699 lines
21 KiB
C#
699 lines
21 KiB
C#
using System;
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using System.Collections.Generic;
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using System.IO.Ports;
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using System.Linq;
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using Aitex.Core.Common.DeviceData;
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using Aitex.Core.RT.Device;
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using Aitex.Core.RT.Device.Unit;
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using Aitex.Core.RT.Event;
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using Aitex.Core.RT.Log;
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using Aitex.Core.RT.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.Communications;
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using MECF.Framework.Common.Device.Bases;
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using MECF.Framework.RT.EquipmentLibrary.HardwareUnits.Common;
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using Newtonsoft.Json;
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namespace MECF.Framework.RT.EquipmentLibrary.HardwareUnits.Robots.Siasun1500C800C
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{
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public class RobotSiasun1500C800C : TCPSocketDevice, IConnection
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{
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public string Address { get; }
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public bool IsConnected { get; }
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public bool Connect()
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{
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return true;
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}
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public bool Disconnect()
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{
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return true;
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}
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public string PortStatus { get; set; } = "Closed";
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private RobotSiasun1500C800CTCPConnection _connection;
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public RobotSiasun1500C800CTCPConnection 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 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 LinkedList<HandlerBase> _lstMonitorHandler = new LinkedList<HandlerBase>();
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public List<IOResponse> IOResponseList { get; set; } = new List<IOResponse>();
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private object _locker = new object();
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private bool _enableLog;
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private string _scRoot;
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public RobotSiasun1500C800C(string module, string name, string scRoot) : base(module, name)
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{
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_scRoot = scRoot;
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}
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private void ResetPropertiesAndResponses()
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{
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LoadAWaferStatus = false;
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LoadBWaferStatus = false;
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ArmAPosition = null;
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ArmBPosition = null;
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IsHalted = false;
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AllHomed = false;
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RHomed = false;
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THomed = false;
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ZHomed = false;
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LastPickInfo = null;
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LastPlaceInfo = null;
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ArmRetracted = false;
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foreach (var ioResponse in IOResponseList)
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{
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ioResponse.ResonseContent = null;
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ioResponse.ResonseRecievedTime = DateTime.Now;
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}
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}
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public override bool Initialize()
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{
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base.Initialize();
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ResetPropertiesAndResponses();
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if (_connection != null && _connection.IsConnected)
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return true;
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_enableLog = SC.GetValue<bool>($"{_scRoot}.{Module}.{Name}.EnableLogMessage");
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string deviceIP = SC.GetStringValue($"{_scRoot}.{Module}.{Name}.DeviceIP");
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_connection = new RobotSiasun1500C800CTCPConnection(deviceIP);
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_connection.EnableLog(_enableLog);
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if (_connection.Connect())
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{
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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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return false;
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}
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_thread = new PeriodicJob(100, OnTimer, $"{Module}.{Name} MonitorHandler", true);
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return true;
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}
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private bool OnTimer()
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{
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try
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{
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//return true;
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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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//_lstHandler.AddLast(new RobotSiasun1500C800CQueryPinHandler(this, _deviceAddress));
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//_lstHandler.AddLast(new RobotSiasun1500C800CSetCommModeHandler(this, _deviceAddress, EnumRfPowerCommunicationMode.Host));
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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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foreach (var monitorHandler in _lstMonitorHandler)
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{
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_lstHandler.AddLast(monitorHandler);
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}
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}
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if (_lstHandler.Count > 0)
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{
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handler = _lstHandler.First.Value;
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_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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//_connection.EnableLog(_enableLog);
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_trigCommunicationError.CLK = _connection.IsCommunicationError;
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if (_trigCommunicationError.Q)
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{
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EV.PostAlarmLog(Module, $"{Module}.{Name} communication error, {_connection.LastCommunicationError}");
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}
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}
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catch (Exception ex)
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{
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LOG.Write(ex);
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}
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}
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public override void Reset()
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{
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_trigError.RST = true;
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_connection.SetCommunicationError(false, "");
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_trigCommunicationError.RST = true;
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//_enableLog = SC.GetValue<bool>($"{ScBasePath}.{Name}.EnableLogMessage");
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_trigRetryConnect.RST = true;
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base.Reset();
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}
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public override bool Home(out string reason)
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{
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return base.Home(out reason);
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}
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#region Command Functions
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public void PerformRawCommand(string command, string comandArgument)
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{
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lock (_locker)
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{
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_lstHandler.AddLast(new RobotSiasun1500C800CRawCommandHandler(this, command, comandArgument));
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}
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}
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public void PerformRawCommand(string command)
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{
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lock (_locker)
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{
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_lstHandler.AddLast(new RobotSiasun1500C800CRawCommandHandler(this, command));
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}
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}
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public void ResetRobot()
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{
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_connection.SendMessage("RESET\r");
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}
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public void Goto(GotoArgument gotoArg)
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{
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lock (_locker)
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{
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_lstHandler.AddLast(new RobotSiasun1500C800CGotoHandler(this, JsonConvert.SerializeObject(gotoArg)));
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}
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}
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public void Goto(object gotoArg)
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{
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lock (_locker)
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{
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_lstHandler.AddLast(new RobotSiasun1500C800CGotoHandler(this, gotoArg.ToString()));
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}
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}
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public void SevoOn()
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{
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lock (_locker)
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{
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_lstHandler.AddLast(new RobotSiasun1500C800CSevoOnOffHandler(this, true));
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}
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}
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public void SevoOff()
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{
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lock (_locker)
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{
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_lstHandler.AddLast(new RobotSiasun1500C800CSevoOnOffHandler(this, false));
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}
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}
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public void Halt()
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{
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lock (_locker)
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{
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_lstHandler.AddLast(new RobotSiasun1500C800CHaltHandler(this));
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}
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}
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public void HomeAxis(string axis)
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{
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lock (_locker)
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{
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_lstHandler.AddLast(new RobotSiasun1500C800CHomeAxisHandler(this, axis));
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}
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}
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public void Pick(PickPlaceArgument pickArg)
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{
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lock (_locker)
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{
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_lstHandler.AddLast(new RobotSiasun1500C800CPickHandler(this, JsonConvert.SerializeObject(pickArg)));
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}
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}
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public void Pick(object pickArg)
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{
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lock (_locker)
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{
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_lstHandler.AddLast(new RobotSiasun1500C800CPickHandler(this, pickArg.ToString()));
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}
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}
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public void Place(PickPlaceArgument placeArg)
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{
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lock (_locker)
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{
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_lstHandler.AddLast(new RobotSiasun1500C800CPlaceHandler(this, JsonConvert.SerializeObject(placeArg)));
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}
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}
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public void Place(object placeArg)
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{
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lock (_locker)
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{
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_lstHandler.AddLast(new RobotSiasun1500C800CPlaceHandler(this, placeArg.ToString()));
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}
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}
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public void Transfer(string arm, string fromStation, string toStation)
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{
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lock (_locker)
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{
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_lstHandler.AddLast(new RobotSiasun1500C800CTransferHandler(this, fromStation, toStation,arm));
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}
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}
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public void Transfer(string fromStation, string toStation)
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{
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lock (_locker)
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{
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_lstHandler.AddLast(new RobotSiasun1500C800CTransferHandler(this, fromStation, toStation));
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}
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}
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internal void NoteSetCommEchoCompleted(bool value)
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{
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SetCommEchoCompleted = value;
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}
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public void Retract()
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{
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lock (_locker)
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{
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_lstHandler.AddLast(new RobotSiasun1500C800CRetractHandler(this));
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}
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}
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public void SetCommunicationEcho(string echoStatus)
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{
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lock (_locker)
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{
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_lstHandler.AddLast(new RobotSiasun1500C800CSetCommunicationEchoHandler(this, echoStatus));
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}
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}
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internal void NoteSetLoadCompleted(bool value)
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{
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SetLoadCompleted = value;
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}
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public void SetLoad(string arm, string status)
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{
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lock (_locker)
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{
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_lstHandler.AddLast(new RobotSiasun1500C800CSetLoadHandler(this, arm, status));
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}
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}
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public void MonitorRawCommand(bool isSelected, string command, string comandArgument)
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{
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lock (_locker)
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{
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string msg = comandArgument == null ? $"{command}\r" : $"{command} {comandArgument}\r";
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var existHandlers = _lstMonitorHandler.Where(handler => handler.GetType() == typeof(RobotSiasun1500C800CRawCommandHandler) && handler.SendText == msg);
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if (isSelected)
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{
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if (!existHandlers.Any())
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_lstMonitorHandler.AddFirst(new RobotSiasun1500C800CRawCommandHandler(this, command, comandArgument));
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}
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else
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{
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if (existHandlers.Any())
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{
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_lstMonitorHandler.Remove(existHandlers.First());
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}
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}
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}
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}
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public void MonitorRawCommand(bool isSelected, string command)
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{
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lock (_locker)
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{
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string msg = $"{command}\r";
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var existHandlers = _lstMonitorHandler.Where(handler => handler.GetType() == typeof(RobotSiasun1500C800CRawCommandHandler) && handler.SendText == msg);
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if (isSelected)
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{
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if (!existHandlers.Any())
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_lstMonitorHandler.AddFirst(new RobotSiasun1500C800CRawCommandHandler(this, command));
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}
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else
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{
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if (existHandlers.Any())
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{
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_lstMonitorHandler.Remove(existHandlers.First());
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}
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}
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}
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}
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public void RequestWaferOnOff(bool isSelected, string load)
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{
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lock (_locker)
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{
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var existHandlers = _lstMonitorHandler.Where(handler => handler.GetType() == typeof(RobotSiasun1500C800CQueryWaferOnOffHandler) && handler.SendText.Contains(" " + load.ToString()));
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if (isSelected)
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{
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if (!existHandlers.Any())
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_lstMonitorHandler.AddFirst(new RobotSiasun1500C800CQueryWaferOnOffHandler(this, load));
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}
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else
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{
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if (existHandlers.Any())
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{
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_lstMonitorHandler.Remove(existHandlers.First());
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}
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}
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}
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}
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internal void NoteCommEchoStatus(bool echoStatus)
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{
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CommEchoOn = echoStatus;
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}
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public void RequestWaferOnOff(bool isSelected)
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{
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lock (_locker)
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{
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var existHandlers = _lstMonitorHandler.Where(handler => handler.GetType() == typeof(RobotSiasun1500C800CQueryWaferOnOffHandler) && handler.SendText == "RQ LOAD\r");
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if (isSelected)
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{
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if (!existHandlers.Any())
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_lstMonitorHandler.AddFirst(new RobotSiasun1500C800CQueryWaferOnOffHandler(this, null));
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}
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else
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{
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if (existHandlers.Any())
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{
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_lstMonitorHandler.Remove(existHandlers.First());
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}
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}
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}
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}
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internal void NoteWafeCenData(string requestResponse)
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{
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WafeCenData = requestResponse;
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var dataArray = requestResponse.Split(' ');
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if(dataArray.Length == 15)
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{
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Offset_R = dataArray[10];
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Offset_T = dataArray[11];
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}
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else
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{
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NoteError("RequestWafeCenData Response Error");
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}
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}
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public void RequestCommunicationEcho(bool isSelected)
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{
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lock (_locker)
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{
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var existHandlers = _lstMonitorHandler.Where(handler => handler.GetType() == typeof(RobotSiasun1500C800CRequestCommunicationEchoHandler));
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if (isSelected)
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{
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if (!existHandlers.Any())
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_lstMonitorHandler.AddFirst(new RobotSiasun1500C800CRequestCommunicationEchoHandler(this));
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}
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else
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{
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if (existHandlers.Any())
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{
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_lstMonitorHandler.Remove(existHandlers.First());
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}
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}
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}
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}
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public void RequestWaferCentData(bool isSelected)
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{
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lock (_locker)
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{
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var existHandlers = _lstMonitorHandler.Where(handler => handler.GetType() == typeof(RobotSiasun1500C800CRequestWaferCentDataHandler));
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if (isSelected)
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{
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if (!existHandlers.Any())
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_lstMonitorHandler.AddFirst(new RobotSiasun1500C800CRequestWaferCentDataHandler(this));
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}
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else
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{
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if (existHandlers.Any())
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{
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_lstMonitorHandler.Remove(existHandlers.First());
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}
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}
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}
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}
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#endregion
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#region Properties
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public bool LoadAWaferStatus { get; private set; }
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public bool LoadBWaferStatus { get; private set; }
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public string ArmAPosition { get; private set; }
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public string ArmBPosition { get; private set; }
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public bool IsHalted { get; private set; }
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public bool AllHomed { get; private set; }
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public bool RHomed { get; private set; }
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public bool THomed { get; private set; }
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public bool ZHomed { get; private set; }
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public string LastPickInfo { get; private set; }
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public string LastPlaceInfo { get; private set; }
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public bool ArmRetracted { get; private set; }
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public string Error { get; private set; }
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public bool SevoOnOff { get; private set; }
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public bool CommEchoOn { get; private set; }
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public bool SetCommEchoCompleted { get; private set; }
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public bool SetLoadCompleted { get; private set; }
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public string WafeCenData { get; private set; }
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public string Offset_R { get; private set; }
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public string Offset_T { get; private set; }
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#endregion
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#region Note Functions
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private R_TRIG _trigWarningMessage = new R_TRIG();
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|
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public void NoteError(string reason)
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{
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if(reason != null)
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{
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_trigWarningMessage.CLK = true;
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if (_trigWarningMessage.Q)
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{
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EV.PostWarningLog(Module, $"{Module}.{Name} error, {reason}");
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}
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Error = reason;
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}
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else
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{
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Error = null;
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}
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}
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internal void NoteArmAPosition(string position)
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{
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ArmAPosition = position;
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}
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internal void NoteArmBPosition(string position)
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{
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ArmBPosition = position;
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}
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internal void NoteIsHalted(bool isHalted)
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{
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IsHalted = isHalted;
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}
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internal void NoteSevoOnOff(bool isOn)
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{
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SevoOnOff = isOn;
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}
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internal void NoteAxisHomed(string parameter)
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{
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if (parameter == null || parameter == "ALL")
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{
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AllHomed = true;
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RHomed = true;
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THomed = true;
|
|
ZHomed = true;
|
|
}
|
|
else if (parameter == "R")
|
|
RHomed = true;
|
|
else if (parameter == "T")
|
|
THomed = true;
|
|
else if (parameter == "Z")
|
|
ZHomed = true;
|
|
else
|
|
NoteError("Wrong 'HOME' parameter");
|
|
}
|
|
|
|
internal void NoteWafeOnOff(string arm, bool isOn)
|
|
{
|
|
if(arm == "A")
|
|
LoadAWaferStatus = isOn;
|
|
else
|
|
LoadBWaferStatus = isOn;
|
|
}
|
|
internal void NoteRawCommandInfo(string command, string data)
|
|
{
|
|
var curIOResponse = IOResponseList.Find(res => res.SourceCommandName == command);
|
|
if (curIOResponse != null)
|
|
{
|
|
IOResponseList.Remove(curIOResponse);
|
|
}
|
|
IOResponseList.Add(new IOResponse() { SourceCommandName = command, ResonseContent = data, ResonseRecievedTime = DateTime.Now });
|
|
}
|
|
|
|
internal void NoteLastPickInfo(string sendText)
|
|
{
|
|
LastPickInfo = sendText;
|
|
}
|
|
internal void NoteLastPlaceInfo(string sendText)
|
|
{
|
|
LastPlaceInfo = sendText;
|
|
}
|
|
internal void NoteRetracted(bool retracted)
|
|
{
|
|
ArmRetracted = retracted;
|
|
}
|
|
|
|
#endregion
|
|
}
|
|
|
|
|
|
public class GotoArgument
|
|
{
|
|
/// <summary>
|
|
///
|
|
/// </summary>
|
|
public int Station { get; set; }
|
|
/// <summary>
|
|
///
|
|
/// </summary>
|
|
public string R { get; set; }
|
|
/// <summary>
|
|
///
|
|
/// </summary>
|
|
public string Z { get; set; }
|
|
/// <summary>
|
|
///
|
|
/// </summary>
|
|
public int Slot { get; set; }
|
|
/// <summary>
|
|
///
|
|
/// </summary>
|
|
public string Arm { get; set; }
|
|
}
|
|
public class PickPlaceArgument
|
|
{
|
|
|
|
/// <summary>
|
|
///
|
|
/// </summary>
|
|
public int Station { get; set; }
|
|
/// <summary>
|
|
///
|
|
/// </summary>
|
|
public int Slot { get; set; }
|
|
/// <summary>
|
|
///
|
|
/// </summary>
|
|
public string Arm { get; set; }
|
|
/// <summary>
|
|
///
|
|
/// </summary>
|
|
public int Step { get; set; }
|
|
/// <summary>
|
|
///
|
|
/// </summary>
|
|
public string Offset { get; set; }
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
}
|