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@@ -96,9 +96,14 @@ namespace PunkHPX8_RT.Devices.EFEM
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private string _address = "";
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- public override bool IsResumeRDYReceived { get; set; }
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- public override bool IsPauseRDYReceived { get; set; }
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- public override bool IsActionRDYReceived { get; set; }
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+ private bool _isResumeRDYReceived = false;
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+ private bool _isPauseRDYReceived = false;
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+ private bool _isActionRDYReceived = false;
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+ private bool _isInPauseStatus = false;
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+ public override bool IsResumeRDYReceived { get { return _isResumeRDYReceived; } }
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+ public override bool IsPauseRDYReceived { get { return _isPauseRDYReceived; } }
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+ public override bool IsActionRDYReceived { get { return _isActionRDYReceived; } }
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+ public override bool IsInPauseStatus { get { return _isInPauseStatus; } }
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public SunWayRobot()
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{
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@@ -330,30 +335,28 @@ namespace PunkHPX8_RT.Devices.EFEM
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LOG.WriteLog(eEvent.ERROR_EFEM_COMMUNICATION, Module.ToString(), $"Socket is not Conntected");
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return false;
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}
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- _currentMessage = new EfemMessage()
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- {
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- Operation = EfemOperation.Pause,
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- Module = ModuleName.EfemRobot
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- };
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- _status = RState.Running;
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string cmd = "PAUSE\r";
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- return WriteCommand(cmd);
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+ bool result = WriteCommand(cmd);
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+ if (result)
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+ {
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+ _isInPauseStatus = true; //进入pause状态
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+ }
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+ else
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+ {
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+ _isInPauseStatus = false;
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+ LOG.WriteLog(eEvent.ERROR_EFEM_COMMUNICATION, Module.ToString(), $"Send pause message error");
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+ }
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+ return result;
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}
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public override bool Resume()
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{
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- IsActionRDYReceived = false; //把收到resume信号后执行resume动作成功的变量置false
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+ _isActionRDYReceived = false; //把收到resume信号后执行resume动作成功的变量置false
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//判断socket是否链接
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if (!_socket.IsConnected)
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{
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LOG.WriteLog(eEvent.ERROR_EFEM_COMMUNICATION, Module.ToString(), $"Socket is not Conntected");
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return false;
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}
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- _currentMessage = new EfemMessage()
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- {
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- Operation = EfemOperation.Resume,
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- Module = ModuleName.EfemRobot
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- };
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- _status = RState.Running;
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string cmd = "RESUME\r";
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return WriteCommand(cmd);
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}
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@@ -426,11 +429,11 @@ namespace PunkHPX8_RT.Devices.EFEM
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return false;
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}
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int stationNumber= _moduleStationNumberDictionary[strModuleWaferSize];
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- string strFlip = flip == Flip.Down ? " Flip" : "";
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+ string strFlip = flip == Flip.Down ? " FLIP" : "";
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string cmd = $"PICK {stationNumber} SLOT {slot+1} ARM {_armString[hand]}{strFlip}\r";
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if(ModuleHelper.IsAligner(station)||ModuleHelper.IsSRD(station)||ModuleHelper.IsVPWCell(station) || ModuleHelper.IsPlatingCell(station))
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{
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- cmd = $"PICK {stationNumber} SLOT 1 ARM {_armString[hand]}\r";
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+ cmd = $"PICK {stationNumber} SLOT 1 ARM {_armString[hand]}{strFlip}\r";
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}
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_currentMessage = new EfemMessage()
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{
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@@ -482,11 +485,11 @@ namespace PunkHPX8_RT.Devices.EFEM
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};
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_status = RState.Running;
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int stationNumber = _moduleStationNumberDictionary[strModuleWaferSize];
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- string strFlip = flip == Flip.Down ? " Flip" : "";
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+ string strFlip = flip == Flip.Down ? " FLIP" : "";
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string cmd = $"PLACE {stationNumber} SLOT {slot+1} ARM {_armString[hand]}{strFlip}\r";
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if (ModuleHelper.IsSRD(station) || ModuleHelper.IsVPWCell(station) || ModuleHelper.IsPlatingCell(station))
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{
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- cmd = $"PLACE {stationNumber} SLOT 1 ARM {_armString[hand]}\r";
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+ cmd = $"PLACE {stationNumber} SLOT 1 ARM {_armString[hand]}{strFlip}\r";
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}
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if (ModuleHelper.IsAligner(station))
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{
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@@ -980,12 +983,12 @@ namespace PunkHPX8_RT.Devices.EFEM
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SetRobotMovingInfo(RobotAction.None, Hand.Both, ModuleName.EFEM);
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return;
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}
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- else if (msg.StartsWith("ACTION_RDY"))
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+ else if (msg.StartsWith("ACTION _RDY"))
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{
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_status = RState.End;
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- IsResumeRDYReceived = false;
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- IsPauseRDYReceived = false;
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- IsActionRDYReceived = true;
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+ _isResumeRDYReceived = false;
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+ _isPauseRDYReceived = false;
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+ _isActionRDYReceived = true;
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}
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else if (msg.StartsWith("_RDY"))
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{
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@@ -1008,18 +1011,18 @@ namespace PunkHPX8_RT.Devices.EFEM
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break;
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}
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}
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- else if (msg.Contains("PAUSE_RDY") || msg.Contains("RESUME_RDY"))
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+ else if (msg.Contains("PAUSE _RDY"))
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{
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- switch (_currentMessage.Operation)
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- {
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- case EfemOperation.Pause:
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- //SetRobotMovingInfo(RobotAction.None, Hand.Both, ModuleName.EfemRobot);
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- IsPauseRDYReceived = true;
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- break;
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- case EfemOperation.Resume:
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- IsResumeRDYReceived = true;
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- break;
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- }
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+ _isPauseRDYReceived = true;
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+ _isResumeRDYReceived = false; //收到pause把收到resume的信号置false
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+ LOG.WriteLog(eEvent.INFO_TM_ROBOT, Module.ToString(), $"PAUSE_RDY was received, robot pause status is true");
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+ }
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+ else if (msg.Contains("RESUME _RDY"))
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+ {
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+ _isResumeRDYReceived = true;
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+ _isPauseRDYReceived = false; //收到Resume把收到pause的信号置false
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+ _isInPauseStatus = false; //取消pause状态
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+ LOG.WriteLog(eEvent.INFO_TM_ROBOT, Module.ToString(), $"RESUME _RDY was received, robot pause status is false");
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}
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else
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{
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