420 lines
15 KiB
C#
420 lines
15 KiB
C#
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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 MECF.Framework.Common.Communications;
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namespace MECF.Framework.RT.EquipmentLibrary.HardwareUnits.TazmoAligners
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{
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public static class TazmoCommand
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{
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public static readonly string CPUresetMotion = "CPI";
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public static readonly string InitializeMotion = "RST";
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public static readonly string PauseMotion = "PAU";
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public static readonly string CancelthepauseMotion = "CNT";
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public static readonly string MovealignertohomepositionMotion = "HOM";
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public static readonly string MovetopickpositionMotion = "PRP";
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public static readonly string SeriesofalignmentMotion = "ALG";
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public static readonly string Alignmentpartialmovement1Motion = "SRH";
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public static readonly string Alignmentpartialmovement2Motion = "OCH";
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public static readonly string Alignmentpartialmovement1_2Motion = "ALN";
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public static readonly string Alignmentpartialmovement3, movetodeliverypositionMotion = "ULD";
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public static readonly string Readrobotoffsetamountafteralignmentunit1_100Status = "POS";
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public static readonly string Readrobotoffsetamountafteralignmentunit1_1000Status = "RPS";
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public static readonly string ClearrobotoffsetamountafteralignmentSet = "CPS";
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public static readonly string RequeststatusStatus = "STS";
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public static readonly string Requeststatus2Status = "STU";
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public static readonly string CheckwaferpresenceMotion = "WCH";
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public static readonly string ReadwafertypeStatus = "RWF";
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public static readonly string CancelerrorSet = "ERF";
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public static readonly string ReaderrorlogStatus = "RER";
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public static readonly string Readerrorlog2Status = "DER";
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public static readonly string ClearerrorlogSet = "CER";
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public static readonly string SetdefaultvalueMotion = "DEF";
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public static readonly string SetalignmentoffsetvalueSet = "REV";
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public static readonly string ReadalignmentoffsetvalueStatus = "RRE";
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public static readonly string SetalignmentangleetcSet = "DWL";
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public static readonly string ReadalignmentangleetcStatus = "UPL";
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public static readonly string ReadsoftwareproductNoStatus = "PNO";
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public static readonly string ReadmodelnameStatus = "RMN";
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public static readonly string ReadsoftwareversionStatus = "VER";
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public static readonly string Readalignmenttype_chuckpositionStatus = "TYP";
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public static readonly string ReadmotorcontrolIC_readregisterStatus = "RRG";
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public static readonly string ReadalignmentcountStatus = "ADM";
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public static readonly string ReadIOsignalStatus = "RIO";
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public static readonly string TurnwaferonetimeatslowspeedMotion = "TRN";
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public static readonly string ClosealignerchuckMotion = "VVN";
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public static readonly string OpenalignerchuckMotion = "VVF";
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public static readonly string AscenddeliverychuckMotion = "ZUP";
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public static readonly string DescenddeliverychuckMotion = "ZDN";
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public static readonly string Movetodeliveryposition, withoutlinesensorcheckMotion = "PRR";
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public static readonly string Movetohomeposition_withoutlinesensorcheckMotion = "HOE";
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public static readonly string TurnwaferforthespecifiednumberoftimeatthespecifiedspeedMotion = "TUR";
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public static readonly string MoveTheAlignerChuckToSpecifiedPosition = "NYG";
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/// <summary>
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/// A
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/// </summary>
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}
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public class TazmoAlignerHandler : HandlerBase
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{
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public TazmoAligner Device { get; set; }
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public string Command;
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protected TazmoAlignerHandler(TazmoAligner 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 byte[] BuildMesage(string data, string para)
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{
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List<byte> ret = new List<byte>();
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foreach(char c in data)
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{
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ret.Add((byte)c);
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}
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if (!string.IsNullOrEmpty(para))
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{
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ret.Add((byte)0x2C);
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foreach (char b in para) ret.Add((byte)b);
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}
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ret.Add(0x0D);
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return 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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TazmoAlignerMessageBIN response = msg as TazmoAlignerMessageBIN;
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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.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.IsComplete)
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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.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.CMD == Encoding.ASCII.GetBytes(Command))
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{
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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.IsResponse)
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{
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SendAck();
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SetState(EnumHandlerState.Completed);
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transactionComplete = true;
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}
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return true;
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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 virtual void ParseStatus1(byte[] data)
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{
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try
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{
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if (data.Length < 3) return;
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int state1code = Convert.ToInt32(Encoding.ASCII.GetString(data), 16);
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Device.TaAlignerStatus1 = (TazmoState1)state1code;
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if (state1code >= 0x111) EV.PostAlarmLog("Aligner", $"Tazmo Aligner occurred error:{((TazmoState1)state1code).ToString()}");
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}
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catch(Exception ex)
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{
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LOG.Write("Parse Tazmo Status1 exception:" +ex);
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}
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}
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public virtual void ParseStatus2(byte[] data)
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{
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if (data == null || data.Length < 10) return;
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try
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{
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Device.TaAlignerStatus2Status = (TazmoStatus)Convert.ToInt32(Encoding.ASCII.GetString(new byte[]{ data[0]}));
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Device.TaAlignerStatus2Lift = (LiftStatus)Convert.ToInt32(Encoding.ASCII.GetString(new byte[] { data[2] }));
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Device.TaAlignerStatus2Notch = (NotchDetectionStatus)Convert.ToInt32(Encoding.ASCII.GetString(new byte[] { data[3] }));
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Device.TaAlignerStatus2DeviceStatus = Convert.ToInt32(Encoding.ASCII.GetString(new byte[] { data[7] }),16);
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Device.TaAlignerStatus2ErrorCode = Convert.ToInt32(Encoding.ASCII.GetString(new byte[] { data[8] }),16);
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Device.TaAlignerStatus2LastErrorCode = data[9];
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}
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catch (Exception ex)
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{
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LOG.Write($"Parse status2 exception:{ex}");
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}
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}
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public virtual bool PaserData(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 SingleTransactionHandler : TazmoAlignerHandler
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{
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public SingleTransactionHandler(TazmoAligner 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 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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TazmoAlignerMessageBIN response = msg as TazmoAlignerMessageBIN;
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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.Completed);
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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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Device.TaExecuteSuccss = false;
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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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Device.TaExecuteSuccss = false;
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transactionComplete = true;
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ParseStatus1(response.Data);
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}
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if(response.IsResponse)
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{
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SetState(EnumHandlerState.Completed);
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Device.TaExecuteSuccss = true;
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transactionComplete = true;
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if (Encoding.Default.GetString(response.CMD) == "STS") ParseStatus1(response.Data);
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if (Encoding.Default.GetString(response.CMD) == "STU") ParseStatus2(response.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 TwinTransactionHandler:TazmoAlignerHandler
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{
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public TwinTransactionHandler(TazmoAligner 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 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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TazmoAlignerMessageBIN response = msg as TazmoAlignerMessageBIN;
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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.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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Device.TaExecuteSuccss = false;
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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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Device.TaExecuteSuccss = false;
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transactionComplete = true;
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ParseStatus1(response.Data);
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}
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if (response.IsResponse)
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{
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string command = Encoding.Default.GetString(response.CMD);
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if (command == "RST" || command == "HOM")
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Device.Initalized = true;
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SetState(EnumHandlerState.Completed);
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SendAck();
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Device.TaExecuteSuccss = true;
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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 MoveToPickHandler : TazmoAlignerHandler
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{
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public MoveToPickHandler(TazmoAligner device, string specPos) : base(device, BuildData(specPos),null)
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{ }
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private static string BuildData(string data)
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{
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return TazmoCommand.MovetopickpositionMotion + "," + data;
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}
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}
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public class QueryStatus1 : TazmoAlignerHandler
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{
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public QueryStatus1(TazmoAligner device) : base(device, BuildData(),null)
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{ }
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private static string BuildData()
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{
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return TazmoCommand.RequeststatusStatus;
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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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TazmoAlignerMessageBIN response = msg as TazmoAlignerMessageBIN;
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ResponseMessage = msg;
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if (response.RawMessage == new byte[] { 0x06 }) //ACK
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{
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SetState(EnumHandlerState.Completed);
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transactionComplete = false; ;
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return true;
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}
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if (response.RawMessage == new byte[] { 0x11 })
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{
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SetState(EnumHandlerState.Completed);
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transactionComplete = true;
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//Device.Busy = true;
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return true;
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}
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if (response.RawMessage.Length >= 8 && Encoding.ASCII.GetString(response.RawMessage.Take(3).ToArray()) == Command)
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{
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byte[] data = response.RawMessage.Skip(4).Take(3).ToArray();
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ParseStatus1(data);
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SetState(EnumHandlerState.Completed);
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transactionComplete = true;
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//Device.Busy = false;
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SendAck();
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return true;
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}
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transactionComplete = false;
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return false;
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}
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}
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public class QueryStatus2 : TazmoAlignerHandler
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{
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public QueryStatus2(TazmoAligner device) : base(device, BuildData(), null)
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{ }
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private static string BuildData()
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{
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return TazmoCommand.Requeststatus2Status;
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}
|
|||
|
|
|
|||
|
|
public override bool HandleMessage(MessageBase msg, out bool transactionComplete)
|
|||
|
|
{
|
|||
|
|
TazmoAlignerMessageBIN response = msg as TazmoAlignerMessageBIN;
|
|||
|
|
ResponseMessage = msg;
|
|||
|
|
|
|||
|
|
if (response.RawMessage == new byte[] { 0x06 }) //ACK
|
|||
|
|
{
|
|||
|
|
SetState(EnumHandlerState.Completed);
|
|||
|
|
transactionComplete = false; ;
|
|||
|
|
return true;
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
if (response.RawMessage == new byte[] { 0x11 })
|
|||
|
|
{
|
|||
|
|
SetState(EnumHandlerState.Completed);
|
|||
|
|
transactionComplete = true;
|
|||
|
|
//Device.Busy = true;
|
|||
|
|
return true;
|
|||
|
|
|
|||
|
|
}
|
|||
|
|
if(response.RawMessage.Length >= 15 && Encoding.ASCII.GetString(response.RawMessage.Take(3).ToArray()) == Command)
|
|||
|
|
{
|
|||
|
|
byte[] data = response.RawMessage.Skip(4).Take(3).ToArray();
|
|||
|
|
int state1code = Convert.ToInt32(Encoding.ASCII.GetString(data),16);
|
|||
|
|
|
|||
|
|
Device.TaAlignerStatus1 = (TazmoState1)state1code;
|
|||
|
|
|
|||
|
|
|
|||
|
|
SetState(EnumHandlerState.Completed);
|
|||
|
|
transactionComplete = true;
|
|||
|
|
|
|||
|
|
//Device.Busy = false;
|
|||
|
|
SendAck();
|
|||
|
|
return true;
|
|||
|
|
}
|
|||
|
|
transactionComplete = false;
|
|||
|
|
return false;
|
|||
|
|
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
|
|||
|
|
|
|||
|
|
|
|||
|
|
}
|