using System; using MECF.Framework.Simulator.Core.Driver; using Aitex.Core.Util; namespace athosSimulator.Robot { public class RorzeRobot751Simulator : SocketDeviceSimulator { private const string SCMD = @"(?<=\:)(.*?)(?=\/)"; private const string SFOUP = @"(?<=P)(\d{1})(?=[\;\/])"; private const string ACK = "ACK"; private readonly char[] delimiters = { ':', '/', '>', '|', ';' }; private string[] _slotMap = new string[25]; private string[] _slotDummy = new string[25]; private PeriodicJob _HwThread; private bool _bCommReady; private bool _isDoorOpen; private bool _isLp1Placed; private bool _isLp2Placed; private bool _isLp3Placed; private bool _isLp1Clamped; private bool _isLp2Clamped; private bool _isLp3Clamped; private bool _isLP1Docked; private bool _isLP2Docked; private bool _isLP3Docked; public int WaferSize = 200; private int _speed = 20; private string _carrier1ID = "12345678"; private string _carrier2ID = "12345678"; private string _carrier3ID = "12345678"; public string SlotMap { get { return string.Join("", _slotMap); } } public bool _isVacuumError { get; set; } public bool _isAirError { get; set; } public bool _isFlowError { get; set; } public bool _isLeak { get; set; } public bool _isMaintain { get; set; } public bool _isWaferPresent { get; set; } public bool _isMaintainDoorOpen { get; private set; } public bool _isProtrude1 { get; set; } public bool _isProtrude2 { get; set; } public bool _isVAC { get; set; } public bool _isAIR { get; set; } private bool _isDoorOpen1; public bool IsDoorOpen1 { get { return _isDoorOpen1; } set { _isDoorOpen1 = value; SendLP1Data(); } } private bool _isDoorOpen2; public bool IsDoorOpen2 { get { return _isDoorOpen2; } set { _isDoorOpen2 = value;SendLP2Data(); } } private bool _isDoorOpen3; public bool IsDoorOpen3 { get { return _isDoorOpen3; } set { _isDoorOpen3 = value; SendLP3Data(); } } public RorzeRobot751Simulator() : base(10110, -1, "\r", ' ') { for (int i = 0; i < _slotMap.Length; i++) _slotMap[i] = "0"; for(int i=0; i < _slotDummy.Length; i++) { _slotDummy[i]="0"; } _HwThread = new PeriodicJob(5000, OnSendEvent, "EfemHardware", true); GetStationNumber(); } private bool OnSendEvent() { if (IsConnected) { } return true; } private void GetStationNumber() { } protected override void ProcessUnsplitMessage(string str) { //OnWriteMessage(ack); // 处理INF //OnWork(str); } internal void SetCassetteDoor(bool doorOpen) { _isMaintainDoorOpen = doorOpen; uint data = doorOpen ? (uint)0b0111111111000001110 : (uint)0b0111111111000001111; string msg = $"EVT:SIGSTAT/System/{data:X8}/00000000;"; OnWriteMessage(msg); } internal void SetMaintain(bool maintain) { _isMaintain = maintain; uint data = maintain ? (uint)0b0111111111000011111 : (uint)0b0111111111000001111; string msg = $"EVT:SIGSTAT/System/{data:X8}/00000000;"; OnWriteMessage(msg); } internal void SetProtrude1(bool protrude) { _isProtrude1 = protrude; uint data = protrude? (uint)0b0111111111000101111: (uint)0b0111111111000001111; string msg = $"EVT:SIGSTAT/System/{data:X8}/00000000;"; OnWriteMessage(msg); } internal void SetProtrude2(bool protrude) { _isProtrude2 = protrude; uint data = protrude ? (uint)0b0111111111001001111 : (uint)0b0111111111000001111; string msg = $"EVT:SIGSTAT/System/{data:X8}/00000000;"; OnWriteMessage(msg); } internal void SetVAC(bool VAC) { _isVAC = VAC; uint data = VAC ? (uint)0b0111111111000001101 : (uint)0b0111111111000001111; string msg = $"EVT:SIGSTAT/System/{data:X8}/00000000;"; OnWriteMessage(msg); } internal void SetAIR(bool AIR) { _isAIR = AIR; uint data = AIR ? (uint)0b0111111111000001011 : (uint)0b0111111111000001111; string msg = $"EVT:SIGSTAT/System/{data:X8}/00000000;"; OnWriteMessage(msg); } //private void OnWork(string str) //{ // string ack = ""; // if (str.StartsWith("RQ LOAD")) //查询手指是否带片 // { // ack = "LOAD A OFF\n_RDY"; // } // else if (str.StartsWith("RSR")) //返回扫片结果 // { // string[] strings = str.Split(' ').ToArray(); // int stationNumber = int.Parse(strings[1]); // if (_lpStationNumber.Contains(stationNumber)) //LP // { // string lpwafer = ""; // foreach (var item in _slotMap) // { // lpwafer += $" {item}"; // } // ack = "MAP" + lpwafer; // } // else if (_dummyStationNumber.Contains(stationNumber)) //dummy // { // string dummywafer = ""; // foreach (var item in _slotDummy) // { // dummywafer += $" {item}"; // } // ack = "MAP" + dummywafer; // } // } // else //默认回复 // { // if (str.StartsWith("PICK") || str.StartsWith("PLACE") || str.StartsWith("MAP") || str.StartsWith("ALIGNER ALGN") || str.StartsWith("ALIGNER HOME")) // { // Thread.Sleep((ushort)2200); // } // ack = "_RDY"; // } // OnWriteMessage(ack); //} private void UpdateLocked(string lpNumber,bool locked) { if (lpNumber== "1") { _isLP1Docked = locked; SendLP1Data(); } else if (lpNumber == "2") { _isLP2Docked = locked; SendLP2Data(); } else if (lpNumber == "3") { _isLP3Docked = locked; SendLP3Data(); } } private void UpdateClamped(string lpNumber, bool clamped) { if (lpNumber == "1") { _isLp1Clamped = clamped; SendLP1Data(); } else if (lpNumber == "2") { _isLp2Clamped = clamped; SendLP2Data(); } else if (lpNumber == "3") { _isLp3Clamped = clamped; SendLP3Data(); } } private void SendLP1Data() { uint data = GetLP1Data1(); string msg = $"EVT:SIGSTAT/LP1/{data:X8}/0000;"; OnWriteMessage(msg); } private void SendLP2Data() { uint data = GetLP2Data1(); string msg = $"EVT:SIGSTAT/LP2/{data:X8}/0000;"; OnWriteMessage(msg); } private void SendLP3Data() { uint data = GetLP3Data1(); string msg = $"EVT:SIGSTAT/LP3/{data:X8}/0000;"; OnWriteMessage(msg); } private void SendAlignData() { string msg = $"EVT:ALIGN/ALN1/0;"; OnWriteMessage(msg); } private void SendDummyMapData(string dummy) { string s2 = $"EVT:MAPDT/{dummy}/{_slotDummy};\r"; OnWriteMessage(s2); } private void SendSystemData() { uint data = 0b0111111111000001111; string msg = $"EVT:SIGSTAT/System/{data:X8}/00000000;"; OnWriteMessage(msg); } //private ushort SimuOperationTime(EfemOperation op) //{ // ushort sec = 0; // switch (op) // { // case EfemOperation.Map: // case EfemOperation.GetWaferInfo: // case EfemOperation.Align: // sec = 2200; // break; // case EfemOperation.Pick: // case EfemOperation.Place: // case EfemOperation.Orgsh: // sec = 2200; // break; // case EfemOperation.Light: // case EfemOperation.SigStatus: // sec = 0; // break; // default: // sec = 100; // break; // } // return sec; //} public void PlaceCarrier1() { _isLp1Placed = true; SendLP1Data(); } public void RemoveCarrier1() { _isLp1Placed = false; SendLP1Data(); } public void PlaceCarrier2() { _isLp2Placed = true; SendLP2Data(); } public void RemoveCarrier2() { _isLp2Placed = false; SendLP2Data(); } public void PlaceCarrier3() { _isLp3Placed = true; SendLP3Data(); } public void RemoveCarrier3() { _isLp3Placed = false; SendLP3Data(); } public void ClearWafer() { for (int i = 0; i < _slotMap.Length; i++) { _slotMap[i] = "0"; } for (int i = 0; i < _slotDummy.Length; i++) { _slotDummy[i] = "0"; } } public void SetAllWafer() { for (int i = 0; i < _slotMap.Length; i++) { _slotMap[i] = "1"; } } public void RandomWafer() { Random _rd = new Random(); for (int i = 0; i < _slotMap.Length; i++) { //_slotMap[i] = (i % 9).ToString(); _slotMap[i]= _rd.Next(0, 10) < 6 ? "0" : "1"; } } public void RandomDummyWafer() { Random _rdDummy = new Random(); for (int i = 0; i < _slotDummy.Length; i++) { _slotDummy[i] = _rdDummy.Next(0, 10) < 6 ? "0" : "1"; } } private uint GetLP1Data1() { uint data1 = 0x0u; data1 |= (_isLp1Placed ? 0x00000001u : 0x0); data1 |= (_isLp1Clamped ? 0x00000002u : 0x0); data1 |= (_isLP1Docked ? 0x00000004u : 0x0); data1 |= (_isDoorOpen1 ? 0x00000020u : 0x0); return data1; } private uint GetLP2Data1() { uint data1 = 0x0u; data1 |= (_isLp2Placed ? 0x00000001u : 0x0); data1 |= (_isLp2Clamped ? 0x00000002u : 0x0); data1 |= (_isLP2Docked ? 0x00000004u : 0x0); data1 |= (_isDoorOpen2 ? 0x00000020u : 0x0); return data1; } private uint GetLP3Data1() { uint data1 = 0x0u; data1 |= (_isLp3Placed ? 0x00000001u : 0x0); data1 |= (_isLp3Clamped ? 0x00000002u : 0x0); data1 |= (_isLP3Docked ? 0x00000004u : 0x0); data1 |= (_isDoorOpen3 ? 0x00000020u : 0x0); return data1; } } }