CyberX8/Framework/RTEquipmentLibrary/HardwareUnits/Robots/NX100/Utils.cs

using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using Aitex.Core.RT.SCCore;
using Aitex.Sorter.Common;
using MECF.Framework.Common.Equipment;

namespace MECF.Framework.RT.EquipmentLibrary.HardwareUnits.Robot.NX100
{
    public class ProtocolTag
    {
        public const string tag_end = "\r";
        public const string tag_cmd_start = "$";
        public const string cmd_token = ",";

        public const string resp_tag_normal = "$";
        public const string resp_tag_error = "?";
        public const string resp_tag_excute = "!";
        public const string resp_tag_event = ">";


        public const string resp_evt_error = "100";
    }

    public class RobotConvertor
    {
        public static string chamber2staion(ModuleName chamber)
        {
            string st = "";
            switch (chamber)
            {
                case ModuleName.LP1:
                    st = "C1";
                    break;
                case ModuleName.LP2:
                    st = "C2";
                    break;
                case ModuleName.LP3:
                    st = "C3";
                    break;
                case ModuleName.LP4:
                    st = "C4";
                    break;
                case ModuleName.LP5:
                    st = "C5";
                    break;
                case ModuleName.LP6:
                    st = "C6";
                    break;
                case ModuleName.LP7:
                    st = "C7";
                    break;
                case ModuleName.LP8:
                    st = "C8";
                    break;

                case ModuleName.LP9:
                    st = "C9";
                    break;

                case ModuleName.LP10:
                    st = "CA";
                    break;

                case ModuleName.Aligner:
                    st = "P1";
                    break;
            }

            return st;
        }

        public static string chamberSlot2Slot(ModuleName chamber, int slot)
        {
            string sslot = "";
            switch (chamber)
            {
                case ModuleName.LP1:
                case ModuleName.LP2:
                case ModuleName.LP3:
                case ModuleName.LP4:
                case ModuleName.LP5:
                case ModuleName.LP6:
                case ModuleName.LP7:
                case ModuleName.LP8:
                case ModuleName.LP9:
                case ModuleName.LP10:

                    sslot = string.Format("{0:D2}", slot + 1);
                    break;
                case ModuleName.Aligner:
                case ModuleName.Robot:
                case ModuleName.PMA:
                case ModuleName.PMB:
                case ModuleName.PMC:
                case ModuleName.PMD:
                case ModuleName.PME:
                case ModuleName.PMF:
                     sslot = "00";
                    break;
            }

            return sslot;
        }

        public static string hand2string(Hand hand)
        {
            string st = "";
            if (SC.ContainsItem("Robot.BladeUpDownReverse") && SC.GetValue<bool>("Robot.BladeUpDownReverse"))
            {
                switch (hand)
                {
                    case Hand.Blade1:
                        st = "A";      //单手臂 下
                        break;
                    case Hand.Blade2:
                        st = "B";     //4手臂  上
                        break;
                    case Hand.Both:
                        st = "W";
                        break;
                }
            }
            else
            {
                switch (hand)
                {
                    case Hand.Blade1:
                        st = "B";      //单手臂 下
                        break;
                    case Hand.Blade2:
                        st = "A";     //4手臂  上
                        break;
                    case Hand.Both:
                        st = "W";
                        break;
                }
            }
            return st;
        }


        public static string NextMotion2String(Motion motion,Hand hand)
        {
            string st = "";
            switch (motion)
            {
                case Motion.Pick:
                    st = string.Format("G{0}", hand2string(hand));
                    break;
                case Motion.Place:
                    st = string.Format("P{0}", hand2string(hand));
                    break;
                case Motion.Exchange:
                    st = string.Format("E{0}", hand2string(hand));
                    break;
                default:
                    st = "AL";
                    break;
            }

            return st;
        }

        public static string Offset2String(int offset)
        {
            string st = "";

            if (offset >= 0)
            {
                st = string.Format("{0:D5}", offset);
            }
            else
            {
                st = string.Format("{0:D4}", offset);
            }

            return st;
        }
    }
}