JET-EFEM/athos/athosSimulator/Robot/RorzeRobot751Simulator.cs

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;
        }

    }
}