Virgo_ST/VirgoRT/Devices/EFEM/EfemMessage.cs

using System;
using System.Collections.Generic;
using System.IO;
using System.Reflection;
using System.Runtime.Serialization;
using System.Runtime.Serialization.Formatters.Binary;
using System.Text.RegularExpressions;
using Aitex.Core.RT.Event;
using Aitex.Sorter.Common;
using MECF.Framework.Common.Equipment;
using VirgoCommon;

namespace VirgoRT.Device.YASKAWA
{
    [Serializable]
    public sealed class EfemMessage : IEfemMessage, ICloneable
    {
        public enum MsgHead
        {
            MOV, GET, ACK, INF, SET, CAN, ABS, EVT, NAK
        }

        public const char EOF = ';';

        public EfemOperation Operation  { get; set; }
        public MsgHead Head             { get; set; }
        public ModuleName Port          { get; set; }
        public IList<string> Data       { get; set; }
        public MsgDirection Direct      { get; set; } = MsgDirection.To;
        public IList<string> Parameters { get; set; }
        public string RawString         { get; set; }
        public string Factor            { get; set; }       // NAK, CAN

        public override string ToString()
        {
            string sPara = ToParamString();
            string sOP = EfemConstant.OperationString[Operation];
            string context = $"{Head}:{sOP}{sPara}";

            context += EOF;
            return context;
        }

        public string ToParamString()
        {
            string res = string.Empty;
            if (Parameters == null || Parameters.Count <= 0)
                return res;

            foreach (var para in Parameters)
            {
                res += '/' + para;
            }
            return res;
        }

        public object Clone()
        {
            using (Stream objStream = new MemoryStream())
            {
                IFormatter formatter = new BinaryFormatter();
                formatter.Serialize(objStream, this);
                objStream.Seek(0, SeekOrigin.Begin);
                return formatter.Deserialize(objStream) as EfemMessage ?? throw new InvalidOperationException();
            }
        }
    }

    [AttributeUsage(AttributeTargets.Enum | AttributeTargets.Field)]
    public class HardwareCmdAttribute : Attribute
    {
        public string Member { get; set; }

        public HardwareCmdAttribute(string str) { this.Member = str; }
    }

    [AttributeUsage(AttributeTargets.Enum | AttributeTargets.Field)]
    public class InterpretationAttribute : Attribute
    {
        public string Comment { get; set; }

        public InterpretationAttribute(string str) { this.Comment = str; }
    }

    public static class Extension
    {
        private const string ERROR_MSG = "hardware message invalid";

        /// <summary>
        /// NAK:FACTOR|Message*;
        /// ACK:Message*;
        /// CAN:Message*|Factor/Place;
        /// ABS:Message*|Error/Parameter1/Parameter2;
        /// EVT:Message*;
        /// </summary>
        public static EfemMessage ToMessage(this string context)
        {
            if (string.IsNullOrEmpty(context) || context.Length < 3)
                throw new ArgumentNullException(ERROR_MSG);

            EfemMessage msg = new EfemMessage { RawString = context, Direct = MsgDirection.From, Data = new List<string>() };

            // remove EOT
            string messageBody = context.Substring(0, context.IndexOf(EfemMessage.EOF) + 1);

            try
            {
                // split up the string
                string[] sBodies = messageBody.Split(Constant.delimiters);

                string sHead = sBodies[0];
                string sBasic = sBodies[1];
                string sPort = sBodies[2];

                // Head
                if (Enum.TryParse(sHead, true, out EfemMessage.MsgHead msgHead))
                {
                    msg.Head = msgHead;
                }

                switch (msg.Head)
                {
                case EfemMessage.MsgHead.ACK:
                case EfemMessage.MsgHead.MOV:
                case EfemMessage.MsgHead.INF:
                case EfemMessage.MsgHead.EVT:
                    // Basic
                    msg.Operation = EfemConstant.ToOperation(sBasic);

                    // Port
                    if (Regex.IsMatch(sPort, @"P[123]$"))
                    {
                        msg.Port = sPort.ToModule();
                    }
                    else if (Regex.IsMatch(sPort, @"ALIGN\d?", RegexOptions.IgnoreCase))
                    {
                        msg.Port = sPort.ToModule();
                    }
                    else
                    {
                        msg.Port = ModuleName.EFEM;
                    }

                        // Data
                        switch (msg.Operation)
                        {
                            case EfemOperation.StateTrack:
                            case EfemOperation.GetWaferInfo:
                                msg.Data.Add(sBodies[3]);
                                break;
                            case EfemOperation.CarrierId:
                                msg.Data.Add(msg.RawString.Substring("INF:CSTID/P1/".Length));
                                break;
                            case EfemOperation.SigStatus:
                                msg.Data.Add(sBodies[2]);
                                msg.Data.Add(sBodies[3]);
                                msg.Data.Add(sBodies[4]);
                                break;
                            case EfemOperation.Ready:
                                msg.Data.Add(sBodies[2]);
                                break;
                            default:
                                break;
                        }
                        break;

                    case EfemMessage.MsgHead.NAK:
                        msg.Operation = EfemConstant.ToOperation(sBasic);
                        // Port
                        if (Regex.IsMatch(sPort, @"P[123]$"))
                        {
                            msg.Port = sPort.ToModule();
                        }
                        else if (Regex.IsMatch(sPort, @"ALIGN\d?", RegexOptions.IgnoreCase))
                        {
                            msg.Port = sPort.ToModule();
                        }
                        else
                        {
                            msg.Port = ModuleName.EFEM;
                        }

                        msg.Factor = sBodies[1];
                        msg.Data.Add(sBodies[2]);

                        msg.Operation = EfemConstant.ToOperation(sBasic);
                        break;

                    case EfemMessage.MsgHead.CAN:
                        msg.Operation = EfemConstant.ToOperation(sBasic);
                        // Port
                        if (Regex.IsMatch(sPort, @"P[123]$"))
                        {
                            msg.Port = sPort.ToModule();
                        }
                        else if (Regex.IsMatch(sPort, @"ALIGN\d?", RegexOptions.IgnoreCase))
                        {
                            msg.Port = sPort.ToModule();
                        }
                        else
                        {
                            msg.Port = ModuleName.EFEM;
                        }
                        // CAN:ERROR/CLEAR;
                        int a1 = messageBody.IndexOf(':');
                        int a3 = messageBody.IndexOf(';');

                    int a2 = messageBody.IndexOf('|');
                    if (a2 > 0)
                    {
                        msg.Data.Add(messageBody.Substring(a1 + 1, a2 - a1 - 1));
                        msg.Factor = messageBody.Substring(a2 + 1, a3 - a2 - 1);
                    }
                    else
                    {
                        int a8 = messageBody.IndexOf('/');
                        msg.Factor = sBodies[2];
                    }
                    break;

                    case EfemMessage.MsgHead.ABS:
                        msg.Operation = EfemConstant.ToOperation(sBasic);
                        // Port
                        if (Regex.IsMatch(sPort, @"P[123]$"))
                        {
                            msg.Port = sPort.ToModule();
                        }
                        else if (Regex.IsMatch(sPort, @"ALIGN\d?", RegexOptions.IgnoreCase))
                        {
                            msg.Port = sPort.ToModule();
                        }
                        else
                        {
                            msg.Port = ModuleName.EFEM;
                        }
                    // ABS:INIT/ALL|ERROR/SYSTEM_FF10/UNDEFINITION;
                        //ABS: UNLOAD / ALIGN3 / ARM2 / WS4 | ERROR / RB | 2B90
                        int a4 = messageBody.IndexOf('|');
                        int a5 = messageBody.IndexOf(';');

                        

                    string errStr = messageBody.Substring(a4 + 1, a5 - a4 - 1);
                    string[] a6 = errStr.Split('/', '|');

                    if (a6.Length < 3)
                    {
                        throw new ApplicationException($"ABS 格式错误 {errStr}");
                    }

                    msg.Factor = a6[0];
                    msg.Data.Add(a6[1]);
                    msg.Data.Add(a6[2]);
                    break;
                }
            }
            catch (Exception ex)
            {
                EV.PostAlarmLog(ModuleName.EFEM.ToString(), $"收到[{context}],解析出错[{ex.Message}]");
            }

            return msg;
        }

        public static string ToHWString(this Position pos)
        {
            string res = string.Empty;
            if (ModuleHelper.IsAligner(pos.Module) || ModuleHelper.IsCooling(pos.Module))
            {
                res = Constant.ModuleString[pos.Module];
            }
            else
            {
                string sMod = Constant.ModuleString[pos.Module];
                int num = pos.Slot + 1;
                string sSlot = num.ToString("D2");
                res = $"{sMod}{sSlot}";
            }
            return res;
        }

        public static string ToHWString(this ModuleName mod)
        {
            return Constant.ModuleString[mod];
        }

        public static ModuleName ToModule(this string str)
        {
            if (Constant.StringModule.ContainsKey(str))
                return Constant.StringModule[str];
            throw new ApplicationException($"Cannot translate {str}");
        }

        public static string HardwareCmd(this Enum val)
        {
            FieldInfo fi = val.GetType().GetField(val.ToString());

            return fi.GetCustomAttributes(typeof(HardwareCmdAttribute), false) is HardwareCmdAttribute[] attrs
                    && attrs.Length > 0 ? attrs[0].Member : val.ToString();
        }

        public static string Interpretation(this Enum val)
        {
            FieldInfo fi = val.GetType().GetField(val.ToString());

            return fi.GetCustomAttributes(typeof(InterpretationAttribute), false) is InterpretationAttribute[] attrs
                    && attrs.Length > 0 ? attrs[0].Comment : val.ToString();
        }
    }

    /// <summary>
    /// constant define
    /// </summary>
    public class Constant
    {
        public static readonly char[] delimiters = { ':', '/', '>', '|', ';' };

        public const string ALL = "ALL";
        public const string MAP = "MAPDT";
        public const string SYS = "SYSTEM";
        public const string STOWER = "STOWER";

        public static readonly Dictionary<ModuleName, string> ModuleString = new Dictionary<ModuleName, string>
        {
            [ModuleName.EFEM]     = "ALL",
            [ModuleName.EfemRobot]= "ROB",
            [ModuleName.LP1]      = "P1",
            [ModuleName.LP2]      = "P2",
            [ModuleName.PMA]      = "LLA",
            [ModuleName.PMB]      = "LLB",
            [ModuleName.Aligner1] = "ALIGN3",
            [ModuleName.Aligner2] = "ALIGN4",
            [ModuleName.Cooling1] = "ALIGN",
            [ModuleName.Cooling2] = "ALIGN2"
        };

        public static readonly Dictionary<string, ModuleName> StringModule = new Dictionary<string, ModuleName>
        {
            ["ALL"]    = ModuleName.EFEM,
            ["System"] = ModuleName.EFEM,
            ["P1"]     = ModuleName.LP1,
            ["P2"]     = ModuleName.LP2,
            ["LLA"]    = ModuleName.PMA,
            ["LLB"]    = ModuleName.PMB,
            ["ALIGN"]  = ModuleName.Cooling1,
            ["ALIGN2"] = ModuleName.Cooling2,
            ["ALIGN3"] = ModuleName.Aligner1,
            ["ALIGN4"] = ModuleName.Aligner2,
        };

        public static readonly Dictionary<Hand, string> ArmString = new Dictionary<Hand, string>
        {
            [Hand.Blade1] = "ARM2",
            [Hand.Blade2] = "ARM1",
            [Hand.Both] = "ARM3"
        };

        public static readonly Dictionary<ExtendPos, string> ExtendPosString = new Dictionary<ExtendPos, string>
        {
            //[ExtendPos.GetReady]  = "G1",
            //[ExtendPos.GetTarget] = "GB",
            //[ExtendPos.GetBack]   = "G4",
            //[ExtendPos.PutReady]  = "P1",
            //[ExtendPos.PutTarget] = "PB",
            //[ExtendPos.PutBack]   = "P4"
        };

        public static readonly Dictionary<string, string> FactorString = new Dictionary<string, string>
        {
            { "MSG",        "Message error" },
            { "NOREAD",     "Communication not established" },
            { "NOINITCMPL", "Initialization not completed" },
            { "NOORGCMPL",  "Not org finished" },
            { "VAC",        "Vac error" },
            { "AIR",        "Air error" },
            { "EMS",        "EMS pushed" },
            { "ERROR",      "Has Error" },
            { "BUSY",       "Busy (Module in use)" },
            { "CMPL",       "Already Completed" },
            { "NOMAPCMPL",  "Not Mapped" },
            { "NONWAF",     "NO wafer on the position" },
            { "WAFER",      "Wafer already existed" },
            { "NONPOD",     "No Pod" },
            { "POD",        "Pod Exist" },
            { "NOTINMOTION","Not in Motion" },
            { "HOLD",       "Holded" },
            { "NOHOLD",     "Not hold" },
            { "LLCLOSE",    "LL door closed state" },
            { "LLNOEXTEND", "LL not extended" },
            { "REMOVE",     "remove" },
            { "MAINTENANCE","In maintain mode or EFEM offline" },
            { "NOLINK",     "not config" },
            { "ARMEXTEND",  "arm extended" },
            { "POWER",      "power off" },
            { "PRTWAF",     "TODO" },
            { "NOPOS",      "Not at valid position" },
            { "NOFUNC",     "not support" },
            { "PARAM_NG",   "Invalid parameters are included" }
        };

        public static readonly Dictionary<string, string> ABS_PARA1 = new Dictionary<string, string>
        {
            { "SYSTEM_FF01", "No specific route data or malfunction" },
            { "SYSTEM_FF10", "Operation time out" },
            { "SYSTEM_FF11", "Communication time out between PC for robot control and controller" },
            { "SYSTEM_FF12", "Encoder battery error" },
            { "SYSTEM_FF13", "Loss of encoder information" },
            { "SYSTEM_FF20", "No data file of route" },
            { "SYSTEM_FF21", "Serial number in route data is wrong" },
            { "SYSTEM_FF22", "No line for serial number in route data" },
            { "SYSTEM_FF23", "Discrepancy in serial number between route data and teaching data" },
            { "SYSTEM_FF30", "Failure of pre-operation movement at the wrist in the robot" },
            { "SYSTEM_FF83", "Inability of the robot to return origin" },
            { "SYSTEM_FFB0", "Operation malfunction at fan in robot" },
            { "SYSTEM_FFF0", "Alarm at Z-axis driver in the robot" },
            { "SYSTEM_FFFF", "Robot control program malfunction" }
        };
    }
}