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- using System;
- using System.Collections.Generic;
- using System.IO.Ports;
- using System.Linq;
- using Aitex.Core.Common;
- using Aitex.Core.Common.DeviceData;
- using Aitex.Core.RT.DataCenter;
- using Aitex.Core.RT.Device;
- using Aitex.Core.RT.Device.Unit;
- 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 MECF.Framework.Common.Communications;
- using MECF.Framework.Common.Device.Bases;
- using MECF.Framework.RT.EquipmentLibrary.HardwareUnits.Aligners.AlignersBase;
- using MECF.Framework.RT.EquipmentLibrary.HardwareUnits.Common;
- using Newtonsoft.Json;
- namespace MECF.Framework.RT.EquipmentLibrary.HardwareUnits.Aligners.SiasunAligner
- {
- public class SiasunAligner : AlignerBaseDevice, IConnection
- {
- public string Address => Connection.Address;
- public bool IsConnected => Connection.IsConnected && !_connection.IsCommunicationError;
- public bool Connect()
- {
- return _connection.Connect();
- }
- public bool Disconnect()
- {
- return _connection.Disconnect();
- }
- public string PortStatus { get; set; } = "Closed";
- private SiasunAlignerConnection _connection;
- public SiasunAlignerConnection Connection
- {
- get { return _connection; }
- }
- public override bool IsReady()
- {
- return IsIdle && _lstHandler.Count == 0 && !_isError && !_connection.IsBusy && !_connection.IsCommunicationError && _connection.IsConnected;
- }
- public bool IsWaferPresence { get; set; }
- public override float RadialOffset { set; get; }//extend
- public override float ThetaOffset { set; get; }//rotate
- private R_TRIG _trigError = new R_TRIG();
- private R_TRIG _trigCommunicationError = new R_TRIG();
- private R_TRIG _trigRetryConnect = new R_TRIG();
- private PeriodicJob _thread;
- private LinkedList<HandlerBase> _lstHandler = new LinkedList<HandlerBase>();
- private LinkedList<HandlerBase> _lstMonitorHandler = new LinkedList<HandlerBase>();
- public List<IOResponse> IOResponseList { get; set; } = new List<IOResponse>();
- private object _locker = new object();
- private bool _enableLog;
- private string _scRoot;
- private string _portName;
- private bool _isError;
- public SiasunAligner(string module, string name, string scRoot) : base(module, name)
- {
- _scRoot = scRoot;
- if (!string.IsNullOrEmpty(_scRoot) && SC.ContainsItem($"{_scRoot}.{Name}.PortName"))
- {
- _portName = SC.GetStringValue($"{_scRoot}.{Name}.PortName");
- _enableLog = SC.GetValue<bool>($"{_scRoot}.{Name}.EnableLogMessage");
- }
- else
- {
- _portName = SC.GetStringValue($"{_scRoot}.PortName");
- _enableLog = SC.GetValue<bool>($"{_scRoot}.EnableLogMessage");
- }
- _connection = new SiasunAlignerConnection(_portName);
- _connection.EnableLog(_enableLog);
- if (_connection.Connect())
- {
- PortStatus = "Open";
- EV.PostInfoLog(Module, $"{Module}.{Name} connected");
- }
- _thread = new PeriodicJob(100, OnTimer, $"{Module}.{Name} MonitorHandler", true);
- DATA.Subscribe($"{Module}.IsConnected", () => IsConnected);
- DATA.Subscribe($"{Module}.Address", () => Address);
- OP.Subscribe($"{Module}.Reconnect", (string cmd, object[] args) =>
- {
- Disconnect();
- Connect();
- return true;
- });
- }
- private void ResetPropertiesAndResponses()
- {
- foreach (var ioResponse in IOResponseList)
- {
- ioResponse.ResonseContent = null;
- ioResponse.ResonseRecievedTime = DateTime.Now;
- }
- }
- public bool InitConnection(string portName, int bautRate, int dataBits, Parity parity, StopBits stopBits)
- {
- _connection = new SiasunAlignerConnection(portName, bautRate, dataBits, parity, stopBits);
- if (_connection.Connect())
- {
- EV.PostInfoLog(Module, $"{Module}.{Name} connected");
- }
- _thread = new PeriodicJob(100, OnTimer, $"{Module}.{Name} MonitorHandler", true);
- return true;
- }
- private bool OnTimer()
- {
- try
- {
- _connection.MonitorTimeout();
- if (!_connection.IsConnected || _connection.IsCommunicationError)
- {
- lock (_locker)
- {
- _lstHandler.Clear();
- }
- _trigRetryConnect.CLK = !_connection.IsConnected;
- if (_trigRetryConnect.Q)
- {
- _connection.SetPortAddress(_portName);
- if (!_connection.Connect())
- {
- EV.PostAlarmLog(Module, $"Can not connect with {_connection.Address}, {Module}.{Name}");
- }
- else
- {
- //_lstHandler.AddLast(new SiasunAlignerQueryPinHandler(this, _deviceAddress));
- //_lstHandler.AddLast(new SiasunAlignerSetCommModeHandler(this, _deviceAddress, EnumRfPowerCommunicationMode.Host));
- }
- }
- return true;
- }
- HandlerBase handler = null;
- if (!_connection.IsBusy)
- {
- lock (_locker)
- {
- if (_lstHandler.Count == 0)
- {
- foreach (var monitorHandler in _lstMonitorHandler)
- {
- _lstHandler.AddLast(monitorHandler);
- }
- }
- if (_lstHandler.Count > 0)
- {
- handler = _lstHandler.First.Value;
- _lstHandler.RemoveFirst();
- }
- }
- if (handler != null)
- {
- _connection.Execute(handler);
- }
- }
- }
- catch (Exception ex)
- {
- LOG.Write(ex);
- }
- return true;
- }
- public override void Monitor()
- {
- try
- {
- //_connection.EnableLog(_enableLog);
- _trigCommunicationError.CLK = _connection.IsCommunicationError;
- if (_trigCommunicationError.Q)
- {
- EV.PostAlarmLog(Module, $"{Module}.{Name} communication error, {_connection.LastCommunicationError}");
- }
- }
- catch (Exception ex)
- {
- LOG.Write(ex);
- }
- }
- public override void Reset()
- {
- _trigError.RST = true;
- _connection.SetCommunicationError(false, "");
- _trigCommunicationError.RST = true;
- //_enableLog = SC.GetValue<bool>($"{ScBasePath}.{Name}.EnableLogMessage");
- _trigRetryConnect.RST = true;
- _isError = false;
- _trigWarningMessage.RST = true;
- base.Reset();
- }
- public override bool IsWaferPresent(int slotindex)
- {
- return IsWaferPresence;
- }
- #region Command Functions
- public void PerformRawCommand(string command, string comandArgument)
- {
- lock (_locker)
- {
- _lstHandler.AddLast(new SiasunAlignerRawCommandHandler(this, command, comandArgument));
- }
- }
- public void PerformRawCommand(string command)
- {
- lock (_locker)
- {
- _lstHandler.AddLast(new SiasunAlignerRawCommandHandler(this, command));
- }
- }
- internal void NoteActionCompleted(string command)
- {
- if (command == "ALIGN")
- {
- AlignCompleted = true;
- }
- else if (command == "ROTATE")
- {
- RotatedCompleted = true;
- }
- else if (command == "XFER")
- {
- XferCompleted = true;
- }
- else if (command == "ALIGNER HOME/SCAN/ALGN")
- {
- HomeCompleted = true;
- }
- }
- internal void NoteQueryResult(string command, string parameter, string queryResult)
- {
- if (command == "HELLO")
- {
- if (queryResult == "AG")
- {
- CommunicationIsOK = true;
- }
- else
- {
- CommunicationIsOK = false;
- }
- }
- else if (command == "RWAA")
- {
- var resultArray = queryResult.Split(',');
- if (resultArray.Count() == 1)
- {
- AlignedAngle = double.Parse(queryResult);
- }
- }
- else if (command == "RWS")
- {
- var resultArray = queryResult.Split(',');
- if (resultArray.Count() == 1)
- {
- //WaferSize = double.Parse(queryResult);
- }
- }
- else if (command == "RBIASXY")
- {
- var resultArray = queryResult.Split(',');
- if (resultArray.Count() == 2)
- {
- BaisX = double.Parse(queryResult.Split(',')[0]);
- BaisY = double.Parse(queryResult.Split(',')[1]);
- }
- }
- else if (command == "RBIASRT")
- {
- var resultArray = queryResult.Split(',');
- if (resultArray.Count() == 2)
- {
- BaisR = double.Parse(queryResult.Split(',')[0]);
- BaisT = double.Parse(queryResult.Split(',')[1]);
- }
- }
- else if (command == "RNOTCH")
- {
- var resultArray = queryResult.Split(',');
- if (resultArray.Count() == 1)
- {
- Notch = double.Parse(queryResult);
- }
- }
- else if (command == "REER")
- {
- var resultArray = queryResult.Split(',');
- if (resultArray.Count() == 1)
- {
- Error = "_ERR " + queryResult;
- }
- }
- else if (command == "RWK")
- {
- var resultArray = queryResult.Split(',');
- if (resultArray.Count() == 1)
- {
- WafeOnOff = queryResult == "1";
- }
- }
- else if (command == "RAR")
- {
- var resultArray = queryResult.Split(',');
- if (resultArray.Count() == 1)
- {
- //IsReady = queryResult == "1";
- }
- }
- }
- internal void NoteSetCompleted(string command, string parameter)
- {
- if (command == "SWAA")
- {
- AlignAngleSet = double.Parse(parameter);
- }
- else if (command == "SWS")
- {
- WaferSizeSet = double.Parse(parameter);
- }
- }
- public void MonitorRawCommand(bool isSelected, string command, string comandArgument)
- {
- lock (_locker)
- {
- var existHandlers = _lstMonitorHandler.Where(handler => handler.GetType() == typeof(SiasunAlignerRawCommandHandler) && ((SiasunAlignerHandler)handler)._command == command);
- if (isSelected)
- {
- if (!existHandlers.Any())
- _lstMonitorHandler.AddFirst(new SiasunAlignerRawCommandHandler(this, command, comandArgument));
- }
- else
- {
- if (existHandlers.Any())
- {
- _lstMonitorHandler.Remove(existHandlers.First());
- }
- }
- }
- }
- public void MonitorRawCommand(bool isSelected, string command)
- {
- lock (_locker)
- {
- var existHandlers = _lstMonitorHandler.Where(handler => handler.GetType() == typeof(SiasunAlignerRawCommandHandler) && ((SiasunAlignerHandler)handler)._command == command);
- if (isSelected)
- {
- if (!existHandlers.Any())
- _lstMonitorHandler.AddFirst(new SiasunAlignerRawCommandHandler(this, command));
- }
- else
- {
- if (existHandlers.Any())
- {
- _lstMonitorHandler.Remove(existHandlers.First());
- }
- }
- }
- }
- public void RequestAlignAngle(bool isSelected)
- {
- SimpleRequest(isSelected, "RWAA");
- }
- public void RequestWaferSize(bool isSelected)
- {
- SimpleRequest(isSelected, "RWS");
- }
- public void RequestBiasXY(bool isSelected)
- {
- SimpleRequest(isSelected, "RBIASXY");
- }
- public void RequestBiasRT(bool isSelected)
- {
- SimpleRequest(isSelected, "RBIASRT");
- }
- public void RequestNotchAngle(bool isSelected)
- {
- SimpleRequest(isSelected, "RNOTCH");
- }
- public void RequestErrorCode(bool isSelected)
- {
- SimpleRequest(isSelected, "REER");
- }
- public void RequestHello(bool isSelected)
- {
- SimpleRequest(isSelected, "HELLO");
- }
- public void RequestWaferOnOff(bool isSelected)
- {
- SimpleRequest(isSelected, "RWK");
- }
- public void RequestReady(bool isSelected)
- {
- SimpleRequest(isSelected, "RAR");
- }
- private void SimpleRequest(bool isSelected, string command)
- {
- lock (_locker)
- {
- var existHandlers = _lstMonitorHandler.Where(handler => handler.GetType() == typeof(SiasunAlignerSimpleQueryHandler) && ((SiasunAlignerSimpleQueryHandler)handler)._command == command);
- if (isSelected)
- {
- if (!existHandlers.Any())
- _lstMonitorHandler.AddFirst(new SiasunAlignerSimpleQueryHandler(this, command));
- }
- else
- {
- if (existHandlers.Any())
- {
- _lstMonitorHandler.Remove(existHandlers.First());
- }
- }
- }
- }
- #endregion
- #region Properties
- public string Error { get; private set; }
- public bool SevoOnOff { get; private set; }
- public bool AlignCompleted { get; private set; }
- public bool RotatedCompleted { get; private set; }
- public double AlignAngleSet { get; private set; }
- public double WaferSizeSet { get; private set; }
- public bool XferCompleted { get; private set; }
- public bool HomeCompleted { get; private set; }
- public bool CommunicationIsOK { get; private set; }
- public double AlignedAngle { get; private set; }
- public double BaisX { get; private set; }
- public double BaisY { get; private set; }
- public double BaisR { get; private set; }
- public double BaisT { get; private set; }
- public double Notch { get; private set; }
- public bool WafeOnOff { get; private set; }
- public string LastPickInfo { get; private set; }
- public string LastPlaceInfo { get; private set; }
- #endregion
- #region Note Functions
- private R_TRIG _trigWarningMessage = new R_TRIG();
- public void NoteError(string reason)
- {
- CommunicationIsOK = false;
- if (reason != null)
- {
- _trigWarningMessage.CLK = true;
- if (_trigWarningMessage.Q)
- {
- EV.PostWarningLog(Module, $"{Module}.{Name} error, {reason}");
- }
- Error = reason;
- _isError = true;
- }
- }
- internal void NoteLastPickInfo(string sendText)
- {
- LastPickInfo = sendText;
- }
- internal void NoteLastPlaceInfo(string sendText)
- {
- LastPlaceInfo = sendText;
- }
- internal void NoteSevoOnOff(bool isOn)
- {
- SevoOnOff = isOn;
- }
- internal void NoteRawCommandInfo(string command, string data)
- {
- //var curIOResponse = IOResponseList.Find(res => res.SourceCommandName == command);
- //if (curIOResponse != null)
- //{
- // IOResponseList.Remove(curIOResponse);
- //}
- //IOResponseList.Add(new IOResponse() { SourceCommand = command, ResonseContent = data, ResonseRecievedTime = DateTime.Now });
- }
- protected override bool fStartLiftup(object[] param)
- {
- throw new NotImplementedException();
- }
- protected override bool fStartLiftdown(object[] param)
- {
- throw new NotImplementedException();
- }
- protected override bool fStartAlign(object[] param)
- {
- float.TryParse(param[0].ToString(), out float aligneAngle);
- if (Math.Abs(aligneAngle) < 0.01)
- {
- lock (_locker)
- {
- _lstHandler.AddLast(new SiasunAlignerAlignHandler(this));
- }
- }
- else
- {
- lock (_locker)
- {
- _lstHandler.AddLast(new SiasunAlignerRotateHandler(this, (float)aligneAngle));
- }
- }
- return true;
- }
- protected override bool fMonitorAligning(object[] param)
- {
- IsBusy = false;
- return _lstHandler.Count == 0 && !_connection.IsBusy;
- }
- protected override bool fStop(object[] param)
- {
- throw new NotImplementedException();
- }
- protected override bool FsmAbort(object[] param)
- {
- throw new NotImplementedException();
- }
- protected override bool fClear(object[] param)
- {
- throw new NotImplementedException();
- }
- protected override bool fStartReadData(object[] param)
- {
- switch (param[0].ToString())
- {
- case "QueryOffset":
- lock (_locker)
- {
- _lstHandler.AddLast(new SiasunAlignerQueryBiasHandler(this));
- }
- break;
- case "QueryWaferPresence":
- lock (_locker)
- {
- _lstHandler.AddLast(new SiasunAlignerQueryWaferPresentHandler(this));
- }
- break;
- }
- return true;
- }
- protected override bool fMonitorReadData(object[] param)
- {
- IsBusy = false;
- return _lstHandler.Count == 0 && !_connection.IsBusy;
- }
- protected override bool fStartSetParameters(object[] param)
- {
- var currentSetParameter = param[0].ToString();
- switch (currentSetParameter)
- {
- case "WaferSize":
- WaferSize currentSetWaferSize = (WaferSize)param[1];
- switch (currentSetWaferSize)
- {
- case WaferSize.WS12:
- lock (_locker)
- {
- _lstHandler.AddLast(new SiasunAlignerSimpleSetHandler(this, "SWS", "300"));
- }
- break;
- case WaferSize.WS8:
- lock (_locker)
- {
- _lstHandler.AddLast(new SiasunAlignerSimpleSetHandler(this, "SWS", "200"));
- }
- break;
- case WaferSize.WS6:
- lock (_locker)
- {
- _lstHandler.AddLast(new SiasunAlignerSimpleSetHandler(this, "SWS", "150"));
- }
- break;
- case WaferSize.WS4:
- lock (_locker)
- {
- _lstHandler.AddLast(new SiasunAlignerSimpleSetHandler(this, "SWS", "100"));
- }
- break;
- default:
- break;
- }
- break;
- case "AlignAngle":
- float.TryParse(param[1].ToString(), out float angle);
- lock (_locker)
- {
- _lstHandler.AddLast(new SiasunAlignerSimpleSetHandler(this, "SWAA", angle.ToString("f2")));
- }
- break;
- }
- return true;
- }
- protected override bool fMonitorSetParamter(object[] param)
- {
- IsBusy = false;
- return _lstHandler.Count == 0 && !_connection.IsBusy;
- }
- protected override bool fStartUnGrip(object[] param)
- {
- throw new NotImplementedException();
- }
- protected override bool fStartGrip(object[] param)
- {
- throw new NotImplementedException();
- }
- protected override bool fResetToReady(object[] param)
- {
- throw new NotImplementedException();
- }
- protected override bool fReset(object[] param)
- {
- throw new NotImplementedException();
- }
- protected override bool fStartInit(object[] param)
- {
- lock (_locker)
- {
- _lstHandler.AddLast(new SiasunAlignerSevoOnOffHandler(this, true));
- _lstHandler.AddLast(new SiasunAlignerQueryWaferPresentHandler(this));
- }
- return true;
- }
- protected override bool fMonitorInit(object[] param)
- {
- IsBusy = false;
- return _lstHandler.Count == 0 && !_connection.IsBusy;
- }
- protected override bool fError(object[] param)
- {
- throw new NotImplementedException();
- }
- #endregion
- }
- }
|