using Aitex.Core.RT.Log;
using Aitex.Core.RT.SCCore;
using Aitex.Core.Util;
using MECF.Framework.Common.Communications;
using MECF.Framework.Common.Equipment;
using MECF.Framework.Common.SubstrateTrackings;
using MECF.Framework.RT.EquipmentLibrary.HardwareUnits.Robot;
using System;
using System.Collections.Generic;
using System.IO.Ports;
using System.Linq;
using System.Runtime.InteropServices;
using System.Text;
using System.Text.RegularExpressions;
using System.Threading.Tasks;
using Venus_Core;
namespace Venus_RT.Devices.PreAligner
{
public class SunWayVPA : IPreAlign
{
private AsyncSerialPort _serialport;//串口
private string _newLine = "\r\n";//结束符号
private object _locker = new object();//锁变量
private bool _IsAsciiMode = true;
private PeriodicJob _thread;
private RState _state;
private Regex _catchErrorCode = new Regex(@"(?<=_ERR )(.*)");
private Regex _checkData = new Regex(@"(?<=DATA)(.*)");
private LinkedList<string> _lstMessage = new LinkedList<string>();
private ModuleName _module;
private enum AlignerAction
{
Home,
Align,
AlignWithAngle,
Reset,
Scan,
RsLT,
ServeUp
}
private Dictionary<int, string> _ErrorCode2Msg = new Dictionary<int, string>()
{
{ 16 , "" },
};
private Dictionary<AlignerAction, string> _Command2Msg = new Dictionary<AlignerAction, string>()
{
//Action
{ AlignerAction.Align , "ALIGNER ALGN" },//旋转到预设的站点方向
{ AlignerAction.AlignWithAngle, "MOVT REL" },//旋转到指定的角度
{ AlignerAction.Home , "ALIGNER HOME" },//Home 初始化时 error时用
{ AlignerAction.Reset , "RSET" },//重置 error时用
{ AlignerAction.Scan , "ALIGNER SCAN" },//扫描整个Wafer参数
{ AlignerAction.RsLT , "ALIGNER RSLT" },
{ AlignerAction.ServeUp , "SET SERVOS ON"}
//Read
//{ "" , "RQCD" },
//{ "" , "RQCCDPOS" },
//{ "" , "RQID" },
//{ "" , "RQPS" },
//Set
//{ "" , "" },
//Welding
//{ "" , "SVCD" },
};
public ModuleName Module => _module;
public bool IsConnect => _serialport.IsConnected;
public RState Status => _state;//状态
public bool IsError => _state == RState.Failed || _state == RState.Timeout;
private int _ROffset = 0;
private int _TOffset = 0;
private bool _IsOverRange = false;
public int ROffset => _ROffset;
public int TOffset => _TOffset;
public bool IsOverRange => _IsOverRange;
public SunWayVPA(ModuleName module)
{
_module = module;
string port = SC.GetStringValue($"{module}.AlignerPort");
_serialport = new AsyncSerialPort(port, 9600, 8, Parity.None, StopBits.One, _newLine, _IsAsciiMode);
_serialport.Open();
WaferManager.Instance.SubscribeLocation(ModuleName.Aligner1, 1);
_serialport.OnDataChanged += OnReceiveData;
_state = RState.Init;
_thread = new PeriodicJob(50, OnTimer, "OnTimer->Aligner1");
_thread.Start();
}
private void OnReceiveData(string obj)
{
lock (_locker)
{
if (string.IsNullOrEmpty(_newLine))//没有CR
{
_lstMessage.AddLast(obj);//将消息添加到最后
return;
}
string[] array = obj.Split(_newLine.ToCharArray());//按照cr分开通讯数据
foreach (string text in array)
{
if (!string.IsNullOrEmpty(text))
{
_lstMessage.AddLast(text + _newLine);//存进list中等待处理
}
}
}
}
//定时器处理新信息为状态
private bool OnTimer()
{
//线程锁
lock (_locker)
{
//采用ascii码模式处理
if (_IsAsciiMode)
{
//存在尚未处理的信息
while (_lstMessage.Count > 0)
{
//获取头上的数据
string handlemsg = _lstMessage.First.Value;
Handlemessage(handlemsg);
_lstMessage.RemoveFirst();
}
}
//采用binary模式处理
else
{
}
}
return true;
}
private void Handlemessage(string handlemsg)
{
//需要按类型进行处理 Action需要将其error
bool IsAction = true;
handlemsg = handlemsg.Trim();
if (IsAction)
{
switch (handlemsg)
{
//正确执行
case "_RDY":
_state = RState.End;
break;
//返回
default:
if (_checkData.IsMatch(handlemsg))
{
string[] data = handlemsg.Split(' ');
_ROffset = Convert.ToInt32(data[2]);
_TOffset = Convert.ToInt32(data[3]);
if (data[5] == "Y")
{
_IsOverRange = true;
LOG.Write(eEvent.WARN_DEVICE_INFO, Module, $"Wafer offset is over range");
}
if (data[5] == "N")
{
_IsOverRange = false;
LOG.Write(eEvent.EV_DEVICE_INFO, Module, $"Wafer offset is in range");
}
LOG.Write(eEvent.EV_DEVICE_INFO, Module, $"Ro{_ROffset} To{_TOffset}");
}
else
{
_state = RState.Failed;
//分两种 1、不按格式的未知错误 2、有错误码的
if (_catchErrorCode.IsMatch(handlemsg))
{
int errorcode = Convert.ToInt32(_catchErrorCode.Match(handlemsg).Value);
if (_ErrorCode2Msg.ContainsKey(errorcode))
{
LOG.Write(eEvent.ERR_DEVICE_INFO, Module, _ErrorCode2Msg[errorcode]);
}
else
{
LOG.Write(eEvent.ERR_DEVICE_INFO, Module, $"未知错误码{errorcode}");
}
}
else
{
LOG.Write(eEvent.ERR_DEVICE_INFO, Module, "未收录相关错误");
}
}
break;
}
}
}
private bool SendMessage(string msg, params string[] args)
{
_state = RState.Running;
if (args.Length > 0)//含参
{
foreach (string arg in args)
msg = msg + " " + arg;
LOG.WriteSingeLine(eEvent.EV_DEVICE_INFO, _module, $"Send Command to SunWay Aligner: {msg}");
return _serialport.Write(msg + _newLine);
}
else//空参
{
LOG.WriteSingeLine(eEvent.EV_DEVICE_INFO, _module, $"Send Command to SunWay Aligner: {msg}");
return _serialport.Write(msg + _newLine);
}
}
public bool Align()
{
if (!CanSendCommand())
return false;
return SendMessage(_Command2Msg[AlignerAction.Align]);
}
public bool AlignWithAngle(float angle)
{
if (!CanSendCommand())
return false;
int ang = (int)Math.Floor(angle);//不能用Convert.toInt32("angle") 其遵守四舍五入 此处需向上取整
return SendMessage(_Command2Msg[AlignerAction.AlignWithAngle], ang.ToString());
}
public bool Home()
{
return SendMessage(_Command2Msg[AlignerAction.Home]);
}
public bool QueryOffset()
{
if (!CanSendCommand())
return false;
return SendMessage(_Command2Msg[AlignerAction.RsLT]);
}
public bool ReSet()
{
if (!IsError)
return false;
return SendMessage(_Command2Msg[AlignerAction.Reset]);
}
public bool SCAN()
{
if (!CanSendCommand())
return false;
return SendMessage(_Command2Msg[AlignerAction.Scan]);
}
public bool ServeUp()
{
return SendMessage(_Command2Msg[AlignerAction.ServeUp]);
}
public bool CanSendCommand()
{
if (Status == RState.Init)
{
LOG.Write(eEvent.ERR_DEVICE_INFO, _module, "Aligner is not homed, please home first.");
return false;
}
else if (Status == RState.Running)
{
LOG.Write(eEvent.ERR_DEVICE_INFO, _module, "Aligner is busy, please wait a minute");
return false;
}
else if (Status == RState.Failed || Status == RState.Timeout)
{
LOG.Write(eEvent.ERR_DEVICE_INFO, _module, "Aligner has a error, please check and fix the hardware issue and home it");
return false;
}
return true;
}
}
}