ZZ-EFEM/Framework/RTEquipmentLibrary1/HardwareUnits/Robots/JEL/JELC5000/JelC5000RobotZys.cs

using System;
using System.Collections.Generic;
using System.IO.Ports;
using System.Linq;
using System.Text;
using Aitex.Core.Common.DeviceData;
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.Common;
using Newtonsoft.Json;
using MECF.Framework.RT.EquipmentLibrary.HardwareUnits.Robots.RobotBase;
using MECF.Framework.Common.Equipment;
using MECF.Framework.Common.SubstrateTrackings;
using System.Threading;
using Aitex.Core.Common;
using Aitex.Core.RT.DataCenter;
using System.Text.RegularExpressions;
using MECF.Framework.RT.EquipmentLibrary.HardwareUnits.LoadPorts;
using MECF.Framework.RT.EquipmentLibrary.HardwareUnits.LoadPorts.LoadPortBase;
using MECF.Framework.Common.CommonData;
using MECF.Framework.RT.EquipmentLibrary.HardwareUnits.Flipper.FlipperBase;

namespace MECF.Framework.RT.EquipmentLibrary.HardwareUnits.Robots.JEL
{
    public class JelC5000RobotZys : JelC5000Robot
    {
      
        public JelC5000RobotZys(string module, string name, string scRoot, string robotModel = "") 
            : base(module, name,scRoot,robotModel)
        {
          
        }


        protected override bool fStartMapWafer(object[] param)
        {
            try
            {
                _dtActionStart = DateTime.Now;
                ModuleName tempmodule = (ModuleName)Enum.Parse(typeof(ModuleName), param[0].ToString());


                //int carrierindex = 0;
                WaferSize wz = WaferManager.Instance.GetWaferSize(tempmodule, 0);

                if (ModuleHelper.IsLoadPort(tempmodule))
                {
                    LoadPortBaseDevice lp = DEVICE.GetDevice<LoadPortBaseDevice>(tempmodule.ToString());

                    if (lp != null)
                        lp.NoteTransferStart();

                    wz = lp.GetCurrentWaferSize();
                }

                
                if (!GetBankAndCassetteNumber(tempmodule, wz, out int bankno, out int cassetteNO))
                {
                    EV.PostAlarmLog("Robot", $"{RobotModuleName} can't find the bankno or cassette no for {tempmodule}");
                    OnError("ParseStationError");
                    return false;
                }


                int compaundcmdNO = SC.GetValue<int>($"Robot.{Name}.{tempmodule}{wz}MapCmdNO");

                lock (_locker)
                {
                    _lstMonitorHandler.AddLast(new JelC5000RobotSetHandler(this, "BC", bankno.ToString("X")));
                    _lstMonitorHandler.AddLast(new JelC5000RobotSetHandler(this, "WCP", cassetteNO.ToString()));
                    _lstMonitorHandler.AddLast(new JelC5000RobotSetHandler(this, "WCD", "1"));
                    _lstMonitorHandler.AddLast(new JelC5000RobotReadHandler(this, "BC"));
                    _lstMonitorHandler.AddLast(new JelC5000RobotReadHandler(this, "WCP"));
                    _lstMonitorHandler.AddLast(new JelC5000RobotRawCommandHandler(this, $"RD"));


                }
                DateTime readstarttime = DateTime.Now;
                while (_lstMonitorHandler.Count != 0 || _connection.IsBusy)
                {
                    if (DateTime.Now - readstarttime > TimeSpan.FromSeconds(20))
                    {
                        OnError("Set Timeout.");
                        return false;
                    }
                }
                if (ReadBankNumber != bankno.ToString("X") || cassetteNO != ReadCassetNumber)
                {
                    OnError("Set data failed.");
                    return false;
                }
                lock (_locker)
                {
                    _lstMonitorHandler.AddLast(new JelC5000RobotCompaundCommandHandler(this, compaundcmdNO.ToString()));
                    _lstMonitorHandler.AddLast(new JelC5000RobotReadHandler(this, "G"));
                    _lstMonitorHandler.AddLast(new JelC5000RobotReadHandler(this, "WFK"));
                    _lstMonitorHandler.AddLast(new JelC5000RobotReadHandler(this, "WFW"));
                }
            }
            catch (Exception ex)
            {
                string reason = "";
                if (param != null)
                    foreach (var strpara in param)
                        reason += strpara.ToString();
                OnError($"{Name} Map command valid:" + reason);
                LOG.Write(ex);
                return false;
            }
            return true;

        }






    }

}