ZZ-EFEM/Framework/RTEquipmentLibrary1/HardwareUnits/Robots/YaskawaRobots/YaskawaRobotHhCcmc.cs

using Aitex.Core.Common;
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.Equipment;
using MECF.Framework.Common.SubstrateTrackings;
using MECF.Framework.RT.EquipmentLibrary.HardwareUnits.LoadPorts.LoadPortBase;
using MECF.Framework.RT.EquipmentLibrary.HardwareUnits.Robot;
using MECF.Framework.RT.EquipmentLibrary.HardwareUnits.Robots.RobotBase;
using System;
using System.Collections.Generic;
using System.Text;
using System.Threading;
using EventType = Aitex.Core.RT.Event.EventType;

namespace MECF.Framework.RT.EquipmentLibrary.HardwareUnits.Robots.YaskawaRobots
{
    public class YaskawaSR100RobotHhCcmc : YaskawaSR100Robot
    {

        public YaskawaSR100RobotHhCcmc(string module, string name, string scRoot, IoSensor[] dis, IoTrigger[] dos) : base(module, name, scRoot, dis, dos)
        {

        }

        protected override bool fStartPickWafer(object[] param)
        {

            IsOnReadyPosition = false;
            RobotArmEnum arm = (RobotArmEnum)param[0];
            ModuleName module = (ModuleName)Enum.Parse(typeof(ModuleName), param[1].ToString());

            if (!ModuleHelper.IsLoadPort(module))
            {
                return base.fStartPickWafer(param);
            }
            else
            {
                var lp = DEVICE.GetDevice<LoadPortBaseDevice>(module.ToString());

                if(!SC.GetValue<bool>($"CarrierInfo.Carrier{lp.InfoPadCarrierIndex}.EnableComplexPickAction"))
                {
                    return base.fStartPickWafer(param);
                }

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


            try
            {



                BladeTarget = module;
                Blade1Target = module;
                Blade2Target = module;
                int slot = (int)param[2] + 1;
                float x = 0, y = 0, z = 0, w = 0;
                if (param.Length > 3)
                {
                    x = (float)param[3];
                    y = (float)param[4];
                    z = (float)param[5];
                    w = (float)param[6];
                }

                string TrsSt = GetStationsName(module, true);
                if (string.IsNullOrEmpty(TrsSt))
                {
                    EV.PostAlarmLog("Robot", "Invalid Paramter.");
                    return false;
                }
                int intXvalue = Convert.ToInt32(x * 1000);
                int intYvalue = Convert.ToInt32(y * 1000);
                int intZvalue = Convert.ToInt32(z * 1000);
                int intWvalue = Convert.ToInt32(w * 1000);


                string strpara = $"G,{TrsSt},{slot:D2},A,{(arm == RobotArmEnum.Both ? "F" : ((int)arm + 1).ToString())},G4";
                if (x != 0 || y != 0 || z != 0)
                {
                    string strxoffset = intXvalue >= 0 ? $"{intXvalue:D8}" : $"{intXvalue:D7}";
                    string stryoffset = intYvalue >= 0 ? $"{intYvalue:D8}" : $"{intYvalue:D7}";
                    string strzoffset = intZvalue >= 0 ? $"{intZvalue:D8}" : $"{intZvalue:D7}";
                    string strwoffset = intWvalue >= 0 ? $"{intWvalue:D8}" : $"{intWvalue:D7}";
                    strpara += $",{strxoffset},{stryoffset},{strzoffset},{strwoffset}";
                }
                if (w != 0)
                {
                    strpara += $",{intWvalue:D8}";
                }
                lock (_locker)
                {

                    double exlength1 = SC.GetValue<double>($"Robot.{Name}.Extend1Distance");
                        double exlength2 = SC.GetValue<double>($"Robot.{Name}.Extend2Distance");
                        double outlength1 = SC.GetValue<double>($"Robot.{Name}.Out1Distance");
                        double outlength2 = SC.GetValue<double>($"Robot.{Name}.Out2Distance");

                        double lowOffset = SC.GetValue<double>($"Robot.{Name}.LowOffset");
                        double upOffset = SC.GetValue<double>($"Robot.{Name}.UpOffset");
                        double upOffset1 = SC.GetValue<double>($"Robot.{Name}.UpOffset1");
                        double downOffset = SC.GetValue<double>($"Robot.{Name}.DownOffset");

                        if (lowOffset > 5000 || upOffset > 3000 || upOffset1 > 3000 || downOffset > 6000)
                        {
                            EV.PostAlarmLog("Robot", "Z轴位置超限");
                            return false;
                        }

                        string arms = arm == RobotArmEnum.Both ? "F" : ((int)arm + 1).ToString();

                        _lstHandlers.AddLast(new SR100RobotMotionHandler(this, "MTRS", $"G,{TrsSt},{slot:D2},A,{arms},G1"));

                        _lstHandlers.AddLast(new SR100RobotMotionHandler(this, "MREL", $"Y,{arms},H,{exlength1}"));
                        _lstHandlers.AddLast(new SR100RobotMotionHandler(this, "MREL", $"Z,{arms},H,{lowOffset}"));
                        _lstHandlers.AddLast(new SR100RobotMotionHandler(this, "CSOL", $"{arms},1,0"));

                        _lstHandlers.AddLast(new SR100RobotMotionHandler(this, "MREL", $"Z,{arms},H,{upOffset1}"));

                        _lstHandlers.AddLast(new SR100RobotMotionHandler(this, "CSOL", $"{arms},1,0"));

                        _lstHandlers.AddLast(new SR100RobotMotionHandler(this, "MREL", $"Y,{arms},H,-{outlength1}"));
                        _lstHandlers.AddLast(new SR100RobotMotionHandler(this, "CSOL", $"{arms},0,0"));

                        _lstHandlers.AddLast(new SR100RobotMotionHandler(this, "MREL", $"Z,{arms},H,-{downOffset}"));
                        _lstHandlers.AddLast(new SR100RobotMotionHandler(this, "MREL", $"Y,{arms},H,{exlength2}"));
                        _lstHandlers.AddLast(new SR100RobotMotionHandler(this, "MREL", $"Z,{arms},H,{lowOffset}"));
                        _lstHandlers.AddLast(new SR100RobotMotionHandler(this, "CSOL", $"{arms},1,0"));

                        _lstHandlers.AddLast(new SR100RobotMotionHandler(this, "MREL", $"Z,{arms},H,{upOffset}"));
                        _lstHandlers.AddLast(new SR100RobotMotionHandler(this, "CSOL", $"{arms},1,0"));

                        _lstHandlers.AddLast(new SR100RobotMotionHandler(this, "MREL", $"Y,{arms},H,-{outlength2}"));

                    
                    
                }
                return true;
            }
            catch (Exception ex)
            {
                LOG.Write(ex);
                return false;
            }
        }
    }
}