953 lines
27 KiB
C#
953 lines
27 KiB
C#
using System;
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using System.Collections.Generic;
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using System.Text.RegularExpressions;
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using System.Threading;
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using System.Threading.Tasks;
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using Aitex.Core.RT.Device.Unit;
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using Aitex.Core.RT.Event;
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using Aitex.Core.RT.Log;
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using Aitex.Core.RT.SCCore;
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using Aitex.Sorter.Common;
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using MECF.Framework.Common.Communications;
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using TSC = Aitex.Sorter.Common;
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using Aitex.Core.Common;
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using MECF.Framework.Common.SubstrateTrackings;
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using Aitex.Core.RT.OperationCenter;
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namespace MECF.Framework.RT.EquipmentLibrary.HardwareUnits.LoadPorts.TDK
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{
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/// <summary>
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/// 代码说明：
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///
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/// </summary>
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///
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public enum CarrierOnLPState
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{
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Unknow=0,
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On,
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Off,
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}
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public class TDKLoadPort : LoadPort,IConnection
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{
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public string Address { get; set; }
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public bool IsConnected
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{
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get { return _port.IsOpen(); }
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}
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public bool UnlockKey
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{
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set
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{
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}
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}
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public bool Enable
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{
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set
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{
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if (_enableTrigger != null)
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{
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_enableTrigger.SetTrigger(value, out _);
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}
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}
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}
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public bool FFUIsOK { get; set; }
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private LoadportCassetteState _cassetteState = LoadportCassetteState.None;
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public override LoadportCassetteState CassetteState
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{
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get { return _cassetteState; }
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set
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{
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_cassetteState = value;
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}
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}
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public bool Processed { get; set; }
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public bool Communication
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{
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get
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{
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return _port == null ? !_commErr : !_commErr && _port.IsOpen();
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}
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}
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//
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public override bool IsBusy
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{
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get { return _foregroundHandler != null || _handlers.Count > 0 ; }
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}
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public override bool IsMoving
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{
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get { return _foregroundHandler != null && _handlers.Count > 0; }
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}
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public const string delimiter = "\r";
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public const int min_len = 3; //S00
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private static Object _locker = new Object();
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private AsyncSerial _port;
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private bool _commErr = false;
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private IHandler _eventHandler = null;
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private IHandler _foregroundHandler = null; //moving
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private Queue<IHandler> _handlers = new Queue<IHandler>();
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private IoSensor _sensorEnable = null;
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private IoTrigger _enableTrigger = null;
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public TDKLoadPort(string module, string name, string port, IoSensor sensorEnable, IoTrigger triggerEnable,
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EnumLoadPortType portType =EnumLoadPortType.LoadPort)
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: base(module, name )
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{
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_port = new AsyncSerial(port, 9600, 8);
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_port.OnDataChanged += (OnDataChanged);
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_port.OnErrorHappened += (OnErrorHandler);
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_eventHandler = new handler<OnEventHandler>(this, Name);
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_sensorEnable = sensorEnable;
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_enableTrigger = triggerEnable;
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Initalized = false;
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IsMapWaferByLoadPort = portType== EnumLoadPortType.LoadPort;
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PortType = portType;
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IndicatiorLoad = IndicatorState.UNKNOW;
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IndicatiorUnload = IndicatorState.UNKNOW;
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IndicatiorPresence = IndicatorState.UNKNOW;
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IndicatorAlarm = IndicatorState.UNKNOW;
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IndicatiorPlacement = IndicatorState.UNKNOW;
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IndicatiorOpAccess = IndicatorState.UNKNOW;
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IndicatiorStatus1 = IndicatorState.UNKNOW;
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IndicatiorStatus2 = IndicatorState.UNKNOW;
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IndicatiorAccessAuto = IndicatorState.UNKNOW;
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IndicatiorAccessManual = IndicatorState.UNKNOW;
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DoorState = FoupDoorState.Unknown;
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ClampState = FoupClampState.Unknown;
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CassetteState = LoadportCassetteState.Unknown;
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//if (!this.QueryState(out string reason))
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//{
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// EV.PostAlarmLog(module,$"Query state error.{reason}");
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//}
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Enable = true;
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Address = port;
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}
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public void SetCassetteState(LoadportCassetteState state)
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{
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_cassetteState = state;
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if (state == LoadportCassetteState.Normal)
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{
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_isPlaced = true;
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_isPresent = true;
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ConfirmAddCarrier();
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}
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else if(state == LoadportCassetteState.Absent)
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{
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_isPlaced = false;
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_isPresent = false;
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ConfirmRemoveCarrier();
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}
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else
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{
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_isPlaced = false;
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ConfirmRemoveCarrier();
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}
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}
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public override bool ReadRfId(out string reason)
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{
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OP.DoOperation("ReadCarrierId", Name);
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reason = "";
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return true;
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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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_commErr = true;
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ConnectionManager.Instance.Subscribe($"{Name}", this);
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Connect();
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//if (!RetryInstance.Instance().Execute<bool>(
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// ()=> _port.Open(),
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// SC.GetValue<int>("System.ComPortRetryDelayTime"),
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// SC.GetValue<int>("System.ComPortRetryCount"),
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// true
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//))
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//{
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// return false;
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//}
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return true;
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}
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public override bool Connect()
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{
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_commErr = false;
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Task.Factory.StartNew(() =>
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{
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int count = SC.ContainsItem("System.ComPortRetryCount") ? SC.GetValue<int>("System.ComPortRetryCount") : 5;
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int sleep = SC.ContainsItem("System.ComPortRetryDelayTime") ? SC.GetValue<int>("System.ComPortRetryDelayTime") : 2;
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if (sleep <= 0 || sleep > 10)
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sleep = 2;
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int retry = 0;
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do
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{
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_port.Close();
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Thread.Sleep(sleep * 1000);
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if (_port.Open())
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{
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//LOG.Write($"Connected with {Module}.{Name} .");
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EV.PostInfoLog(Module, $"Connected with {Module}.{Name} .");
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break;
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}
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if (count > 0 && retry++ > count)
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{
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LOG.Write($"Retry connect {Module}.{Name} stop retry.");
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EV.PostAlarmLog(Module, $"Can't connect to {Module}.{Name}.");
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break;
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}
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Thread.Sleep(sleep * 1000);
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LOG.Write($"Retry connect {Module}.{Name} for the {retry + 1} time.");
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} while (true);
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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 override void Terminate()
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{
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_port.Close();
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}
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public override bool IsEnableMapWafer()
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{
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if (IsIdle
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&& _isPresent
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&& _isPlaced
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&& DoorState == FoupDoorState.Open
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&& CassetteState == LoadportCassetteState.Normal
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)
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return true;
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return false;
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}
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public override bool IsEnableTransferWafer()
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{
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return IsEnableTransferWafer(out _);
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}
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public override bool IsEnableTransferWafer(out string reason)
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{
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reason = "";
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if (_isPlaced
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&& _isPresent
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&& _isMapped
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&& IsIdle
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&& DoorState==FoupDoorState.Open
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&& CassetteState==LoadportCassetteState.Normal
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&& IsWaferEnableTransfer()
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) return true;
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return false;
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}
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public override void Monitor()
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{
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base.Monitor();
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}
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/// <summary>
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///The Indicator is for EAP/Operator
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/// LOAD READY: LoadPort Ready to receive FOUP
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/// UNLOAD READY: FOUP ready to remove
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///
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/// </summary>
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public void OnStateUpdated()
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{
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//if (!SC.ContainsItem("Process.OptionLoadportMonitor") || !SC.GetValue<bool>("Process.OptionLoadportMonitor"))
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// return;
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//if (_isPresent && _isPlaced && this.ClampState == FoupClampState.Open &&this.DockPOS == TDKY_AxisPos.Undock)
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//{
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// if (IndicatiorUnload != IndicatorState.ON)
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// SetIndicator(Indicator.UNLOAD, IndicatorState.ON);
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// if (IndicatiorLoad != IndicatorState.OFF)
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// SetIndicator(Indicator.LOAD, IndicatorState.OFF);
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// return;
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//}
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//if (!_isPresent || !_isPlaced)
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//{
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// if (IndicatiorUnload != IndicatorState.OFF)
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// SetIndicator(Indicator.UNLOAD, IndicatorState.OFF);
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// if (IndicatiorLoad != IndicatorState.ON)
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// SetIndicator(Indicator.LOAD, IndicatorState.ON);
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// return;
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//}
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//if (IndicatiorUnload != IndicatorState.OFF)
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// SetIndicator(Indicator.UNLOAD, IndicatorState.OFF);
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//if (IndicatiorLoad != IndicatorState.OFF)
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// SetIndicator(Indicator.LOAD, IndicatorState.OFF);
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}
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public void OnAccessButtonPushed()
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{
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if (_isPresent && _isPlaced)
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{
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}
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}
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/// <summary>
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///reset load port error
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///
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/// </summary>
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public override void Reset()
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{
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lock (_locker)
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{
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_foregroundHandler = null;
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_handlers.Clear();
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}
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FFUIsOK = true;
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_commErr = false;
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Enable = true;
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Error = false;
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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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reason = string.Empty;
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lock (_locker)
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{
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_foregroundHandler = null;
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_handlers.Clear();
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}
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return execute(new handler<HomeHandler>(this, Name), out reason);
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}
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public override bool ForceHome(out string reason)
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{
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reason = string.Empty;
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lock (_locker)
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{
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_foregroundHandler = null;
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_handlers.Clear();
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}
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return execute(new handler<ForceHomeHandler>(this, Name), out reason);
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}
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public override bool FOSBMode(out string reason)
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{
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reason = string.Empty;
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lock (_locker)
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{
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_foregroundHandler = null;
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_handlers.Clear();
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}
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return execute(new handler<FOSBModeHandler>(this, Name), out reason);
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}
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public override bool FOUPMode(out string reason)
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{
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reason = string.Empty;
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lock (_locker)
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{
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_foregroundHandler = null;
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_handlers.Clear();
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}
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return execute(new handler<FOUPModeHandler>(this, Name), out reason);
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}
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public override bool FOSBDock(out string reason)
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{
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reason = string.Empty;
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lock (_locker)
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{
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_foregroundHandler = null;
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_handlers.Clear();
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}
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return execute(new handler<DockPosHandler>(this, Name), out reason);
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}
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public override bool FOSBUnDock(out string reason)
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{
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reason = string.Empty;
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lock (_locker)
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{
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_foregroundHandler = null;
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_handlers.Clear();
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}
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return execute(new handler<UnDockPosHandler>(this, Name), out reason);
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}
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public override bool FOSBDoorOpen(out string reason)
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{
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reason = string.Empty;
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lock (_locker)
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{
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_foregroundHandler = null;
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_handlers.Clear();
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}
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return execute(new handler<DoorOpenHandler>(this, Name), out reason);
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}
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public override bool FOSBDoorClose(out string reason)
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{
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reason = string.Empty;
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lock (_locker)
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{
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_foregroundHandler = null;
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_handlers.Clear();
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}
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return execute(new handler<DoorCloseHandler>(this, Name), out reason);
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}
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public override bool FOSBDoorUp(out string reason)
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{
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reason = string.Empty;
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lock (_locker)
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{
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_foregroundHandler = null;
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_handlers.Clear();
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}
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return execute(new handler<DoorUpHandler>(this, Name), out reason);
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}
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public override bool FOSBDoorDown(out string reason)
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{
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reason = string.Empty;
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lock (_locker)
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{
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_foregroundHandler = null;
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_handlers.Clear();
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}
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return execute(new handler<DoorDownHandler>(this, Name), out reason);
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}
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/// <summary>
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/// Clear LP error
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/// </summary>
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public override bool ClearError(out string reason)
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{
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reason = string.Empty;
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Error = false;
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ExecuteError = false;
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reason = string.Empty;
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lock (_locker)
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{
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_foregroundHandler = null;
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_handlers.Clear();
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}
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return execute(new handler<ResetHandler>(this, Name), out reason);
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}
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public override bool Stop(out string reason)
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{
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reason = string.Empty;
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lock (_locker)
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{
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_foregroundHandler = null;
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_handlers.Clear();
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}
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return execute(new handler<MovHandler>(this, Name, MovType.STOP_), out reason);
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}
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public override bool FALoad(out string reason) //map and loads
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{
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reason = "";
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if (State != DeviceState.Idle)
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{
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reason = $"LoadPort is in {State}";
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return false;
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}
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OP.DoOperation("LoadFoup", Name);
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return true;
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}
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public override bool Load(out string reason) //map and loads
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{
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if (State != DeviceState.Idle)
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{
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reason = $"LoadPort is in {State}";
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return false;
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}
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return Move(MovType.CLDMP, out reason);
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}
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public override bool LoadWithoutMap(out string reason)
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{
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if (State != DeviceState.Idle)
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{
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reason = $"LoadPort is in {State}";
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return false;
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}
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return Move(MovType.CLOAD, out reason);
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}
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public override bool Unload(out string reason)
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{
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if (State != DeviceState.Idle)
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{
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reason = $"LoadPort is in {State}";
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return false;
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}
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return Move(MovType.CULOD, out reason);
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}
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public override bool Clamp(out string reason)
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{
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if (State != DeviceState.Idle)
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{
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reason = $"LoadPort is in {State}";
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return false;
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}
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return Move(MovType.PODCL, out reason);
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}
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public override bool Unclamp(out string reason)
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{
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if (State != DeviceState.Idle)
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{
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reason = $"LoadPort is in {State}";
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return false;
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}
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return Move(MovType.PODOP, out reason);
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}
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public override bool Dock(out string reason)
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{
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if (State != DeviceState.Idle)
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{
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reason = $"LoadPort is in {State}";
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return false;
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}
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return Move(MovType.CLDDK, out reason);
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}
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public override bool Undock(out string reason)
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{
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if (State != DeviceState.Idle)
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{
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reason = $"LoadPort is in {State}";
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return false;
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}
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return Move(MovType.CULFC, out reason); //？？？？
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}
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public override bool OpenDoor(out string reason)
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{
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if (State != DeviceState.Idle)
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{
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reason = $"LoadPort is in {State}";
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return false;
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}
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return Move(MovType.CLMPO, out reason);
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}
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public override bool OpenDoorNoMap(out string reason)
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{
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if (State != DeviceState.Idle)
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{
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reason = $"LoadPort is in {State}";
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return false;
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}
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return Move(MovType.CLDOP, out reason);
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}
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public override bool CloseDoor(out string reason)
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{
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if (State != DeviceState.Idle)
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{
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reason = $"LoadPort is in {State}";
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return false;
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}
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return Move(MovType.CULDK, out reason);
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}
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|
||
public override bool SetIndicator(Indicator light, IndicatorState op, out string reason)
|
||
{
|
||
reason = string.Empty;
|
||
return execute(new handler<IndicatorHandler>(this,Name, light, op), out reason);
|
||
}
|
||
|
||
public bool SetOnlineMode(out string reason)
|
||
{
|
||
reason = string.Empty;
|
||
return execute(new handler<ModHandler>(this, Name, Mode.ONMGV), out reason);
|
||
}
|
||
|
||
public override bool QueryState(out string reason)
|
||
{
|
||
reason = string.Empty;
|
||
return execute(new handler<QueryStateHandler>(this, Name), out reason);
|
||
}
|
||
|
||
public override bool QueryIndicator(out string reason)
|
||
{
|
||
reason = string.Empty;
|
||
return execute(new handler<QueryIndicatorHandler>(this, Name), out reason);
|
||
}
|
||
|
||
public override bool QueryWaferMap(out string reason)
|
||
{
|
||
reason = string.Empty;
|
||
return execute(new handler<QueryWaferMappingHandler>(this, DeviceID), out reason);
|
||
}
|
||
|
||
public override bool QueryFOSBMode(out string reason)
|
||
{
|
||
reason = string.Empty;
|
||
return execute(new handler<QueryFOSBModeHandler>(this, DeviceID), out reason);
|
||
}
|
||
|
||
public bool Move(MovType fun, out string reason)
|
||
{
|
||
if (State != DeviceState.Idle)
|
||
{
|
||
reason = $"LoadPort is in {State}";
|
||
return false;
|
||
}
|
||
reason = string.Empty;
|
||
return execute(new handler<MovHandler>(this, Name, fun), out reason);
|
||
}
|
||
|
||
//public bool Query(QueryType type, out string reason)
|
||
//{
|
||
// reason = string.Empty;
|
||
// return execute(new handler<QueryWaferMappingHandler>(Name), out reason);
|
||
//}
|
||
|
||
|
||
public bool SetEvent(EvtType fun, out string reason)
|
||
{
|
||
reason = string.Empty;
|
||
return execute(new handler<SetEventHandler>(this, Name, fun), out reason);
|
||
}
|
||
|
||
|
||
|
||
public bool OnEvent(out string reason)
|
||
{
|
||
reason = string.Empty;
|
||
lock (_locker)
|
||
{
|
||
if (!execute(new handler<QueryStateHandler>(this, Name), out reason))
|
||
return false;
|
||
|
||
return execute(new handler<QueryIndicatorHandler>(this, Name), out reason);
|
||
}
|
||
|
||
|
||
|
||
}
|
||
|
||
private bool execute(IHandler handler1, out string reason)
|
||
{
|
||
reason = string.Empty;
|
||
lock (_locker)
|
||
{
|
||
if (_foregroundHandler == null)
|
||
{
|
||
if (!handler1.Execute(ref _port))
|
||
{
|
||
reason = "Communication failed, please recovery it.";
|
||
return false;
|
||
}
|
||
|
||
_foregroundHandler = handler1;
|
||
}
|
||
else
|
||
{
|
||
var type = handler1.GetType();
|
||
string name = type.Name;
|
||
|
||
if (type.GenericTypeArguments.Length > 0)
|
||
name = type.GenericTypeArguments[0].Name;
|
||
|
||
LOG.Info(string.Format("Add command {0}", name));
|
||
|
||
_handlers.Enqueue(handler1);
|
||
}
|
||
|
||
}
|
||
return true;
|
||
}
|
||
|
||
private bool execute(out string reason)
|
||
{
|
||
reason = string.Empty;
|
||
lock(_locker)
|
||
{
|
||
if (_handlers.Count > 0)
|
||
{
|
||
IHandler handler = _handlers.Dequeue();
|
||
|
||
if (!handler.Execute(ref _port))
|
||
{
|
||
reason = " communication failed, please recovery it.";
|
||
LOG.Error(reason);
|
||
EV.PostMessage(Name, EventEnum.DefaultWarning, "【Reader】" + reason);
|
||
|
||
return false;
|
||
}
|
||
|
||
_foregroundHandler = handler;
|
||
}
|
||
}
|
||
return true;
|
||
}
|
||
|
||
private void OnDataChanged(string package)
|
||
{
|
||
try
|
||
{
|
||
package = package.ToUpper();
|
||
string[] msgs = Regex.Split(package, delimiter);
|
||
|
||
foreach (string msg in msgs)
|
||
{
|
||
if (msg.Length > min_len)
|
||
{
|
||
bool completed = false;
|
||
string resp = msg.Substring(3, msg.Length - min_len);
|
||
|
||
lock (_locker)
|
||
{
|
||
if (_foregroundHandler != null && _foregroundHandler.OnMessage(ref _port, resp, out completed))
|
||
{
|
||
string reason = string.Empty;
|
||
if (!_foregroundHandler.IsBackground)
|
||
{
|
||
_foregroundHandler = null;
|
||
execute(out reason);
|
||
OnActionDone(true);
|
||
|
||
}
|
||
else
|
||
{
|
||
if (completed)
|
||
{
|
||
_foregroundHandler = null;
|
||
QueryState(out reason);
|
||
if (_foregroundHandler is handler<HomeHandler>)
|
||
{
|
||
QueryIndicator(out reason);
|
||
}
|
||
}
|
||
}
|
||
|
||
}
|
||
else
|
||
{
|
||
_eventHandler.OnMessage(ref _port, resp, out completed); //process event
|
||
}
|
||
}
|
||
}
|
||
}
|
||
}
|
||
catch (ExcuteFailedException ex)
|
||
{
|
||
EV.PostWarningLog(Module, $"{Name} action failed, "+ex.Message);
|
||
_foregroundHandler = null;
|
||
OnError( $"{ Name} action failed");
|
||
}
|
||
catch (InvalidPackageException ex)
|
||
{
|
||
EV.PostWarningLog(Module, $"{Name} received unprocessed message, {ex.Message}" );
|
||
OnError($"{Name} received unprocessed message");
|
||
}
|
||
catch (Exception ex)
|
||
{
|
||
LOG.Write($" {Name} has exception：" + ex.Message);
|
||
}
|
||
|
||
}
|
||
|
||
private void OnErrorHandler(ErrorEventArgs args)
|
||
{
|
||
_commErr = true;
|
||
Initalized = false;
|
||
|
||
EV.PostAlarmLog(Module, $"{Display} Communication error, {args.Reason}");
|
||
|
||
OnError($"{Display} Communication error");
|
||
}
|
||
|
||
public void OnCarrierNotPlaced()
|
||
{
|
||
_isPlaced = false;
|
||
}
|
||
|
||
|
||
public void OnCarrierNotPresent()
|
||
{
|
||
_isPresent = false;
|
||
|
||
}
|
||
|
||
public void OnCarrierPlaced()
|
||
{
|
||
//if (SC.ContainsItem("CarrierInfo.InfoPadType") && (SC.GetValue<int>("CarrierInfo.InfoPadType") == 0)) //0 is TDK sensor
|
||
//{
|
||
// int cindex = (IsInfoPadAOn ? 8 : 0) + (IsInfoPadBOn ? 4 : 0) + (IsInfoPadCOn ? 2 : 0) + (IsInfoPadDOn ? 1 : 0);
|
||
// InfoPadCarrierIndex = cindex;
|
||
// if (SC.ContainsItem($"CarrierInfo.CarrierName{cindex}"))
|
||
// InfoPadCarrierType = SC.GetStringValue($"CarrierInfo.CarrierName{cindex}");
|
||
// if (SC.ContainsItem($"CarrierInfo.{Name}CarrierIndex"))
|
||
// SC.SetItemValue($"CarrierInfo.{Name}CarrierIndex", cindex);
|
||
// LOG.Write($"{Name} detect carrier Type:{InfoPadCarrierType}");
|
||
//}
|
||
_isPlaced = true;
|
||
_isPresent = true;
|
||
}
|
||
|
||
|
||
|
||
public void OnCarrierPresent()
|
||
{
|
||
_isPresent = true;
|
||
|
||
}
|
||
|
||
public void OnSwitchKey1()
|
||
{
|
||
_isAccessSwPressed = true;
|
||
}
|
||
|
||
public void OnSwitchKey2()
|
||
{
|
||
|
||
}
|
||
|
||
public void OffSwitchKey1()
|
||
{
|
||
_isAccessSwPressed = false;
|
||
}
|
||
|
||
public void OffSwitchKey2()
|
||
{
|
||
|
||
}
|
||
|
||
|
||
public void SetIndicator(Indicator led, IndicatorState state)
|
||
{
|
||
SetIndicator(led, state, out string reason);
|
||
}
|
||
|
||
|
||
//impment E84 interface
|
||
|
||
public bool ReadyForLoad()
|
||
{
|
||
return CassetteState == LoadportCassetteState.Absent;
|
||
}
|
||
public bool ReadyForUnload()
|
||
{
|
||
return CassetteState == LoadportCassetteState.Normal;
|
||
}
|
||
|
||
public bool FoupArrirved()
|
||
{
|
||
return CassetteState == LoadportCassetteState.Normal;
|
||
}
|
||
public bool FoupRemoved()
|
||
{
|
||
return CassetteState == LoadportCassetteState.Absent;
|
||
}
|
||
public LPTransferState GetTransferState()
|
||
{
|
||
return LPTransferState.IN_SERVICE;
|
||
}
|
||
public LPAccessMode GetAccessMode()
|
||
{
|
||
return LPAccessMode.AUTO;
|
||
}
|
||
public LPReservedState GetReservedState()
|
||
{
|
||
return LPReservedState.NOT_RESERVED;
|
||
}
|
||
|
||
public void LPTSTrans(LPTransferState lpts)
|
||
{
|
||
return;
|
||
}
|
||
|
||
public bool IsSystemAutoMode()
|
||
{
|
||
return false;
|
||
}
|
||
|
||
public void SetAccessMode(bool isauto)
|
||
{
|
||
return;
|
||
}
|
||
|
||
public void E84Retry()
|
||
{
|
||
throw new NotImplementedException();
|
||
}
|
||
|
||
public void SetCompleted()
|
||
{
|
||
return;
|
||
}
|
||
}
|
||
}
|