467 lines
16 KiB
C#
467 lines
16 KiB
C#
using System;
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using System.Collections.Generic;
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using System.Linq;
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using System.Threading;
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using Aitex.Core.RT.DataCenter;
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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.CommonData;
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using MECF.Framework.Common.Communications;
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using MECF.Framework.Common.Equipment;
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using MECF.Framework.Common.SubstrateTrackings;
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using MECF.Framework.RT.EquipmentLibrary.Core.Extensions;
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using MECF.Framework.RT.EquipmentLibrary.HardwareUnits.Common;
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using MECF.Framework.RT.EquipmentLibrary.HardwareUnits.Robots.HwinRobort;
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using MECF.Framework.RT.EquipmentLibrary.HardwareUnits.Robots.HwinRobort.Errors;
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using MECF.Framework.RT.EquipmentLibrary.HardwareUnits.Robots.RobotBase;
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namespace MECF.Framework.RT.EquipmentLibrary.HardwareUnits.Robots.HwinRobot
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{
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public class HwinRobotB : HwinRobot
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{
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public HwinRobotB(string module, string name, string endof = "\r\n") : base(module, name)
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{
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OP.Subscribe($"{Module}.SetPosition", (string cmd, object[] args) =>
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{
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MoveInfo = new RobotMoveInfo()
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{
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Action = RobotAction.Picking,
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ArmTarget = RobotArm.ArmA,
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BladeTarget = "ArmA." + args[0].ToString(),
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};
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return true;
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});
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ModuleAssociateStationDic = new Dictionary<string, string>()
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{
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{$"{ModuleName.LoadLock }", "B" },
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{$"{ModuleName.CassBL}", "A"},
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{$"{ModuleName.LoadLock }.Pick", "C" },
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{$"{ModuleName.LoadLock }.Place", "B" },
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};
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}
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public override void NoteActionCompleted()
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{
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//Blade1Target = ModuleName.System;
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//Blade2Target = ModuleName.System;
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CheckToPostMessage((int)RobotMsg.ActionDone);
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}
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#region Command Functions
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public override void RobotPickB(object[] args)
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{
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if (args.Length >= 2)
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{
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_lstHandler.Clear();
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lock (_locker)
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{
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_lstHandler.AddLast(new HwinRobotBGETBHandler(this, args[0].ToString(), Convert.ToInt32(args[1])));
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}
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}
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}
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public override void RobotPlaceB(object[] args)
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{
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if (args.Length >= 2)
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{
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_lstHandler.Clear();
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lock (_locker)
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{
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_lstHandler.AddLast(new HwinRobotBPUTBHandler(this, args[0].ToString(), Convert.ToInt32(args[1])));
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}
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}
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}
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public override void SetWaferData(string data)
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{
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//0:未扫片 1:有 2:没有 3:斜放 4:两片 5:薄片
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string errorMessage = "";
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int waferCount = 1;
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if (CurrentInteractModule == ModuleName.CassBL)
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{
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waferCount = 8;
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}
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if (data.Length == 25)//Wafer Cassette
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{
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for (int i = 0; i < waferCount; i++)
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{
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string waferStatue = data.Substring(i, 1);
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if (waferStatue == "1")
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{
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if (!WaferManager.Instance.CheckHasTray(CurrentInteractModule, i))
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{
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WaferManager.Instance.CreateTray(CurrentInteractModule, i);
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}
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}
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else if (waferStatue == "0" || waferStatue == "X")
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{
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if (WaferManager.Instance.CheckHasTray(CurrentInteractModule, i))
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{
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WaferManager.Instance.DeleteWafer(CurrentInteractModule, i);
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}
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}
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else
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{
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if (!WaferManager.Instance.CheckHasTray(CurrentInteractModule, i))
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{
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WaferManager.Instance.CreateTray(CurrentInteractModule, i,Aitex.Core.Common.TrayStatus.Crossed);
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}
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errorMessage += $"slot {i + 1} has crossed wafer!" + "\r\n";
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}
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}
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}
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else if (data.Length == 1)
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{
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if (data == "0")
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{
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if (!WaferManager.Instance.CheckHasTray(ModuleHelper.Converter(Module), 0))
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{
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WaferManager.Instance.CreateTray(ModuleHelper.Converter(Module), 0);
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}
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}
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else if (data == "1")
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{
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if (WaferManager.Instance.CheckHasTray(ModuleHelper.Converter(Module), 0))
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{
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WaferManager.Instance.DeleteWafer(ModuleHelper.Converter(Module), 0);
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}
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}
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}
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if (!String.IsNullOrEmpty(errorMessage))
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{
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EV.PostWarningLog(Module, $"Module {CurrentInteractModule} {errorMessage}");
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}
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}
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//internal override bool ParseErrData(string response)
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//{
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// try
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// {
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// var errs = new HiwinRobotAggregatedErrors(response).AggregateErrorMessages;
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// if (errs != null)
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// {
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// foreach (var err in errs)
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// {
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// EV.PostWarningLog(Module, err);
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// }
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// }
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// return true;
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// }
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// catch (Exception ex)
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// {
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// return true;
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// }
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//}
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public override void InputA()
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{
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_lstHandler.Clear();
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lock (_locker)
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{
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_lstHandler.AddLast(new HwinRobotBINPUTHandler(this));
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}
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}
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public override void RobotRsr()
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{
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_lstHandler.Clear();
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lock (_locker)
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{
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_lstHandler.AddLast(new HwinRobotBRSRHandler(this));
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}
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}
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public override void RobotConnectHomeAll()
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{
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IsBusy = false;
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base.Connection.ForceClear();
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_lstHandler.Clear();
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lock (_locker)
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{
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_lstHandler.AddLast(new HwinRobotRespHandler(this));
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_lstHandler.AddLast(new HwinRobotRemsHandler(this));
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_lstHandler.AddLast(new HwinRobotSVONHandler(this));
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_lstHandler.AddLast(new HwinRobotHomeHandler(this, _scMotionTimeout.IntValue));
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_lstHandler.AddLast(new HwinRobotBINPUTHandler(this));
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}
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}
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#endregion
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#region Note Functions
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public void ContineHome()
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{
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fAbort(null);
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_lstHandler.AddLast(new HwinRobotHomeHandler(this, _scHomeTimeout.IntValue));
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}
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public override bool ReadParameter(object[] param)
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{
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IsBusy = true;
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return CheckToPostMessage((int)RobotMsg.ReadData, param);
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}
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protected override bool fStartMapWafer(object[] param)
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{
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try
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{
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if (param.Length >= 1)
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{
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lock (_locker)
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{
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_lstHandler.AddLast(new HwinRobotMapHandler(this, param[0].ToString(), _scMotionTimeout.IntValue));
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_lstHandler.AddLast(new HwinRobotBRSRHandler(this, _scMotionTimeout.IntValue));
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_lstHandler.AddLast(new HwinRobotHomeHandler(this, _scMotionTimeout.IntValue));
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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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return false;
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}
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return true;
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}
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protected override bool fStartPlaceWafer(object[] param)
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{
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try
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{
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//arm, station, slot
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if (param.Length >= 3)
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{
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lock (_locker)
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{
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if (param[1].ToString() == ModuleName.LoadLock.ToString())
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{
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/* 1.打开夹爪
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* 2.取盘位置低位
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* 3.抬升托盘
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*/
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int _rDistance = SC.GetValue<int>("TrayRobot.PlaceRMoveDistance");
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_lstHandler.AddLast(new HwinRobotBOPTPHandler(this, _scMotionTimeout.IntValue));
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_lstHandler.AddLast(new HwinRobotMTCSPHandler(this, $"{param[1].ToString()}", "Place", _scMotionTimeout.IntValue));
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_lstHandler.AddLast(new HwinRobotMOVRPHandler(this, _rDistance, _scMotionTimeout.IntValue));
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_lstHandler.AddLast(new HwinRobotRETHHandler(this, _scMotionTimeout.IntValue));
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//_lstHandler.AddLast(new HwinRobotBOPTClosePHandler(this, _scMotionTimeout.IntValue));
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}
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else
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{
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_lstHandler.AddLast(new HwinRobotBPUTBHandler(this, param[1].ToString(), Convert.ToInt32(param[2]), _scMotionTimeout.IntValue));
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}
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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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return false;
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}
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return true;
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}
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//(module, slot)
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protected override bool fStartPickWafer(object[] param)
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{
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try
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{
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//Load 高位B,Load 低位C
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//arm, station, slot
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if (param.Length >= 3)
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{
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lock (_locker)
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{
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if (param[1].ToString() == ModuleName.LoadLock.ToString())
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{
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/* 1.打开夹爪
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* 2.取盘位置低位
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* 3.抬升托盘
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* 4.收回
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*/
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int _rDistance = SC.GetValue<int>("TrayRobot.PickRMoveDistance");
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_lstHandler.AddLast(new HwinRobotBOPTPHandler(this, _scMotionTimeout.IntValue));
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_lstHandler.AddLast(new HwinRobotMTCSPHandler(this, $"{param[1].ToString()}", "Pick", _scMotionTimeout.IntValue));
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_lstHandler.AddLast(new HwinRobotMOVRGHandler(this, _rDistance, _scMotionTimeout.IntValue));
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_lstHandler.AddLast(new HwinRobotRETHHandler(this, _scMotionTimeout.IntValue));
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_lstHandler.AddLast(new HwinRobotBOPTClosePHandler(this, _scMotionTimeout.IntValue));
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}
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else
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{
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string str = $"{param[1]} {Convert.ToInt32(param[2])}";
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_lstHandler.AddLast(new HwinRobotBGETBHandler(this, param[1].ToString(), Convert.ToInt32(param[2]), _scMotionTimeout.IntValue));
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}
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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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return false;
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}
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return true;
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}
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protected override bool fPlaceComplete(object[] param)
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{
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IsBusy = false;
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return true;
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}
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protected override bool fPickComplete(object[] param)
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{
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IsBusy = false;
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return true;
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}
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protected override bool fReset(object[] param)
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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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_trigRetryConnect.RST = true;
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if (_isAlarm)
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{
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lock (_locker)
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{
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//_lstHandler.AddLast(new HwinRobotBResetHandler(this));
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}
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Thread.Sleep(100);
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CheckToPostMessage((int)RobotMsg.ActionDone);
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}
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IsBusy = false;
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return true;
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}
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//[module][slot]
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protected override bool fStartExtendForPick(object[] param)
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{
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try
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{
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//if (param.Length >= 2)
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//{
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// lock (_locker)
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// {
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// _lstHandler.AddLast(new HwinRobotBGETSPHandler(this, param[0].ToString(), Convert.ToInt32(param[1]), 1, _scMotionTimeout.IntValue));
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// _lstHandler.AddLast(new HwinRobotBGETSPHandler(this, param[0].ToString(), Convert.ToInt32(param[1]), 2, _scMotionTimeout.IntValue));
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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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return false;
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}
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return true;
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}
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protected override bool fStartExtendForPlace(object[] param)
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{
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try
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{
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//if (param.Length >= 2)
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//{
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// lock (_locker)
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// {
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// _lstHandler.AddLast(new HwinRobotBPUTSPHandler(this, param[0].ToString(), Convert.ToInt32(param[1]), 1, _scMotionTimeout.IntValue));
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// _lstHandler.AddLast(new HwinRobotBPUTSPHandler(this, param[0].ToString(), Convert.ToInt32(param[1]), 2, _scMotionTimeout.IntValue));
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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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return false;
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}
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return true;
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}
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/// <summary>
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/// 开始从Pick处缩回
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/// </summary>
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/// <param name="param"></param>
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/// <returns></returns>
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protected override bool fStartRetractFromPick(object[] param)
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{
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try
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{
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//if (param.Length >= 2)
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//{
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// lock (_locker)
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// {
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// _lstHandler.AddLast(new HwinRobotBGETSPHandler(this, param[0].ToString(), Convert.ToInt32(param[1]), 3, _scMotionTimeout.IntValue));
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// _lstHandler.AddLast(new HwinRobotBGETSPHandler(this, param[0].ToString(), Convert.ToInt32(param[1]), 4, _scMotionTimeout.IntValue));
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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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return false;
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}
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return true;
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}
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/// <summary>
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/// 开始从Place处缩回
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/// </summary>
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/// <param name="param"></param>
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/// <returns></returns>
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protected override bool fStartRetractFromPlace(object[] param)
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{
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try
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{
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//if (param.Length >= 2)
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//{
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// lock (_locker)
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// {
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// _lstHandler.AddLast(new HwinRobotBPUTSPHandler(this, param[0].ToString(), Convert.ToInt32(param[1]), 3, _scMotionTimeout.IntValue));
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// _lstHandler.AddLast(new HwinRobotBPUTSPHandler(this, param[0].ToString(), Convert.ToInt32(param[1]), 4, _scMotionTimeout.IntValue));
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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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return false;
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}
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return true;
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}
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#endregion
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}
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}
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