895 lines
32 KiB
C#
895 lines
32 KiB
C#
using Aitex.Core.Common;
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using Aitex.Core.RT.DataCenter;
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using Aitex.Core.RT.Device.Devices;
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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.SCCore;
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using Aitex.Core.Util;
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using Aitex.Sorter.Common;
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using MECF.Framework.Common.Communications;
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using MECF.Framework.RT.EquipmentLibrary.HardwareUnits.LoadPorts.LoadPortBase;
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using MECF.Framework.RT.EquipmentLibrary.HardwareUnits.LoadPorts.TDK;
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using MECF.Framework.RT.EquipmentLibrary.HardwareUnits.Robots.RobotBase;
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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 System.Text;
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using System.Threading;
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using System.Threading.Tasks;
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namespace MECF.Framework.RT.EquipmentLibrary.HardwareUnits.LoadPorts.HirataII
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{
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public class HirataIILoadPort:LoadPortBaseDevice,IConnection
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{
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public HirataIILoadPort(string module,string name,string scRoot,IoTrigger[] dos,bool IsTCPconnection = false,RobotBaseDevice robot =null) :base(module,name,robot)
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{
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_scRoot = scRoot;
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_isTcpConnection = IsTCPconnection;
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LoadPortType = "TDKLoadPort";
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if (dos != null && dos.Length >= 1)
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{
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_doLoadPortOK = dos[0];
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}
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InitializeLP();
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SubscribeLPData();
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}
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private void SubscribeLPData()
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{
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DATA.Subscribe($"{Module}.{Name}.SystemStatus", () => SystemStatus.ToString());
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DATA.Subscribe($"{Module}.{Name}.Mode", () => Mode.ToString());
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DATA.Subscribe($"{Module}.{Name}.InitPosMovement", () => InitPosMovement.ToString());
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DATA.Subscribe($"{Module}.{Name}.OperationStatus", () => OperationStatus.ToString());
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DATA.Subscribe($"{Module}.{Name}.ErrorCode", () => ErrorCode.ToString());
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DATA.Subscribe($"{Module}.{Name}.ContainerStatus", () => ContainerStatus.ToString());
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DATA.Subscribe($"{Module}.{Name}.ClampPosition", () => ClampPosition.ToString());
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DATA.Subscribe($"{Module}.{Name}.LPDoorLatchPosition", () => LPDoorLatchPosition.ToString());
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DATA.Subscribe($"{Module}.{Name}.VacuumStatus", () => VacuumStatus.ToString());
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DATA.Subscribe($"{Module}.{Name}.LPDoorState", () => LPDoorState.ToString());
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DATA.Subscribe($"{Module}.{Name}.WaferProtrusion", () => WaferProtrusion.ToString());
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DATA.Subscribe($"{Module}.{Name}.ElevatorAxisPosition", () => ElevatorAxisPosition.ToString());
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DATA.Subscribe($"{Module}.{Name}.MapperPostion", () => MapperPostion.ToString());
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DATA.Subscribe($"{Module}.{Name}.MappingStatus", () => MappingStatus.ToString());
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DATA.Subscribe($"{Module}.{Name}.Model", () => Model.ToString());
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DATA.Subscribe($"{Module}.{Name}.IsFosbModeActual", () => IsFosbModeActual.ToString());
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DATA.Subscribe($"{Module}.{Name}.DockPosition", () => DockPosition.ToString());
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}
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public override string SpecCarrierType
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{
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get
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{
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if (_isPlaced)
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return SC.GetStringValue($"CarrierInfo.CarrierName{InfoPadCarrierIndex}");
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return "";
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}
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set => base.SpecCarrierType = value;
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}
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public override bool ReadCarrierID(int offset = 0, int length = 16)
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{
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if (SC.ContainsItem($"{_scRoot}.{Name}.NeedMoveToReadCarrierID") &&
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SC.GetValue<bool>($"{_scRoot}.{Name}.NeedMoveToReadCarrierID"))
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{
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lock (_locker)
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{
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_lstHandler.AddLast(new HirataIIMoveToReadCarrierIDHandler(this));
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_lstHandler.AddLast(new HirataIIMoveHandler(this, "FCOTB", null));
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}
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return true;
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}
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else
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return base.ReadCarrierID(offset, length);
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}
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public override bool IsEnableDualTransfer(out string reason)
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{
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reason = "";
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if (SC.ContainsItem($"CarrierInfo.EnableDualTransfer{InfoPadCarrierIndex}") &&
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SC.GetValue<bool>($"CarrierInfo.EnableDualTransfer{InfoPadCarrierIndex}"))
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{
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return true;
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}
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return base.IsEnableDualTransfer(out reason);
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}
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private void InitializeLP()
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{
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IsMapWaferByLoadPort = true;
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if (_doLoadPortOK != null)
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_doLoadPortOK.SetTrigger(true, out _);
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//_deviceAddress = SC.GetValue<int>($"{Name}.DeviceAddress");
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_enableLog = SC.GetValue<bool>($"LoadPort.{Name}.EnableLogMessage");
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if (_isTcpConnection)
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{
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Address = SC.GetStringValue($"LoadPort.{Name}.Address");
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_tcpConnection = new HirataIILoadPortTCPConnection(this, Address);
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_tcpConnection.EnableLog(_enableLog);
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if (_tcpConnection.Connect())
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{
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//LOG.Write($"Connected with {Module}.{Name} .");
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EV.PostInfoLog(Module, $"Connected with {Module}.{Name} .");
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}
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else
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{
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EV.PostAlarmLog(Module, $"Can't connect to {Module}.{Name}.");
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}
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}
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else
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{
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string portName = SC.GetStringValue($"LoadPort.{Name}.PortName");
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int bautRate = SC.GetValue<int>($"LoadPort.{Name}.BaudRate");
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int dataBits = SC.GetValue<int>($"LoadPort.{Name}.DataBits");
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Enum.TryParse(SC.GetStringValue($"LoadPort.{Name}.Parity"), out Parity parity);
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Enum.TryParse(SC.GetStringValue($"LoadPort.{Name}.StopBits"), out StopBits stopBits);
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_connection = new HirataIILoadPortConnection(this, portName, bautRate, dataBits, parity, stopBits);
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_connection.EnableLog(_enableLog);
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int count = SC.ContainsItem("System.ComPortRetryCount") ? SC.GetValue<int>("System.ComPortRetryCount") : 5;
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int sleep = SC.ContainsItem("System.ComPortRetryDelayTime") ? SC.GetValue<int>("System.ComPortRetryDelayTime") : 2;
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if (sleep <= 0 || sleep > 10)
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sleep = 2;
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int retry = 0;
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do
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{
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_connection.Disconnect();
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Thread.Sleep(sleep * 1000);
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if (_connection.Connect())
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{
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//LOG.Write($"Connected with {Module}.{Name} .");
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EV.PostInfoLog(Module, $"Connected with {Module}.{Name} .");
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break;
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}
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if (count > 0 && retry++ > count)
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{
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EV.PostAlarmLog(Module, $"Can't connect to {Module}.{Name}.");
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break;
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}
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} while (true);
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}
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ConnectionManager.Instance.Subscribe($"{Name}", this);
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_thread = new PeriodicJob(100, OnTimer, $"{Module}.{Name} MonitorHandler", true);
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}
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private bool OnTimer()
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{
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try
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{
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if (_isTcpConnection)
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{
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_tcpConnection.MonitorTimeout();
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if(!_tcpConnection.IsConnected || _tcpConnection.IsCommunicationError)
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{
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lock (_locker)
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{
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_lstHandler.Clear();
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}
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_trigRetryConnect.CLK = !_tcpConnection.IsConnected;
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if (_trigRetryConnect.Q)
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{
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Address = SC.GetStringValue($"LoadPort.{Name}.Address");
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_tcpConnection = new HirataIILoadPortTCPConnection(this, Address);
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_tcpConnection.EnableLog(_enableLog);
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if (!_tcpConnection.Connect())
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{
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EV.PostAlarmLog(Module, $"Can not connect with {_tcpConnection.Address}, {Module}.{Name}");
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}
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}
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return true;
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}
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_trigActionDone.CLK = (_lstHandler.Count == 0 && !_tcpConnection.IsBusy);
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if (_trigActionDone.Q)
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OnActionDone(null);
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HandlerBase handler = null;
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if (!_tcpConnection.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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}
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if (_lstHandler.Count > 0)
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{
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handler = _lstHandler.First.Value;
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if (handler != null) _tcpConnection.Execute(handler);
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_lstHandler.RemoveFirst();
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}
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}
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}
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}
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else
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{
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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($"{Name}.Address"));
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if (!_connection.Connect())
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{
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EV.PostAlarmLog(Module, $"Can not connect with {_connection.Address}, {Module}.{Name}");
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}
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}
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return true;
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}
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_trigActionDone.CLK = (_lstHandler.Count == 0 && !_connection.IsBusy);
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if (_trigActionDone.Q)
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OnActionDone(null);
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HandlerBase handler = null;
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if (!_connection.IsBusy)
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{
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lock (_locker)
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{
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if (_lstHandler.Count == 0)
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{
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}
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if (_lstHandler.Count > 0)
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{
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handler = _lstHandler.First.Value;
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if (handler != null) _connection.Execute(handler);
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_lstHandler.RemoveFirst();
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}
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}
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}
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}
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if (InfoPadType == 2) // Fixed by SC
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{
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InfoPadCarrierIndex = SC.GetValue<int>($"LoadPort.{Name}.CarrierIndex");
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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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public override void Monitor()
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{
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base.Monitor();
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try
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{
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if (_isTcpConnection)
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{
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_tcpConnection.EnableLog(_enableLog);
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_trigCommunicationError.CLK = _tcpConnection.IsCommunicationError;
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if (_trigCommunicationError.Q)
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{
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EV.PostAlarmLog(Module, $"{Module}.{Name} communication error, {_tcpConnection.LastCommunicationError}");
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OnError("Communicartion Error");
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}
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}
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else
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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, $"{Module}.{Name} communication error, {_connection.LastCommunicationError}");
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OnError("Communicartion Error");
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}
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}
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}
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catch (Exception ex)
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{
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LOG.Write(ex);
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}
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}
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private R_TRIG _trigActionDone = new R_TRIG();
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private string _scRoot;
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private bool _isTcpConnection;
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private HirataIILoadPortConnection _connection;
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private HirataIILoadPortTCPConnection _tcpConnection;
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private IoTrigger _doLoadPortOK;
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private IoSensor _diInfoPadA = null;
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private IoSensor _diInfoPadB = null;
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private IoSensor _diInfoPadC = null;
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private IoSensor _diInfoPadD = null;
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//InfoPadType,0=OnLP,1=Ext,2=FixedbySC
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public int InfoPadType
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{
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get
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{
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return SC.ContainsItem($"LoadPort.{Name}.InfoPadType") ? SC.GetValue<int>($"LoadPort.{Name}.InfoPadType") : 2;
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}
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}
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public HirataIILoadPortConnection Connection
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{
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get => _connection;
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}
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public HirataIILoadPortTCPConnection TCPConnection => _tcpConnection;
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private PeriodicJob _thread;
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private static Object _locker = new Object();
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private LinkedList<HandlerBase> _lstHandler = new LinkedList<HandlerBase>();
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private bool _enableLog = true;
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//private bool _commErr = false;
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private R_TRIG _trigError = new R_TRIG();
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private R_TRIG _trigWarningMessage = 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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public TDKSystemStatus SystemStatus { get; set; }
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public TDKMode Mode { get; set; }
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public TDKInitPosMovement InitPosMovement { get; set; }
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public TDKOperationStatus OperationStatus { get; set; }
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public TDKContainerStatus ContainerStatus { get; set; }
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public TDKPosition ClampPosition { get; set; }
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public TDKPosition LPDoorLatchPosition { get; set; }
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public TDKVacummStatus VacuumStatus { get; set; }
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public TDKPosition LPDoorState { get; set; }
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public TDKWaferProtrusion WaferProtrusion { get; set; }
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public TDKElevatorAxisPosition ElevatorAxisPosition { get; set; }
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public TDKDockPosition DockPosition { get; set; }
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public TDKMapPosition MapperPostion { get; set; }
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public TDKMappingStatus MappingStatus { get; set; }
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public TDKModel Model { get; set; }
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public string Address { get; set; }
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public bool IsConnected => this.Connect();// _connection.IsConnected;
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public bool Disconnect()
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{
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if (_isTcpConnection)
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return _tcpConnection.Disconnect();
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return _connection.Disconnect();
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}
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public void OnCarrierNotPlaced()
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{
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_isPlaced = false;
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ConfirmRemoveCarrier();
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}
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public void OnCarrierNotPresent()
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{
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_isPresent = false;
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//ConfirmRemoveCarrier();
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}
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public void OnCarrierPlaced()
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{
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_isPlaced = true;
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ConfirmAddCarrier();
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}
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public void OnCarrierPresent()
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{
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_isPresent = true;
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//ConfirmAddCarrier();
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}
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public void OnSwitchKey1()
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{
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_isAccessSwPressed = true;
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}
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public void OnSwitchKey2()
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{
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}
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public void OffSwitchKey1()
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{
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_isAccessSwPressed = false;
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}
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public void OffSwitchKey2()
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{
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}
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public bool OnEvent(out string reason)
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{
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reason = string.Empty;
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lock (_locker)
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{
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_lstHandler.AddLast(new HirataIIGetHandler(this, "STATE", null));
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//_lstHandler.AddLast(new HirataIIGetHandler(this, "FSBxx", null));
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_lstHandler.AddLast(new HirataIIGetHandler(this, "LEDST", null));
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}
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return true;
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}
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private LoadportCassetteState _cassetteState = LoadportCassetteState.None;
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public override LoadportCassetteState CassetteState
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{
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get { return _cassetteState; }
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set
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{
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_cassetteState = value;
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}
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}
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public void SetCassetteState(LoadportCassetteState state)
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{
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_cassetteState = state;
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if (state == LoadportCassetteState.Normal)
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{
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if (!_isPlaced)
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{
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OnCarrierPlaced();
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}
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if (!_isPresent)
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{
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OnCarrierPresent();
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}
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}
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}
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protected override bool fStartWrite(object[] param)
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{
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return false;
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}
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protected override bool fStartRead(object[] param)
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{
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return false;
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}
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protected override bool fStartExecute(object[] param)
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{
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try
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{
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switch(param[0].ToString())
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{
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case "Move":
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lock (_locker)
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{
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_lstHandler.AddLast(new HirataIIMoveHandler(this, param[1].ToString(), null));
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}
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break;
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case "Set":
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lock (_locker)
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{
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_lstHandler.AddLast(new HirataIISetHandler(this, param[1].ToString(), null));
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}
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break;
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case "Get":
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lock (_locker)
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{
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_lstHandler.AddLast(new HirataIIGetHandler(this, param[1].ToString(), null));
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}
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break;
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case "SetIndicator":
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Indicator light = (Indicator)param[1];
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IndicatorState state = (IndicatorState)param[2];
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string[] statestr = new string[] {"","LP","BL","LO" }; //{ "","LON", "LBL", "LOF" };
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string strLight = "";
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if (light == Indicator.LOAD)
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strLight = "LOD";
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if (light == Indicator.UNLOAD)
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strLight = "ULD";
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if (light == Indicator.ACCESSMANUL)
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strLight = "ST2";
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if (light == Indicator.ACCESSAUTO)
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strLight = "ST3";
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if (string.IsNullOrEmpty(strLight))
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return false;
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lock (_locker)
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{
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_lstHandler.AddLast(new HirataIISetHandler(this, statestr[(int)state], strLight));
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_lstHandler.AddLast(new HirataIIGetHandler(this, "LEDST", null));
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}
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break;
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case "QueryIndicator":
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lock (_locker)
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{
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_lstHandler.AddLast(new HirataIIGetHandler(this, "LEDST", null));
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}
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break;
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case "QueryState":
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lock (_locker)
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{
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_lstHandler.AddLast(new HirataIIGetHandler(this, "STATE", null));
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}
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break;
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case "Undock":
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lock (_locker)
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{
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_lstHandler.AddLast(new HirataIIMoveHandler(this, "YWAIT", null));
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}
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break;
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case "Dock":
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lock (_locker)
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{
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_lstHandler.AddLast(new HirataIIMoveHandler(this, "YDOOR", null));
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}
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break;
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case "CloseDoor":
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lock (_locker)
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{
|
|
_lstHandler.AddLast(new HirataIIMoveHandler(this, "DORFW", null));
|
|
}
|
|
break;
|
|
case "OpenDoor":
|
|
lock (_locker)
|
|
{
|
|
_lstHandler.AddLast(new HirataIIMoveHandler(this, "DORBK", null));
|
|
}
|
|
break;
|
|
case "Unclamp":
|
|
lock (_locker)
|
|
{
|
|
_lstHandler.AddLast(new HirataIIMoveHandler(this, "PODOP", null));
|
|
}
|
|
break;
|
|
case "Clamp":
|
|
lock (_locker)
|
|
{
|
|
_lstHandler.AddLast(new HirataIIMoveHandler(this, "PODCL", null));
|
|
}
|
|
break;
|
|
case "DoorUp":
|
|
lock (_locker)
|
|
{
|
|
_lstHandler.AddLast(new HirataIIMoveHandler(this, "ZDRUP", null));
|
|
}
|
|
break;
|
|
case "DoorDown":
|
|
lock (_locker)
|
|
{
|
|
_lstHandler.AddLast(new HirataIIMoveHandler(this, "ZDRDW", null));
|
|
}
|
|
break;
|
|
|
|
|
|
case "OpenDoorNoMap":
|
|
lock (_locker)
|
|
{
|
|
//_lstHandler.AddLast(new TDKMoveHandler(this, "YDOOR", null));
|
|
}
|
|
break;
|
|
case "OpenDoorAndMap":
|
|
lock (_locker)
|
|
{
|
|
//_lstHandler.AddLast(new TDKMoveHandler(this, "YDOOR", null));
|
|
}
|
|
break;
|
|
case "MapWafer":
|
|
lock(_locker)
|
|
{
|
|
if(DockPosition != TDKDockPosition.Dock)
|
|
_lstHandler.AddLast(new HirataIIMoveHandler(this, "YDOOR", null));
|
|
if(DoorState != FoupDoorState.Open)
|
|
_lstHandler.AddLast(new HirataIIMoveHandler(this, "DORBK", null));
|
|
_lstHandler.AddLast(new HirataIIMoveHandler(this, "MAPDO", null));
|
|
_lstHandler.AddLast(new HirataIIGetHandler(this, "MAPRD", null));
|
|
}
|
|
break;
|
|
|
|
case "ReadCarrierID":
|
|
lock(_locker)
|
|
{
|
|
|
|
_lstHandler.AddLast(new HirataIIMoveToReadCarrierIDHandler(this));
|
|
}
|
|
break;
|
|
}
|
|
return true;
|
|
|
|
|
|
|
|
}
|
|
catch(Exception ex)
|
|
{
|
|
LOG.Write(ex);
|
|
EV.PostAlarmLog(Name, $"Parameter invalid");
|
|
return false;
|
|
|
|
}
|
|
}
|
|
|
|
protected override bool fStartUnload(object[] param)
|
|
{
|
|
if (!_isPlaced)
|
|
{
|
|
EV.PostAlarmLog(Name, $"No carrier on {Name},can't unload.");
|
|
return false;
|
|
}
|
|
if (!_isDocked)
|
|
{
|
|
EV.PostAlarmLog(Name, $"Carrier is not docked on {Name},can't unload.");
|
|
return false;
|
|
}
|
|
if (IsRequestFOSBMode)
|
|
{
|
|
lock (_locker)
|
|
{
|
|
if (!IsFosbModeActual)
|
|
_lstHandler.AddLast(new HirataIISetHandler(this, "FSB", "ON"));
|
|
|
|
_lstHandler.AddLast(new HirataIIMoveHandler(this, "ZDRUP", null));
|
|
_lstHandler.AddLast(new HirataIIMoveHandler(this, "DORFW", null));
|
|
_lstHandler.AddLast(new HirataIIMoveHandler(this, "YWAIT", null));
|
|
}
|
|
}
|
|
else
|
|
{
|
|
if (IsFosbModeActual)
|
|
_lstHandler.AddLast(new HirataIISetHandler(this, "FSB", "OF"));
|
|
if (param.Length >= 1 && param[0].ToString() == "UnloadWithMap")
|
|
{
|
|
_lstHandler.AddLast(new HirataIIMoveHandler(this, "CUDMP", null));
|
|
_lstHandler.AddLast(new HirataIIGetHandler(this, "MAPRD", null));
|
|
}
|
|
if (param.Length >= 1 && param[0].ToString() == "UnloadWithoutMap")
|
|
_lstHandler.AddLast(new HirataIIMoveHandler(this, "CULOD", null));
|
|
if (param == null || param.Length == 0)
|
|
{
|
|
_lstHandler.AddLast(new HirataIIMoveHandler(this, "CUDMP", null));
|
|
_lstHandler.AddLast(new HirataIIGetHandler(this, "MAPRD", null));
|
|
}
|
|
}
|
|
return true;
|
|
|
|
|
|
|
|
}
|
|
|
|
protected override bool fStartLoad(object[] param)
|
|
{
|
|
if(!_isPlaced)
|
|
{
|
|
EV.PostAlarmLog(Name, $"No carrier on {Name},can't load.");
|
|
return false;
|
|
}
|
|
if (_isDocked)
|
|
{
|
|
EV.PostAlarmLog(Name, $"Carrier is docked on {Name},can't load.");
|
|
return false;
|
|
}
|
|
if (IsRequestFOSBMode)
|
|
{
|
|
lock (_locker)
|
|
{
|
|
if(!IsFosbModeActual)
|
|
_lstHandler.AddLast(new HirataIISetHandler(this, "FSB", "ON"));
|
|
if(ClampPosition == TDKPosition.Open)
|
|
_lstHandler.AddLast(new HirataIIMoveHandler(this, "PODCL", null));
|
|
_lstHandler.AddLast(new HirataIIMoveHandler(this, "DORBK", null));
|
|
_lstHandler.AddLast(new HirataIIMoveHandler(this, "YDOOR", null));
|
|
_lstHandler.AddLast(new HirataIIMoveHandler(this, "ZDRDW", null));
|
|
}
|
|
}
|
|
else
|
|
{
|
|
lock (_locker)
|
|
{
|
|
|
|
if (IsFosbModeActual)
|
|
_lstHandler.AddLast(new HirataIISetHandler(this, "FSB", "OF"));
|
|
if (param.Length >= 1 && param[0].ToString() == "LoadWithMap")
|
|
{
|
|
_lstHandler.AddLast(new HirataIIMoveHandler(this, "CLDMP", null));
|
|
_lstHandler.AddLast(new HirataIIGetHandler(this, "MAPRD", null));
|
|
}
|
|
if (param.Length >= 1 && param[0].ToString() == "LoadWithoutMap")
|
|
_lstHandler.AddLast(new HirataIIMoveHandler(this, "CLOAD", null));
|
|
if (param == null || param.Length == 0)
|
|
{
|
|
_lstHandler.AddLast(new HirataIIMoveHandler(this, "CLDMP", null));
|
|
_lstHandler.AddLast(new HirataIIGetHandler(this, "MAPRD", null));
|
|
}
|
|
}
|
|
}
|
|
return true;
|
|
}
|
|
|
|
protected override bool fStartInit(object[] param)
|
|
{
|
|
lock (_locker)
|
|
{
|
|
if(param.Length >=1 && param[0].ToString() == "ForceHome")
|
|
_lstHandler.AddLast(new HirataIIMoveHandler(this, "ABORG", null));
|
|
else
|
|
_lstHandler.AddLast(new HirataIIMoveHandler(this, "ORGSH", null));
|
|
_lstHandler.AddLast(new HirataIIGetHandler(this, "STATE", null));
|
|
//_lstHandler.AddLast(new HirataIIGetHandler(this, "FSBxx", null));
|
|
_lstHandler.AddLast(new HirataIIGetHandler(this, "LEDST", null));
|
|
}
|
|
return true;
|
|
}
|
|
public override bool SetIndicator(Indicator light, IndicatorState state, out string reason)
|
|
{
|
|
reason = "";
|
|
return fStartExecute(new object[] { "SetIndicator", light, state });
|
|
}
|
|
|
|
protected override bool fStartReset(object[] param)
|
|
{
|
|
_lstHandler.Clear();
|
|
if (_isTcpConnection)
|
|
{
|
|
if (!_tcpConnection.IsConnected)
|
|
_tcpConnection.Connect();
|
|
_tcpConnection.ForceClear();
|
|
}
|
|
else
|
|
{
|
|
if (!_connection.IsConnected)
|
|
_connection.Connect();
|
|
_connection.ForceClear();
|
|
}
|
|
|
|
lock (_locker)
|
|
{
|
|
_lstHandler.AddLast(new HirataIISetHandler(this, "RESET", null));
|
|
_lstHandler.AddLast(new HirataIIGetHandler(this, "STATE", null));
|
|
//_lstHandler.AddLast(new HirataIIGetHandler(this, "FSBxx", null));
|
|
_lstHandler.AddLast(new HirataIIGetHandler(this, "LEDST", null));
|
|
}
|
|
return true;
|
|
}
|
|
public override void OnError(string error = "")
|
|
{
|
|
lock (_locker)
|
|
{
|
|
_lstHandler.Clear();
|
|
if(_isTcpConnection)
|
|
_tcpConnection.ForceClear();
|
|
else
|
|
_connection.ForceClear();
|
|
_lstHandler.AddLast(new HirataIIGetHandler(this, "STATE", null));
|
|
// _lstHandler.AddLast(new HirataIIGetHandler(this, "FSBxx", null));
|
|
_lstHandler.AddLast(new HirataIIGetHandler(this, "LEDST", null));
|
|
}
|
|
|
|
base.OnError(error);
|
|
}
|
|
|
|
public override WaferSize GetCurrentWaferSize()
|
|
{
|
|
int intwz = SC.GetValue<int>($"CarrierInfo.CarrierWaferSize{InfoPadCarrierIndex}");
|
|
switch (intwz)
|
|
{
|
|
case 0:
|
|
return WaferSize.WS0;
|
|
case 1:
|
|
return WaferSize.WS0;
|
|
case 2:
|
|
return WaferSize.WS2;
|
|
case 3:
|
|
return WaferSize.WS3;
|
|
case 4:
|
|
return WaferSize.WS4;
|
|
case 5:
|
|
return WaferSize.WS5;
|
|
case 6:
|
|
return WaferSize.WS6;
|
|
case 7:
|
|
case 8:
|
|
return WaferSize.WS8;
|
|
case 12:
|
|
return WaferSize.WS12;
|
|
default:
|
|
return WaferSize.WS0;
|
|
}
|
|
}
|
|
|
|
|
|
|
|
}
|
|
public enum TDKSystemStatus
|
|
{
|
|
Normal = 0x30,
|
|
RecoverableError = 0x41,
|
|
UnrecoverableError = 0x45,
|
|
}
|
|
public enum TDKMode
|
|
{
|
|
Online = 0x30,
|
|
Teaching = 0x31,
|
|
Maintenance = 0x32,
|
|
}
|
|
public enum TDKInitPosMovement
|
|
{
|
|
OperationStatus = 0x30,
|
|
HomePosStatus = 0x31,
|
|
LoadStatus = 0x32,
|
|
}
|
|
public enum TDKOperationStatus
|
|
{
|
|
DuringStop = 0x30,
|
|
DuringOperation = 0x31,
|
|
}
|
|
public enum TDKContainerStatus
|
|
{
|
|
Absence = 0x30,
|
|
NormalMount = 0x31,
|
|
MountError = 0x32,
|
|
}
|
|
public enum TDKPosition
|
|
{
|
|
Open = 0x30,
|
|
Close = 0x31,
|
|
TBD = 0x3F
|
|
}
|
|
public enum TDKVacummStatus
|
|
{
|
|
OFF = 0x30,
|
|
ON = 0x31,
|
|
}
|
|
public enum TDKWaferProtrusion
|
|
{
|
|
ShadingStatus = 0x30,
|
|
LightIncidentStatus = 0x31,
|
|
}
|
|
public enum TDKElevatorAxisPosition
|
|
{
|
|
UP = 0x30,
|
|
Down = 0x31,
|
|
MappingStartPos = 0x32,
|
|
MappingEndPos = 0x33,
|
|
TBD = 0x3F,
|
|
}
|
|
public enum TDKDockPosition
|
|
{
|
|
Undock = 0x30,
|
|
Dock = 0x31,
|
|
TBD = 0x3F,
|
|
}
|
|
public enum TDKMapPosition
|
|
{
|
|
MeasurementPos = 0x30,
|
|
WaitingPost = 0x31,
|
|
TBD = 0x3F,
|
|
}
|
|
public enum TDKMappingStatus
|
|
{
|
|
NotPerformed = 0x30,
|
|
NormalEnd = 0x31,
|
|
ErrorStop = 0x32,
|
|
}
|
|
public enum TDKModel
|
|
{
|
|
Type1 = 0x30,
|
|
Type2 = 0x31,
|
|
Type3 = 0x32,
|
|
Type4 = 0x33,
|
|
Type5 = 0x34,
|
|
}
|
|
}
|