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@@ -1,12 +1,604 @@
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-using System;
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+using Aitex.Core.RT.Log;
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+using Aitex.Core.RT.SCCore;
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+using Aitex.Sorter.Common;
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+using MECF.Framework.Common.CommonData;
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+using MECF.Framework.Common.Equipment;
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+using MECF.Framework.Common.SubstrateTrackings;
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+using MECF.Framework.RT.EquipmentLibrary.HardwareUnits.LoadPorts;
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+using System;
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+using System.Collections.Concurrent;
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using System.Collections.Generic;
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using System.Linq;
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using System.Text;
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+using System.Text.RegularExpressions;
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using System.Threading.Tasks;
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+using Venus_Core;
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+using Venus_RT.Devices.VCE;
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namespace Venus_RT.Devices.TM
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{
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- internal class SunWayRobot
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+ public class SunWayRobot : ITransferRobot
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{
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+ private readonly AsyncSocket _socket;
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+ private const string EOF = "\n";
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+ private RState _status;
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+ private bool _IsHomed;
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+ private VRStep _currentStep = VRStep.Idle;
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+ private Dictionary<string, int> _StationNumbers = new Dictionary<string, int>();
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+ public RState Status { get { return _status; } }
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+ public bool IsHomed { get { return _IsHomed; } }
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+ private string Hand2Arm(Hand hand) => hand == Hand.Blade2 ? "B" : "A";
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+
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+ //private readonly Regex _rex_check_load = new Regex(@"LOAD\s+(A|B)\s+(\w+)\s*");
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+ private readonly Regex _rex_check_load = new Regex(@"CHECK LOAD\s*");
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+ private readonly Regex _rex_rq_load_A = new Regex(@"LOAD\sA\s.*");
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+ private readonly Regex _rex_rq_load_B = new Regex(@"LOAD\sB\s.*");
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+ private readonly Regex _rex_error_code = new Regex(@"_ERR\s+(\d+)\s*");
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+ private readonly Regex _rex_rq_speed = new Regex(@"MOTIONPARA.*");
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+ private RobotMoveInfo _robotMoveInfo = new RobotMoveInfo();
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+ private string _WithWaferSpeed = "";
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+ private string _NoWaferSpeed = "";
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+ public string WithWaferSpeed => _WithWaferSpeed;
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+ public string NoWaferSpeed => _NoWaferSpeed;
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+ public RobotMoveInfo TMRobotMoveInfo { get { return _robotMoveInfo; } }
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+
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+ public double Offset_X => 0;
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+
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+ public double Offset_Y => 0;
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+
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+ public double Offset_D => 0;
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+
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+ public Dictionary<string, string> _error2msg = new Dictionary<string, string>()
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+ {
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+ {"221" , "手臂选择无效,检查指令中的对应参数" },
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+ {"222" , "无效的 Pan 参数"},
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+ {"305" , "无法识别的命令,检查指令" },
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+ {"309" , "不支持的指令,检查指令" },
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+ {"350" , "解析器错误，堆栈溢出,检查指令" },
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+ {"402" , "槽位参数异常，检查指令中的对应参数" },
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+ {"403" , "Slot编号错误，指令的参数中指定的 Slot 编号超过了有效范围" },
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+ {"407" , "旋转轴超过限位，检查指令中的对应参数" },
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+ {"408" , "伸展轴超过限位，检查指令中的对应参数" },
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+ {"409" , "升降轴超过限位，检查指令中的对应参数" },
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+ {"416" , "无法执行 CheckLoad 操作，检查指令中的对应参数" },
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+ {"417" , "Offset 参数参数超限，检查指令中指定的 offset 值是否在允许范围内" },
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+ {"418" , "AWC 功能检测到误差过大,检查晶圆是否过偏或检查AWC传感器标定参数" },
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+ {"420" , "副臂没有在HOME位置,请检查副臂的位置，可以使用HOME ALL使得所有关节姿态回到HOME位置" },
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+ {"451" , "取片后 AWC校验异常,机械臂取片后缩回时，检测到晶圆偏心过大，或者 AWC 校验失败" },
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+ {"550" , "Station参数超出范围，检查站点配置参数" },
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+ {"551" , "ARM 不在站点，检查当前手臂实际位置与逻辑位置" },
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+ {"560" , "机械臂处于 HALT 状态，拒绝接受新的指令" },
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+ {"561" , "当前机械臂状态机与指令不匹配，当前状态机不满足执行该指令的条件" },
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+ {"600" , "PAligner通讯异常，检查与 PA 的通讯电缆，上电情况等" },
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+ {"603" , "收到急停指令" },
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+ {"608" , "机械臂急停中" },
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+ {"610" , "手持示教器急停按钮按下" },
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+ {"692" , "检测左 PAN 上有片，与逻辑状态不匹配" },
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+ {"693" , "检测右 PAN 上有片，与逻辑状态不匹配" },
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+ {"694" , "检测左 PAN 上无片，与逻辑状态不匹配" },
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+ {"695" , "检测右 PAN 上有片，与逻辑状态不匹配" },
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+ {"700" , "当前手臂有晶圆 ，检查指令动作要求的晶圆状态，与手臂内部存储的晶圆状态是否匹配" },
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+ {"701" , "当前手臂无晶圆，检查指令动作要求的晶圆状态，与手臂内部存储的晶圆状态是否匹配"},
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+ {"711" , "站点互锁错误，检查站点的“允许机械臂进入信号”是否就绪"},
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+ {"721" , "取片失败，检查手臂晶圆状态，或者晶圆检测传感器状态"},
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+ {"722" , "放片失败，检查手臂晶圆状态，或者晶圆检测传感器状态"},
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+ {"771" , "取片时 AWC 传感器检测失败，检查 AWC 传感器状态，或者 AWC 配置相关是否正确"},
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+ {"791" , "查询 AWC 数据失败，未曾执行过 AWC 相关功能的操作"},
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+ {"792" , "AWC 传感器检测失败，检查AWC传感器状态，或者AWC配置相关是否正确"},
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+ {"799" , "放片失败，检查手臂晶圆状态，或者晶圆检测传感器状态"},
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+ {"802" , "伺服报错，伺服提示异常，目前暂时无法读取伺服错误。开机盖可以读到伺服信息。一般整机断电重启。"},
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+ {"803" , "机械臂上电失败，HOME ALL 指令，或者其他上电操作，驱动器未能正常响应上电"},
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+ {"805" , "第1个伺服收敛异常，伺服没有在规定时间内运动到位置，或者停稳。"},
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+ {"806" , "第2个伺服收敛异常，伺服没有在规定时间内运动到位置，或者停稳。"},
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+ {"807" , "第3个伺服收敛异常，伺服没有在规定时间内运动到位置，或者停稳。"},
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+ {"808" , "第4个伺服收敛异常，伺服没有在规定时间内运动到位置，或者停稳。"},
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+ {"1100" , "无法安全回 HOME 操作，检查机械臂是否在安全 HOME 半径内，常见于双臂机械臂，双臂同时伸出超过安全位"},
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+ {"1805" , "当前处于示教器模式，检查示教器档位，一般此时处于 Teach 档位"},
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+ {"13004" , "PA报错，检查 PA 运行状态，PA 扫片结果等"},
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+ };
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+ private BlockingCollection<RobotAnimationData> blockingCollection = new BlockingCollection<RobotAnimationData>();
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+ private ModuleName _module;
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+ public SunWayRobot(ModuleName module)
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+ {
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+ _module = module;
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+ _socket = new AsyncSocket("", EOF);
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+ _socket.Connect(SC.GetStringValue($"{_module}.IPAddress"));
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+ _socket.OnDataChanged += OnReceiveMessage;
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+ _socket.OnErrorHappened += OnErrorHappen;
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+
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+ _status = RState.Init;
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+ _IsHomed = false;
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+
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+ _StationNumbers[ModuleName.VCE1.ToString()] = SC.GetValue<int>($"{_module}.VCE1StationNumber");
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+ _StationNumbers[ModuleName.VCEA.ToString()] = SC.GetValue<int>($"{_module}.VCEAStationNumber");
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+ _StationNumbers[ModuleName.VCEB.ToString()] = SC.GetValue<int>($"{_module}.VCEBStationNumber");
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+ _StationNumbers[ModuleName.Aligner1.ToString()] = SC.GetValue<int>($"{_module}.Aligner1StationNumber");
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+
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+ _StationNumbers[ModuleName.PMA.ToString()] = SC.GetValue<int>($"{_module}.PMAStationNumber");
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+ _StationNumbers[ModuleName.PMB.ToString()] = SC.GetValue<int>($"{_module}.PMBStationNumber");
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+ _StationNumbers[ModuleName.PMC.ToString()] = SC.GetValue<int>($"{_module}.PMCStationNumber");
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+ _StationNumbers[ModuleName.PMD.ToString()] = SC.GetValue<int>($"{_module}.PMDStationNumber");
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+ _StationNumbers["CheckLoad"] = SC.GetValue<int>($"{_module}.CheckStationNumber");
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+
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+ WaferManager.Instance.SubscribeLocation(ModuleName.TMRobot, 2);
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+ Task.Run(() =>
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+ {
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+ foreach (var data in blockingCollection.GetConsumingEnumerable())
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+ {
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+ _robotMoveInfo.Action = data.Action;
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+ _robotMoveInfo.ArmTarget = data.Hand == Hand.Blade1 ? RobotArm.ArmA : (data.Hand == Hand.Both ? RobotArm.Both : RobotArm.ArmB);
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+ _robotMoveInfo.BladeTarget = $"{_robotMoveInfo.ArmTarget}.{data.Target}";
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+ System.Threading.Thread.Sleep(600);
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+ }
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+ });
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+ }
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+ //初始化某个轴
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+ //1.清错
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+ //2.设备上电
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+ //3.各轴按顺序运动
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+ public bool Home()
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+ {
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+ _status = RState.Running;
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+ _currentStep = VRStep.Home;
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+ return _SendCommand("HOME ALL");
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+ }
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+ public bool Halt()
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+ {
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+ _status = RState.Running;
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+ _currentStep = VRStep.Halt;
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+ return _SendCommand("HALT");
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+ }
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+ public bool Release()
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+ {
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+ _status = RState.Running;
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+ _currentStep = VRStep.Release;
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+ return _SendCommand("RELEASE");
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+ }
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+ //public bool MOVE()
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+ //{
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+ //}
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+ public bool Pick(ModuleName station, int slot, Hand hand)
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+ {
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+ if (!CheckRobotStatus())
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+ return false;
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+
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+ _currentStep = VRStep.Pick;
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+ _status = RState.Running;
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+ SetRobotMovingInfo(RobotAction.Picking, hand, station);
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+ return _SendCommand($"PICK {_StationNumbers[station.ToString()]} ARM {Hand2Arm(hand)}");
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+ }
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+
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+ public bool PickExtend(ModuleName station, int slot, Hand hand)
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+ {
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+ if (!CheckRobotStatus())
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+ return false;
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+
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+ _currentStep = VRStep.PickExtend;
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+ _status = RState.Running;
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+ SetRobotMovingInfo(RobotAction.Extending, hand, station);
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+ return _SendCommand($"PICK {_StationNumbers[station.ToString()]} ARM {Hand2Arm(hand)} ENRT NR");
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+ }
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+
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+ public bool PickRetract(ModuleName station, int slot, Hand hand)
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+ {
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+ if (!CheckRobotStatus())
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+ return false;
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+
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+ _currentStep = VRStep.PickRetract;
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+ _status = RState.Running;
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+ SetRobotMovingInfo(RobotAction.Retracting, hand, station);
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+ return _SendCommand($"PICK {_StationNumbers[station.ToString()]} ARM {Hand2Arm(hand)} STRT NR");
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+ }
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+ public bool Place(ModuleName station, int slot, Hand hand)
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+ {
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+ if (!CheckRobotStatus())
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+ return false;
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+
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+ _currentStep = VRStep.Place;
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+ _status = RState.Running;
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+ SetRobotMovingInfo(RobotAction.Placing, hand, station);
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+ return _SendCommand($"PLACE {_StationNumbers[station.ToString()]} ARM {Hand2Arm(hand)}");
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+ }
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+ public bool PlaceExtend(ModuleName station, int slot, Hand hand)
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+ {
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+ if (!CheckRobotStatus())
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+ return false;
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+
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+ _currentStep = VRStep.Place;
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+ _status = RState.Running;
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+ SetRobotMovingInfo(RobotAction.Extending, hand, station);
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+ return _SendCommand($"PLACE {_StationNumbers[station.ToString()]} ARM {Hand2Arm(hand)} ENRT NR");
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+ }
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+ public bool PlaceRetract(ModuleName station, int slot, Hand hand)
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+ {
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+ if (!CheckRobotStatus())
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+ return false;
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+
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+ _currentStep = VRStep.Place;
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+ _status = RState.Running;
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+ SetRobotMovingInfo(RobotAction.Retracting, hand, station);
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+ return _SendCommand($"PLACE {_StationNumbers[station.ToString()]} ARM {Hand2Arm(hand)} STRT NR");
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+ }
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+ public bool Transfer(ModuleName fromstation, ModuleName tostation, Hand hand)
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+ {
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+ if (!CheckRobotStatus())
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+ return false;
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+
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+ _currentStep = VRStep.Xfer;
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+ _status = RState.Running;
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+ return _SendCommand($"XFER ARM {Hand2Arm(hand)} {_StationNumbers[fromstation.ToString()]} {_StationNumbers[tostation.ToString()]}");
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+
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+ }
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+ public bool CheckLoad(Hand hand = Hand.Blade1)
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+ {
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+ if (_currentStep != VRStep.Home && _currentStep != VRStep.CheckLoad_ArmA && !CheckRobotStatus())
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+ return false;
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+
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+ _currentStep = hand == Hand.Blade2 ? VRStep.CheckLoad_ArmB : VRStep.CheckLoad_ArmA;
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+ _status = RState.Running;
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+ string arm = hand == Hand.Blade2 ? "B" : "A";
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+
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+ return _SendCommand($"CHECK LOAD {_StationNumbers["CheckLoad"]} {arm}");
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+ }
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+
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+
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+ public bool QueryAwc()
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+ {
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+ return true;
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+ }
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+
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+ public bool Goto(ModuleName station, int slot, Hand hand)
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+ {
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+ if (!CheckRobotStatus())
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+ return false;
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+
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+ _currentStep = VRStep.Goto;
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+ _status = RState.Running;
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+ SetRobotMovingInfo(RobotAction.Rotating, hand, station);
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+ return _SendCommand($"Goto {_StationNumbers[station.ToString()]} ARM {Hand2Arm(hand)}");
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+ }
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+
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+ public bool MoveTo(ModuleName stnFrom, ModuleName stnTo, Hand hand)
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+ {
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+ _currentStep = VRStep.Move;
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+ _status = RState.Running;
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+ return _SendCommand($"MOVE R ABS 100 ARM {Hand2Arm(hand)}"); ;
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+ }
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+ public bool PickWithOffset(ModuleName station, int slot, Hand hand, int Roffset, int Toffset)
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+ {
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+ _currentStep = VRStep.Pick;
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+ _status = RState.Running;
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+ SetRobotMovingInfo(RobotAction.Picking, hand, station);
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+
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+ return _SendCommand($"PICK {_StationNumbers[station.ToString()]} ARM {Hand2Arm(hand)} RO {Roffset} TO {Toffset}"); ;
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+ }
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+ public bool ReQueryLoadA()
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+ {
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+ _currentStep = VRStep.ReQueryLoadA;
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+ _status = RState.Running;
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+ return _SendCommand($"RQ LOAD ARM A");
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+ }
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+ public bool ReQueryLoadB()
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+ {
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+ _currentStep = VRStep.ReQueryLoadB;
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+ _status = RState.Running;
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+ return _SendCommand($"RQ LOAD ARM B");
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+ }
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+
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+ public bool SetSpeed(string withwafer, float speed)
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+ {
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+ if (!CheckRobotStatus())
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+ return false;
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+
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+ _currentStep = VRStep.SetSpeed;
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+ _status = RState.Running;
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+ int setspeed = (int)Math.Floor(speed * 10);
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+ return _SendCommand($"SET MOTIONPARA {withwafer} SPDPCT ALL {setspeed.ToString().PadLeft(4, '0')}");
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+ }
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+
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+ public bool SaveSpeed(string withwafer)
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+ {
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+ if (!CheckRobotStatus())
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+ return false;
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+
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+ _currentStep = VRStep.SaveSpeed;
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+ _status = RState.Running;
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+ return _SendCommand($"STORE MOTIONPARA {withwafer} SPDPCT ALL");
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+ }
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+
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+ public bool QuerySpeed(string withwafer)
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+ {
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+ if (!CheckRobotStatus())
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+ return false;
|
|
|
+
|
|
|
+ _currentStep = VRStep.RQSpeed;
|
|
|
+ _status = RState.Running;
|
|
|
+ //MOTIONPARA {} SPDPCT all x t z
|
|
|
+ return _SendCommand($"RQ MOTIONPARA {withwafer} SPDPCT ALL");
|
|
|
+ }
|
|
|
+
|
|
|
+ public bool ServeOn(bool IsOn)
|
|
|
+ {
|
|
|
+ _currentStep = VRStep.ServeOn;
|
|
|
+ _status = RState.Running;
|
|
|
+ if (IsOn)
|
|
|
+ return _SendCommand($"SET SERVOS ON");
|
|
|
+ else
|
|
|
+ return _SendCommand($"SET SERVOS OFF");
|
|
|
+ }
|
|
|
+
|
|
|
+ private bool _SendCommand(string cmd)
|
|
|
+ {
|
|
|
+ LOG.WriteSingeLine(eEvent.INFO_TM_ROBOT, ModuleName.TMRobot, $"Send Command to TMRobot: {cmd},Connect:{_socket.IsConnected}");
|
|
|
+ return _socket.Write(cmd + EOF);
|
|
|
+ }
|
|
|
+
|
|
|
+ private bool CheckRobotStatus()
|
|
|
+ {
|
|
|
+ if (Status == RState.Init)
|
|
|
+ {
|
|
|
+ LOG.Write(eEvent.ERR_DEVICE_INFO, ModuleName.TMRobot, "TMRobot is not homed, please home first.");
|
|
|
+ return false;
|
|
|
+ }
|
|
|
+ else if (Status == RState.Running)
|
|
|
+ {
|
|
|
+ LOG.Write(eEvent.ERR_DEVICE_INFO, ModuleName.TMRobot, "TMRobot is busy, please wait a minute");
|
|
|
+ return false;
|
|
|
+ }
|
|
|
+ else if (Status == RState.Failed || Status == RState.Timeout)
|
|
|
+ {
|
|
|
+ LOG.Write(eEvent.ERR_DEVICE_INFO, ModuleName.TMRobot, "TMRobot has a error, please check and fix the hardware issue and home it");
|
|
|
+ return false;
|
|
|
+ }
|
|
|
+
|
|
|
+ return true;
|
|
|
+ }
|
|
|
+
|
|
|
+ private void OnReceiveMessage(string revMsg)
|
|
|
+ {
|
|
|
+ string[] ResMsgs = revMsg.Split('\n');
|
|
|
+ foreach (string revRawMsg in ResMsgs)
|
|
|
+ {
|
|
|
+ if (string.IsNullOrWhiteSpace(revRawMsg)) continue;
|
|
|
+ string RevMsg = revRawMsg.Trim();
|
|
|
+ LOG.WriteSingeLine(eEvent.INFO_TM_ROBOT, ModuleName.TMRobot, $"Receive message from TMRobot: {RevMsg}, while {_currentStep}");
|
|
|
+ if (_rex_error_code.IsMatch(RevMsg))
|
|
|
+ {
|
|
|
+ _IsHomed = false;
|
|
|
+ _status = RState.Failed;
|
|
|
+
|
|
|
+ var results = _rex_error_code.Match(RevMsg);
|
|
|
+ ErrorMessageHandler(results.Groups[1].Value);
|
|
|
+ return;
|
|
|
+ }
|
|
|
+
|
|
|
+ switch (_currentStep)
|
|
|
+ {
|
|
|
+ case VRStep.Goto:
|
|
|
+ case VRStep.Halt:
|
|
|
+ case VRStep.Move:
|
|
|
+ case VRStep.Xfer:
|
|
|
+ case VRStep.SetSpeed:
|
|
|
+ case VRStep.SaveSpeed:
|
|
|
+ case VRStep.Pick:
|
|
|
+ case VRStep.PickExtend:
|
|
|
+ case VRStep.PickRetract:
|
|
|
+ case VRStep.Place:
|
|
|
+ case VRStep.PlaceExtend:
|
|
|
+ case VRStep.PlaceRetract:
|
|
|
+ {
|
|
|
+ if (RevMsg.Trim() == "_RDY" || (RevMsg.Contains("_RDY") && !RevMsg.Contains("_ERR")))
|
|
|
+ {
|
|
|
+ _currentStep = VRStep.Idle;
|
|
|
+ _status = RState.End;
|
|
|
+ }
|
|
|
+ else
|
|
|
+ {
|
|
|
+ ReportWrongMsg(RevMsg);
|
|
|
+ }
|
|
|
+
|
|
|
+ if (_currentStep != VRStep.PickExtend && _currentStep != VRStep.PlaceExtend)
|
|
|
+ SetRobotMovingInfo(RobotAction.None, Hand.Both, ModuleName.TMRobot);
|
|
|
+ }
|
|
|
+ break;
|
|
|
+ case VRStep.Home:
|
|
|
+ {
|
|
|
+
|
|
|
+ if (RevMsg.Trim() == "_RDY")
|
|
|
+ {
|
|
|
+ //CheckLoad(Hand.Blade1);
|
|
|
+ _currentStep = VRStep.Idle;
|
|
|
+ _status = RState.End;
|
|
|
+ _IsHomed = true;
|
|
|
+ SetRobotMovingInfo(RobotAction.Homing, Hand.Both, ModuleName.TMRobot);
|
|
|
+ }
|
|
|
+ else
|
|
|
+ ReportWrongMsg(RevMsg);
|
|
|
+ }
|
|
|
+ break;
|
|
|
+ case VRStep.CheckLoad_ArmA:
|
|
|
+ {
|
|
|
+ if (_rex_check_load.IsMatch(RevMsg))
|
|
|
+ {
|
|
|
+ GetCheckLoadResult(RevMsg);
|
|
|
+
|
|
|
+ //CheckLoad(Hand.Blade2);
|
|
|
+ }
|
|
|
+
|
|
|
+ if (RevMsg.Trim() == "_RDY" || (RevMsg.Contains("_RDY") && !RevMsg.Contains("_ERR")))
|
|
|
+ {
|
|
|
+ _currentStep = VRStep.Idle;
|
|
|
+ _status = RState.End;
|
|
|
+ }
|
|
|
+ }
|
|
|
+ break;
|
|
|
+ case VRStep.CheckLoad_ArmB:
|
|
|
+ {
|
|
|
+ if (_rex_check_load.IsMatch(RevMsg))
|
|
|
+ {
|
|
|
+ GetCheckLoadResult(RevMsg);
|
|
|
+
|
|
|
+ //_currentStep = VRStep.Idle;
|
|
|
+ //_status = RState.End;
|
|
|
+ //_IsHomed = true;
|
|
|
+ }
|
|
|
+ if (RevMsg.Trim() == "_RDY" || (RevMsg.Contains("_RDY") && !RevMsg.Contains("_ERR")))
|
|
|
+ {
|
|
|
+ _currentStep = VRStep.Idle;
|
|
|
+ _status = RState.End;
|
|
|
+ }
|
|
|
+ }
|
|
|
+ break;
|
|
|
+ case VRStep.ReQueryLoadA:
|
|
|
+ if (_rex_rq_load_A.IsMatch(RevMsg))
|
|
|
+ {
|
|
|
+ string WaferStatus = RevMsg.Split(' ')[2];
|
|
|
+ //LOG.Write(eEvent.WARN_DEFAULT_WARN, ModuleName.TMRobot, WaferStatus);
|
|
|
+ if (WaferStatus.Contains("ON") && WaferManager.Instance.CheckNoWafer(ModuleName.TMRobot, 0))
|
|
|
+ {
|
|
|
+ WaferManager.Instance.CreateWafer(ModuleName.TMRobot, 0, Aitex.Core.Common.WaferStatus.Normal);
|
|
|
+ }
|
|
|
+ if (WaferStatus.Contains("OFF"))
|
|
|
+ {
|
|
|
+ //LOG.Write(eEvent.WARN_DEFAULT_WARN, ModuleName.TMRobot, "contains off");
|
|
|
+ WaferManager.Instance.DeleteWafer(ModuleName.TMRobot, 0);
|
|
|
+ }
|
|
|
+
|
|
|
+ }
|
|
|
+ else
|
|
|
+ {
|
|
|
+ if (RevMsg.Trim() == "_RDY" || (RevMsg.Contains("_RDY") && !RevMsg.Contains("_ERR")))
|
|
|
+ {
|
|
|
+ _currentStep = VRStep.Idle;
|
|
|
+ _status = RState.End;
|
|
|
+ }
|
|
|
+ else
|
|
|
+ {
|
|
|
+ ReportWrongMsg(RevMsg);
|
|
|
+ }
|
|
|
+ }
|
|
|
+ break;
|
|
|
+
|
|
|
+ case VRStep.ReQueryLoadB:
|
|
|
+ if (_rex_rq_load_B.IsMatch(RevMsg))
|
|
|
+ {
|
|
|
+
|
|
|
+ string WaferStatus = RevMsg.Split(' ')[2];
|
|
|
+ //LOG.Write(eEvent.WARN_DEFAULT_WARN, ModuleName.TMRobot, WaferStatus);
|
|
|
+ if (WaferStatus.Contains("ON") && WaferManager.Instance.CheckNoWafer(ModuleName.TMRobot, 1))
|
|
|
+ {
|
|
|
+ WaferManager.Instance.CreateWafer(ModuleName.TMRobot, 1, Aitex.Core.Common.WaferStatus.Normal);
|
|
|
+ }
|
|
|
+ if (WaferStatus.Contains("OFF"))
|
|
|
+ {
|
|
|
+ WaferManager.Instance.DeleteWafer(ModuleName.TMRobot, 1);
|
|
|
+ }
|
|
|
+
|
|
|
+ }
|
|
|
+ else
|
|
|
+ {
|
|
|
+ if (RevMsg.Trim() == "_RDY" || (RevMsg.Contains("_RDY") && !RevMsg.Contains("_ERR")))
|
|
|
+ {
|
|
|
+ _currentStep = VRStep.Idle;
|
|
|
+ _status = RState.End;
|
|
|
+ }
|
|
|
+ else
|
|
|
+ {
|
|
|
+ ReportWrongMsg(RevMsg);
|
|
|
+ }
|
|
|
+ }
|
|
|
+ break;
|
|
|
+ case VRStep.RQSpeed:
|
|
|
+ //MOTIONPARA {} SPDPCT all r t z
|
|
|
+ if (_rex_rq_speed.IsMatch(RevMsg))
|
|
|
+ {
|
|
|
+
|
|
|
+ string[] _msgs = RevMsg.Split(' ');
|
|
|
+ if (_msgs[1] == "WITHWAFER")
|
|
|
+ {
|
|
|
+ _WithWaferSpeed = _msgs[4];
|
|
|
+ }
|
|
|
+
|
|
|
+ if (_msgs[1] == "NOWAFER")
|
|
|
+ {
|
|
|
+ _NoWaferSpeed = _msgs[4];
|
|
|
+ }
|
|
|
+
|
|
|
+ if (_msgs[1] == "MIDDLE")
|
|
|
+ {
|
|
|
+ _WithWaferSpeed = _msgs[4];
|
|
|
+ }
|
|
|
+
|
|
|
+ }
|
|
|
+ else
|
|
|
+ {
|
|
|
+ if (RevMsg.Trim() == "_RDY" || (RevMsg.Contains("_RDY") && !RevMsg.Contains("_ERR")))
|
|
|
+ {
|
|
|
+ _currentStep = VRStep.Idle;
|
|
|
+ _status = RState.End;
|
|
|
+ }
|
|
|
+ else
|
|
|
+ {
|
|
|
+ ReportWrongMsg(RevMsg);
|
|
|
+ }
|
|
|
+ }
|
|
|
+ break;
|
|
|
+ default:
|
|
|
+ if (!RevMsg.Contains("_EVENT"))
|
|
|
+ ReportWrongMsg(RevMsg);
|
|
|
+ break;
|
|
|
+ }
|
|
|
+ }
|
|
|
+
|
|
|
+ }
|
|
|
+
|
|
|
+ private void GetCheckLoadResult(string revMsg)
|
|
|
+ {
|
|
|
+ Match result = _rex_check_load.Match(revMsg);
|
|
|
+
|
|
|
+ string Arm = result.Groups[1].Value;
|
|
|
+ string WaferStatus = result.Groups[2].Value;
|
|
|
+ if (WaferStatus == "ON")
|
|
|
+ {
|
|
|
+ WaferManager.Instance.CreateWafer(ModuleName.TMRobot, Arm == "A" ? 0 : 1, Aitex.Core.Common.WaferStatus.Unknown);
|
|
|
+ }
|
|
|
+ }
|
|
|
+
|
|
|
+ private void ErrorMessageHandler(string errorcode)
|
|
|
+ {
|
|
|
+ _status = RState.Failed;
|
|
|
+ string ErrorInfo;
|
|
|
+ if (_error2msg.ContainsKey(errorcode))
|
|
|
+ {
|
|
|
+ ErrorInfo = _error2msg[errorcode];
|
|
|
+ LOG.Write(eEvent.ERR_DEVICE_INFO, ModuleName.TMRobot, ErrorInfo);
|
|
|
+ }
|
|
|
+ else
|
|
|
+ {
|
|
|
+ LOG.Write(eEvent.ERR_DEVICE_INFO, ModuleName.TMRobot, $"Dictionary Not Contains error code:{errorcode}");
|
|
|
+ }
|
|
|
+
|
|
|
+ _IsHomed = false;
|
|
|
+ }
|
|
|
+
|
|
|
+ private void OnErrorHappen(ErrorEventArgs args)
|
|
|
+ {
|
|
|
+ //Singleton<RouteManager>.Instance.SETM.PostMsg(SETMEntity.MSG.Error);
|
|
|
+ LOG.Write(eEvent.ERR_DEVICE_INFO, ModuleName.TMRobot, $"HongHu TMRobot Error: {args.Reason} while {_currentStep}");
|
|
|
+ }
|
|
|
+
|
|
|
+ private void ReportWrongMsg(string revMsg)
|
|
|
+ {
|
|
|
+ LOG.Write(eEvent.WARN_DEVICE_INFO, ModuleName.TMRobot, $"Receive wrong message:{revMsg} while {_currentStep}");
|
|
|
+ }
|
|
|
+
|
|
|
+ public void SetRobotMovingInfo(RobotAction action, Hand hand, ModuleName target)
|
|
|
+ {
|
|
|
+ //_robotMoveInfo.Action = action;
|
|
|
+ //_robotMoveInfo.ArmTarget = hand == Hand.Blade1 ? RobotArm.ArmA : (hand == Hand.Both ? RobotArm.Both : RobotArm.ArmB);
|
|
|
+ //_robotMoveInfo.BladeTarget = $"{_robotMoveInfo.ArmTarget}.{target}";
|
|
|
+ blockingCollection.Add(new RobotAnimationData(action, hand, target));
|
|
|
+ }
|
|
|
+
|
|
|
}
|
|
|
}
|
