451 lines
15 KiB
C#
451 lines
15 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.Text;
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using System.Threading.Tasks;
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using Aitex.Core.Common.DeviceData;
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using Aitex.Core.RT.Event;
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using Aitex.Core.RT.Log;
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using Aitex.Sorter.Common;
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using MECF.Framework.Common.Communications;
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namespace MECF.Framework.RT.EquipmentLibrary.HardwareUnits.LoadPorts.TDKII
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{
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public class TDKLoadPortHandler : HandlerBase
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{
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public TDKIILoadPort Device { get; set; }
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public string Command;
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protected TDKLoadPortHandler(TDKIILoadPort device, string command, string para) : base(BuildMesage(command, para))
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{
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Device = device;
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Command = command;
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Name = command;
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}
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public static string BuildMesage(string data, string para)
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{
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List<byte> ret = new List<byte>();
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ret.Add(0x1);
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List<byte> cmd = new List<byte>();
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foreach (char c in data)
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{
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cmd.Add((byte)c);
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}
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//cmd.Add((byte)(':')); //3A
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if (!string.IsNullOrEmpty(para))
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foreach (char c in para)
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{
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cmd.Add((byte)c);
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}
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cmd.Add((byte)(';')); //3B
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int length = cmd.Count + 4;
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int checksum = length + 0x30 + 0x30;
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foreach (byte bvalue in cmd)
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{
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checksum += bvalue;
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}
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byte[] byteschecksum = Encoding.ASCII.GetBytes(Convert.ToString((int)((byte)(checksum & 0xFF)), 16));
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byte[] blength = BitConverter.GetBytes((short)length);
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ret.Add(blength[1]);
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ret.Add(blength[0]);
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//ret.AddRange(new byte[] { 0x30, 0x30 });
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ret.AddRange(new byte[] { 0x30, 0x30 });
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ret.AddRange(cmd);
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ret.AddRange(byteschecksum);
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ret.Add(0xD);
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return Encoding.ASCII.GetString(ret.ToArray());
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}
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public override bool HandleMessage(MessageBase msg, out bool transactionComplete)
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{
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TDKLoadPortMessage response = msg as TDKLoadPortMessage;
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ResponseMessage = msg;
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transactionComplete = false;
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if (response.IsAck)
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{
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SetState(EnumHandlerState.Acked);
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transactionComplete = true;
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}
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if (response.IsError)
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{
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SetState(EnumHandlerState.Completed);
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transactionComplete = true;
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}
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if (response.IsNak)
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{
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SetState(EnumHandlerState.Completed);
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transactionComplete = true;
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}
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if (response.IsEvent)
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{
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SendAck();
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if (response.Command.Contains(Command))
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{
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SetState(EnumHandlerState.Completed);
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transactionComplete = true;
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}
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}
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return true;
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}
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public void HandleEvent(string content)
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{
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}
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public void SendAck()
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{
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//Device.Connection.SendMessage(new byte[] { 0x06 });
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}
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public void Retry()
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{
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}
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public virtual bool PaseData(byte[] data)
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{
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return true;
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}
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}
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public class TDKSetHandler : TDKLoadPortHandler
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{
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private string setcommand;
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public TDKSetHandler(TDKIILoadPort device, string command, string para) : base(device, BuildData(command), para)
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{
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setcommand = command;
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}
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private static string BuildData(string command)
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{
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return "SET:" + command;
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}
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public override bool HandleMessage(MessageBase msg, out bool transactionComplete)
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{
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TDKLoadPortMessage response = msg as TDKLoadPortMessage;
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ResponseMessage = msg;
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//Device.TaExecuteSuccss = true;
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transactionComplete = false;
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if (response.IsAck)
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{
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SetState(EnumHandlerState.Acked);
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transactionComplete = false;
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if(setcommand.Contains("FSB"))
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transactionComplete = true;
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}
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if (response.IsBusy)
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{
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SetState(EnumHandlerState.Completed);
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transactionComplete = true;
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}
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if (response.IsNak)
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{
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SetState(EnumHandlerState.Completed);
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transactionComplete = true;
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//ParseError(response.Data);
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}
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if (response.IsError)
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{
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SetState(EnumHandlerState.Completed);
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transactionComplete = true;
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}
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if (response.IsEvent)
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{
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SendAck();
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if (response.Command.Contains(setcommand))
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{
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SetState(EnumHandlerState.Completed);
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transactionComplete = true;
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}
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else
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HandleEvent(response.Command);
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transactionComplete = true;
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}
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if (setcommand == "RESET")
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{
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transactionComplete = true;
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}
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return true;
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}
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}
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public class TDKGetHandler : TDKLoadPortHandler
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{
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public TDKGetHandler(TDKIILoadPort device, string command, string para) : base(device, BuildData(command), para)
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{
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}
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private static string BuildData(string command)
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{
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return "GET:" + command;
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}
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public override bool HandleMessage(MessageBase msg, out bool transactionComplete)
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{
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TDKLoadPortMessage response = msg as TDKLoadPortMessage;
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ResponseMessage = msg;
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//Device.TaExecuteSuccss = true;
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transactionComplete = false;
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if (response.IsAck)
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{
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SetState(EnumHandlerState.Acked);
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transactionComplete = true;
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ParseData(response.Command);
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}
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if (response.IsNak)
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{
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SetState(EnumHandlerState.Completed);
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transactionComplete = true;
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//ParseError(response.Data);
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}
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return true;
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}
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public void ParseData(string cmddata)
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{
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if (cmddata.Contains("STATE"))
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{
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byte[] data = Encoding.ASCII.GetBytes(cmddata.Replace("STATE/", ""));
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if (data.Length < 20) return;
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Device.SystemStatus = (TDKSystemStatus)data[0];
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Device.Mode = (TDKMode)data[1];
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Device.InitPosMovement = (TDKInitPosMovement)data[2];
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Device.OperationStatus = (TDKOperationStatus)data[3];
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Device.ErrorCode = Encoding.ASCII.GetString(new byte[] { data[4],data[5] }) ;
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Device.ContainerStatus = (TDKContainerStatus)data[6];
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Device.ClampPosition = (TDKPosition)data[7];
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Device.LPDoorLatchPosition = (TDKPosition)data[8];
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Device.VacuumStatus = (TDKVacummStatus)data[9];
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Device.LPDoorState = (TDKPosition)data[10];
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Device.WaferProtrusion = (TDKWaferProtrusion)data[11];
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Device.ElevatorAxisPosition = (TDKElevatorAxisPosition)data[12];
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Device.DockPosition = (TDKDockPosition)data[13];
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Device.MapperPostion = (TDKMapPosition)data[14];
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Device.MappingStatus = (TDKMappingStatus)data[17];
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Device.Model = (TDKModel)data[18];
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if(Device.InfoPadType == 0)
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Device.InfoPadCarrierIndex = Convert.ToInt16($"0x{data[19]}", 16);
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Device.IsError = Device.SystemStatus != TDKSystemStatus.Normal;
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Device.ErrorCode = Encoding.ASCII.GetString(new byte[] { data[4], data[5] });
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LoadportCassetteState st = LoadportCassetteState.None;
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if (Device.ContainerStatus == TDKContainerStatus.Absence) st = LoadportCassetteState.Absent;
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if (Device.ContainerStatus == TDKContainerStatus.NormalMount) st = LoadportCassetteState.Normal;
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if (Device.ContainerStatus == TDKContainerStatus.MountError) st = LoadportCassetteState.Unknown;
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Device.SetCassetteState(st);
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if (Device.ClampPosition == TDKPosition.Close)
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Device.ClampState = FoupClampState.Close;
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else if (Device.ClampPosition == TDKPosition.Open)
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Device.ClampState = FoupClampState.Open;
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else if (Device.ClampPosition == TDKPosition.TBD)
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Device.ClampState = FoupClampState.Unknown;
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if (Device.LPDoorState == TDKPosition.Close)
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Device.DoorState = FoupDoorState.Close;
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if (Device.LPDoorState == TDKPosition.Open)
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Device.DoorState = FoupDoorState.Open;
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if (Device.LPDoorState == TDKPosition.TBD)
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Device.DoorState = FoupDoorState.Unknown;
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Device.DockState = ConvertTDKDockPositin(Device.DockPosition); // Load port dock state
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if (Device.ElevatorAxisPosition == TDKElevatorAxisPosition.UP)
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Device.DoorPosition = FoupDoorPostionEnum.Up;
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if (Device.ElevatorAxisPosition == TDKElevatorAxisPosition.Down)
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Device.DoorPosition = FoupDoorPostionEnum.Down; // = TDKZ_AxisPos.Down;
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if (Device.ElevatorAxisPosition == TDKElevatorAxisPosition.MappingEndPos)
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Device.DoorPosition = FoupDoorPostionEnum.MapEnd;// = TDKZ_AxisPos.End;
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if (Device.ElevatorAxisPosition == TDKElevatorAxisPosition.MappingStartPos)
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Device.DoorPosition = FoupDoorPostionEnum.MapStart;// = TDKZ_AxisPos.Start;
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if (Device.ElevatorAxisPosition == TDKElevatorAxisPosition.TBD)
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Device.DoorPosition = FoupDoorPostionEnum.Unknown;// = TDKZ_AxisPos.Unknown;
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}
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if (cmddata.Contains("VERSN/"))
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{
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}
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if (cmddata.Contains("LEDST/"))
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{
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IndicatorState[] lpledstate = new IndicatorState[]
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{
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Device.IndicatiorPresence,
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Device.IndicatiorPlacement,
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Device.IndicatiorLoad,
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Device.IndicatiorUnload,
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Device.IndicatiorOpAccess,
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Device.IndicatiorStatus1,
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Device.IndicatiorStatus2,
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};
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char[] ledstate = cmddata.Replace("LEDST/", "").ToArray();
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for (int i = 0; i < (lpledstate.Length > ledstate.Length ? ledstate.Length : lpledstate.Length); i++)
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{
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if (ledstate[i] == '0') lpledstate[i] = IndicatorState.OFF;
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if (ledstate[i] == '1') lpledstate[i] = IndicatorState.ON;
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if (ledstate[i] == '2') lpledstate[i] = IndicatorState.BLINK;
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}
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}
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if (cmddata.Contains("MAPRD/"))
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{
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string str1 = cmddata.Replace("MAPRD/", "");
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Device.OnSlotMapRead(str1);
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}
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if (cmddata.Contains("WFCNT/"))
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{
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Device.WaferCount = Convert.ToInt16(cmddata.Replace("WFCNT/", ""));
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}
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if (cmddata.Contains("MDAH/"))
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{
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}
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if (cmddata.Contains("LPIOI/"))
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{
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}
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if(cmddata.Contains("FSBxx/"))
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{
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if (cmddata.Contains("ON"))
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Device.IsFosbModeActual = true;
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if (cmddata.Contains("OF"))
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Device.IsFosbModeActual = false;
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}
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}
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private FoupDockState ConvertTDKDockPositin(TDKDockPosition dockPosition)
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{
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if (dockPosition == TDKDockPosition.Dock) return FoupDockState.Docked;
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if (dockPosition == TDKDockPosition.Undock) return FoupDockState.Undocked;
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return FoupDockState.Unknown;
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}
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}
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public class TDKModHandler : TDKLoadPortHandler
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{
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public TDKModHandler(TDKIILoadPort device, string command, string para) : base(device, BuildData(command), para)
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{
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}
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private static string BuildData(string command)
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{
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return "MOD:" + command;
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}
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public override bool HandleMessage(MessageBase msg, out bool transactionComplete)
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{
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TDKLoadPortMessage response = msg as TDKLoadPortMessage;
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ResponseMessage = msg;
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//Device.TaExecuteSuccss = true;
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transactionComplete = false;
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if (response.IsAck)
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{
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SetState(EnumHandlerState.Acked);
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transactionComplete = true;
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}
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if (response.IsNak)
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{
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SetState(EnumHandlerState.Completed);
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transactionComplete = true;
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//ParseError(response.Data);
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}
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return true;
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}
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public void ParseData(byte[] cmd)
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{
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}
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}
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public class TDKMoveHandler : TDKLoadPortHandler
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{
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private string moveCommand;
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public TDKMoveHandler(TDKIILoadPort device, string command, string para) : base(device, BuildData(command), para)
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{
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moveCommand = command;
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}
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private static string BuildData(string command)
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{
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return "MOV:" + command;
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}
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public override bool HandleMessage(MessageBase msg, out bool transactionComplete)
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{
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TDKLoadPortMessage response = msg as TDKLoadPortMessage;
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ResponseMessage = msg;
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//Device.TaExecuteSuccss = true;
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transactionComplete = false;
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if (response.IsAck)
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{
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SetState(EnumHandlerState.Acked);
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transactionComplete = false;
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}
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if (response.IsNak)
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{
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SetState(EnumHandlerState.Completed);
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transactionComplete = true;
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//ParseError(response.Data);
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}
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if (response.IsError)
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{
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SetState(EnumHandlerState.Completed);
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transactionComplete = true;
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}
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if (response.IsEvent)
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{
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if (response.Command.Contains("ORGSH") || response.Command.Contains("ABORG"))
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{
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Device.OnHomed();
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}
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if (response.Command.Contains(moveCommand))
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{
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SetState(EnumHandlerState.Completed);
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transactionComplete = true;
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}
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}
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return true;
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}
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public void ParseData(byte[] cmd)
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{
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}
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}
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}
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