Modify SRDInitializeHome, SRDHome, SRDProcessError; Optimize TC simulator;

CyberX8_RT/Modules/SRD/SRDHomeRoutine.cs

@@ -1,19 +1,12 @@
 using Aitex.Core.RT.Device;
 using Aitex.Core.RT.Log;
 using Aitex.Core.RT.Routine;
-using MECF.Framework.Common.Equipment;
 using MECF.Framework.Common.Routine;
 using MECF.Framework.Common.Utilities;
 using CyberX8_Core;
 using CyberX8_RT.Devices.AXIS;
 using CyberX8_RT.Devices.Facilities;
-using CyberX8_RT.Devices.PUF;
 using CyberX8_RT.Devices.SRD;
-using System;
-using System.Collections.Generic;
-using System.Linq;
-using System.Text;
-using System.Threading.Tasks;
 using CyberX8_RT.Devices.Safety;
 
 namespace CyberX8_RT.Modules.Transporter
@@ -29,7 +22,11 @@ namespace CyberX8_RT.Modules.Transporter
             HomeSRDRotation,
             CheckRotationHome,
             RotationHome,
-            RotationHomeWait,         
+            RotationHomeWait,
+            LiftUpOn,
+            //FlippersOut100,
+            FlippersOut150,
+            FlippersOut200,
             OpenDoor,
             CheckDoorOpened,
             End
@@ -71,7 +68,11 @@ namespace CyberX8_RT.Modules.Transporter
                 .WaitWithStopCondition(HomeAllStep.CheckRotationHome, () => { return _rotationAxis.IsHomed && _rotationAxis.Status == RState.End; }, () => { return _rotationAxis.Status == RState.Failed; })               
                 .Run(HomeAllStep.RotationHome, () => { return _rotationAxis.PositionStation("Home",true); }, NullFun, 100)
                 .WaitWithStopCondition(HomeAllStep.RotationHomeWait, () => { return _rotationAxis.Status == RState.End; }, () => { return _rotationAxis.Status == RState.Failed; })
-                .Run(HomeAllStep.OpenDoor, () => { return _doorCloseRoutine.Start(false) == RState.Running; },NullFun,_delay_1ms)
+                .Run(HomeAllStep.LiftUpOn, LiftUpOn, CheckLiftUpOnEndStatus, CheckLiftUpOnStopStatus)
+                //.Run(HomeAllStep.FlippersOut100, () => { return FlippersOut(100); }, CheckFlippersOutEndStatus, CheckFlippersOutStopStatus)
+                .Run(HomeAllStep.FlippersOut150, () => { return FlippersOut(150); }, CheckFlippersOutEndStatus, CheckFlippersOutStopStatus)
+                .Run(HomeAllStep.FlippersOut200, () => { return FlippersOut(200); }, CheckFlippersOutEndStatus, CheckFlippersOutStopStatus)
+                .Run(HomeAllStep.OpenDoor, () => { return _doorCloseRoutine.Start(false) == RState.Running; },NullFun,_delay_1ms)                
                 .WaitWithStopCondition(HomeAllStep.CheckDoorOpened,()=>CommonFunction.CheckRoutineEndState(_doorCloseRoutine),()=>CommonFunction.CheckRoutineStopState(_doorCloseRoutine))
                 .End(HomeAllStep.End,NullFun);
 
@@ -139,7 +140,86 @@ namespace CyberX8_RT.Modules.Transporter
         {
             return _rotationAxis.IsHomed&&_rotationAxis.Status==RState.End;
         }
-        
+        /// <summary>
+        /// LiftUpOn
+        /// </summary>
+        /// <param name="param"></param>
+        /// <returns></returns>
+        private bool LiftUpOn()
+        {
+            bool result = _common.LiftUpOnAction("", null);
+            if (!result)
+            {
+                NotifyError(eEvent.ERR_SRD, "Lift Up On Action is failed", 0);
+                return result;
+            }
+            return true;
+        }
+        /// <summary>
+        /// 检验LiftUpOnEnd状态
+        /// </summary>
+        /// <param name="param"></param>
+        /// <returns></returns>
+        private bool CheckLiftUpOnEndStatus()
+        {
+            return _common.Status == RState.End;
+        }
+        /// <summary>
+        /// 检验LiftUpOnStop状态
+        /// </summary>
+        /// <param name="param"></param>
+        /// <returns></returns>
+        private bool CheckLiftUpOnStopStatus()
+        {
+            if (_common.Status == RState.Failed || _common.Status == RState.Timeout)
+            {
+                NotifyError(eEvent.ERR_SRD, "Check LiftUpOn is failed", 0);
+                return true;
+            }
+            return false;
+        }
+        /// <summary>
+        /// Flippers Out
+        /// </summary>
+        /// <param name="param"></param>
+        /// <returns></returns>
+        private bool FlippersOut(int size)
+        {
+            bool result = false;
+            object[] objects = new object[1];
+            objects[0] = size;
+            result = _common.FlipperOutAction("", objects);
+            if (!result)
+            {
+                NotifyError(eEvent.ERR_SRD, $"FlipperOut Action is failed", 0);
+                return result;
+            }
+
+            return true;
+        }
+        /// <summary>
+        /// 检验FlippersOut结束状态
+        /// </summary>
+        /// <param name="param"></param>
+        /// <returns></returns>
+        private bool CheckFlippersOutEndStatus()
+        {
+            return _common.Status == RState.End;
+        }
+        /// <summary>
+        /// 检验FlippersOut结束状态
+        /// </summary>
+        /// <param name="param"></param>
+        /// <returns></returns>
+        private bool CheckFlippersOutStopStatus()
+        {
+            if (_common.Status == RState.Failed || _common.Status == RState.Timeout)
+            {
+                NotifyError(eEvent.ERR_SRD, $"Check FlipperOut Action is failed", 0);
+                return true;
+            }
+            return false;
+        }
         /// <summary>
         /// 启动
         /// </summary>

CyberX8_RT/Modules/SRD/SRDInitializeHomeRoutine.cs

@@ -1,13 +1,12 @@
-using Aitex.Core.RT.Routine;
+using Aitex.Core.RT.Device;
+using Aitex.Core.RT.Log;
+using Aitex.Core.RT.Routine;
+using Aitex.Core.RT.SCCore;
 using CyberX8_Core;
+using CyberX8_RT.Devices.SRD;
 using CyberX8_RT.Modules.Transporter;
 using MECF.Framework.Common.Routine;
 using MECF.Framework.Common.Utilities;
-using System;
-using System.Collections.Generic;
-using System.Linq;
-using System.Text;
-using System.Threading.Tasks;
 
 namespace CyberX8_RT.Modules.SRD
 {
@@ -69,7 +68,39 @@ namespace CyberX8_RT.Modules.SRD
         /// <returns></returns>
         public RState Start(params object[] objs)
         {
+            if (!CheckPreCondition())
+            {
+                return RState.Failed;
+            }
             return Runner.Start(Module, "Start Initialize Home");
         }
+        private bool CheckPreCondition()
+        {
+            SrdCommonDevice srdCommon = DEVICE.GetDevice<SrdCommonDevice>($"{Module}.Common");
+            bool isSimulator = SC.GetValue<bool>("System.IsSimulatorMode");
+            if (!isSimulator && srdCommon.CommonData.WaferPresent)
+            {
+                LOG.WriteLog(eEvent.ERR_SRD, Module, $"Wafer is present");
+                return false;
+            }
+            if (!srdCommon.CommonData.ChuckVacuum)
+            {
+                LOG.WriteLog(eEvent.ERR_SRD, Module, $"Chuck Vacuum is on");
+                return false;
+            }
+            int vacuumOffLimit = SC.GetValue<int>("SRD.ChuckVacuumOffLimit");
+            if (srdCommon.CommonData.VacuumValue < vacuumOffLimit)
+            {
+                LOG.WriteLog(eEvent.ERR_SRD, Module, $"VacuumValue:{srdCommon.CommonData.VacuumValue}, VacuumOff Limit:{vacuumOffLimit}");
+                return false;
+            }
+            if (srdCommon.CommonData.ChuckATMOn)
+            {
+                LOG.WriteLog(eEvent.ERR_SRD, Module, $"Chuck ATM is on");
+                return false;
+            }
+            
+            return true;
+        }
     }
 }

CyberX8_RT/Modules/SRD/SRDProcessErrorRoutine.cs

@@ -90,7 +90,7 @@ namespace CyberX8_RT.Modules.SRD
         /// <returns></returns>
         private bool AxisHome(JetAxisBase jetAxisBase) 
         {
-            return jetAxisBase.Home(false);
+            return jetAxisBase.Home();
         }
         /// <summary>
         /// 启动

Framework/SimulatorCore/Commons/TemperatureControllerSerialPortDevice.cs

@@ -1,6 +1,12 @@
-using MECF.Framework.Simulator.Core.Driver;
+using Aitex.Common.Util;
+using Aitex.Core.RT.Log;
+using Aitex.Core.Util;
+using MECF.Framework.Common.Device.TemperatureController;
+using MECF.Framework.Simulator.Core.Driver;
 using System;
 using System.Collections.Generic;
+using System.Diagnostics;
+using System.IO;
 using System.Linq;
 using System.Text;
 using System.Threading.Tasks;
@@ -49,19 +55,20 @@ namespace MECF.Framework.Simulator.Core.Commons
             { 0x48,"Saved" }
         };
 
-        private double[] _reserviorValues = { 16.6, 16.6, 16.6, 16.6 };
+        private double[] _reserviorValues = new double[10];
 
-        private double[] _heatValues = { 16.5, 16.5, 16.5, 16.5 };
+        private double[] _heatValues = new double[10];
 
-        private double[] _targetValues = { 0, 0, 0, 0 };
+        private double[] _targetValues = new double[10];
 
         private int _controlOperation = 0;
 
         //private byte[] alarm = new byte[12] { 0,0,0,0,1,0,0,0,0,0,0,0};
         private byte[] alarm = new byte[3] {0x30,0x33,0x30};
 
-        System.Timers.Timer[] _timers = new System.Timers.Timer[4];
+        System.Timers.Timer[] _timers;
 
+        private int _tcCount = 1;
         #endregion
 
         /// <summary>
@@ -71,14 +78,63 @@ namespace MECF.Framework.Simulator.Core.Commons
         /// <param name="type"></param>
         public TemperatureControllerSerialPortDevice(string port) : base(port, SerialType.BUFFER)
         {
-            _timers[0] = new System.Timers.Timer(50);
-            _timers[0].Elapsed += Timer_Elapsed0;
-            _timers[1] = new System.Timers.Timer(50);
-            _timers[1].Elapsed += Timer_Elapsed1;
-            _timers[2] = new System.Timers.Timer(50);
-            _timers[2].Elapsed += Timer_Elapsed2;
-            _timers[3] = new System.Timers.Timer(50);
-            _timers[3].Elapsed += Timer_Elapsed3;
+            Init(port);           
+        }
+        /// <summary>
+        /// 初始化
+        /// </summary>
+        /// <param name="port"></param>
+        private void Init(string port)
+        {
+            //加载TC配置
+            try
+            {
+                string oldXmlPath = PathManager.GetCfgDir();
+                string newXmlPath = oldXmlPath.Replace("CyberX8_Simulator", "CyberX8_RT") + "Devices\\SMCCfg.xml";
+                TemperatureConfig cfg = CustomXmlSerializer.Deserialize<TemperatureConfig>(new FileInfo(newXmlPath));
+                if (cfg != null)
+                {
+                    foreach (TemperatureDeviceConfig config in cfg.TemperatureDeviceConfigs)
+                    {
+                        if (int.TryParse(config.Port.Substring(3,2), out int result1) && int.TryParse(port.Substring(3, 2), out int result2))
+                        {
+                            if(result1 + 1 == result2) _tcCount = config.TemperatureDevices.Count;
+                        }
+                    }
+                }
+            }
+            catch (Exception ex) 
+            {
+            }
+            //
+            _timers = new System.Timers.Timer[_tcCount];
+            for(int i = 0; i < _tcCount; i++)
+            {
+                _heatValues[i] = 16.5;
+                _targetValues[i] = 0;
+                _reserviorValues[i] = 16.6;
+                _timers[i] = new System.Timers.Timer(50);
+                switch (i)
+                {   
+                    case 0:
+                        _timers[0].Elapsed += Timer_Elapsed0;
+                        break;
+                    case 1:
+                        _timers[1].Elapsed += Timer_Elapsed1;
+                        break;
+                    case 2:
+                        _timers[2].Elapsed += Timer_Elapsed2;
+                        break;
+                    case 3:
+                        _timers[3].Elapsed += Timer_Elapsed3;
+                        break;
+                    case 4:
+                        _timers[4].Elapsed += Timer_Elapsed4;
+                        break;
+                    default:
+                        break;
+                }               
+            }                       
         }
         /// <summary>
         /// TC1-1的调温
@@ -87,10 +143,10 @@ namespace MECF.Framework.Simulator.Core.Commons
         /// <param name="e"></param>
         private void Timer_Elapsed0(object sender, System.Timers.ElapsedEventArgs e)
         {
-            if (Math.Abs(_heatValues[0] - _targetValues[0]) >=0.2)
+            if (Math.Abs(_heatValues[0] - _targetValues[0]) >= 0.2)
             {
                 //内部调温
-                if(_heatValues[0] < _targetValues[0])
+                if (_heatValues[0] < _targetValues[0])
                 {
                     _heatValues[0] += 0.1;
                 }
@@ -99,7 +155,7 @@ namespace MECF.Framework.Simulator.Core.Commons
                     _heatValues[0] -= 0.1;
                 }
                 //外部调温
-                if(_reserviorValues[0] < _targetValues[0])
+                if (_reserviorValues[0] < _targetValues[0])
                 {
                     _reserviorValues[0] += 0.1;
                 }
@@ -212,6 +268,39 @@ namespace MECF.Framework.Simulator.Core.Commons
                 _timers[3].Stop();
             }
         }
+        /// <summary>
+        /// TC1-5的调温
+        /// </summary>
+        /// <param name="sender"></param>
+        /// <param name="e"></param>
+        private void Timer_Elapsed4(object sender, System.Timers.ElapsedEventArgs e)
+        {
+            if (Math.Abs(_heatValues[4] - _targetValues[4]) >= 0.2)
+            {
+                //内部调温
+                if (_heatValues[4] < _targetValues[4])
+                {
+                    _heatValues[4] += 0.1;
+                }
+                else
+                {
+                    _heatValues[4] -= 0.1;
+                }
+                //外部调温
+                if (_reserviorValues[4] < _targetValues[4])
+                {
+                    _reserviorValues[4] += 0.1;
+                }
+                else
+                {
+                    _reserviorValues[4] -= 0.1;
+                }
+            }
+            else
+            {
+                _timers[4].Stop();
+            }
+        }
         protected override string MessageConvert(byte[] byt)
         {
             string str = "";