Virgo_Mask/VirgoRT/Devices/EFEM/EfemDevice.cs

using Aitex.Core.Common;
using Aitex.Core.Common.DeviceData;
using Aitex.Core.RT.DataCenter;
using Aitex.Core.RT.Device;
using Aitex.Core.RT.Event;
using Aitex.Core.RT.Log;
using Aitex.Core.RT.OperationCenter;
using Aitex.Core.RT.SCCore;
using Aitex.Core.Util;
using Aitex.Sorter.Common;
using MECF.Framework.Common.Equipment;
using MECF.Framework.Common.SubstrateTrackings;
using MECF.Framework.RT.EquipmentLibrary.HardwareUnits.Robot;
using System;
using System.Collections;
using System.Collections.Generic;
using System.Linq;
using System.Threading;
using System.Xml;
using VirgoCommon;
using VirgoRT.Devices;
using VirgoRT.Devices.EFEM;
using VirgoRT.Devices.YASKAWA;
using VirgoRT.HostWrapper;
using VirgoRT.Modules;

namespace VirgoRT.Device
{
    class EfemCommunicationBase
    {
        protected readonly AsyncSocket _socket = new AsyncSocket("");

        protected string _simIPAddress =>  (EfemEntity.EfemType)SC.GetValue<int>($"EFEM.EfemType") == EfemEntity.EfemType.JetEfem ? "127.0.0.1:13000" : "127.0.0.1:13001";

        public bool IsConnected
        {
            get
            {
                return (EfemEntity.EfemType)SC.GetValue<int>($"EFEM.EfemType") == EfemEntity.EfemType.BrooksEFEM || _socket.IsConnected;
            }
        }

        private string _ip;

        protected EfemCommunicationBase(string sIP)
        {
            _ip = sIP;
            if (SC.GetValue<bool>("System.IsSimulatorMode"))
            {
                _ip = _simIPAddress;
            }
            _socket.Connect(_ip);
            _socket.OnDataChanged += Hardware_OnDataChanged;
            _socket.OnErrorHappened += Hardware_OnErrorHappened;

            //if (!_socket.IsConnected)
            //{
            //    EV.PostAlarmLog(ModuleName.EFEM.ToString(), "Cannot connect to EFEM");
            //}
        }


        public void Reconnect()
        {
            if (SC.GetValue<bool>("System.IsSimulatorMode"))
            {
                _ip = _simIPAddress;
            }
            _socket.Connect(_ip);
        }

        private void Hardware_OnDataChanged(string message)
        {
            Singleton<RouteManager>.Instance.EFEM.PostMsg(EfemEntity.MSG.RecHwMsg, message);
        }

        private void Hardware_OnErrorHappened(ErrorEventArgs args)
        {
            Singleton<RouteManager>.Instance.EFEM.PostMsg(EfemEntity.MSG.Error);
        }

        public virtual void SendTo(string str) { }

        public virtual void SendTo(IEfemMessage yas_msg) { }
    }

}

namespace VirgoRT.Device.YASKAWA
{
    sealed class MessageHandler : IMessageHandler
    {
        // Fields
        //
        private readonly IList<EfemMessage> _msgQueue = new List<EfemMessage>();
        private readonly EfemBase _efem;

        // Properties
        //
        public bool IsCompleted
        {
            get
            {
                if (_msgQueue.Count <= 0) return false;
                return EfemMessage.MsgHead.INF == _msgQueue[_msgQueue.Count - 1].Head;
            }
        }

        public event EventHandler<EfemActionArgs> CommandUpdated;
        public event EventHandler<EfemEventArgs> EventUpdated;
        public event EventHandler<EfemErrorArgs> ErrorOccurred;

        // Constructor
        //
        public MessageHandler(EfemBase device)
        {
            _efem = device;
        }

        public void Send(IEfemMessage msg)
        {
            _efem.Comm.SendTo(msg);

            _msgQueue.Add(msg as EfemMessage);
        }

        public void ReceiveMessage(string sRec)
        {
            string[] msgs = sRec.Split('\r');

            foreach (var msg in msgs)
            {
                if (string.IsNullOrWhiteSpace(msg)) continue;

                EfemMessage rec_msg = msg.ToMessage();

                switch (rec_msg.Head)
                {
                    case EfemMessage.MsgHead.ACK:

                        _msgQueue.Add(rec_msg);

                        OnCommandUpdated(new EfemActionArgs
                        {
                            Module = rec_msg.Port,
                            CommandType = rec_msg.Operation,
                            Status = ActionStatus.RecACK
                        });
                        break;

                    case EfemMessage.MsgHead.INF:
                        OnCommandUpdated(new EfemActionArgs
                        {
                            Module = rec_msg.Port,
                            CommandType = rec_msg.Operation,
                            Status = ActionStatus.RecINF
                        });

                        // 收到INF之后发送ACK确认
                        string strACK = rec_msg.RawString.Replace("INF", "ACK");

                        _efem.Comm.SendTo(strACK);

                        EfemMessage ack_msg = strACK.ToMessage();
                        ack_msg.Direct = MsgDirection.To;
                        _msgQueue.Add(ack_msg);

                        OnCommandUpdated(new EfemActionArgs
                        {
                            Module = rec_msg.Port,
                            CommandType = rec_msg.Operation,
                            Status = ActionStatus.Completed,
                            Data = rec_msg.Data.Count > 0 ? rec_msg.Data.First() : string.Empty
                        });
                        break;

                    case EfemMessage.MsgHead.EVT:
                        OnEventUpdated(new EfemEventArgs
                        {
                            EvtStr = rec_msg.ToParamString(),
                            Module = rec_msg.Port,
                            CommandType = rec_msg.Operation,
                            DataList = rec_msg.Data
                        });
                        break;

                    case EfemMessage.MsgHead.NAK:
                        OnErrorOccurred(new EfemErrorArgs
                        {
                            Factor = rec_msg.Factor,
                            Description = Constant.FactorString[rec_msg.Factor],
                            CommandType = rec_msg.Operation,
                            Module = rec_msg.Port,
                        });
                        break;

                    case EfemMessage.MsgHead.CAN:
                        OnErrorOccurred(new EfemErrorArgs
                        {
                            Factor = rec_msg.Factor,
                            Description = Constant.FactorString.ContainsKey(rec_msg.Factor) ? Constant.FactorString[rec_msg.Factor] : rec_msg.Factor,
                            Message = rec_msg.Data[0],
                            CommandType = rec_msg.Operation,
                            Module = rec_msg.Port,
                        });
                        break;

                    case EfemMessage.MsgHead.ABS:
                        OnErrorOccurred(new EfemErrorArgs
                        {
                            Factor = rec_msg.Factor,
                            Description = $"{rec_msg.Data[0]}, {rec_msg.Data[1]}",
                            CommandType = rec_msg.Operation,
                            Module = rec_msg.Port,
                        });
                        break;
                }
            }
        }

        private void OnCommandUpdated(EfemActionArgs args)
        {
            CommandUpdated?.Invoke(this, args);
        }

        private void OnEventUpdated(EfemEventArgs args)
        {
            EventUpdated?.Invoke(this, args);
        }

        private void OnErrorOccurred(EfemErrorArgs args)
        {
            ErrorOccurred?.Invoke(this, args);
        }
    }

    sealed class EfemComm : EfemCommunicationBase
    {
        public EfemComm() : base(SC.GetStringValue("EFEM.IPAddress"))
        {
        }

        public override void SendTo(string str) { _socket.Write(str + '\r'); }

        public override void SendTo(IEfemMessage msg)
        {
            if (msg is EfemMessage yas_msg)
            {
                //string str = EfemParser.Instance.TranslateBack(yas_msg);
                string str = yas_msg.ToString();
                if (string.IsNullOrEmpty(str))
                    throw new ApplicationException("Yaskawa message translation error");

                yas_msg.RawString = str;

                SendTo(str);
            }
        }
    }


    sealed class SignalTower
    {
        // Fields
        //
        private readonly Dictionary<LightType, LightStatus> _lights = new Dictionary<LightType, LightStatus>(5);

        public SignalTower()
        {
            _lights.Add(LightType.RED, LightStatus.OFF);
            _lights.Add(LightType.YELLOW, LightStatus.OFF);
            _lights.Add(LightType.BLUE, LightStatus.OFF);
            _lights.Add(LightType.GREEN, LightStatus.OFF);
            _lights.Add(LightType.WHITE, LightStatus.OFF);
            _lights.Add(LightType.BUZZER1, LightStatus.OFF);

            DATA.Subscribe($"{ModuleName.EFEM}.SignalTower", () =>
            {
                return new AITSignalTowerData
                {
                    IsGreenLightOn = _lights[LightType.GREEN] == LightStatus.ON,
                    IsRedLightOn = _lights[LightType.RED] == LightStatus.ON,
                    IsYellowLightOn = _lights[LightType.YELLOW] == LightStatus.ON,
                    IsWhiteLightOn = _lights[LightType.WHITE] == LightStatus.ON,
                    IsBlueLightOn = _lights[LightType.BLUE] == LightStatus.ON,
                    IsBuzzerOn = _lights[LightType.BUZZER1] == LightStatus.ON,
                };
            });
        }

        // Methods
        //
        public void ChangeLightStatus(LightType light, LightStatus st)
        {
            if (!_lights.ContainsKey(light))
                throw new ApplicationException($"NO {light} configured");

            _lights[light] = st;
        }
    }
}