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1.进度修改

This commit is contained in:
HCL 2023-12-08 09:29:55 +08:00
parent 932385bde5
commit ccf8d7e4d8
3 changed files with 40 additions and 8 deletions
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7
MECF.Framework.RT.EquipmentLibrary/HardwareUnits/Robots/Sunway/SunwayRobot.cs
View File

@ -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));
}

38
MECF.Framework.RT.EquipmentLibrary/HardwareUnits/Robots/Sunway/SunwayRobotHandler.cs
View File

@ -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

3
SimulatorCore/Robots/Sunway/SunwayRobotSimulator.cs
View File

@ -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");
}