
|
break;
|
|
case Axis.H:
|
|
st = "H";
|
|
break;
|
|
case Axis.I:
|
|
st = "I";
|
|
break;
|
|
case Axis.Z:
|
|
st = "Z";
|
|
break;
|
|
default:
|
|
break;
|
|
}
|
|
return st;
|
|
}
|
|
|
|
public static string IsPick2Position(bool isPick)
|
|
{
|
|
var pos = isPick ? "P1" : "G1";
|
|
return pos;
|
|
}
|
|
|
|
public static string Offset2String(int offset)
|
|
{
|
|
string st = "";
|
|
|
|
if (offset >= 0)
|
|
{
|
|
st = string.Format("{0:D8}", offset);
|
|
}
|
|
else
|
|
{
|
|
st = string.Format("{0:D7}", offset);
|
|
}
|
|
|
|
return st;
|
|
}
|
|
|
|
}
|
|
}
|