SiasunAligner.cs 23 KB

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  1. using System;
  2. using System.Collections.Generic;
  3. using System.IO.Ports;
  4. using System.Linq;
  5. using Aitex.Core.Common;
  6. using Aitex.Core.Common.DeviceData;
  7. using Aitex.Core.RT.DataCenter;
  8. using Aitex.Core.RT.Device;
  9. using Aitex.Core.RT.Device.Unit;
  10. using Aitex.Core.RT.Event;
  11. using Aitex.Core.RT.Log;
  12. using Aitex.Core.RT.OperationCenter;
  13. using Aitex.Core.RT.SCCore;
  14. using Aitex.Core.Util;
  15. using MECF.Framework.Common.Communications;
  16. using MECF.Framework.Common.Device.Bases;
  17. using MECF.Framework.RT.EquipmentLibrary.HardwareUnits.Aligners.AlignersBase;
  18. using MECF.Framework.RT.EquipmentLibrary.HardwareUnits.Common;
  19. using Newtonsoft.Json;
  20. namespace MECF.Framework.RT.EquipmentLibrary.HardwareUnits.Aligners.SiasunAligner
  21. {
  22. public class SiasunAligner : AlignerBaseDevice, IConnection
  23. {
  24. public string Address => Connection.Address;
  25. public bool IsConnected => Connection.IsConnected && !_connection.IsCommunicationError;
  26. public bool Connect()
  27. {
  28. return _connection.Connect();
  29. }
  30. public bool Disconnect()
  31. {
  32. return _connection.Disconnect();
  33. }
  34. public string PortStatus { get; set; } = "Closed";
  35. private SiasunAlignerConnection _connection;
  36. public SiasunAlignerConnection Connection
  37. {
  38. get { return _connection; }
  39. }
  40. public override bool IsReady()
  41. {
  42. return IsIdle && _lstHandler.Count == 0 && !_isError && !_connection.IsBusy && !_connection.IsCommunicationError && _connection.IsConnected;
  43. }
  44. public bool IsWaferPresence { get; set; }
  45. public override float RadialOffset { set; get; }//extend
  46. public override float ThetaOffset { set; get; }//rotate
  47. private R_TRIG _trigError = new R_TRIG();
  48. private R_TRIG _trigCommunicationError = new R_TRIG();
  49. private R_TRIG _trigRetryConnect = new R_TRIG();
  50. private PeriodicJob _thread;
  51. private LinkedList<HandlerBase> _lstHandler = new LinkedList<HandlerBase>();
  52. private LinkedList<HandlerBase> _lstMonitorHandler = new LinkedList<HandlerBase>();
  53. public List<IOResponse> IOResponseList { get; set; } = new List<IOResponse>();
  54. private object _locker = new object();
  55. private bool _enableLog;
  56. private string _scRoot;
  57. private string _portName;
  58. private bool _isError;
  59. public SiasunAligner(string module, string name, string scRoot) : base(module, name)
  60. {
  61. _scRoot = scRoot;
  62. if (!string.IsNullOrEmpty(_scRoot) && SC.ContainsItem($"{_scRoot}.{Name}.PortName"))
  63. {
  64. _portName = SC.GetStringValue($"{_scRoot}.{Name}.PortName");
  65. _enableLog = SC.GetValue<bool>($"{_scRoot}.{Name}.EnableLogMessage");
  66. }
  67. else
  68. {
  69. _portName = SC.GetStringValue($"{_scRoot}.PortName");
  70. _enableLog = SC.GetValue<bool>($"{_scRoot}.EnableLogMessage");
  71. }
  72. _connection = new SiasunAlignerConnection(_portName);
  73. _connection.EnableLog(_enableLog);
  74. if (_connection.Connect())
  75. {
  76. PortStatus = "Open";
  77. EV.PostInfoLog(Module, $"{Module}.{Name} connected");
  78. }
  79. _thread = new PeriodicJob(100, OnTimer, $"{Module}.{Name} MonitorHandler", true);
  80. DATA.Subscribe($"{Module}.IsConnected", () => IsConnected);
  81. DATA.Subscribe($"{Module}.Address", () => Address);
  82. OP.Subscribe($"{Module}.Reconnect", (string cmd, object[] args) =>
  83. {
  84. Disconnect();
  85. Connect();
  86. return true;
  87. });
  88. }
  89. private void ResetPropertiesAndResponses()
  90. {
  91. foreach (var ioResponse in IOResponseList)
  92. {
  93. ioResponse.ResonseContent = null;
  94. ioResponse.ResonseRecievedTime = DateTime.Now;
  95. }
  96. }
  97. public bool InitConnection(string portName, int bautRate, int dataBits, Parity parity, StopBits stopBits)
  98. {
  99. _connection = new SiasunAlignerConnection(portName, bautRate, dataBits, parity, stopBits);
  100. if (_connection.Connect())
  101. {
  102. EV.PostInfoLog(Module, $"{Module}.{Name} connected");
  103. }
  104. _thread = new PeriodicJob(100, OnTimer, $"{Module}.{Name} MonitorHandler", true);
  105. return true;
  106. }
  107. private bool OnTimer()
  108. {
  109. try
  110. {
  111. _connection.MonitorTimeout();
  112. if (!_connection.IsConnected || _connection.IsCommunicationError)
  113. {
  114. lock (_locker)
  115. {
  116. _lstHandler.Clear();
  117. }
  118. _trigRetryConnect.CLK = !_connection.IsConnected;
  119. if (_trigRetryConnect.Q)
  120. {
  121. _connection.SetPortAddress(_portName);
  122. if (!_connection.Connect())
  123. {
  124. EV.PostAlarmLog(Module, $"Can not connect with {_connection.Address}, {Module}.{Name}");
  125. }
  126. else
  127. {
  128. //_lstHandler.AddLast(new SiasunAlignerQueryPinHandler(this, _deviceAddress));
  129. //_lstHandler.AddLast(new SiasunAlignerSetCommModeHandler(this, _deviceAddress, EnumRfPowerCommunicationMode.Host));
  130. }
  131. }
  132. return true;
  133. }
  134. HandlerBase handler = null;
  135. if (!_connection.IsBusy)
  136. {
  137. lock (_locker)
  138. {
  139. if (_lstHandler.Count == 0)
  140. {
  141. foreach (var monitorHandler in _lstMonitorHandler)
  142. {
  143. _lstHandler.AddLast(monitorHandler);
  144. }
  145. }
  146. if (_lstHandler.Count > 0)
  147. {
  148. handler = _lstHandler.First.Value;
  149. _lstHandler.RemoveFirst();
  150. }
  151. }
  152. if (handler != null)
  153. {
  154. _connection.Execute(handler);
  155. }
  156. }
  157. }
  158. catch (Exception ex)
  159. {
  160. LOG.Write(ex);
  161. }
  162. return true;
  163. }
  164. public override void Monitor()
  165. {
  166. try
  167. {
  168. //_connection.EnableLog(_enableLog);
  169. _trigCommunicationError.CLK = _connection.IsCommunicationError;
  170. if (_trigCommunicationError.Q)
  171. {
  172. EV.PostAlarmLog(Module, $"{Module}.{Name} communication error, {_connection.LastCommunicationError}");
  173. }
  174. }
  175. catch (Exception ex)
  176. {
  177. LOG.Write(ex);
  178. }
  179. }
  180. public override void Reset()
  181. {
  182. _trigError.RST = true;
  183. _connection.SetCommunicationError(false, "");
  184. _trigCommunicationError.RST = true;
  185. //_enableLog = SC.GetValue<bool>($"{ScBasePath}.{Name}.EnableLogMessage");
  186. _trigRetryConnect.RST = true;
  187. _isError = false;
  188. _trigWarningMessage.RST = true;
  189. base.Reset();
  190. }
  191. public override bool IsWaferPresent(int slotindex)
  192. {
  193. return IsWaferPresence;
  194. }
  195. #region Command Functions
  196. public void PerformRawCommand(string command, string comandArgument)
  197. {
  198. lock (_locker)
  199. {
  200. _lstHandler.AddLast(new SiasunAlignerRawCommandHandler(this, command, comandArgument));
  201. }
  202. }
  203. public void PerformRawCommand(string command)
  204. {
  205. lock (_locker)
  206. {
  207. _lstHandler.AddLast(new SiasunAlignerRawCommandHandler(this, command));
  208. }
  209. }
  210. internal void NoteActionCompleted(string command)
  211. {
  212. if (command == "ALIGN")
  213. {
  214. AlignCompleted = true;
  215. }
  216. else if (command == "ROTATE")
  217. {
  218. RotatedCompleted = true;
  219. }
  220. else if (command == "XFER")
  221. {
  222. XferCompleted = true;
  223. }
  224. else if (command == "ALIGNER HOME/SCAN/ALGN")
  225. {
  226. HomeCompleted = true;
  227. }
  228. }
  229. internal void NoteQueryResult(string command, string parameter, string queryResult)
  230. {
  231. if (command == "HELLO")
  232. {
  233. if (queryResult == "AG")
  234. {
  235. CommunicationIsOK = true;
  236. }
  237. else
  238. {
  239. CommunicationIsOK = false;
  240. }
  241. }
  242. else if (command == "RWAA")
  243. {
  244. var resultArray = queryResult.Split(',');
  245. if (resultArray.Count() == 1)
  246. {
  247. AlignedAngle = double.Parse(queryResult);
  248. }
  249. }
  250. else if (command == "RWS")
  251. {
  252. var resultArray = queryResult.Split(',');
  253. if (resultArray.Count() == 1)
  254. {
  255. //WaferSize = double.Parse(queryResult);
  256. }
  257. }
  258. else if (command == "RBIASXY")
  259. {
  260. var resultArray = queryResult.Split(',');
  261. if (resultArray.Count() == 2)
  262. {
  263. BaisX = double.Parse(queryResult.Split(',')[0]);
  264. BaisY = double.Parse(queryResult.Split(',')[1]);
  265. }
  266. }
  267. else if (command == "RBIASRT")
  268. {
  269. var resultArray = queryResult.Split(',');
  270. if (resultArray.Count() == 2)
  271. {
  272. BaisR = double.Parse(queryResult.Split(',')[0]);
  273. BaisT = double.Parse(queryResult.Split(',')[1]);
  274. }
  275. }
  276. else if (command == "RNOTCH")
  277. {
  278. var resultArray = queryResult.Split(',');
  279. if (resultArray.Count() == 1)
  280. {
  281. Notch = double.Parse(queryResult);
  282. }
  283. }
  284. else if (command == "REER")
  285. {
  286. var resultArray = queryResult.Split(',');
  287. if (resultArray.Count() == 1)
  288. {
  289. Error = "_ERR " + queryResult;
  290. }
  291. }
  292. else if (command == "RWK")
  293. {
  294. var resultArray = queryResult.Split(',');
  295. if (resultArray.Count() == 1)
  296. {
  297. WafeOnOff = queryResult == "1";
  298. }
  299. }
  300. else if (command == "RAR")
  301. {
  302. var resultArray = queryResult.Split(',');
  303. if (resultArray.Count() == 1)
  304. {
  305. //IsReady = queryResult == "1";
  306. }
  307. }
  308. }
  309. internal void NoteSetCompleted(string command, string parameter)
  310. {
  311. if (command == "SWAA")
  312. {
  313. AlignAngleSet = double.Parse(parameter);
  314. }
  315. else if (command == "SWS")
  316. {
  317. WaferSizeSet = double.Parse(parameter);
  318. }
  319. }
  320. public void MonitorRawCommand(bool isSelected, string command, string comandArgument)
  321. {
  322. lock (_locker)
  323. {
  324. var existHandlers = _lstMonitorHandler.Where(handler => handler.GetType() == typeof(SiasunAlignerRawCommandHandler) && ((SiasunAlignerHandler)handler)._command == command);
  325. if (isSelected)
  326. {
  327. if (!existHandlers.Any())
  328. _lstMonitorHandler.AddFirst(new SiasunAlignerRawCommandHandler(this, command, comandArgument));
  329. }
  330. else
  331. {
  332. if (existHandlers.Any())
  333. {
  334. _lstMonitorHandler.Remove(existHandlers.First());
  335. }
  336. }
  337. }
  338. }
  339. public void MonitorRawCommand(bool isSelected, string command)
  340. {
  341. lock (_locker)
  342. {
  343. var existHandlers = _lstMonitorHandler.Where(handler => handler.GetType() == typeof(SiasunAlignerRawCommandHandler) && ((SiasunAlignerHandler)handler)._command == command);
  344. if (isSelected)
  345. {
  346. if (!existHandlers.Any())
  347. _lstMonitorHandler.AddFirst(new SiasunAlignerRawCommandHandler(this, command));
  348. }
  349. else
  350. {
  351. if (existHandlers.Any())
  352. {
  353. _lstMonitorHandler.Remove(existHandlers.First());
  354. }
  355. }
  356. }
  357. }
  358. public void RequestAlignAngle(bool isSelected)
  359. {
  360. SimpleRequest(isSelected, "RWAA");
  361. }
  362. public void RequestWaferSize(bool isSelected)
  363. {
  364. SimpleRequest(isSelected, "RWS");
  365. }
  366. public void RequestBiasXY(bool isSelected)
  367. {
  368. SimpleRequest(isSelected, "RBIASXY");
  369. }
  370. public void RequestBiasRT(bool isSelected)
  371. {
  372. SimpleRequest(isSelected, "RBIASRT");
  373. }
  374. public void RequestNotchAngle(bool isSelected)
  375. {
  376. SimpleRequest(isSelected, "RNOTCH");
  377. }
  378. public void RequestErrorCode(bool isSelected)
  379. {
  380. SimpleRequest(isSelected, "REER");
  381. }
  382. public void RequestHello(bool isSelected)
  383. {
  384. SimpleRequest(isSelected, "HELLO");
  385. }
  386. public void RequestWaferOnOff(bool isSelected)
  387. {
  388. SimpleRequest(isSelected, "RWK");
  389. }
  390. public void RequestReady(bool isSelected)
  391. {
  392. SimpleRequest(isSelected, "RAR");
  393. }
  394. private void SimpleRequest(bool isSelected, string command)
  395. {
  396. lock (_locker)
  397. {
  398. var existHandlers = _lstMonitorHandler.Where(handler => handler.GetType() == typeof(SiasunAlignerSimpleQueryHandler) && ((SiasunAlignerSimpleQueryHandler)handler)._command == command);
  399. if (isSelected)
  400. {
  401. if (!existHandlers.Any())
  402. _lstMonitorHandler.AddFirst(new SiasunAlignerSimpleQueryHandler(this, command));
  403. }
  404. else
  405. {
  406. if (existHandlers.Any())
  407. {
  408. _lstMonitorHandler.Remove(existHandlers.First());
  409. }
  410. }
  411. }
  412. }
  413. #endregion
  414. #region Properties
  415. public string Error { get; private set; }
  416. public bool SevoOnOff { get; private set; }
  417. public bool AlignCompleted { get; private set; }
  418. public bool RotatedCompleted { get; private set; }
  419. public double AlignAngleSet { get; private set; }
  420. public double WaferSizeSet { get; private set; }
  421. public bool XferCompleted { get; private set; }
  422. public bool HomeCompleted { get; private set; }
  423. public bool CommunicationIsOK { get; private set; }
  424. public double AlignedAngle { get; private set; }
  425. public double BaisX { get; private set; }
  426. public double BaisY { get; private set; }
  427. public double BaisR { get; private set; }
  428. public double BaisT { get; private set; }
  429. public double Notch { get; private set; }
  430. public bool WafeOnOff { get; private set; }
  431. public string LastPickInfo { get; private set; }
  432. public string LastPlaceInfo { get; private set; }
  433. #endregion
  434. #region Note Functions
  435. private R_TRIG _trigWarningMessage = new R_TRIG();
  436. public void NoteError(string reason)
  437. {
  438. CommunicationIsOK = false;
  439. if (reason != null)
  440. {
  441. _trigWarningMessage.CLK = true;
  442. if (_trigWarningMessage.Q)
  443. {
  444. EV.PostWarningLog(Module, $"{Module}.{Name} error, {reason}");
  445. }
  446. Error = reason;
  447. _isError = true;
  448. }
  449. }
  450. internal void NoteLastPickInfo(string sendText)
  451. {
  452. LastPickInfo = sendText;
  453. }
  454. internal void NoteLastPlaceInfo(string sendText)
  455. {
  456. LastPlaceInfo = sendText;
  457. }
  458. internal void NoteSevoOnOff(bool isOn)
  459. {
  460. SevoOnOff = isOn;
  461. }
  462. internal void NoteRawCommandInfo(string command, string data)
  463. {
  464. //var curIOResponse = IOResponseList.Find(res => res.SourceCommandName == command);
  465. //if (curIOResponse != null)
  466. //{
  467. // IOResponseList.Remove(curIOResponse);
  468. //}
  469. //IOResponseList.Add(new IOResponse() { SourceCommand = command, ResonseContent = data, ResonseRecievedTime = DateTime.Now });
  470. }
  471. protected override bool fStartLiftup(object[] param)
  472. {
  473. throw new NotImplementedException();
  474. }
  475. protected override bool fStartLiftdown(object[] param)
  476. {
  477. throw new NotImplementedException();
  478. }
  479. protected override bool fStartAlign(object[] param)
  480. {
  481. float.TryParse(param[0].ToString(), out float aligneAngle);
  482. if (Math.Abs(aligneAngle) < 0.01)
  483. {
  484. lock (_locker)
  485. {
  486. _lstHandler.AddLast(new SiasunAlignerAlignHandler(this));
  487. }
  488. }
  489. else
  490. {
  491. lock (_locker)
  492. {
  493. _lstHandler.AddLast(new SiasunAlignerRotateHandler(this, (float)aligneAngle));
  494. }
  495. }
  496. return true;
  497. }
  498. protected override bool fMonitorAligning(object[] param)
  499. {
  500. IsBusy = false;
  501. return _lstHandler.Count == 0 && !_connection.IsBusy;
  502. }
  503. protected override bool fStop(object[] param)
  504. {
  505. throw new NotImplementedException();
  506. }
  507. protected override bool FsmAbort(object[] param)
  508. {
  509. throw new NotImplementedException();
  510. }
  511. protected override bool fClear(object[] param)
  512. {
  513. throw new NotImplementedException();
  514. }
  515. protected override bool fStartReadData(object[] param)
  516. {
  517. switch (param[0].ToString())
  518. {
  519. case "QueryOffset":
  520. lock (_locker)
  521. {
  522. _lstHandler.AddLast(new SiasunAlignerQueryBiasHandler(this));
  523. }
  524. break;
  525. case "QueryWaferPresence":
  526. lock (_locker)
  527. {
  528. _lstHandler.AddLast(new SiasunAlignerQueryWaferPresentHandler(this));
  529. }
  530. break;
  531. }
  532. return true;
  533. }
  534. protected override bool fMonitorReadData(object[] param)
  535. {
  536. IsBusy = false;
  537. return _lstHandler.Count == 0 && !_connection.IsBusy;
  538. }
  539. protected override bool fStartSetParameters(object[] param)
  540. {
  541. var currentSetParameter = param[0].ToString();
  542. switch (currentSetParameter)
  543. {
  544. case "WaferSize":
  545. WaferSize currentSetWaferSize = (WaferSize)param[1];
  546. switch (currentSetWaferSize)
  547. {
  548. case WaferSize.WS12:
  549. lock (_locker)
  550. {
  551. _lstHandler.AddLast(new SiasunAlignerSimpleSetHandler(this, "SWS", "300"));
  552. }
  553. break;
  554. case WaferSize.WS8:
  555. lock (_locker)
  556. {
  557. _lstHandler.AddLast(new SiasunAlignerSimpleSetHandler(this, "SWS", "200"));
  558. }
  559. break;
  560. case WaferSize.WS6:
  561. lock (_locker)
  562. {
  563. _lstHandler.AddLast(new SiasunAlignerSimpleSetHandler(this, "SWS", "150"));
  564. }
  565. break;
  566. case WaferSize.WS4:
  567. lock (_locker)
  568. {
  569. _lstHandler.AddLast(new SiasunAlignerSimpleSetHandler(this, "SWS", "100"));
  570. }
  571. break;
  572. default:
  573. break;
  574. }
  575. break;
  576. case "AlignAngle":
  577. float.TryParse(param[1].ToString(), out float angle);
  578. lock (_locker)
  579. {
  580. _lstHandler.AddLast(new SiasunAlignerSimpleSetHandler(this, "SWAA", angle.ToString("f2")));
  581. }
  582. break;
  583. }
  584. return true;
  585. }
  586. protected override bool fMonitorSetParamter(object[] param)
  587. {
  588. IsBusy = false;
  589. return _lstHandler.Count == 0 && !_connection.IsBusy;
  590. }
  591. protected override bool fStartUnGrip(object[] param)
  592. {
  593. throw new NotImplementedException();
  594. }
  595. protected override bool fStartGrip(object[] param)
  596. {
  597. throw new NotImplementedException();
  598. }
  599. protected override bool fResetToReady(object[] param)
  600. {
  601. throw new NotImplementedException();
  602. }
  603. protected override bool fReset(object[] param)
  604. {
  605. throw new NotImplementedException();
  606. }
  607. protected override bool fStartInit(object[] param)
  608. {
  609. lock (_locker)
  610. {
  611. _lstHandler.AddLast(new SiasunAlignerSevoOnOffHandler(this, true));
  612. _lstHandler.AddLast(new SiasunAlignerQueryWaferPresentHandler(this));
  613. }
  614. return true;
  615. }
  616. protected override bool fMonitorInit(object[] param)
  617. {
  618. IsBusy = false;
  619. return _lstHandler.Count == 0 && !_connection.IsBusy;
  620. }
  621. protected override bool fError(object[] param)
  622. {
  623. throw new NotImplementedException();
  624. }
  625. #endregion
  626. }
  627. }