1121 lines
36 KiB
C#
1121 lines
36 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.Errors;
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using MECF.Framework.RT.EquipmentLibrary.HardwareUnits.Robots.HwinRobotB;
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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 : RobotBaseDevice, IConnection
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{
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public string Address => Connection.Address;
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public bool IsConnected => Connection.IsConnected && !_connection.IsCommunicationError;
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public string PortStatus { get; set; } = "Closed";
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public bool Connect() { return _connection.Connect(); }
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public bool Disconnect() { return _connection.Disconnect(); }
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private Dictionary<string, string> _moduleAssociateStationDic;
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public Dictionary<string, string> ModuleAssociateStationDic
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{
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get => _moduleAssociateStationDic;
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set
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{
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_moduleAssociateStationDic = value;
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}
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}
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private HwinRobotBTCPConnection _connection;
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public HwinRobotBTCPConnection Connection
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{
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get { return _connection; }
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}
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private R_TRIG _trigError = new R_TRIG();
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private bool _isAlarm;
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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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private PeriodicJob _thread;
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private LinkedList<HandlerBase> _lstHandler = new LinkedList<HandlerBase>();
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private Dictionary<string, string> _errorCodeReferenceDic = new Dictionary<string, string>();
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private object _locker = new object();
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private SCConfigItem _scHomeTimeout;
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private SCConfigItem _scMotionTimeout;
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private List<ModuleName> _disabledIntlkModules = new List<ModuleName>();
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private bool _enableLog;
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private string _scRoot;
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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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DATA.Subscribe($"{Module}.IsConnected", () => IsConnected);
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DATA.Subscribe($"{Module}.Address", () => Address);
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OP.Subscribe($"{Module}.Reconnect", (string cmd, object[] args) =>
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{
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Disconnect();
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Connect();
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return true;
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});
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OP.Subscribe($"{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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OP.Subscribe($"{Module}.MAP", (string cmd, object[] args) =>
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{
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RobotMap(args);
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return true;
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});
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OP.Subscribe($"{Module}.RSR", (string cmd, object[] args) =>
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{
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RobotRsr();
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return true;
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});
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OP.Subscribe($"{Module}.HOME", (string cmd, object[] args) =>
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{
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RobotHome();
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return true;
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});
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OP.Subscribe($"{Module}.InputA", (string cmd, object[] args) =>
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{
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InputA();
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return true;
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});
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OP.Subscribe($"{Module}.STAT", (string cmd, object[] args) =>
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{
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RobotCheckStat();
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return true;
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});
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OP.Subscribe($"{Module}.ERR", (string cmd, object[] args) =>
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{
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RobotCheckError();
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return true;
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});
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OP.Subscribe($"{Module}.GETB", (string cmd, object[] args) =>
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{
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RobotPickB(args);
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return true;
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});
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OP.Subscribe($"{Module}.PUTB", (string cmd, object[] args) =>
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{
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RobotPlaceB(args);
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return true;
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});
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OP.Subscribe($"{Module}.RobotConnectHomeAll", (string cmd, object[] args) =>
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{
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RobotConnectHomeAll();
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return true;
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});
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OP.Subscribe($"{Module}.RESP", (string cmd, object[] args) =>
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{
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RobotRESP();
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return true;
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});
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OP.Subscribe($"{Module}.REMS", (string cmd, object[] args) =>
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{
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RobotREMS();
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return true;
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});
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OP.Subscribe($"{Module}.SVON", (string cmd, object[] args) =>
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{
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RobotSVON();
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return true;
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});
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OP.Subscribe($"{Module}.AbortAction", (string cmd, object[] args) =>
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{
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fAbort(args);
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OnActionDone(args);
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return true;
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});
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_moduleAssociateStationDic = new Dictionary<string, string>()
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{
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{$"{ModuleName.LoadLock }", "B" },
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{$"{ModuleName.CassBL}", "A"},
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{$"{ModuleName.LoadLock }.Pick", "C" },
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{$"{ModuleName.LoadLock }.Place", "B" },
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};
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try
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{
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string deviceIP = "";
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deviceIP = SC.GetStringValue($"{Module}.Address");
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_enableLog = SC.GetValue<bool>($"{Module}.EnableLogMessage");
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_scHomeTimeout = SC.GetConfigItem($"{Module}.HomeTimeout");
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_scMotionTimeout = SC.GetConfigItem($"{Module}.MotionTimeout");
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WaferManager.Instance.SubscribeLocation(Name, 1, false, true);
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_connection = new HwinRobotBTCPConnection(deviceIP, endof);
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_connection.EnableLog(_enableLog);
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if (_connection.Connect())
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{
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_trigConnection.CLK = true;
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PortStatus = "Open";
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EV.PostInfoLog(Module, $"{Module}.{Name} connected");
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}
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else
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{
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PortStatus = "Close";
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EV.PostInfoLog(Module, $"{Module}.{Name} connect failed");
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}
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_thread = new PeriodicJob(200, OnTimer, $"{Module}.{Name} MonitorHandler", true);
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}
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catch (Exception ex)
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{
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EV.PostAlarmLog(Module, ex.ToString());
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}
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}
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public override bool IsReady()
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{
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return !_connection.IsBusy && _lstHandler.Count == 0 && !_connection.IsCommunicationError && !IsBusy;//&& !_isAlarm;
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}
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protected override bool Init()
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{
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return true;
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}
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public R_TRIG _trigConnection = new R_TRIG();
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private bool OnTimer()
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{
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try
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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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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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else
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{
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_trigConnection.CLK = true;
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EV.PostInfoLog(Module, $"Retry connect succee 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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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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handler = _lstHandler.First.Value;
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_lstHandler.RemoveFirst();
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}
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}
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if (handler != null)
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{
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_connection.Execute(handler);
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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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return true;
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}
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public override void Monitor()
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{
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try
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{
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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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}
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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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protected override void SubscribeWaferLocation()
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{
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//do nothing
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}
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public override void Reset()
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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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_trigWarningMessage.RST = true;
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_trigRetryConnect.RST = true;
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base.Reset();
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}
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#region Command Functions
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internal void PutWaferData()
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{
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Blade1Target = ModuleName.System;
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Blade2Target = ModuleName.System;
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IsBusy = false;
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if (CurrentParamter.Length >= 3)
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{
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ModuleName sourceModule;
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int sourceSlot = 0;
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if (!int.TryParse(CurrentParamter[2].ToString(), out sourceSlot) || !Enum.TryParse(CurrentParamter[1].ToString(), out sourceModule))
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{
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return;
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}
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if (WaferManager.Instance.CheckHasTray(RobotModuleName, 0) && WaferManager.Instance.CheckNoTray(sourceModule, sourceSlot))
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{
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WaferManager.Instance.TrayMoved(RobotModuleName, 0, sourceModule, sourceSlot);
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}
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}
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}
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internal void GetWaferData()
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{
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Blade1Target = ModuleName.System;
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Blade2Target = ModuleName.System;
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IsBusy = false;
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if (CurrentParamter.Length >= 3)
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{
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ModuleName sourceModule;
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int sourceSlot = 0;
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if (!int.TryParse(CurrentParamter[2].ToString(), out sourceSlot) || !Enum.TryParse(CurrentParamter[1].ToString(), out sourceModule))
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{
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return;
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}
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if (WaferManager.Instance.CheckNoTray(RobotModuleName, 0) && WaferManager.Instance.CheckHasTray(sourceModule, sourceSlot))
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{
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WaferManager.Instance.TrayMoved(sourceModule, sourceSlot, RobotModuleName, 0);
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}
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}
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}
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public 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 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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/// <summary>
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/// 解析STAT指令返回值。
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/// </summary>
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/// <param name="status"></param>
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/// <returns></returns>
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internal bool ParseStatusData(int status)
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{
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var stat = status.ToBitTypeClass<HiwinRobotBStatus>(16);
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List<string> sInfo = stat.AggregateErrorMessages();
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if (sInfo != null)
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{
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foreach (string s in sInfo)
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{
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EV.PostWarningLog(Module, s);
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}
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}
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return true;
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}
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internal virtual 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 void RobotPickA(object[] args)
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//{
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// if (args.Length >= 2)
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// {
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// IsBusy = true;
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// _lstHandler.Clear();
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// lock (_locker)
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// {
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// _lstHandler.AddLast(new HwinRobotBGETAHandler(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 void RobotPlaceA(object[] args)
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//{
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// if (args.Length >= 2)
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// {
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// IsBusy = true;
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// _lstHandler.Clear();
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// lock (_locker)
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// {
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// _lstHandler.AddLast(new HwinRobotBPUTAHandler(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 void RobotPickSP(object[] args)
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//{
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// if (args.Length >= 3)
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// {
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// IsBusy = true;
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// _lstHandler.Clear();
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// lock (_locker)
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// {
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// _lstHandler.AddLast(new HwinRobotBGETSPHandler(this, args[0].ToString(), Convert.ToInt32(args[1]), Convert.ToInt32(args[2])));
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// }
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// }
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//}
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//public void RobotPlaceSP(object[] args)
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//{
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// if (args.Length >= 3)
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// {
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// IsBusy = true;
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// _lstHandler.Clear();
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// lock (_locker)
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// {
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// _lstHandler.AddLast(new HwinRobotBPUTSPHandler(this, args[0].ToString(), Convert.ToInt32(args[1]), Convert.ToInt32(args[2])));
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// }
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// }
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//}
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internal 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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|
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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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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.WaferTrayStatus.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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}
|
||
}
|
||
else if (data.Length == 1)
|
||
{
|
||
if (data == "0")
|
||
{
|
||
if (!WaferManager.Instance.CheckHasTray(ModuleHelper.Converter(Module), 0))
|
||
{
|
||
WaferManager.Instance.CreateTray(ModuleHelper.Converter(Module), 0);
|
||
}
|
||
}
|
||
else if (data == "1")
|
||
{
|
||
if (WaferManager.Instance.CheckHasTray(ModuleHelper.Converter(Module), 0))
|
||
{
|
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WaferManager.Instance.DeleteWafer(ModuleHelper.Converter(Module), 0);
|
||
}
|
||
}
|
||
}
|
||
if (!String.IsNullOrEmpty(errorMessage))
|
||
{
|
||
EV.PostWarningLog(Module, $"Module {CurrentInteractModule} {errorMessage}");
|
||
}
|
||
}
|
||
|
||
public void RobotHome()
|
||
{
|
||
_connection.ForceClear();
|
||
_lstHandler.Clear();
|
||
lock (_locker)
|
||
{
|
||
_lstHandler.AddLast(new HwinRobotBHomeHandler(this));
|
||
}
|
||
}
|
||
|
||
public void InputA()
|
||
{
|
||
_lstHandler.Clear();
|
||
lock (_locker)
|
||
{
|
||
_lstHandler.AddLast(new HwinRobotBINPUTHandler(this));
|
||
}
|
||
}
|
||
|
||
public void RobotRsr()
|
||
{
|
||
_lstHandler.Clear();
|
||
lock (_locker)
|
||
{
|
||
_lstHandler.AddLast(new HwinRobotBRSRHandler(this));
|
||
}
|
||
}
|
||
|
||
public void RobotMap(object[] args)
|
||
{
|
||
_lstHandler.Clear();
|
||
lock (_locker)
|
||
{
|
||
_lstHandler.AddLast(new HwinRobotBMapHandler(this, args[0].ToString()));
|
||
}
|
||
}
|
||
|
||
public void RobotConnectHomeAll()
|
||
{
|
||
IsBusy = false;
|
||
Connection.ForceClear();
|
||
_lstHandler.Clear();
|
||
lock (_locker)
|
||
{
|
||
_lstHandler.AddLast(new HwinRobotBRespHandler(this));
|
||
_lstHandler.AddLast(new HwinRobotBRemsHandler(this));
|
||
_lstHandler.AddLast(new HwinRobotBSVONHandler(this));
|
||
_lstHandler.AddLast(new HwinRobotBHomeHandler(this, _scMotionTimeout.IntValue));
|
||
_lstHandler.AddLast(new HwinRobotBINPUTHandler(this));
|
||
}
|
||
}
|
||
|
||
|
||
public void RobotRESP()
|
||
{
|
||
_lstHandler.Clear();
|
||
lock (_locker)
|
||
{
|
||
_lstHandler.AddLast(new HwinRobotBRespHandler(this));
|
||
}
|
||
}
|
||
|
||
public void RobotREMS()
|
||
{
|
||
_lstHandler.Clear();
|
||
lock (_locker)
|
||
{
|
||
_lstHandler.AddLast(new HwinRobotBRemsHandler(this));
|
||
}
|
||
}
|
||
|
||
public void RobotSVON()
|
||
{
|
||
_lstHandler.Clear();
|
||
lock (_locker)
|
||
{
|
||
_lstHandler.AddLast(new HwinRobotBSVONHandler(this));
|
||
}
|
||
}
|
||
|
||
public void RobotCheckStat()
|
||
{
|
||
_lstHandler.Clear();
|
||
lock (_locker)
|
||
{
|
||
_lstHandler.AddLast(new HwinRobotBSTATHandler(this));
|
||
}
|
||
}
|
||
|
||
|
||
public virtual void RobotCheckError()
|
||
{
|
||
lock (_locker)
|
||
{
|
||
_lstHandler.Clear();
|
||
_lstHandler.AddLast(new HwinRobotBERRHandler(this));
|
||
}
|
||
}
|
||
|
||
|
||
#endregion
|
||
|
||
|
||
#region Note Functions
|
||
private R_TRIG _trigWarningMessage = new R_TRIG();
|
||
|
||
public void NoteError(string reason, bool performErrCmd = true)
|
||
{
|
||
//确保传入的信息不能为空
|
||
if (string.IsNullOrEmpty(reason))
|
||
reason = "Unknown Error";
|
||
|
||
//重置TCPConnection对象，否则RobotCheckError函数中添加ERR指令到命令列队会造成TCPConnection失效
|
||
fAbort(null);
|
||
EV.PostAlarmLog(Module, $"{Module}.{Name} error, {reason}");
|
||
|
||
|
||
// 查询机械手异常信息。
|
||
if (performErrCmd)// 如果是ERR指令本身返回?，则不要再执行ERR指令，以免造成死循环
|
||
RobotCheckError();
|
||
}
|
||
|
||
internal void NoteActionCompleted()
|
||
{
|
||
CheckToPostMessage((int)RobotMsg.ActionDone);
|
||
}
|
||
|
||
public void ContineHome()
|
||
{
|
||
fAbort(null);
|
||
_lstHandler.AddLast(new HwinRobotBHomeHandler(this, _scHomeTimeout.IntValue));
|
||
|
||
}
|
||
|
||
protected override bool fStartHome(object[] param)
|
||
{
|
||
lock (_locker)
|
||
{
|
||
_lstHandler.AddLast(new HwinRobotBHomeHandler(this, _scHomeTimeout.IntValue));
|
||
}
|
||
return true;
|
||
}
|
||
|
||
protected override bool fClear(object[] param)
|
||
{
|
||
return true;
|
||
}
|
||
|
||
public override bool ReadParameter(object[] param)
|
||
{
|
||
IsBusy = true;
|
||
return CheckToPostMessage((int)RobotMsg.ReadData, param);
|
||
}
|
||
|
||
internal void NotePickCompleted()
|
||
{
|
||
PostMessageWithoutCheck((int)RobotMsg.PickComplete, CurrentParamter);
|
||
}
|
||
|
||
internal void NotePlaceCompleted()
|
||
{
|
||
PostMessageWithoutCheck((int)RobotMsg.PlaceComplete, CurrentParamter);
|
||
}
|
||
|
||
//public override bool GoTo(object[] param)
|
||
//{
|
||
// if (param.Length < 1) return false;
|
||
// string command = param[0].ToString();
|
||
// var length = param.Length;
|
||
// var args = param.Skip(1).Take(length - 1).ToArray();
|
||
// if (!IsReady())
|
||
// return false;
|
||
// switch (command)
|
||
// {
|
||
// case "GoTo":
|
||
// if (PostMessageWithoutCheck((int)RobotMsg.GoToPosition, args))
|
||
// {
|
||
// IsBusy = true;
|
||
// string log = "";
|
||
// foreach (var obj in args)
|
||
// {
|
||
// log += obj.ToString() + ",";
|
||
// }
|
||
// LOG.Write($"{RobotModuleName} start go to {log}");
|
||
// return true;
|
||
// }
|
||
// break;
|
||
// case "ExtendForPick":
|
||
// if (PostMessageWithoutCheck((int)RobotMsg.ExtendForPick, args))
|
||
// {
|
||
// IsBusy = true;
|
||
// string log = "";
|
||
// foreach (var obj in args)
|
||
// {
|
||
// log += obj.ToString() + ",";
|
||
// }
|
||
// LOG.Write($"{RobotModuleName} start extend for pick {log}");
|
||
// return true;
|
||
// }
|
||
// break;
|
||
// case "ExtendForPlace":
|
||
// if (PostMessageWithoutCheck((int)RobotMsg.ExtendForPlace, args))
|
||
// {
|
||
// IsBusy = true;
|
||
// string log = "";
|
||
// foreach (var obj in args)
|
||
// {
|
||
// log += obj.ToString() + ",";
|
||
// }
|
||
// LOG.Write($"{RobotModuleName} start extend for place {log}");
|
||
// return true;
|
||
// }
|
||
// break;
|
||
// case "RetractFromPick":
|
||
// if (PostMessageWithoutCheck((int)RobotMsg.RetractFromPick, args))
|
||
// {
|
||
// IsBusy = true;
|
||
// string log = "";
|
||
// foreach (var obj in args)
|
||
// {
|
||
// log += obj.ToString() + ",";
|
||
// }
|
||
// LOG.Write($"{RobotModuleName} start retract from pick {log}");
|
||
// return true;
|
||
// }
|
||
// break;
|
||
// case "RetractFromPlace":
|
||
// if (PostMessageWithoutCheck((int)RobotMsg.RetractFromPlace, args))
|
||
// {
|
||
// IsBusy = true;
|
||
// string log = "";
|
||
// foreach (var obj in args)
|
||
// {
|
||
// log += obj.ToString() + ",";
|
||
// }
|
||
// LOG.Write($"{RobotModuleName} start retract from place {log}");
|
||
// return true;
|
||
// }
|
||
// break;
|
||
// default:
|
||
// break;
|
||
// }
|
||
// return false;
|
||
//}
|
||
|
||
protected override bool fStartReadData(object[] param)
|
||
{
|
||
|
||
return true;
|
||
}
|
||
|
||
protected override bool fStartSetParameters(object[] param)
|
||
{
|
||
return true;
|
||
}
|
||
|
||
protected override bool fStartTransferWafer(object[] param)
|
||
{
|
||
return true;
|
||
}
|
||
|
||
protected override bool fStartUnGrip(object[] param)
|
||
{
|
||
return true;
|
||
}
|
||
|
||
protected override bool fStartGrip(object[] param)
|
||
{
|
||
return true;
|
||
}
|
||
|
||
protected override bool fStartGoTo(object[] param)
|
||
{
|
||
return true;
|
||
}
|
||
|
||
protected override bool fStartMapWafer(object[] param)
|
||
{
|
||
try
|
||
{
|
||
if (param.Length >= 1)
|
||
{
|
||
|
||
lock (_locker)
|
||
{
|
||
_lstHandler.AddLast(new HwinRobotBMapHandler(this, param[0].ToString(), _scMotionTimeout.IntValue));
|
||
_lstHandler.AddLast(new HwinRobotBRSRHandler(this, _scMotionTimeout.IntValue));
|
||
_lstHandler.AddLast(new HwinRobotBHomeHandler(this, _scMotionTimeout.IntValue));
|
||
}
|
||
}
|
||
}
|
||
catch (Exception ex)
|
||
{
|
||
LOG.Write(ex);
|
||
return false;
|
||
}
|
||
|
||
return true;
|
||
}
|
||
|
||
protected override bool fStartSwapWafer(object[] param)
|
||
{
|
||
return false;
|
||
}
|
||
|
||
//(module, slot)
|
||
protected override bool fStartPlaceWafer(object[] param)
|
||
{
|
||
try
|
||
{
|
||
//arm, station, slot
|
||
if (param.Length >= 3)
|
||
{
|
||
|
||
lock (_locker)
|
||
{
|
||
if (param[1].ToString() == ModuleName.LoadLock.ToString())
|
||
{
|
||
/* 1.打开夹爪
|
||
* 2.取盘位置低位
|
||
* 3.抬升托盘
|
||
*/
|
||
int _rDistance = SC.GetValue<int>("TrayRobot.PlaceRMoveDistance");
|
||
|
||
_lstHandler.AddLast(new HwinRobotBOPTPHandler(this, _scMotionTimeout.IntValue));
|
||
_lstHandler.AddLast(new HwinRobotMTCSPHandler(this, $"{param[1].ToString()}", "Place", _scMotionTimeout.IntValue));
|
||
_lstHandler.AddLast(new HwinRobotMOVRPHandler(this, _rDistance, _scMotionTimeout.IntValue));
|
||
_lstHandler.AddLast(new HwinRobotRETHHandler(this, _scMotionTimeout.IntValue));
|
||
_lstHandler.AddLast(new HwinRobotBOPTClosePHandler(this, _scMotionTimeout.IntValue));
|
||
|
||
|
||
}
|
||
else
|
||
{
|
||
_lstHandler.AddLast(new HwinRobotBPUTBHandler(this, param[1].ToString(), Convert.ToInt32(param[2]), _scMotionTimeout.IntValue));
|
||
}
|
||
}
|
||
}
|
||
}
|
||
catch (Exception ex)
|
||
{
|
||
LOG.Write(ex);
|
||
return false;
|
||
}
|
||
|
||
return true;
|
||
}
|
||
|
||
//(module, slot)
|
||
protected override bool fStartPickWafer(object[] param)
|
||
{
|
||
try
|
||
{
|
||
//Load 高位B,Load 低位C
|
||
|
||
//arm, station, slot
|
||
if (param.Length >= 3)
|
||
{
|
||
lock (_locker)
|
||
{
|
||
if (param[1].ToString() == ModuleName.LoadLock.ToString())
|
||
{
|
||
/* 1.打开夹爪
|
||
* 2.取盘位置低位
|
||
* 3.抬升托盘
|
||
* 4.收回
|
||
*/
|
||
int _rDistance = SC.GetValue<int>("TrayRobot.PickRMoveDistance");
|
||
|
||
_lstHandler.AddLast(new HwinRobotBOPTPHandler(this, _scMotionTimeout.IntValue));
|
||
_lstHandler.AddLast(new HwinRobotMTCSPHandler(this, $"{param[1].ToString()}", "Pick", _scMotionTimeout.IntValue));
|
||
_lstHandler.AddLast(new HwinRobotMOVRGHandler(this, _rDistance, _scMotionTimeout.IntValue));
|
||
_lstHandler.AddLast(new HwinRobotRETHHandler(this, _scMotionTimeout.IntValue));
|
||
_lstHandler.AddLast(new HwinRobotBOPTClosePHandler(this, _scMotionTimeout.IntValue));
|
||
|
||
}
|
||
else
|
||
{
|
||
_lstHandler.AddLast(new HwinRobotBGETBHandler(this, param[1].ToString(), Convert.ToInt32(param[2]), _scMotionTimeout.IntValue));
|
||
}
|
||
}
|
||
}
|
||
}
|
||
catch (Exception ex)
|
||
{
|
||
LOG.Write(ex);
|
||
return false;
|
||
}
|
||
|
||
return true;
|
||
}
|
||
|
||
protected override bool fPlaceComplete(object[] param)
|
||
{
|
||
return base.fPlaceComplete(param);
|
||
}
|
||
|
||
protected override bool fPickComplete(object[] param)
|
||
{
|
||
return base.fPickComplete(param);
|
||
}
|
||
|
||
protected override bool fResetToReady(object[] param)
|
||
{
|
||
return true;
|
||
}
|
||
|
||
protected override bool fReset(object[] param)
|
||
{
|
||
_trigError.RST = true;
|
||
|
||
_connection.SetCommunicationError(false, "");
|
||
_trigCommunicationError.RST = true;
|
||
|
||
_trigRetryConnect.RST = true;
|
||
if (_isAlarm)
|
||
{
|
||
lock (_locker)
|
||
{
|
||
//_lstHandler.AddLast(new HwinRobotBResetHandler(this));
|
||
}
|
||
|
||
Thread.Sleep(100);
|
||
CheckToPostMessage((int)RobotMsg.ActionDone);
|
||
}
|
||
|
||
IsBusy = false;
|
||
|
||
return true;
|
||
}
|
||
|
||
protected override bool fMonitorReset(object[] param)
|
||
{
|
||
IsBusy = false;
|
||
return true;
|
||
}
|
||
|
||
protected override bool fStartInit(object[] param)
|
||
{
|
||
RobotConnectHomeAll();
|
||
return true;
|
||
}
|
||
|
||
protected override bool fError(object[] param)
|
||
{
|
||
return true;
|
||
}
|
||
|
||
//[module][slot]
|
||
protected override bool fStartExtendForPick(object[] param)
|
||
{
|
||
try
|
||
{
|
||
//if (param.Length >= 2)
|
||
//{
|
||
|
||
// lock (_locker)
|
||
// {
|
||
// _lstHandler.AddLast(new HwinRobotBGETSPHandler(this, param[0].ToString(), Convert.ToInt32(param[1]), 1, _scMotionTimeout.IntValue));
|
||
// _lstHandler.AddLast(new HwinRobotBGETSPHandler(this, param[0].ToString(), Convert.ToInt32(param[1]), 2, _scMotionTimeout.IntValue));
|
||
// }
|
||
//}
|
||
}
|
||
catch (Exception ex)
|
||
{
|
||
LOG.Write(ex);
|
||
return false;
|
||
}
|
||
|
||
return true;
|
||
}
|
||
|
||
protected override bool fStartExtendForPlace(object[] param)
|
||
{
|
||
try
|
||
{
|
||
//if (param.Length >= 2)
|
||
//{
|
||
|
||
// lock (_locker)
|
||
// {
|
||
// _lstHandler.AddLast(new HwinRobotBPUTSPHandler(this, param[0].ToString(), Convert.ToInt32(param[1]), 1, _scMotionTimeout.IntValue));
|
||
// _lstHandler.AddLast(new HwinRobotBPUTSPHandler(this, param[0].ToString(), Convert.ToInt32(param[1]), 2, _scMotionTimeout.IntValue));
|
||
// }
|
||
//}
|
||
}
|
||
catch (Exception ex)
|
||
{
|
||
LOG.Write(ex);
|
||
return false;
|
||
}
|
||
|
||
return true;
|
||
}
|
||
|
||
/// <summary>
|
||
/// 开始从Pick处缩回
|
||
/// </summary>
|
||
/// <param name="param"></param>
|
||
/// <returns></returns>
|
||
protected override bool fStartRetractFromPick(object[] param)
|
||
{
|
||
try
|
||
{
|
||
//if (param.Length >= 2)
|
||
//{
|
||
|
||
// lock (_locker)
|
||
// {
|
||
// _lstHandler.AddLast(new HwinRobotBGETSPHandler(this, param[0].ToString(), Convert.ToInt32(param[1]), 3, _scMotionTimeout.IntValue));
|
||
// _lstHandler.AddLast(new HwinRobotBGETSPHandler(this, param[0].ToString(), Convert.ToInt32(param[1]), 4, _scMotionTimeout.IntValue));
|
||
// }
|
||
//}
|
||
}
|
||
catch (Exception ex)
|
||
{
|
||
LOG.Write(ex);
|
||
return false;
|
||
}
|
||
|
||
return true;
|
||
}
|
||
|
||
/// <summary>
|
||
/// 开始从Place处缩回
|
||
/// </summary>
|
||
/// <param name="param"></param>
|
||
/// <returns></returns>
|
||
protected override bool fStartRetractFromPlace(object[] param)
|
||
{
|
||
try
|
||
{
|
||
//if (param.Length >= 2)
|
||
//{
|
||
// lock (_locker)
|
||
// {
|
||
// _lstHandler.AddLast(new HwinRobotBPUTSPHandler(this, param[0].ToString(), Convert.ToInt32(param[1]), 3, _scMotionTimeout.IntValue));
|
||
// _lstHandler.AddLast(new HwinRobotBPUTSPHandler(this, param[0].ToString(), Convert.ToInt32(param[1]), 4, _scMotionTimeout.IntValue));
|
||
// }
|
||
//}
|
||
}
|
||
catch (Exception ex)
|
||
{
|
||
LOG.Write(ex);
|
||
return false;
|
||
}
|
||
|
||
return true;
|
||
}
|
||
|
||
protected override bool fStartExecuteCommand(object[] param)
|
||
{
|
||
try
|
||
{
|
||
InputA();
|
||
}
|
||
catch (Exception ex)
|
||
{
|
||
LOG.Write(ex);
|
||
return false;
|
||
}
|
||
|
||
return true;
|
||
}
|
||
|
||
|
||
public override RobotArmWaferStateEnum GetWaferState(RobotArmEnum arm)
|
||
{
|
||
if (arm == RobotArmEnum.Blade1)
|
||
{
|
||
return IsWaferPresenceOnBlade1 ? RobotArmWaferStateEnum.Present : RobotArmWaferStateEnum.Absent;
|
||
}
|
||
|
||
return RobotArmWaferStateEnum.Unknown;
|
||
}
|
||
|
||
protected override bool fStop(object[] param)
|
||
{
|
||
lock (_locker)
|
||
{
|
||
IsBusy = false;
|
||
_connection.ForceClear();
|
||
_lstHandler.Clear();
|
||
}
|
||
return true;
|
||
}
|
||
|
||
protected override bool fAbort(object[] param)
|
||
{
|
||
lock (_locker)
|
||
{
|
||
IsBusy = false;
|
||
_connection.ForceClear();
|
||
_lstHandler.Clear();
|
||
}
|
||
return true;
|
||
}
|
||
#endregion
|
||
}
|
||
}
|