From ccf8d7e4d8a29cc91c527be470c90abcb54b8cbe Mon Sep 17 00:00:00 2001
From: HCL <1625932291@qq.com>
Date: Fri, 8 Dec 2023 09:29:55 +0800
Subject: [PATCH] =?UTF-8?q?1.=E8=BF=9B=E5=BA=A6=E4=BF=AE=E6=94=B9?=
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---
 .../Robots/Sunway/SunwayRobot.cs              |  7 ++--
 .../Robots/Sunway/SunwayRobotHandler.cs       | 38 +++++++++++++++++--
 .../Robots/Sunway/SunwayRobotSimulator.cs     |  3 +-
 3 files changed, 40 insertions(+), 8 deletions(-)

diff --git a/MECF.Framework.RT.EquipmentLibrary/HardwareUnits/Robots/Sunway/SunwayRobot.cs b/MECF.Framework.RT.EquipmentLibrary/HardwareUnits/Robots/Sunway/SunwayRobot.cs
index e54ad2f..b70c4b9 100644
--- a/MECF.Framework.RT.EquipmentLibrary/HardwareUnits/Robots/Sunway/SunwayRobot.cs
+++ b/MECF.Framework.RT.EquipmentLibrary/HardwareUnits/Robots/Sunway/SunwayRobot.cs
@@ -701,9 +701,9 @@ namespace MECF.Framework.RT.EquipmentLibrary.HardwareUnits.Robots.Sunway
                     }
                 }
             }
-            else if (data.Length <=10)
+            else 
             {
-                if (data == "LOAD A ON")
+                if (data.Contains("LOAD A ON"))
                 {
                     if (Module=="WaferRobot" && !WaferManager.Instance.CheckHasWafer(ModuleHelper.Converter(Module), 0))
                     {
@@ -715,7 +715,7 @@ namespace MECF.Framework.RT.EquipmentLibrary.HardwareUnits.Robots.Sunway
                         WaferManager.Instance.CreateTray(ModuleHelper.Converter(Module), 0, TrayStatus.Normal);
                     }
                 }
-                else if (data == "LOAD A OFF")
+                else if (data.Contains("LOAD A OFF"))
                 {
                     if (Module == "WaferRobot" && WaferManager.Instance.CheckHasWafer(ModuleHelper.Converter(Module), 0))
                     {
@@ -812,6 +812,7 @@ namespace MECF.Framework.RT.EquipmentLibrary.HardwareUnits.Robots.Sunway
             lock (_locker)
             {
                 //Robot Home指令包含了清除报警，电机使能，Home动作
+                _lstHandler.AddLast(new SunwayRobotSetEchoHandler(this, false));
                 _lstHandler.AddLast(new SunwayRobotHomeHandler(this, _scMotionTimeout.IntValue));
                 _lstHandler.AddLast(new SunwayRobotRQLoadHandler(this));
             }
diff --git a/MECF.Framework.RT.EquipmentLibrary/HardwareUnits/Robots/Sunway/SunwayRobotHandler.cs b/MECF.Framework.RT.EquipmentLibrary/HardwareUnits/Robots/Sunway/SunwayRobotHandler.cs
index 5f00195..d1065c0 100644
--- a/MECF.Framework.RT.EquipmentLibrary/HardwareUnits/Robots/Sunway/SunwayRobotHandler.cs
+++ b/MECF.Framework.RT.EquipmentLibrary/HardwareUnits/Robots/Sunway/SunwayRobotHandler.cs
@@ -158,7 +158,7 @@ namespace MECF.Framework.RT.EquipmentLibrary.HardwareUnits.Robots.Sunway
             };
 
             ResponseMessage = msg;
-            //Device.NoteActionCompleted();
+            Device.IsBusy = false;
             handled = true;
             return true;
         }
@@ -590,6 +590,39 @@ namespace MECF.Framework.RT.EquipmentLibrary.HardwareUnits.Robots.Sunway
         }
     }
 
+    public class SunwayRobotSetEchoHandler : SunwayRobotHandler
+    {
+        //SET IO ECHO Y|N
+        public SunwayRobotSetEchoHandler(SunwayRobot device, bool isOpen, int timeout = 5)
+            : base(device, $"SET IO ECHO {(isOpen ? "Y" : "N")}")
+        {
+            AckTimeout = TimeSpan.FromSeconds(timeout);
+            CompleteTimeout = TimeSpan.FromSeconds(timeout);
+        }
+
+        public override bool HandleMessage(MessageBase msg, out bool handled)
+        {
+            var result = msg as SunwayRobotMessage;
+            handled = false;
+            if (!result.IsResponse)
+            {
+                Device.NoteError("Robot Set IO Echo Command Timeout");
+                return true;
+            }
+
+            if (result.Data.Contains("ERR"))
+            {
+                Device.NoteError("Robot Set IO Echo Command Error");
+                return false;
+            }
+
+            ResponseMessage = msg;
+            Device.IsBusy = false;
+            handled = true;
+            return true;
+        }
+    }
+
 
     public class SunwayRobotSTATHandler : SunwayRobotHandler
     {
@@ -1533,9 +1566,6 @@ namespace MECF.Framework.RT.EquipmentLibrary.HardwareUnits.Robots.Sunway
             return true;
         }
     }
-
-    
-
     public class SunwayRobotMTCSPHandler : SunwayRobotHandler
     {
         //前往位置
diff --git a/SimulatorCore/Robots/Sunway/SunwayRobotSimulator.cs b/SimulatorCore/Robots/Sunway/SunwayRobotSimulator.cs
index 0800056..5b34ab5 100644
--- a/SimulatorCore/Robots/Sunway/SunwayRobotSimulator.cs
+++ b/SimulatorCore/Robots/Sunway/SunwayRobotSimulator.cs
@@ -61,6 +61,7 @@ namespace MECF.Framework.Simulator.Core.Robots.Sunway
             AddCommandHandler("PICK", HandleHome);
             AddCommandHandler("PLACE", HandleHome);
             AddCommandHandler("VAC", HandleHome);
+            AddCommandHandler("SET", HandleHome);
 
             AddCommandHandler("SVON", HandleHome);
 
@@ -120,7 +121,7 @@ namespace MECF.Framework.Simulator.Core.Robots.Sunway
             lastMsg = msg;
             operateEnum = OperateEnum.Null;
 
-            OnWriteMessage("LOAD A ON");
+            OnWriteMessage($"LOAD A OFF/r/n_RDY");
         }