ZZ-EFEM/Framework/RTEquipmentLibrary1/HardwareUnits/Robots/Hiwin/HiwinRobotHandler.cs

using MECF.Framework.Common.CommonData;
using MECF.Framework.Common.Communications;
using MECF.Framework.Common.Equipment;
using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Threading.Tasks;

namespace MECF.Framework.RT.EquipmentLibrary.HardwareUnits.Robots.HiWin
{
    public abstract class HiwinRobotHandler : HandlerBase
    {
        public HiwinRobot Device { get; set; }

        protected string _requestResponse = "";

        protected string _command;
        protected string _parameter;
        protected string _target;
        protected RobotArmEnum _blade;

        public HiwinRobotHandler(HiwinRobot device, string command, string parameter = null) : base(BuildMessage(command, parameter))
        {
            Device = device;
            _command = command;
            _parameter = parameter;
            Name = command;
        }

        public static string BuildMessage(string command, string parameter)
        {
            string msg = parameter == null ? $"{command}" : $"{command} {parameter}";

            return msg + "\r\n";
        }


        public override bool HandleMessage(MessageBase msg, out bool transactionComplete)
        {

            HiwinRobotMessage response = msg as HiwinRobotMessage;

            ResponseMessage = msg;

            if (response.IsError)
            {
                Device.NoteError(response.Data);
            }

            if (response.IsComplete)
            {
                SetState(EnumHandlerState.Completed);
                transactionComplete = true;
                return true;
            }
            if (response.IsResponse)
            {
                _requestResponse = response.Data;
            }

            //处理反馈信息
            transactionComplete = false;
            return false;
        }

    }

    /// <summary>
    /// 通用命令
    /// </summary>
    public class SunwayRobotRawCommandHandler : HiwinRobotHandler
    {
        public SunwayRobotRawCommandHandler(HiwinRobot device, string command, string parameter = null)
            : base(device, command, parameter)
        {
        }
        public override bool HandleMessage(MessageBase msg, out bool handled)
        {
            if (base.HandleMessage(msg, out handled))
            {
                var result = msg as HiwinRobotMessage;
                var rawMsg = _requestResponse != null ? _requestResponse + "$" + result.RawMessage : result.RawMessage;
                //Device.NoteRawCommandInfo(_command, rawMsg);
            }

            return true;
        }
    }

    public class HiwinRobotGetControllerStatusHandler : HiwinRobotHandler
    {
        //RESP,VAR.....
        public HiwinRobotGetControllerStatusHandler(HiwinRobot device, ModuleName module,int timeout=300)
            : base(device, "STAT")
        {
            AckTimeout = TimeSpan.FromSeconds(timeout);
            CompleteTimeout = TimeSpan.FromSeconds(timeout);
        }

        public override bool HandleMessage(MessageBase msg, out bool handled)
        {
            var result = msg as HiwinRobotMessage;
            if (result.IsError)
            {
                Device.NoteError(result.Data);
            }
            else
            {
                Device.NoteError(null);
            }

            ResponseMessage = msg;
            handled = true;
            //Device.NoteActionCompleted();
            return true;
        }
    }

    /// <summary>
    /// 读取机械臂全部错误
    /// </summary>
    public class HiwinRobotGetAllErrHandler : HiwinRobotHandler
    {
        //0000, 0000, 0001, 0001, 0001, 0000, 0000, 0000
        //0000, 0002, 0000, 0000, 0000, 0000, 0000, 0000
        public HiwinRobotGetAllErrHandler(HiwinRobot device, int timeout=300)
            : base(device, "ERR", $"0")
        {
            AckTimeout = TimeSpan.FromSeconds(timeout);
            CompleteTimeout = TimeSpan.FromSeconds(timeout);
        }

        public override bool HandleMessage(MessageBase msg, out bool handled)
        {
            var result = msg as HiwinRobotMessage;
            if (result.IsError)
            {
                Device.NoteError(result.Data);
            }
            else
            {
                Device.NoteError(null);
            }

            ResponseMessage = msg;
            handled = true;
            //Device.NoteActionCompleted();
            return true;
        }
    }


    /// <summary>
    /// 读取机械臂输入信息错误
    /// </summary>
    public class HiwinRobotGeInputErrHandler : HiwinRobotHandler
    {
        //RESP,VAR.....
        public HiwinRobotGeInputErrHandler(HiwinRobot device, ModuleName module,int timeout=300)
            : base(device, "ERR", $"1")
        {
            AckTimeout = TimeSpan.FromSeconds(timeout);
            CompleteTimeout = TimeSpan.FromSeconds(timeout);
        }

        public override bool HandleMessage(MessageBase msg, out bool handled)
        {
            var result = msg as HiwinRobotMessage;
            if (result.IsError)
            {
                Device.NoteError(result.Data);
            }
            else
            {
                Device.NoteError(null);
            }

            ResponseMessage = msg;
            handled = true;
            //Device.NoteActionCompleted();
            return true;
        }
    }

    /// <summary>
    /// 要求重置控制器
    /// </summary>
    public class HiwinRobotResetControllerErrHandler : HiwinRobotHandler
    {
        //RESP,VAR.....
        public HiwinRobotResetControllerErrHandler(HiwinRobot device, ModuleName module,int timeout=300)
            : base(device, "RES")
        {
            AckTimeout = TimeSpan.FromSeconds(timeout);
            CompleteTimeout = TimeSpan.FromSeconds(timeout);
        }

        public override bool HandleMessage(MessageBase msg, out bool handled)
        {
            var result = msg as HiwinRobotMessage;
            if (result.IsError)
            {
                Device.NoteError(result.Data);
            }
            else
            {
                Device.NoteError(null);
            }

            ResponseMessage = msg;
            handled = true;
            //Device.NoteActionCompleted();
            return true;
        }
    }

    /// <summary>
    /// 设置机械手轴运动速度
    /// </summary>
    public class HiwinRobotSetAxisVelocityHandler : HiwinRobotHandler
    {

        /// <summary>
        ///  设置机械手轴运动速度
        /// </summary>
        /// <param name="device"></param>
        /// <param name="module"></param>
        /// <param name="axis"></param>
        /// <param name="velocity"></param>
        public HiwinRobotSetAxisVelocityHandler(HiwinRobot device, ModuleName module, string axis, string velocity,int timeout=300)
            : base(device, "SSP", $"{axis},{velocity}")
        {
            AckTimeout = TimeSpan.FromSeconds(timeout);
            CompleteTimeout = TimeSpan.FromSeconds(timeout);
        }

        public override bool HandleMessage(MessageBase msg, out bool handled)
        {
            var result = msg as HiwinRobotMessage;
            if (result.IsError)
            {
                Device.NoteError(result.Data);
            }
            else
            {
                Device.NoteError(null);
            }

            ResponseMessage = msg;
            handled = true;
            //Device.NoteActionCompleted();
            return true;
        }
    }

    /// <summary>
    /// 设置机械手轴运动速度
    /// </summary>
    public class HiwinRobotSetSpeedHandler : HiwinRobotHandler
    {

        /// <summary>
        ///  设置机械手运动速度
        /// </summary>
        /// <param name="device"></param>
        /// <param name="module"></param>
        /// <param name="axis"></param>
        /// <param name="velocity"></param>
        public HiwinRobotSetSpeedHandler(HiwinRobot device, float speedPercent)
            : base(device, "SSPP", $"A,{speedPercent},{speedPercent},{speedPercent}")
        {
        }

        public override bool HandleMessage(MessageBase msg, out bool handled)
        {
            var result = msg as HiwinRobotMessage;
            if (result.IsError)
            {
                Device.NoteError(result.Data);
            }
            else
            {
                Device.NoteError(null);
            }

            ResponseMessage = msg;
            handled = true;
            //Device.NoteActionCompleted();
            return true;
        }
    }


    /// <summary>
    /// 设置机械手轴运动加速
    /// </summary>
    public class HiwinRobotSetAxisAccelerationHandler : HiwinRobotHandler
    {

        /// <summary>
        ///  设置机械手轴运动速度
        /// </summary>
        /// <param name="device"></param>
        /// <param name="module"></param>
        /// <param name="axis"></param>
        /// <param name="velocity"></param>
        public HiwinRobotSetAxisAccelerationHandler(HiwinRobot device, ModuleName module, string axis, string acceleration,int timeout=300)
            : base(device, "SAD", $"{axis},{acceleration}")
        {
            AckTimeout = TimeSpan.FromSeconds(timeout);
            CompleteTimeout = TimeSpan.FromSeconds(timeout);
        }

        public override bool HandleMessage(MessageBase msg, out bool handled)
        {
            var result = msg as HiwinRobotMessage;
            if (result.IsError)
            {
                Device.NoteError(result.Data);
            }
            else
            {
                Device.NoteError(null);
            }

            ResponseMessage = msg;
            handled = true;
            //Device.NoteActionCompleted();
            return true;
        }
    }

    /// <summary>
    /// 设置机械手轴运动加速
    /// </summary>
    public class HiwinRobotSetAxisDecelerationHandler : HiwinRobotHandler
    {

        /// <summary>
        ///  设置机械手轴运动速度
        /// </summary>
        /// <param name="device"></param>
        /// <param name="module"></param>
        /// <param name="axis"></param>
        /// <param name="velocity"></param>
        public HiwinRobotSetAxisDecelerationHandler(HiwinRobot device, ModuleName module, string axis, string deceleration,int timeout=300)
            : base(device, "SDL", $"{axis},{deceleration}")
        {
            AckTimeout = TimeSpan.FromSeconds(timeout);
            CompleteTimeout = TimeSpan.FromSeconds(timeout);
        }

        public override bool HandleMessage(MessageBase msg, out bool handled)
        {
            var result = msg as HiwinRobotMessage;
            if (result.IsError)
            {
                Device.NoteError(result.Data);
            }
            else
            {
                Device.NoteError(null);
            }

            ResponseMessage = msg;
            handled = true;
            //Device.NoteActionCompleted();
            return true;
        }
    }

    /// <summary>
    /// 打开或关闭机械手电机
    /// </summary>
    public class HiwinRobotOpeOrCloseMotorHandler : HiwinRobotHandler
    {

        /// <summary>
        ///  设置机械手轴运动速度
        /// </summary>
        /// <param name="device"></param>
        /// <param name="module"></param>
        /// <param name="isOpen"></param>
        /// <param name="axis"></param>
        public HiwinRobotOpeOrCloseMotorHandler(HiwinRobot device, ModuleName module, bool isOpen, string axis,int timeout=300)
            : base(device, isOpen ? "SVON" : "SVOFF", axis)
        {
            AckTimeout = TimeSpan.FromSeconds(timeout);
            CompleteTimeout = TimeSpan.FromSeconds(timeout);
        }

        public override bool HandleMessage(MessageBase msg, out bool handled)
        {
            var result = msg as HiwinRobotMessage;
            if (result.IsError)
            {
                Device.NoteError(result.Data);
            }
            else
            {
                Device.NoteError(null);
            }

            ResponseMessage = msg;
            handled = true;
            //Device.NoteActionCompleted();
            return true;
        }
    }

    /// <summary>
    /// 移动机械手至绝对位置
    /// </summary>
    public class HiwinRobotAxisMoveAbsoluteHandler : HiwinRobotHandler
    {

        /// <summary>
        ///  设置机械手轴运动速度
        /// </summary>
        /// <param name="device"></param>
        /// <param name="module"></param>
        /// <param name="axis"></param>
        /// <param name="position"></param>
        public HiwinRobotAxisMoveAbsoluteHandler(HiwinRobot device, ModuleName module, string axis, int position,int timeout=300)
            : base(device, "MOVA", $"{axis},{position}")
        {
            AckTimeout = TimeSpan.FromSeconds(timeout);
            CompleteTimeout = TimeSpan.FromSeconds(timeout);
        }

        public override bool HandleMessage(MessageBase msg, out bool handled)
        {
            var result = msg as HiwinRobotMessage;
            if (result.IsError)
            {
                Device.NoteError(result.Data);
            }
            else
            {
                Device.NoteError(null);
            }

            ResponseMessage = msg;
            handled = true;
            //Device.NoteActionCompleted();
            return true;
        }
    }


    /// <summary>
    /// 移动机械手至相对位置
    /// </summary>
    public class HiwinRobotAxisMoveRelativeHandler : HiwinRobotHandler
    {

        /// <summary>
        ///  设置机械手轴运动速度
        /// </summary>
        /// <param name="device"></param>
        /// <param name="module"></param>
        /// <param name="axis"></param>
        /// <param name="position"></param>
        public HiwinRobotAxisMoveRelativeHandler(HiwinRobot device, ModuleName module, string axis, int position,int timeout=300)
            : base(device, "MOVR", $"{axis},{position}")
        {
            AckTimeout = TimeSpan.FromSeconds(timeout);
            CompleteTimeout = TimeSpan.FromSeconds(timeout);
        }

        public override bool HandleMessage(MessageBase msg, out bool handled)
        {
            var result = msg as HiwinRobotMessage;
            if (result.IsError)
            {
                Device.NoteError(result.Data);
            }
            else
            {
                Device.NoteError(null);
            }

            ResponseMessage = msg;
            handled = true;
            //Device.NoteActionCompleted();
            return true;
        }
    }

    /// <summary>
    /// 移动机械手轴移动X,Y位置
    /// </summary>
    public class HiwinRobotAxisMoveXYHandler : HiwinRobotHandler
    {

        /// <summary>
        ///  设置机械手轴运动速度
        /// </summary>
        /// <param name="device"></param>
        /// <param name="module"></param>
        /// <param name="axis"></param>
        /// <param name="x"></param>
        /// <param name="y"></param>
        public HiwinRobotAxisMoveXYHandler(HiwinRobot device, ModuleName module, string axis, int x, int y,int timeout=300)
            : base(device, "MOVXY", $"{axis},{x},{y}")
        {
            AckTimeout = TimeSpan.FromSeconds(timeout);
            CompleteTimeout = TimeSpan.FromSeconds(timeout);
        }

        public override bool HandleMessage(MessageBase msg, out bool handled)
        {
            var result = msg as HiwinRobotMessage;
            if (result.IsError)
            {
                Device.NoteError(result.Data);
            }
            else
            {
                Device.NoteError(null);
            }

            ResponseMessage = msg;
            handled = true;
            //Device.NoteActionCompleted();
            return true;
        }
    }

    /// <summary>
    /// 停止机械手轴移动
    /// </summary>
    public class HiwinRobotAxisStopMoveHandler : HiwinRobotHandler
    {

        /// <summary>
        ///  停止机械手轴移动
        /// </summary>
        /// <param name="device"></param>
        /// <param name="module"></param>
        /// <param name="axis"></param>
        public HiwinRobotAxisStopMoveHandler(HiwinRobot device, ModuleName module)
            : base(device, "ABM")
        {
        }

        public override bool HandleMessage(MessageBase msg, out bool handled)
        {
            var result = msg as HiwinRobotMessage;
            if (result.IsError)
            {
                Device.NoteError(result.Data);
            }
            else
            {
                Device.NoteError(null);
            }

            ResponseMessage = msg;
            handled = true;
            //Device.NoteActionCompleted();
            return true;
        }
    }

    /// <summary>
    /// 机械手特定轴归原点
    /// </summary>
    public class HiwinRobotAxisHomeHandler : HiwinRobotHandler
    {

        /// <summary>
        ///  停止机械手轴移动
        /// </summary>
        /// <param name="device"></param>
        /// <param name="module"></param>
        /// <param name="axis"></param>
        public HiwinRobotAxisHomeHandler(HiwinRobot device, ModuleName module, string axis,int timeout=300)
            : base(device, "HOME", $"{axis}")
        {
            AckTimeout = TimeSpan.FromSeconds(timeout);
            CompleteTimeout = TimeSpan.FromSeconds(timeout);
        }

        public override bool HandleMessage(MessageBase msg, out bool handled)
        {
            var result = msg as HiwinRobotMessage;
            if (result.IsError)
            {
                Device.NoteError(result.Data);
            }
            else
            {
                Device.NoteError(null);
            }

            ResponseMessage = msg;
            handled = true;
            //Device.NoteActionCompleted();
            return true;
        }
    }

    /// <summary>
    /// 机械手全轴归原点
    /// </summary>
    public class HiwinRobotHomeALLHandler : HiwinRobotHandler
    {

        /// <summary>
        ///  停止机械手轴移动
        /// </summary>
        /// <param name="device"></param>
        /// <param name="module"></param>
        public HiwinRobotHomeALLHandler(HiwinRobot device, ModuleName module,int timeout=300)
            : base(device, "HOM")
        {
            AckTimeout = TimeSpan.FromSeconds(timeout);
            CompleteTimeout = TimeSpan.FromSeconds(timeout);
        }

        public override bool HandleMessage(MessageBase msg, out bool handled)
        {
            var result = msg as HiwinRobotMessage;
            if (result.IsError)
            {
                Device.NoteError(result.Data);
            }
            else
            {
                Device.NoteError(null);
            }

            ResponseMessage = msg;
            handled = true;
            //Device.NoteActionCompleted();
            return true;
        }
    }

    /// <summary>
    /// 设置机器晶舟站点坐标（第一组坐标）
    /// </summary>
    public class HiwinRobotSetBoatStationHandler : HiwinRobotHandler
    {
        /// <summary>
        /// 机器晶舟站点坐标
        /// </summary>
        /// <param name="device"></param>
        /// <param name="module"></param>
        /// <param name="station">A-Z,AA-AZ---GA-GZ</param>
        ///<param name="coordinateT"></param>
        ///<param name="coordinateR"></param>
        ///<param name="coordinateZ"></param>
        public HiwinRobotSetBoatStationHandler(HiwinRobot device, ModuleName module, string station, int coordinateT, int coordinateR, int coordinateZ, int coordinateH,int timeout=300)
            : base(device, "SPC", $"{station},{coordinateT},{coordinateR}{coordinateZ},{coordinateH}")
        {
            AckTimeout = TimeSpan.FromSeconds(timeout);
            CompleteTimeout = TimeSpan.FromSeconds(timeout);
        }

        public override bool HandleMessage(MessageBase msg, out bool handled)
        {
            var result = msg as HiwinRobotMessage;
            if (result.IsError)
            {
                Device.NoteError(result.Data);
            }
            else
            {
                Device.NoteError(null);
            }

            ResponseMessage = msg;
            handled = true;
            //Device.NoteActionCompleted();
            return true;
        }
    }

    /// <summary>
    /// 设置机器晶舟站点坐标（第一组坐标）
    /// </summary>
    public class HiwinRobotSetBoatStation2Handler : HiwinRobotHandler
    {
        /// <summary>
        /// 机器晶舟站点坐标
        /// </summary>
        /// <param name="device"></param>
        /// <param name="module"></param>
        /// <param name="station">A-Z,AA-AZ---GA-GZ</param>
        /// <param name="coordinate"></param>
        public HiwinRobotSetBoatStation2Handler(HiwinRobot device, ModuleName module, string station, int coordinateT, int coordinateR,int timeout=300)
            : base(device, "SPC2", $"{station},{coordinateT},{coordinateR}")
        {
            AckTimeout = TimeSpan.FromSeconds(timeout);
            CompleteTimeout = TimeSpan.FromSeconds(timeout);
        }

        public override bool HandleMessage(MessageBase msg, out bool handled)
        {
            var result = msg as HiwinRobotMessage;
            if (result.IsError)
            {
                Device.NoteError(result.Data);
            }
            else
            {
                Device.NoteError(null);
            }

            ResponseMessage = msg;
            handled = true;
            //Device.NoteActionCompleted();
            return true;
        }
    }

    /// <summary>
    /// 机器晶元扫描坐标，例如：SVON,SOOF,MOVA,MOVR
    /// </summary>
    public class HiWinScanCoordinateHandler : HiwinRobotHandler
    {
        //
        public HiWinScanCoordinateHandler(HiwinRobot device, ModuleName module, string station, int coordinateT, int coordinateR, int coordinateZ,int timeout=300)
            : base(device, "SPSC", $"{station},{coordinateT}，{coordinateR},{coordinateZ}")
        {
            AckTimeout = TimeSpan.FromSeconds(timeout);
            CompleteTimeout = TimeSpan.FromSeconds(timeout);
        }

        public override bool HandleMessage(MessageBase msg, out bool handled)
        {
            var result = msg as HiwinRobotMessage;
            if (result.IsError)
            {
                Device.NoteError(result.Data);
            }
            else
            {
                Device.NoteError(null);
            }

            ResponseMessage = msg;
            handled = true;
            //Device.NoteActionCompleted();
            return true;
        }
    }
    public class HiwinRobotQueryWaferPresentHandler : HiwinRobotHandler
    {
        //INPUT A,1
        //0 = 有片
        //1 = 没片
        public HiwinRobotQueryWaferPresentHandler(HiwinRobot device)
            : base(device, "INPUT A,1")
        {
        }

        public override bool HandleMessage(MessageBase msg, out bool handled)
        {
            var result = msg as HiwinRobotMessage;
            if (result.IsError)
            {
                Device.NoteError(result.Data);
            }
            else
            {
                Device.NoteError(null);
                if (result.Data == "0")
                    Device.IsWaferPresenceOnBlade1 = true;
                if (result.Data == "1")
                    Device.IsWaferPresenceOnBlade1 = false;
            }

            ResponseMessage = msg;
            handled = true;
            //Device.NoteActionCompleted();
            return true;
        }
    }
    public class HiwinRobotGetMapResultHandler : HiwinRobotHandler
    {
        //RSR
        //0100001000100000000000000    2,7,11有片
        //0122301000100000000000000    3,4斜放；5叠片
        public HiwinRobotGetMapResultHandler(HiwinRobot device)
            : base(device, "PSR")
        {
        }

        public override bool HandleMessage(MessageBase msg, out bool handled)
        {
            var result = msg as HiwinRobotMessage;
            if (result.IsError)
            {
                Device.NoteError(result.Data);
            }
            else
            {
                Device.NoteError(null);
            }

            ResponseMessage = msg;
            handled = true;
            //Device.NoteActionCompleted();
            return true;
        }
    }
    /// <summary>
    /// 机器晶元扫描动作，例如：MAP,a
    /// </summary>
    public class HiWinWaferScanActionHandler : HiwinRobotHandler
    {
        //
        public HiWinWaferScanActionHandler(HiwinRobot device, string station,int timeout=300)
            : base(device, "MAP", $"{station}")
        {
            AckTimeout = TimeSpan.FromSeconds(timeout);
            CompleteTimeout = TimeSpan.FromSeconds(timeout);
        }

        public override bool HandleMessage(MessageBase msg, out bool handled)
        {
            var result = msg as HiwinRobotMessage;
            if (result.IsError)
            {
                Device.NoteError(result.Data);
            }
            else
            {
                Device.NoteError(null);
                Device.MapResult = result.Data;
            }

            ResponseMessage = msg;
            handled = true;
            //Device.NoteActionCompleted();
            return true;
        }
    }

    /// <summary>
    /// 机器晶元扫描移动，例如：SVON,SOOF,MOVA,MOVR
    /// </summary>
    public class HiWinScanMoveHandler : HiwinRobotHandler
    {
        //
        public HiWinScanMoveHandler(HiwinRobot device, ModuleName module, string station,int timeout=300)
            : base(device, "MAPST", $"{station}")
        {
            AckTimeout = TimeSpan.FromSeconds(timeout);
            CompleteTimeout = TimeSpan.FromSeconds(timeout);
        }

        public override bool HandleMessage(MessageBase msg, out bool handled)
        {
            var result = msg as HiwinRobotMessage;
            if (result.IsError)
            {
                Device.NoteError(result.Data);
            }
            else
            {
                Device.NoteError(null);
            }

            ResponseMessage = msg;
            handled = true;
            //Device.NoteActionCompleted();
            return true;
        }
    }
}