update axis run judger

CyberX8_RT/Devices/AXIS/Galil/GalilProfilePositionRoutine.cs

@@ -9,6 +9,7 @@ using System.Collections.Generic;
 using System.Linq;
 using System.Text;
 using System.Threading.Tasks;
+using System.Diagnostics;
 
 namespace CyberX8_RT.Devices.AXIS.Galil
 {
@@ -40,6 +41,7 @@ namespace CyberX8_RT.Devices.AXIS.Galil
         private int _profileDeceleration = 0;
         private int _targetPosition;
         private bool _judgeTorqueLimit = false;
+        private Stopwatch _stopWatch = new Stopwatch();
         #endregion
         public GalilProfilePositionRoutine(string module,JetAxisBase axis) : base(module)
         {
@@ -69,9 +71,14 @@ namespace CyberX8_RT.Devices.AXIS.Galil
         /// <returns></returns>
         private bool CheckRun()
         {
+            bool isInTargetPosition = _axis.JudgeCurrentPositionIsInTargetPosition(_targetPosition);
             if (_judgeTorqueLimit)
             {
-                return _axis.MotionData.StopCode==MOTION_STOP_CODE&& _axis.JudgeCurrentPositionIsInTargetPosition(_targetPosition);
+                if(!_axis.IsRun&& isInTargetPosition)
+                {
+                    return true;
+                }
+                return false;
             }
             else
             {
@@ -81,7 +88,7 @@ namespace CyberX8_RT.Devices.AXIS.Galil
                 {
                     return true;
                 }
-                if(_axis.MotionData.StopCode==MOTION_STOP_CODE&&_axis.JudgeCurrentPositionIsInTargetPosition(_targetPosition))
+                if(!_axis.IsRun&&isInTargetPosition)
                 {
                     return true;
                 }                
@@ -103,7 +110,7 @@ namespace CyberX8_RT.Devices.AXIS.Galil
         private bool CheckRunStop()
         {
             //没有运动
-            bool isStop = _axis.MotionData.StopCode == MOTION_STOP_CODE&&!_axis.IsRun&&!_axis.JudgeCurrentPositionIsInTargetPosition(_targetPosition);
+            bool isStop = !_axis.IsRun&&!_axis.JudgeCurrentPositionIsInTargetPosition(_targetPosition);
             if (isStop&&_judgeTorqueLimit)
             {
                 ErrorMsg = "position is stop";
@@ -121,6 +128,7 @@ namespace CyberX8_RT.Devices.AXIS.Galil
         }
         public RState Start(params object[] objs)
         {
+            _stopWatch.Reset();
             _targetPosition = (int)objs[0];
             _profileVelocity = (int)objs[1];
             _profileAcceleration = (int)objs[2];

CyberX8_RT/Devices/AXIS/GalilLipsel/GalilLipselProfilePositionRoutine.cs

@@ -69,9 +69,14 @@ namespace CyberX8_RT.Devices.AXIS.GalilLipsel
         /// <returns></returns>
         private bool CheckRun()
         {
+            bool isInTargetPosition = _axis.JudgeCurrentPositionIsInTargetPosition(_targetPosition);
             if (_judgeTorqueLimit)
             {
-                return _axis.MotionData.StopCode==MOTION_STOP_CODE && _axis.JudgeCurrentPositionIsInTargetPosition(_targetPosition);
+                if (!_axis.IsRun && isInTargetPosition)
+                {
+                    return true;
+                }
+                return false;
             }
             else
             {
@@ -81,10 +86,10 @@ namespace CyberX8_RT.Devices.AXIS.GalilLipsel
                 {
                     return true;
                 }
-                if(_axis.MotionData.StopCode==MOTION_STOP_CODE&&!_axis.IsRun)
+                if (!_axis.IsRun && isInTargetPosition)
                 {
                     return true;
-                }                
+                }
                 return false;
             }
         }
@@ -103,7 +108,7 @@ namespace CyberX8_RT.Devices.AXIS.GalilLipsel
         private bool CheckRunStop()
         {
             //没有运动
-            bool isStop = _axis.MotionData.StopCode == MOTION_STOP_CODE&&!_axis.IsRun&&!_axis.JudgeCurrentPositionIsInTargetPosition(_targetPosition);
+            bool isStop = !_axis.IsRun&&!_axis.JudgeCurrentPositionIsInTargetPosition(_targetPosition);
             if(_judgeTorqueLimit)
             {
                 if (isStop)

CyberX8_RT/Devices/EFEM/Loadport.cs

@@ -181,15 +181,25 @@ namespace CyberX8_RT.Devices.EFEM
                 _cassete200Present = cassete;
                 if (cassete)
                 {
-                    WaferSize = WaferSize.WS8;
+                    if (_cassete150Present)
+                    {
+                        WaferSize = WaferSize.WS8;
+                    }
                 }
             }
             else if (variable == CASSETE_150_PRESENT)
             {
                 _cassete150Present = cassete;
-                if (cassete&&!_cassete200Present)
+                if (cassete)
                 {
-                    WaferSize = WaferSize.WS6;
+                    if (!_cassete200Present)
+                    {
+                        WaferSize = WaferSize.WS6;
+                    }
+                    else
+                    {
+                        WaferSize = WaferSize.WS8;
+                    }
                 }
             }
             else if (variable == CASSETE_100_PRESENT)

CyberX8_RT/Modules/EFEM/EfemEntity.cs

@@ -26,6 +26,7 @@ using CyberX8_RT.Modules.Transporter;
 using MECF.Framework.Common.Alarm;
 using MECF.Framework.Common.CommonData;
 using CyberX8_RT.Modules.Loader;
+using Aitex.Core.RT.Routine;
 
 namespace CyberX8_RT.Modules
 {
@@ -219,7 +220,7 @@ namespace CyberX8_RT.Modules
         private bool _isHomed = false;
         private EfemAutoMessageProcessor _autoMessageProcessor;
         private STATE _errorPreState;
-
+        private IRoutine _currentRoutine;
         private int _currentCycleTimes;
         // Constructor
         public EfemEntity()
@@ -470,9 +471,11 @@ namespace CyberX8_RT.Modules
 
         private bool fnHomingTimeout(object[] param)
         {
+            _currentRoutine = _homeRoutine;
             RState ret = _homeRoutine.Monitor();
             if (ret == RState.Failed || ret == RState.Timeout)
             {
+                _currentRoutine = null;
                 PostMsg(MSG.Error);
                 return false;
             }
@@ -482,7 +485,7 @@ namespace CyberX8_RT.Modules
             {
                 _isHomed= true;
                 RecoverLPStatus();
-                
+                _currentRoutine = null;
             }
             return result;
         }
@@ -496,27 +499,23 @@ namespace CyberX8_RT.Modules
 
         private bool fnHomeRobot(object[] param)
         {
-            if (_isHomed)
-            {
-                return _homeRoutine.Start(ModuleName.EfemRobot) == RState.Running;
-            }
-            else
-            {
-                return false;
-            }
+            return _homeRoutine.Start(ModuleName.EfemRobot) == RState.Running;
         }
         private bool fnHomingRobotTimeout(object[] param)
         {
+            _currentRoutine = _homeRoutine;
             RState ret = _homeRoutine.Monitor();
             if (ret == RState.Failed || ret == RState.Timeout)
             {
                 PostMsg(MSG.Error);
+                _currentRoutine = _homeRoutine;
                 return false;
             }
 
             bool result = ret == RState.End;
             if (result)
             {
+                _currentRoutine = null;
                 AlarmListManager.Instance.CheckModuleAlamAndRemove(Module.ToString(), STATE.Idle.ToString());
             }
             return result;
@@ -538,9 +537,11 @@ namespace CyberX8_RT.Modules
 
         private bool fnHomingAlignTimeout(object[] param)
         {
+            _currentRoutine = _homeRoutine;
             RState ret = _homeRoutine.Monitor();
             if (ret == RState.Failed || ret == RState.Timeout)
             {
+                _currentRoutine = null;
                 PostMsg(MSG.Error);
                 return false;
             }
@@ -548,6 +549,7 @@ namespace CyberX8_RT.Modules
             bool result = ret == RState.End;
             if (result)
             {
+                _currentRoutine = null;
                 AlarmListManager.Instance.CheckModuleAlamAndRemove(Module.ToString(), STATE.Idle.ToString());
             }
             return result;
@@ -663,6 +665,10 @@ namespace CyberX8_RT.Modules
         private bool fnAbortRobot(object[] param)
         {
             //_efem.ExecuteAction();
+            if (_currentRoutine != null)
+            {
+                _currentRoutine.Abort();
+            }
             _efem.Halt();
             return true;
         }
@@ -726,15 +732,18 @@ namespace CyberX8_RT.Modules
 
         private bool FnPickTimeout(object[] param)
         {
+            _currentRoutine = _pickRoutine;
             RState ret = _pickRoutine.Monitor();
             if (ret == RState.Failed || ret == RState.Timeout)
             {
                 PostMsg(MSG.Error,_pickRoutine.ErrorMsg);
+                _currentRoutine = null;
                 return false;
             }
 
             if (ret == RState.End)
             {
+                _currentRoutine = null;
                 AlarmListManager.Instance.CheckModuleAlamAndRemove(Module.ToString(), STATE.Picking.ToString());
             }
 
@@ -830,14 +839,17 @@ namespace CyberX8_RT.Modules
 
         private bool FnPlaceTimeout(object[] param)
         {
+            _currentRoutine = _placeRoutine;
             RState ret = _placeRoutine.Monitor();
             if (ret == RState.Failed || ret == RState.Timeout)
             {
+                _currentRoutine = null;
                 PostMsg(MSG.Error,_placeRoutine.ErrorMsg);
                 return false;
             }
             if (ret == RState.End)
             {
+                _currentRoutine = null;
                 AlarmListManager.Instance.CheckModuleAlamAndRemove(Module.ToString(), STATE.Placing.ToString());
             }
             return ret == RState.End;
@@ -974,15 +986,18 @@ namespace CyberX8_RT.Modules
         }
         private bool fnAlignTimeout(object[] param)
         {
+            _currentRoutine = _alignRoutine;
             RState ret = _alignRoutine.Monitor();
             if (ret == RState.Failed || ret == RState.Timeout)
             {
+                _currentRoutine = null;
                 PostMsg(MSG.Error,_alignRoutine.ErrorMsg);
                 return false;
             }
 
             if (ret == RState.End)
             {
+                _currentRoutine = null;
                 AlarmListManager.Instance.CheckModuleAlamAndRemove(Module.ToString(), STATE.Aligning.ToString());
             }
 

CyberX8_RT/Schedulers/Loader/SchedulerLoader.cs

@@ -114,10 +114,13 @@ namespace CyberX8_RT.Schedulers.Loader
                 {
                     return false;
                 }
-                bool result = ExecuteLoadSide(loadComplete,loaderParameter.LoadCompleteToTransporterSide);
-                if (result)
+                if (_puf1Entity.State == (int)PUFSTATE.AferSwapParkStation || _puf1Entity.IsIdle && _puf1Entity.IsBackToParkStation)
                 {
-                    _currentStep = SchedulerStep.LoadingFirst;
+                    bool result = ExecuteLoadSide(loadComplete, loaderParameter.LoadCompleteToTransporterSide);
+                    if (result)
+                    {
+                        _currentStep = SchedulerStep.LoadingFirst;
+                    }
                 }
             }
             else if (_currentStep == SchedulerStep.LoadingFirst)
@@ -157,10 +160,13 @@ namespace CyberX8_RT.Schedulers.Loader
             {
                 if (_loaderEntity.State == (int)LOADERSTATE.WaitForLoad)
                 {
-                    bool result = ExecuteLoadSide(true,loaderParameter.LoadCompleteToTransporterSide);
-                    if (result)
+                    if (_puf1Entity.State == (int)PUFSTATE.AferSwapParkStation || _puf1Entity.IsIdle && _puf1Entity.IsBackToParkStation)
                     {
-                        _currentStep = SchedulerStep.LoadingSecond;
+                        bool result = ExecuteLoadSide(true, loaderParameter.LoadCompleteToTransporterSide);
+                        if (result)
+                        {
+                            _currentStep = SchedulerStep.LoadingSecond;
+                        }
                     }
                 }
             }