540 lines
15 KiB
C#
540 lines
15 KiB
C#
using Aitex.Core.RT.DataCenter;
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using Aitex.Core.RT.Device;
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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 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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namespace MECF.Framework.RT.EquipmentLibrary.HardwareUnits.Aligners.HwAligner
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{
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public class HwAlignerGuide : BaseDevice, IConnection, IDevice
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{
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private HwAlignerGuideConnection _connection;
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private bool _activeMonitorStatus;
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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 bool bIsDisconnect = false;
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enum OperName
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{
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NULL,
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SME11,
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SME21,
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SME31,
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HOM,
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DOC,
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CVN,
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MTM,
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CCD,
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BAL,
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MVR,
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CVF,
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ERS,
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STA,
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//
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SPS,
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WSZ,
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_WT,
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GLM,
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FWO,
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};
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uint iCurrentOper = 0xff;
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List<byte> liReceivedData = new List<byte>();
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List<byte> liReceivedDataA = new List<byte>();
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byte bEnd = 0x0d;
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//
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private PeriodicJob _thread;
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private LinkedList<HandlerBase> _lstHandler = new LinkedList<HandlerBase>();
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private object _locker = new object();
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private bool _enableLog = true;
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private string _scRoot;
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public bool HaveWafer
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{
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get; set;
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}
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public string Address
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{
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get; set;
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}
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public bool IsConnected
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{
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get
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{
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return _connection != null && _connection.IsConnected;
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}
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}
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//属性
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public bool AlarmStatus { get; set; }
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public bool PositionComplete { get; set; }
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public bool MotorBusy { get; set; }
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//
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public bool IsBusy => _lstHandler.Count > 0 || this.iCurrentOper != (uint)OperName.NULL;
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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 HwAlignerGuide(string module, string scRoot, string name) : base(module, name, name, name)
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{
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_scRoot = scRoot;
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_activeMonitorStatus = true;
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}
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public bool Initialize()
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{
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// string portName = SC.GetStringValue($"{_scRoot}.{Module}.{Name}.Address");
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string portName = SC.GetStringValue($"{Name}.Address");
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Address = portName;
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_enableLog = SC.GetValue<bool>($"{Name}.EnableLogMessage");
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_connection = new HwAlignerGuideConnection(portName);
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_connection.EnableLog(_enableLog);
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if (_connection.Connect())
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{
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EV.PostInfoLog(Module, $"{Module}.{Name} connected");
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}
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_thread = new PeriodicJob(200, OnTimer, $"{Name} MonitorHandler", true);
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//设置操作
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this.SetOP();
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//设置属性
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//this.SetAttr();
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//
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//this.InitMachine();
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//
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ConnectionManager.Instance.Subscribe($"{Name}", this);
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//SetServoOn();
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return true;
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}
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/// <summary>
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/// 设置操作
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/// </summary>
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private void SetOP()
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{
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DATA.Subscribe($"{Module}.{Name}.HaveWafer", () => HaveWafer);
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//参数保存
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OP.Subscribe($"{Module}.{Name}.HwSaveParameters", (cmd, param) =>
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{
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Set("SPS");
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return true;
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});
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//读取/设定晶圆尺寸
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OP.Subscribe($"{Module}.{Name}.HwWaferSize", (cmd, param) =>
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{
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Set("WSZ" + " " + param[0]);
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return true;
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});
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//晶圆种类
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OP.Subscribe($"{Module}.{Name}.HwWaferType", (cmd, param) =>
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{
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Set("_WT" + " " + param[0]);
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return true;
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});
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//寻边材质
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OP.Subscribe($"{Module}.{Name}.HwWaferMaterial", (cmd, param) =>
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{
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Set("GLM" + " " + param[0]);
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return true;
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});
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//晶圆方向
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OP.Subscribe($"{Module}.{Name}.HwWaferOrientation", (cmd, param) =>
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{
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Set("FWO" + " " + param[0]);
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return true;
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});
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//------------------------------------------------------------
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//原点复归
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OP.Subscribe($"{Module}.{Name}.HwHOM", (cmd, param) =>
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{
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return MsgHome();
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});
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//晶圆确认
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OP.Subscribe($"{Module}.{Name}.HwDOC", (cmd, param) =>
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{
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return CheckWaferLoad();
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});
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//开启真空
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OP.Subscribe($"{Module}.{Name}.HwCVN", (cmd, param) =>
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{
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return OpenVacuum();
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});
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//寻边补正
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OP.Subscribe($"{Module}.{Name}.HwBAL", (cmd, param) =>
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{
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return MsgAliger();
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});
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//关闭真空
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OP.Subscribe($"{Module}.{Name}.HwCVF", (cmd, param) =>
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{
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return CloseVaccum();
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});
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//移至测量中心点
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OP.Subscribe($"{Module}.{Name}.HwMTM", (cmd, param) =>
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{
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return MoveToRobotPutPlace();
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});
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//清除报警
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OP.Subscribe($"{Module}.{Name}.HwERS", (cmd, param) =>
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{
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return ClearError();
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});
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//马达激磁
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OP.Subscribe($"{Module}.{Name}.HwSME", (cmd, param) =>
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{
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InitMachine();
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return true;
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});
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//------------------------------------------------------------
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//相对位移
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OP.Subscribe($"{Module}.{Name}.HwMVR", (cmd, param) =>
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{
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Set("MVR");
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return true;
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});
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//
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OP.Subscribe($"{Module}.{Name}.HwAbort", (cmd, param) =>
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{
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Abort();
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return true;
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});
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}
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public void Abort()
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{
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}
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public void InitMachine()
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{
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_lstHandler.Clear();
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lock (_locker)
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{
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_lstHandler.AddLast(new HwAlignerGuideSetAHandler(this, "SME11", "SME 11"));
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_lstHandler.AddLast(new HwAlignerGuideSetAHandler(this, "SME12", "SME 21"));
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_lstHandler.AddLast(new HwAlignerGuideSetAHandler(this, "SME13", "SME 31"));
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}
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}
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public void Aligner()
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{
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_lstHandler.Clear();
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lock (_locker)
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{
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_lstHandler.AddLast(new HwAlignerGuideSetAHandler(this, "CVN", "CVN"));
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_lstHandler.AddLast(new HwAlignerGuideSetAHandler(this, "BAL", "BAL"));
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_lstHandler.AddLast(new HwAlignerGuideSetAHandler(this, "CVF", "CVF"));
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}
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}
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public bool MsgHome()
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{
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//_lstHandler.Clear();
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lock (_locker)
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{
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_lstHandler.AddLast(new HwAlignerGuideSetAHandler(this, "HOM", "HOM", 30));
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}
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return true;
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}
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public bool CheckWaferLoad()
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{
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lock (_locker)
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{
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_lstHandler.AddLast(new HwAlignerWaferCheckHandler(this, "DOC", "DOC"));
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}
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return true;
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}
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public bool OpenVacuum()
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{
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lock (_locker)
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{
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_lstHandler.AddLast(new HwAlignerGuideSetAHandler(this, "CVN", "CVN"));
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}
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return true;
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}
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public bool CloseVaccum()
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{
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lock (_locker)
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{
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_lstHandler.AddLast(new HwAlignerGuideSetAHandler(this, "CVF", "CVF"));
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}
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return true;
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}
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public bool MoveToRobotPutPlace()
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{
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lock (_locker)
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{
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_lstHandler.AddLast(new HwAlignerGuideSetAHandler(this, "MTM", "MTM"));
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}
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return true;
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}
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public bool MsgAliger()
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{
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lock (_locker)
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{
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_lstHandler.AddLast(new HwAlignerGuideSetAHandler(this, "BAL", "BAL"));
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}
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return true;
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}
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public bool DoAliger()
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{
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lock (_locker)
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{
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_lstHandler.Clear();
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_lstHandler.AddLast(new HwAlignerGuideSetAHandler(this, "CVN", "CVN"));
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_lstHandler.AddLast(new HwAlignerGuideSetAHandler(this, "BAL", "BAL"));
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_lstHandler.AddLast(new HwAlignerGuideSetAHandler(this, "CVF", "CVF"));
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}
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return true;
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}
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public bool ClearError()
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{
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_lstHandler.Clear();
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lock (_locker)
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{
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_lstHandler.AddLast(new HwAlignerGuideSetAHandler(this, "ERS", "ERS"));
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}
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return true;
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}
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/// <summary>
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/// 加入命令队列
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/// </summary>
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/// <param name = "strCmd" > 命令 Ascii格式</param>
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public void Set(string strCmd)
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{
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lock (_locker)
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{
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_lstHandler.AddLast(new HwAlignerGuideSetAHandler(this, "ERS", strCmd));
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}
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}
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public int _connecteTimes { get; set; }
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private bool OnTimer()
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{
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try
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{
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//
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_connection.MonitorTimeout();
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//若断，重连
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if ((!_connection.IsConnected) || _connection.IsCommunicationError || this.bIsDisconnect)
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{
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_trigRetryConnect.CLK = this.bIsDisconnect;
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//重连机制要改，timeout之后，要是用心跳方式探测重连
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_trigRetryConnect.CLK = this.bIsDisconnect;
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if (_connection.Connect())
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{
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this.bIsDisconnect = false;
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//
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if (_trigRetryConnect.Q)
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{
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EV.PostInfoLog(Module, $"{Module}.{Name} connected");
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LOG.Write($"{Module}.{Name} connected");
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}
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}
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else
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{
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if (_trigRetryConnect.Q)
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{
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EV.PostInfoLog(Module, $"Trying to connect {Module}.{Name} with address: {_connection.Address}");
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LOG.Write($"Trying to connect {Module}.{Name} with address: {_connection.Address}");
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}
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}
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}
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//处理命令队列
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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 && _activeMonitorStatus && !IsBusy)
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{
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//Query();
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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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return true;
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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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internal void NoteError()
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{
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}
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public 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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//if (_connecteTimes < 4) return;
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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 void Terminate()
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{
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try
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{
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if (_connection != null)
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{
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_connection.Disconnect();
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_connection = null;
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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 void Reset()
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{
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this.bIsDisconnect = _connection.IsCommunicationError;
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_connecteTimes = 0;
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_connection.SetCommunicationError(false, "");//这里重置了CommunicationError ，就是去了OnTimer里面的重连的触发，所以需要另设变量以触发之(使用timeout来触发的情况）
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_enableLog = SC.GetValue<bool>($"{Name}.EnableLogMessage");
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_trigCommunicationError.RST = true;
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_trigRetryConnect.RST = true;
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this.iCurrentOper = (uint)OperName.NULL;
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_lstHandler.Clear();
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}
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public void SetCurrentOper()
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{
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this.iCurrentOper = (uint)OperName.CCD;
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}
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public bool PraseDataA(string name, byte[] buffer,out bool bResult)
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{
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bResult = true;
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string sAnswer = Encoding.ASCII.GetString(buffer);
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if (sAnswer.Contains("END"))
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{
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this.iCurrentOper = (uint)OperName.NULL;
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return true;
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}
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else if (sAnswer.Contains("ERR"))
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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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this.iCurrentOper = (uint)OperName.NULL;
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bResult = false;
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return true; //Handled
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}
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return false;
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}
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public bool CheckWaferDataA(string name, byte[] buffer, out bool bResult)
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{
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bResult = true;
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string sAnswer = Encoding.ASCII.GetString(buffer.ToArray());
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LOG.Write($"HiWin Aligner {nameof(CheckWaferDataA)}() respond: {sAnswer}");
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if (sAnswer.Contains("END"))
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{
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HaveWafer = sAnswer.Contains("1\r\nEND");
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this.iCurrentOper = (uint)OperName.NULL;
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return true;
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}
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else if (sAnswer.Contains("ERR"))
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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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this.iCurrentOper = (uint)OperName.NULL;
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bResult = false;
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return false; //Handle
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}
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return false;
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}
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}
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}
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