CyberX8/CyberX8_RT/Devices/EFEM/SunWayMessageHandler.cs

using Aitex.Core.RT.Event;
using Aitex.Core.RT.Log;
using Aitex.Core.Util;
using Aitex.Sorter.Common;
using MECF.Framework.Common.Equipment;
using CyberX8_Core;
using CyberX8_RT.Devices.YASKAWA;
using SecsGem.Core.Variables;
using System;
using System.Collections.Generic;
using System.Linq;
using System.Runtime.Remoting.Contexts;
using System.Text;
using System.Text.RegularExpressions;
using System.Threading.Tasks;

namespace CyberX8_RT.Devices.EFEM
{
    public class SunWayMessageHandler : Singleton<SunWayMessageHandler>, IEfemMessageHander
    {
        private const string ERROR_MSG = "hardware message invalid";
        /// <summary>
        /// TagId数据前缀
        /// </summary>
        private const string TAG_DATA_PRE = "INF:CSTID/LP1/";
        public EfemMessage ToMessage(string context)
        {
            if (string.IsNullOrEmpty(context) || context.Length < 3)
                throw new ArgumentNullException(ERROR_MSG);

            EfemMessage msg = new EfemMessage { RawString = context, Direct = MsgDirection.From, Data = new List<string>() };

            // remove EOT
            string messageBody = context.Substring(0, context.IndexOf(EfemMessage.EOF) + 1);

            try
            {
                // split up the string
                string[] sBodies = messageBody.Split(Constant.delimiters);
                

                string sHead = sBodies[0];
                string sBasic = sBodies[1];

                // Head
                if (Enum.TryParse(sHead, true, out EfemMessage.MsgHead msgHead))
                {
                    msg.Head = msgHead;
                }

                switch (msg.Head)
                {
                    case EfemMessage.MsgHead.ACK:
                    case EfemMessage.MsgHead.MOV:
                    case EfemMessage.MsgHead.INF:
                    case EfemMessage.MsgHead.EVT:
                        // Basic
                        msg.Operation = EfemConstant.ToOperation(sBasic);
                        string sPort = sBodies[2];
                        
                        // Port
                        msg.Module = GetModule(sPort);

                        // Data
                        switch (msg.Operation)
                        {
                            case EfemOperation.StateTrack:
                                for (int i = 2; i < sBodies.Length; i++)
                                {
                                    msg.Data.Add(sBodies[i]);
                                }
                                break;
                            case EfemOperation.GetWaferInfo:
                                for(int i=3;i<sBodies.Length;i++)
                                {
                                    msg.Data.Add(sBodies[i]);
                                }
                                break;
                            case EfemOperation.CarrierId:
                                if (msg.Head == EfemMessage.MsgHead.INF)
                                {
                                    string carrierId = msg.RawString.Substring(TAG_DATA_PRE.Length);
                                    carrierId = carrierId.Remove(carrierId.Length - 1);
                                    msg.Data.Add(carrierId);
                                }
                                break;
                            case EfemOperation.SigStatus:
                                for(int i=2;i<sBodies.Length; i++)
                                {
                                    msg.Data.Add(sBodies[i]);
                                }
                                break;
                            case EfemOperation.Ready:
                                msg.Data.Add(sBodies[2]);
                                break;
                            case EfemOperation.Size:
                                for (int i = 3; i < sBodies.Length; i++)
                                {
                                    msg.Data.Add(sBodies[i]);
                                }
                                break;
                            case EfemOperation.Align:
                                msg.Data.Add(sBodies[3]);
                                break;
                            default:
                                break;
                        }
                        //EVT:ERROR/Param1/Param2
                        if(msg.Head == EfemMessage.MsgHead.EVT&&sBasic.ToLower()=="error")
                        {
                            msg.Operation = EfemOperation.Error;
                            msg.Data.Add(sBodies[3]);
                        }
                        break;

                    case EfemMessage.MsgHead.NAK:
                        //NAK:Factor|Message*
                        if (sBodies.Length > 1)
                        {
                            msg.Factor = sBodies[1];
                        }
                        else
                        {
                            msg.Factor = "NAK 格式错误";
                        }
                        break;

                    case EfemMessage.MsgHead.CAN:
                        //CAN:Message*|Factor/Place
                        if (sBodies.Length >= 4)
                        {
                            string[] canFactor = messageBody.Split('|');
                            string[] factorandData = canFactor[1].Split(Constant.delimiters);
                            string factor = factorandData[0];
                            string data = canFactor[1].Replace(factor,"");
                            
                            msg.Data.Add(data);
                            msg.Factor = factor;
                            //msg.Factor = sBodies[sBodies.Length - 2];
                            //msg.Data.Add(sBodies[sBodies.Length - 1]);
                           
                        }
                        else
                        {
                            msg.Factor = "CAN 格式错误";
                        }
                        break;

                    case EfemMessage.MsgHead.ABS:
                        //ABS:Message*|Error|Parameter1/Parameter2
                        if (sBodies.Length >= 5)
                        {
                            msg.Factor = sBodies[sBodies.Length - 3];
                            string errorCode = sBodies[sBodies.Length - 2];
                            if (EfemHWErrorCode2Msg.ContainsKey(errorCode))
                            {
                                msg.Data.Add(EfemHWErrorCode2Msg[errorCode]);
                            }
                            else
                            {
                                msg.Data.Add(errorCode);
                            }
                            msg.Data.Add(sBodies[sBodies.Length - 1]);
                        }
                        else
                        {
                            msg.Factor = "ABS 格式错误";
                        }
                        break;
                }
            }
            catch (Exception ex)
            {
                EV.PostAlarmLog(ModuleName.EFEM.ToString(), $"收到[{context}],解析出错[{ex.Message}]");
            }

            return msg;
        }

        private ModuleName GetModule(string sPort)
        {
            ModuleName module = ModuleName.EFEM;
            if (Regex.IsMatch(sPort, @"LP[123]$"))
            {
                if (sPort.Length > 3)
                {
                    sPort = sPort.Remove(sPort.Length - 2);
                }
                module = StringModule[sPort];
            }
            else if (Regex.IsMatch(sPort, @"ALN\d?", RegexOptions.IgnoreCase))
            {
                if (sPort.Length > 4)
                {
                    sPort = sPort.Remove(sPort.Length - 2);
                }
                module = StringModule[sPort];
            }
            else if (Regex.IsMatch(sPort, @"BF\d?", RegexOptions.IgnoreCase))
            {
                if (sPort.Length > 3)
                {
                    sPort = sPort.Remove(sPort.Length - 2);
                }
                module = StringModule[sPort];
            }
            else
            {
                module = ModuleName.EFEM;
            }
            return module;
        }

        public Dictionary<ModuleName, string> ModuleString = new Dictionary<ModuleName, string>
        {
            [ModuleName.EFEM] = "ALL",
            [ModuleName.EfemRobot] = "ROB",
            [ModuleName.LP1] = "LP1",
            [ModuleName.LP2] = "LP2",
            [ModuleName.LP3] = "LP3",
            [ModuleName.Aligner1] = "ALN1",
            [ModuleName.PUF1]="PUF1",
            [ModuleName.PUF2]="PUF2",
            [ModuleName.SRD1]="SRD1",
            [ModuleName.SRD2]="SRD2",
            [ModuleName.Dummy1]="BF1",
            [ModuleName.Dummy2]="BF2"
        };

        public readonly Dictionary<string, ModuleName> StringModule = new Dictionary<string, ModuleName>
        {
            ["ALL"] = ModuleName.EFEM,
            ["System"] = ModuleName.EFEM,
            ["LP1"] = ModuleName.LP1,
            ["LP2"] = ModuleName.LP2,
            ["LP3"] = ModuleName.LP3,
            ["ALN1"] = ModuleName.Aligner1,
            ["BF1"]=ModuleName.Dummy1,
            ["BF2"]=ModuleName.Dummy2
        };

        public Dictionary<Hand, string> ArmString = new Dictionary<Hand, string>
        {
            [Hand.Blade1] = "ARM1"
        };

        public string ToHWString(Position pos)
        {
            string res = string.Empty;              
            string sMod = ModuleString[pos.Module];
            int num = pos.Slot + 1;
            string sSlot = num.ToString("D2");
            //EFEM中PUF只固定一个slot
            if (ModuleHelper.IsPUF(pos.Module))
            {
                res = $"{sMod}01";
            }
            else {
                res = $"{sMod}{sSlot}";
            }
            return res;
        }
        public readonly Dictionary<string, string> EfemHWErrorCode2Msg = new Dictionary<string, string>()
        {
            {"NOREADY","通信握手未完成" },
            {"SORC_NOWAF","Robot 手指无片无法执行取片" },
            {"SORC_WAFER","Robot 手指有片，无法执行取片" },
            {"DEST_WAFER","目标位有片，无法执行取片" },
            {"VAC","真空不足" },
            {"AIR","大气不足" },
            {"MAPPARAM_NG","执行扫片失败" },
            {"WAFERUPDATEFAIL","晶圆状态异常" },
            {"NOLOCATION","未找到工位配置信息" },
            {"NOARM","未找到 ARM 配置信息" },
            {"REMOVE","未找到设备或设备已断开链接" },
            {"NOMAPPINGDATA","没有找到相对应的 Mapping 结果" },
            {"ALARM","触发 Alarm 报警" },
            {"NOCST","OC 上未发现 Cassette" },
            {"NOCLAMP","OC 未执行 Clamp" },
            {"NOPOD","OC 上未发现 POD" },
            {"PODNOTCLOSED","POD 门未关" },
            {"AREASENSOR","触发安全光栅" },
            {"EMS","触发 EMS 急停" },
            {"WAFERPROTRUSION","晶圆突出检测触发" },
            {"DOOR","安全门开启" },
            {"COMM","设备通信异常" },
            {"EXCEPTION","系统抛出异常" },
            {"BUSY","系统繁忙" },
            {"CKSUM","校验和验证失败" },
            {"MAINTENANCE","当前系统为维护模式" },
            {"MSG_NG","指令错误" },
            {"PARAM_NG","参数错误" },
            {"NODEVICEMODEL","未找到该设备型号" },
            {"SLOT_NG","SLOT 超出范围" },
            {"UNDEFINITION","未知错误" },
            {"NOIOSET","未找到 IO 设置信息" },
            {"SETFAIL","设置失败" },
            {"TIMEOUT","设备通信超时" },
            {"DEST_NOWAF","目标位无片无法执行取片" },
            {"CSTSIZEMISMATCH","Cassette 尺寸不匹配" },
            {"ROBEXEND","机械手伸手报警" },
            {"FUNC_ERROR","函数错误" },
            {"233","伸缩信号未使能" },
            {"304","未识别的错误码" },
            {"305","未识别的指令" },
            {"309","不支持的指令" },
            {"401","ZWAFER 参数错误" },
            {"402","非法的 slot 参数" },
            {"403","运动指令 RX 参数错误" },
            {"404","晶圆夹取失败" },
            {"405","晶圆释放失败" },
            {"406","气缸压力表检测错误" },
            {"407","Mapping 传感器伸出失败" },
            {"408","Mapping 传感器缩回失败" },
            {"409","Mapping 传感器位置数据不正确" },
            {"411","Mapping 传感器高度不一致" },
            {"412","工位 VIA 参数未使能" },
            {"413","不是有效的 Mapping 工位" },
            {"414","手指有晶圆无法 mapping" },
            {"415","采集的数据个数错误" },
            {"416","采集的晶圆厚度过小" },
            {"417","晶圆位置超出有效范围" },
            {"418","晶圆上下沿槽数错误" },
            {"550","工位号超范围" },
            {"552","VIA 参数错误" },
            {"553","MAPVIA 参数错误" },
            {"600","系统未上电" },
            {"602","指令正在执行中" },
            {"603","系统上电失败" },
            {"604","示教器控制中" },
            {"605","机械手运动中停止" },
            {"609","系统存在错误" },
            {"610","示教盒急停启动" },
            {"611","驱动器报警" },
            {"629","驱动器存在报警" },
            {"705","LOAD 状态未知" },
            {"712","真空吸附动作失败" },
            {"730","PLACE 前 LOAD 状态错误" },
            {"731","PLACE 后 LOAD 状态错误" },
            {"734","PLACE 执行 Extend 过程中未检测到晶圆" },
            {"736","PLACE 执行 Retract 过程中检测到晶圆" },
            {"740","PICK 前 LOAD 状态错误" },
            {"741","PICK 后 LOAD 状态错误" },
            {"744","PICK 执行 Extend 过程中检测到晶圆" },
            {"745","PICK 执行 Retract 过程中未检测到晶圆" },
            {"800","当前有动作暂停中" },
            {"801","改变运动状态发生错误" },
            {"802","无法获取下一个状态" },
            {"803","没有正在运行的指令" },
            {"804","没有暂停的动作" },
            {"805","没有可跳过的动作" },
            {"1006","非法的 IO 端口号" },
            {"1314","PITCH 轴超界" },
            {"1315","关节位置超界" },
            {"1316","关节位置超硬限" },
            {"1320","机械手跟踪差超限错误" },
            {"1321","机械手发生碰撞" },
            {"1322","机械手超出工作区" },
            {"1323","关节速度超限" },
            {"1400","打开 pod 失败" },
            {"1401","当前位置不正确" },
            {"1402","关闭 pod 失败" },
            {"1403","pod 上锁失败" },
            {"1404","pod 解锁失败" },
            {"1407","气压错误" },
            {"1408","pod 盒状态错误" },
            {"1409","当前位置不在旋转轴动作位置" },
            {"1410","晶圆尺寸设置错误" },
            {"1411","旋转轴状态错误不能伸出" },
            {"1412","晶圆已滑出" },
            {"1413","与 R3 extend 互锁" },
            {"1414","光栅被触发" },
            {"1415","Cassette 状态错误" },
            {"1500","打开门失败" },
            {"1501","关闭门失败" },
            {"1502","门开关状态不对" },
            {"1503","门松开失败" },
            {"1504","门夹紧失败" },
            {"1505","门夹紧松开状态错误" },
            {"1510","安全检测触发" },
            {"1511","R 轴未运动到位" },
            {"1512","使能开关未使能" },
            {"1514","气缸 1 状态错误" },
            {"1515","LATCH 失败" },
            {"1516","UNLATCH 失败" },
            {"1517","LATCH 状态错误" },
            {"1518","DOCK 状态错误" },
            {"1519","气缸 2 状态错误" },
            {"1520","DOCK 到位传感器状态错误" },
            {"1521","吸附状态错误" },
            {"1522","MAP 轴状态错误" },
            {"1523","PLACE 状态错误" },
            {"1524","气缸 1 伸出错误" },
            {"1525","气缸 1 缩回错误" },
            {"1527","关门时 LATCH 状态错误" },
            {"1528","真空吸附失败" },
            {"1529","真空吸附关闭失败" },
            {"13033","伺服驱动器初始化失败" },
        };
    }
}