1. Revise Robot ErrorCode 08 Bug;

Jet/Jet_001_2P_Jet/EfemRT/Servers/Check.cs

@@ -138,36 +138,36 @@ namespace EFEM.RT
                     return false;
                 }
             }
-            if (flag1.HasFlag(ErrorCheckList1.STALL))
-            {
-                if (!Check<ABS.StallPolicy>(device, out reason))
-                {
-                    return false;
-                }
-            }
-
-
-            if (flag1.HasFlag(ErrorCheckList1.LIMIT))
-            {
-                if (!Check<ABS.LIMITPolicy>(device, out reason))
-                {
-                    return false;
-                }
-            }
-            if (flag1.HasFlag(ErrorCheckList1.SENSOR))
-            {
-                if (!Check<ABS.SENSORPolicy>(device, out reason))
-                {
-                    return false;
-                }
-            }
-            if (flag1.HasFlag(ErrorCheckList1.POSITION))
-            {
-                if (!Check<ABS.POSITIONPolicy>(device, out reason))
-                {
-                    return false;
-                }
-            }
+            //if (flag1.HasFlag(ErrorCheckList1.STALL))
+            //{
+            //    if (!Check<ABS.StallPolicy>(device, out reason))
+            //    {
+            //        return false;
+            //    }
+            //}
+
+
+            //if (flag1.HasFlag(ErrorCheckList1.LIMIT))
+            //{
+            //    if (!Check<ABS.LIMITPolicy>(device, out reason))
+            //    {
+            //        return false;
+            //    }
+            //}
+            //if (flag1.HasFlag(ErrorCheckList1.SENSOR))
+            //{
+            //    if (!Check<ABS.SENSORPolicy>(device, out reason))
+            //    {
+            //        return false;
+            //    }
+            //}
+            //if (flag1.HasFlag(ErrorCheckList1.POSITION))
+            //{
+            //    if (!Check<ABS.POSITIONPolicy>(device, out reason))
+            //    {
+            //        return false;
+            //    }
+            //}
             if (flag1.HasFlag(ErrorCheckList1.EMS))
             {
                 if (!Check<ABS.EMSPolicy>(device, out reason))
@@ -175,293 +175,293 @@ namespace EFEM.RT
                     return false;
                 }
             }
-            
-            if (flag1.HasFlag(ErrorCheckList1.COMM))
-            {
-                if (!Check<ABS.COMMPolicy>(device, out reason))
-                {
-                    return false;
-                }
-            }
-            if (flag1.HasFlag(ErrorCheckList1.COMM2))
-            {
-                if (!Check<ABS.COMM2Policy>(device, out reason))
-                {
-                    return false;
-                }
-            }
-            if (flag1.HasFlag(ErrorCheckList1.VACON))
-            {
-                if (!Check<ABS.VACONPolicy>(device, out reason))
-                {
-                    return false;
-                }
-            }
-            if (flag1.HasFlag(ErrorCheckList1.VACOFF))
-            {
-                if (!Check<ABS.VACOFPolicy>(device, out reason))
-                {
-                    return false;
-                }
-            }
 
-            if (flag1.HasFlag(ErrorCheckList1.CLAMPON))
-            {
-                if (!Check<ABS.CLAMPONPolicy>(device, out reason))
-                {
-                    return false;
-                }
-            }
-            if (flag1.HasFlag(ErrorCheckList1.CLAMPOF))
-            {
-                if (!Check<ABS.CLAMPOFPolicy>(device, out reason))
-                {
-                    return false;
-                }
-            }
+            //if (flag1.HasFlag(ErrorCheckList1.COMM))
+            //{
+            //    if (!Check<ABS.COMMPolicy>(device, out reason))
+            //    {
+            //        return false;
+            //    }
+            //}
+            //if (flag1.HasFlag(ErrorCheckList1.COMM2))
+            //{
+            //    if (!Check<ABS.COMM2Policy>(device, out reason))
+            //    {
+            //        return false;
+            //    }
+            //}
+            //if (flag1.HasFlag(ErrorCheckList1.VACON))
+            //{
+            //    if (!Check<ABS.VACONPolicy>(device, out reason))
+            //    {
+            //        return false;
+            //    }
+            //}
+            //if (flag1.HasFlag(ErrorCheckList1.VACOFF))
+            //{
+            //    if (!Check<ABS.VACOFPolicy>(device, out reason))
+            //    {
+            //        return false;
+            //    }
+            //}
+
+            //if (flag1.HasFlag(ErrorCheckList1.CLAMPON))
+            //{
+            //    if (!Check<ABS.CLAMPONPolicy>(device, out reason))
+            //    {
+            //        return false;
+            //    }
+            //}
+            //if (flag1.HasFlag(ErrorCheckList1.CLAMPOF))
+            //{
+            //    if (!Check<ABS.CLAMPOFPolicy>(device, out reason))
+            //    {
+            //        return false;
+            //    }
+            //}
 
             #endregion
 
-            #region Check flag2
-            if (flag2.HasFlag(ErrorCheckList2.RRTWAF))
-            {
-                if (!Check<ABS.PRTWAFPolicy>(device, out reason))
-                {
-                    return false;
-                }
-            }
-            if (flag2.HasFlag(ErrorCheckList2.CRSWAF))
-            {
-                if (!Check<ABS.CRSWAFPolicy>(device, out reason))
-                {
-                    return false;
-                }
-            }
-            if (flag2.HasFlag(ErrorCheckList2.THICKWAF))
-            {
-                if (!Check<ABS.THICKWAFPolicy>(device, out reason))
-                {
-                    return false;
-                }
-            }
-            if (flag2.HasFlag(ErrorCheckList2.THINWAF))
-            {
-                if (!Check<ABS.THINWAFPolicy>(device, out reason))
-                {
-                    return false;
-                }
-            }
-
-            if (flag2.HasFlag(ErrorCheckList2.DBLWAF))
-            {
-                if (!Check<ABS.DBLWAFPolicy>(device, out reason))
-                {
-                    return false;
-                }
-            }
-            if (flag2.HasFlag(ErrorCheckList2.BAOWAF))
-            {
-                if (!Check<ABS.BOWWAFPolicy>(device, out reason))
-                {
-                    return false;
-                }
-            }
-            if (flag2.HasFlag(ErrorCheckList2.COMMAND))
-            {
-                if (!Check<ABS.COMMANDPolicy>(device, out reason))
-                {
-                    return false;
-                }
-            }
-            if (flag2.HasFlag(ErrorCheckList2.PODNG))
-            {
-                if (!Check<ABS.PODNGPolicy>(device, out reason))
-                {
-                    return false;
-                }
-            }
-
-
-            if (flag2.HasFlag(ErrorCheckList2.PODMISMATCH))
-            {
-                if (!Check<ABS.PODMISMATCHPolicy>(device, out reason))
-                {
-                    return false;
-                }
-            }
-            if (flag2.HasFlag(ErrorCheckList2.VAC_S))
-            {
-                if (!Check<ABS.VAC_SPolicy>(device, out reason))
-                {
-                    return false;
-                }
-            }
-            if (flag2.HasFlag(ErrorCheckList2.CLAMP_S))
-            {
-                if (!Check<ABS.CLAMP_SPolicy>(device, out reason))
-                {
-                    return false;
-                }
-            }
-            if (flag2.HasFlag(ErrorCheckList2.SAFTY))
-            {
-                if (!Check<ABS.SAFTYPolicy>(device, out reason))
-                {
-                    return false;
-                }
-            }
-
-
-            if (flag2.HasFlag(ErrorCheckList2.LOCKNG))
-            {
-                if (!Check<ABS.LOCKNGPolicy>(device, out reason))
-                {
-                    return false;
-                }
-            }
-            if (flag2.HasFlag(ErrorCheckList2.UNLOCKNG))
-            {
-                if (!Check<ABS.UNLOCKNGPolicy>(device, out reason))
-                {
-                    return false;
-                }
-            }
-            if (flag2.HasFlag(ErrorCheckList2.L_KEY_LK))
-            {
-                if (!Check<ABS.L_KEY_LKPolicy>(device, out reason))
-                {
-                    return false;
-                }
-            }
-            if (flag2.HasFlag(ErrorCheckList2.L_KEY_UL))
-            {
-                if (!Check<ABS.L_KEY_ULPolicy>(device, out reason))
-                {
-                    return false;
-                }
-            }
-            #endregion
-
-            #region Check flag3
-            if (flag3.HasFlag(ErrorCheckList3.MAP_S))
-            {
-                if (!Check<ABS.MAP_SPolicy>(device, out reason))
-                {
-                    return false;
-                }
-            }
-            if (flag3.HasFlag(ErrorCheckList3.MAP_S1))
-            {
-                if (!Check<ABS.MAP_S1Policy>(device, out reason))
-                {
-                    return false;
-                }
-            }
-            if (flag3.HasFlag(ErrorCheckList3.MAP_S2))
-            {
-                if (!Check<ABS.MAP_S2Policy>(device, out reason))
-                {
-                    return false;
-                }
-            }
-            if (flag3.HasFlag(ErrorCheckList3.WAFLOST))
-            {
-                if (!Check<ABS.WAFLOSTPolicy>(device, out reason))
-                {
-                    return false;
-                }
-            }
-
-            if (flag3.HasFlag(ErrorCheckList3.ALIGNNG))
-            {
-                if (!Check<ABS.ALIGNNGPolicy>(device, out reason))
-                {
-                    return false;
-                }
-            }
-            if (flag3.HasFlag(ErrorCheckList3.PODNG))
-            {
-                if (!Check<ABS.PODNGPolicy>(device, out reason))
-                {
-                    return false;
-                }
-            }
-            if (flag3.HasFlag(ErrorCheckList3.PODMISMATCH))
-            {
-                if (!Check<ABS.PODMISMATCHPolicy>(device, out reason))
-                {
-                    return false;
-                }
-            }
-            if (flag3.HasFlag(ErrorCheckList3.VAC_S))
-            {
-                if (!Check<ABS.VAC_SPolicy>(device, out reason))
-                {
-                    return false;
-                }
-            }
-
-
-            if (flag3.HasFlag(ErrorCheckList3.CLAMP_S))
-            {
-                if (!Check<ABS.CLAMP_SPolicy>(device, out reason))
-                {
-                    return false;
-                }
-            }
-            if (flag3.HasFlag(ErrorCheckList3.DRIVER))
-            {
-                if (!Check<ABS.DRIVERPolicy>(device, out reason))
-                {
-                    return false;
-                }
-            }
-            if (flag3.HasFlag(ErrorCheckList3.DRPOWERDOWN))
-            {
-                if (!Check<ABS.DRPOWERDOWNPolicy>(device, out reason))
-                {
-                    return false;
-                }
-            }
-            if (flag3.HasFlag(ErrorCheckList3.HARDWARE))
-            {
-                if (!Check<ABS.HARDWAREPolicy>(device, out reason))
-                {
-                    return false;
-                }
-            }
-
-            if (flag3.HasFlag(ErrorCheckList3.INTERNAL))
-            {
-                if (!Check<ABS.INTERNALPolicy>(device, out reason))
-                {
-                    return false;
-                }
-            }
-            if (flag3.HasFlag(ErrorCheckList3.E84_TIMEOUTx))
-            {
-                if (!Check<ABS.E84_TIMEOUTxPolicy>(device, out reason))
-                {
-                    return false;
-                }
-            }
-            if (flag3.HasFlag(ErrorCheckList3.E84_CS_VALID))
-            {
-                if (!Check<ABS.E84_CS_VALIDPolicy>(device, out reason))
-                {
-                    return false;
-                }
-            }
-            if (flag3.HasFlag(ErrorCheckList3.READFAIL))
-            {
-                if (!Check<ABS.READFAILPolicy>(device, out reason))
-                {
-                    return false;
-                }
-            }
-            #endregion
-            reason = "UNDEFINITION";
-            return false;
+            //#region Check flag2
+            //if (flag2.HasFlag(ErrorCheckList2.RRTWAF))
+            //{
+            //    if (!Check<ABS.PRTWAFPolicy>(device, out reason))
+            //    {
+            //        return false;
+            //    }
+            //}
+            //if (flag2.HasFlag(ErrorCheckList2.CRSWAF))
+            //{
+            //    if (!Check<ABS.CRSWAFPolicy>(device, out reason))
+            //    {
+            //        return false;
+            //    }
+            //}
+            //if (flag2.HasFlag(ErrorCheckList2.THICKWAF))
+            //{
+            //    if (!Check<ABS.THICKWAFPolicy>(device, out reason))
+            //    {
+            //        return false;
+            //    }
+            //}
+            //if (flag2.HasFlag(ErrorCheckList2.THINWAF))
+            //{
+            //    if (!Check<ABS.THINWAFPolicy>(device, out reason))
+            //    {
+            //        return false;
+            //    }
+            //}
+
+            //if (flag2.HasFlag(ErrorCheckList2.DBLWAF))
+            //{
+            //    if (!Check<ABS.DBLWAFPolicy>(device, out reason))
+            //    {
+            //        return false;
+            //    }
+            //}
+            //if (flag2.HasFlag(ErrorCheckList2.BAOWAF))
+            //{
+            //    if (!Check<ABS.BOWWAFPolicy>(device, out reason))
+            //    {
+            //        return false;
+            //    }
+            //}
+            //if (flag2.HasFlag(ErrorCheckList2.COMMAND))
+            //{
+            //    if (!Check<ABS.COMMANDPolicy>(device, out reason))
+            //    {
+            //        return false;
+            //    }
+            //}
+            //if (flag2.HasFlag(ErrorCheckList2.PODNG))
+            //{
+            //    if (!Check<ABS.PODNGPolicy>(device, out reason))
+            //    {
+            //        return false;
+            //    }
+            //}
+
+
+            //if (flag2.HasFlag(ErrorCheckList2.PODMISMATCH))
+            //{
+            //    if (!Check<ABS.PODMISMATCHPolicy>(device, out reason))
+            //    {
+            //        return false;
+            //    }
+            //}
+            //if (flag2.HasFlag(ErrorCheckList2.VAC_S))
+            //{
+            //    if (!Check<ABS.VAC_SPolicy>(device, out reason))
+            //    {
+            //        return false;
+            //    }
+            //}
+            //if (flag2.HasFlag(ErrorCheckList2.CLAMP_S))
+            //{
+            //    if (!Check<ABS.CLAMP_SPolicy>(device, out reason))
+            //    {
+            //        return false;
+            //    }
+            //}
+            //if (flag2.HasFlag(ErrorCheckList2.SAFTY))
+            //{
+            //    if (!Check<ABS.SAFTYPolicy>(device, out reason))
+            //    {
+            //        return false;
+            //    }
+            //}
+
+
+            //if (flag2.HasFlag(ErrorCheckList2.LOCKNG))
+            //{
+            //    if (!Check<ABS.LOCKNGPolicy>(device, out reason))
+            //    {
+            //        return false;
+            //    }
+            //}
+            //if (flag2.HasFlag(ErrorCheckList2.UNLOCKNG))
+            //{
+            //    if (!Check<ABS.UNLOCKNGPolicy>(device, out reason))
+            //    {
+            //        return false;
+            //    }
+            //}
+            //if (flag2.HasFlag(ErrorCheckList2.L_KEY_LK))
+            //{
+            //    if (!Check<ABS.L_KEY_LKPolicy>(device, out reason))
+            //    {
+            //        return false;
+            //    }
+            //}
+            //if (flag2.HasFlag(ErrorCheckList2.L_KEY_UL))
+            //{
+            //    if (!Check<ABS.L_KEY_ULPolicy>(device, out reason))
+            //    {
+            //        return false;
+            //    }
+            //}
+            //#endregion
+
+            //#region Check flag3
+            //if (flag3.HasFlag(ErrorCheckList3.MAP_S))
+            //{
+            //    if (!Check<ABS.MAP_SPolicy>(device, out reason))
+            //    {
+            //        return false;
+            //    }
+            //}
+            //if (flag3.HasFlag(ErrorCheckList3.MAP_S1))
+            //{
+            //    if (!Check<ABS.MAP_S1Policy>(device, out reason))
+            //    {
+            //        return false;
+            //    }
+            //}
+            //if (flag3.HasFlag(ErrorCheckList3.MAP_S2))
+            //{
+            //    if (!Check<ABS.MAP_S2Policy>(device, out reason))
+            //    {
+            //        return false;
+            //    }
+            //}
+            //if (flag3.HasFlag(ErrorCheckList3.WAFLOST))
+            //{
+            //    if (!Check<ABS.WAFLOSTPolicy>(device, out reason))
+            //    {
+            //        return false;
+            //    }
+            //}
+
+            //if (flag3.HasFlag(ErrorCheckList3.ALIGNNG))
+            //{
+            //    if (!Check<ABS.ALIGNNGPolicy>(device, out reason))
+            //    {
+            //        return false;
+            //    }
+            //}
+            //if (flag3.HasFlag(ErrorCheckList3.PODNG))
+            //{
+            //    if (!Check<ABS.PODNGPolicy>(device, out reason))
+            //    {
+            //        return false;
+            //    }
+            //}
+            //if (flag3.HasFlag(ErrorCheckList3.PODMISMATCH))
+            //{
+            //    if (!Check<ABS.PODMISMATCHPolicy>(device, out reason))
+            //    {
+            //        return false;
+            //    }
+            //}
+            //if (flag3.HasFlag(ErrorCheckList3.VAC_S))
+            //{
+            //    if (!Check<ABS.VAC_SPolicy>(device, out reason))
+            //    {
+            //        return false;
+            //    }
+            //}
+
+
+            //if (flag3.HasFlag(ErrorCheckList3.CLAMP_S))
+            //{
+            //    if (!Check<ABS.CLAMP_SPolicy>(device, out reason))
+            //    {
+            //        return false;
+            //    }
+            //}
+            //if (flag3.HasFlag(ErrorCheckList3.DRIVER))
+            //{
+            //    if (!Check<ABS.DRIVERPolicy>(device, out reason))
+            //    {
+            //        return false;
+            //    }
+            //}
+            //if (flag3.HasFlag(ErrorCheckList3.DRPOWERDOWN))
+            //{
+            //    if (!Check<ABS.DRPOWERDOWNPolicy>(device, out reason))
+            //    {
+            //        return false;
+            //    }
+            //}
+            //if (flag3.HasFlag(ErrorCheckList3.HARDWARE))
+            //{
+            //    if (!Check<ABS.HARDWAREPolicy>(device, out reason))
+            //    {
+            //        return false;
+            //    }
+            //}
+
+            //if (flag3.HasFlag(ErrorCheckList3.INTERNAL))
+            //{
+            //    if (!Check<ABS.INTERNALPolicy>(device, out reason))
+            //    {
+            //        return false;
+            //    }
+            //}
+            //if (flag3.HasFlag(ErrorCheckList3.E84_TIMEOUTx))
+            //{
+            //    if (!Check<ABS.E84_TIMEOUTxPolicy>(device, out reason))
+            //    {
+            //        return false;
+            //    }
+            //}
+            //if (flag3.HasFlag(ErrorCheckList3.E84_CS_VALID))
+            //{
+            //    if (!Check<ABS.E84_CS_VALIDPolicy>(device, out reason))
+            //    {
+            //        return false;
+            //    }
+            //}
+            //if (flag3.HasFlag(ErrorCheckList3.READFAIL))
+            //{
+            //    if (!Check<ABS.READFAILPolicy>(device, out reason))
+            //    {
+            //        return false;
+            //    }
+            //}
+            //#endregion
+            //reason = "UNDEFINITION";
+            return true;
         }
 
         public bool Check<T>(string device, out string reason) where T : class, IPolicy, new()

Jet/Jet_001_2P_Jet/EfemRT/Tasks/MpntTask.cs

@@ -295,7 +295,7 @@ namespace EFEM.RT.Tasks
                         | ErrorCheckList3.INTERNAL | ErrorCheckList3.E84_TIMEOUTx | ErrorCheckList3.E84_CS_VALID | ErrorCheckList3.READFAIL;
 
                 var ret = CheckError(DeviceName.Robot, out result);
-                if (result == "UNDEFINITION")
+                if (!ret)
                 {
                     result = "";
                     if (Singleton<EfemEntity>.Instance.EventError != null)
@@ -308,9 +308,9 @@ namespace EFEM.RT.Tasks
                                 result += items[i].Description + "|";
                         }
                     }
+                    
                 }
-                if (result == "") result = "UNDEFINITION";
-                return false;
+                return ret;
             }
 
             if (Singleton<RouteManager>.Instance.IsIdle&&_device.IsReady()&&!_device.IsBusy && Singleton<RouteManager>.Instance.CheckAcked(_token))

Jet/Jet_001_2P_Jet/EfemRT/Tasks/PickTask.cs

@@ -232,7 +232,7 @@ namespace EFEM.RT.Tasks
                          | ErrorCheckList3.DRIVER | ErrorCheckList3.DRPOWERDOWN | ErrorCheckList3.HARDWARE
                         | ErrorCheckList3.INTERNAL | ErrorCheckList3.E84_TIMEOUTx | ErrorCheckList3.E84_CS_VALID | ErrorCheckList3.READFAIL;
                 var ret=  CheckError(DeviceName.Robot, out result);
-                if (result == "UNDEFINITION")
+                if (!ret)
                 {
                     result = "";
                     if (Singleton<EfemEntity>.Instance.EventError != null)
@@ -245,9 +245,10 @@ namespace EFEM.RT.Tasks
                         }
                        
                     }
+                    
                 }
-                if (result == "") result = "UNDEFINITION";
-                return false;
+                return ret;
+
             }
    
             if (Singleton<RouteManager>.Instance.IsIdle&& _device.IsReady()&& Singleton<RouteManager>.Instance.CheckAcked(_token))

Jet/Jet_001_2P_Jet/EfemRT/Tasks/PlaceTask.cs

@@ -221,7 +221,7 @@ namespace EFEM.RT.Tasks
                          | ErrorCheckList3.DRIVER | ErrorCheckList3.DRPOWERDOWN | ErrorCheckList3.HARDWARE
                         | ErrorCheckList3.INTERNAL | ErrorCheckList3.E84_TIMEOUTx | ErrorCheckList3.E84_CS_VALID | ErrorCheckList3.READFAIL;
                var ret=  CheckError(DeviceName.Robot, out result);
-                if (result == "UNDEFINITION")
+                if (!ret)
                 {
                     result = "";
                     if (Singleton<EfemEntity>.Instance.EventError != null)
@@ -234,9 +234,9 @@ namespace EFEM.RT.Tasks
                                 result += items[i].Description + "|";
                         }
                     }
+                    
                 }
-                if (result == "") result = "UNDEFINITION";
-                return false;
+                return ret;
 
             }