ZZ-EFEM/Framework/RTEquipmentLibrary1/HardwareUnits/LoadPorts/HirataII/HirataIILoadPortHandler.cs

using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Threading;
using System.Threading.Tasks;
using Aitex.Core.Common.DeviceData;
using Aitex.Core.RT.Event;
using Aitex.Core.RT.Log;
using Aitex.Sorter.Common;
using MECF.Framework.Common.Communications;

namespace MECF.Framework.RT.EquipmentLibrary.HardwareUnits.LoadPorts.HirataII
{
    public class HirataIILoadPortHandler : HandlerBase
    {
        public HirataIILoadPort Device { get; set; }
        public string Command;
        protected HirataIILoadPortHandler(HirataIILoadPort device, string command, string para) : base(BuildMesage(command, para))
        {
            Device = device;
            Command = command;
            Name = command;
        }
        public static string BuildMesage(string data, string para)
        {
            List<byte> ret = new List<byte>();

            ret.Add(0x1);

            List<byte> cmd = new List<byte>();
            foreach (char c in data)
            {
                cmd.Add((byte)c);
            }
            //cmd.Add((byte)(':'));    //3A
            if (!string.IsNullOrEmpty(para))
                foreach (char c in para)
                {
                    cmd.Add((byte)c);
                }
            cmd.Add((byte)(';'));  //3B

            int length = cmd.Count + 4;

            int checksum = length + 0x30 + 0x30;
            foreach (byte bvalue in cmd)
            {
                checksum += bvalue;
            }
            byte[] byteschecksum = Encoding.ASCII.GetBytes(Convert.ToString((int)((byte)(checksum & 0xFF)), 16));

            byte[] blength = BitConverter.GetBytes((short)length);
            ret.Add(blength[1]);
            ret.Add(blength[0]);
            //ret.AddRange(new byte[] { 0x30, 0x30 });
            ret.AddRange(new byte[] { 0x30, 0x30 });
            ret.AddRange(cmd);
            ret.AddRange(byteschecksum);
            ret.Add(0xD);
            return Encoding.ASCII.GetString(ret.ToArray());
        }
        public override bool HandleMessage(MessageBase msg, out bool transactionComplete)
        {
            HirataIILoadPortMessage response = msg as HirataIILoadPortMessage;
            ResponseMessage = msg;
            transactionComplete = false;
            if (response.IsAck)
            {
                SetState(EnumHandlerState.Acked);
                transactionComplete = true;
            }

            if (response.IsError)
            {
                SetState(EnumHandlerState.Completed);
                transactionComplete = true;
            }
            if (response.IsNak)
            {
                SetState(EnumHandlerState.Completed);
                transactionComplete = true;
            }
            if (response.IsEvent)
            {
                SendAck();
                if (response.Command.Contains(Command))
                {
                    SetState(EnumHandlerState.Completed);
                    transactionComplete = true;
                }

            }

            return true;
        }

        public void HandleEvent(string content)
        {

        }
        public void SendAck()
        {
            //Device.Connection.SendMessage(new byte[] { 0x06 });
        }

        public void Retry()
        {

        }
        public virtual bool PaseData(byte[] data)
        {
            return true;
        }
    }

    public class HirataIISetHandler : HirataIILoadPortHandler
    {
        private string setcommand;
        public HirataIISetHandler(HirataIILoadPort device, string command, string para) : base(device, BuildData(command), para)
        {
            setcommand = command;
        }
        private static string BuildData(string command)
        {
            return "SET:" + command;
        }
        public override bool HandleMessage(MessageBase msg, out bool transactionComplete)
        {
            HirataIILoadPortMessage response = msg as HirataIILoadPortMessage;
            ResponseMessage = msg;
            //Device.TaExecuteSuccss = true;
            transactionComplete = false;
            if (response.IsAck)
            {
                SetState(EnumHandlerState.Acked);
                //transactionComplete = false;
                transactionComplete = true;
            }
            if (response.IsBusy)
            {
                SetState(EnumHandlerState.Completed);
                transactionComplete = true;
            }
            if (response.IsNak)
            {
                SetState(EnumHandlerState.Completed);

                transactionComplete = true;
                //ParseError(response.Data);
            }
            if (response.IsError)
            {
                SetState(EnumHandlerState.Completed);

                transactionComplete = true;

            }
            if (response.IsEvent)
            {
                SendAck();
                if (response.Command.Contains(setcommand))
                {
                    SetState(EnumHandlerState.Completed);
                    transactionComplete = true;
                }

                else
                    HandleEvent(response.Command);
                transactionComplete = true;
            }
            if (setcommand == "RESET")
            {
                transactionComplete = true;
            }
            return true;
        }
    }

    public class HirataIIGetHandler : HirataIILoadPortHandler
    {
        public HirataIIGetHandler(HirataIILoadPort device, string command, string para) : base(device, BuildData(command), para)
        {

        }
        private static string BuildData(string command)
        {
            return "GET:" + command;
        }
        public override bool HandleMessage(MessageBase msg, out bool transactionComplete)
        {
            HirataIILoadPortMessage response = msg as HirataIILoadPortMessage;
            ResponseMessage = msg;
            //Device.TaExecuteSuccss = true;
            transactionComplete = false;
            if (response.IsAck)
            {
                SetState(EnumHandlerState.Acked);
                transactionComplete = true;
                ParseData(response.Command);
            }

            if (response.IsNak)
            {
                SetState(EnumHandlerState.Completed);
                transactionComplete = true;
                //ParseError(response.Data);
            }



            return true;
        }


        public void ParseData(string cmddata)
        {

            if (cmddata.Contains("STATE"))
            {
                byte[] data = Encoding.ASCII.GetBytes(cmddata.Replace("STATE/", ""));
                if (data.Length < 20) return;
                Device.SystemStatus = (TDKSystemStatus)data[0];
                Device.Mode = (TDKMode)data[1];
                Device.InitPosMovement = (TDKInitPosMovement)data[2];
                Device.OperationStatus = (TDKOperationStatus)data[3];
                Device.ErrorCode = Encoding.ASCII.GetString(new byte[] { data[4],data[5] }) ;
                
                Device.ContainerStatus = (TDKContainerStatus)data[6];
                Device.ClampPosition = (TDKPosition)data[7];
                Device.LPDoorLatchPosition = (TDKPosition)data[8];
                Device.VacuumStatus = (TDKVacummStatus)data[9];
                Device.LPDoorState = (TDKPosition)data[10];
                Device.WaferProtrusion = (TDKWaferProtrusion)data[11];
                Device.ElevatorAxisPosition = (TDKElevatorAxisPosition)data[12];
                Device.DockPosition = (TDKDockPosition)data[13];


                Device.MapperPostion = (TDKMapPosition)data[14];
                Device.MappingStatus = (TDKMappingStatus)data[17];
                Device.Model = (TDKModel)data[18];

                Device.IsError = Device.SystemStatus != TDKSystemStatus.Normal;
                Device.ErrorCode = Encoding.ASCII.GetString(new byte[] { data[4], data[5] });
                LoadportCassetteState st = LoadportCassetteState.None;
                if (Device.ContainerStatus == TDKContainerStatus.Absence) st = LoadportCassetteState.Absent;
                if (Device.ContainerStatus == TDKContainerStatus.NormalMount) st = LoadportCassetteState.Normal;
                if (Device.ContainerStatus == TDKContainerStatus.MountError) st = LoadportCassetteState.Unknown;
                Device.SetCassetteState(st);

                if (Device.ClampPosition == TDKPosition.Close)
                    Device.ClampState = FoupClampState.Close;
                else if (Device.ClampPosition == TDKPosition.Open)
                    Device.ClampState = FoupClampState.Open;
                else if (Device.ClampPosition == TDKPosition.TBD)
                    Device.ClampState = FoupClampState.Unknown;

                if (Device.LPDoorState == TDKPosition.Close)
                    Device.DoorState = FoupDoorState.Close;
                if (Device.LPDoorState == TDKPosition.Open)
                    Device.DoorState = FoupDoorState.Open;
                if (Device.LPDoorState == TDKPosition.TBD)
                    Device.DoorState = FoupDoorState.Unknown;

                Device.DockState = ConvertTDKDockPositin(Device.DockPosition);  // Load port dock state

                if (Device.ElevatorAxisPosition == TDKElevatorAxisPosition.UP)
                    Device.DoorPosition = FoupDoorPostionEnum.Up;
                if (Device.ElevatorAxisPosition == TDKElevatorAxisPosition.Down)
                    Device.DoorPosition = FoupDoorPostionEnum.Down; // = TDKZ_AxisPos.Down;
                if (Device.ElevatorAxisPosition == TDKElevatorAxisPosition.MappingEndPos)
                    Device.DoorPosition = FoupDoorPostionEnum.MapEnd;// = TDKZ_AxisPos.End;
                if (Device.ElevatorAxisPosition == TDKElevatorAxisPosition.MappingStartPos)
                    Device.DoorPosition = FoupDoorPostionEnum.MapStart;// = TDKZ_AxisPos.Start;
                if (Device.ElevatorAxisPosition == TDKElevatorAxisPosition.TBD)
                    Device.DoorPosition = FoupDoorPostionEnum.Unknown;// = TDKZ_AxisPos.Unknown;

                //int infopadstatus = Convert.ToInt16($"0x{Encoding.ASCII.GetString(new byte[] { data[19] })}", 16);
                //if ((infopadstatus & 1) != 0) Device.IsInfoPadAOn = true;
                //else Device.IsInfoPadAOn = false;
                //if ((infopadstatus & 2) != 0) Device.IsInfoPadBOn = true;
                //else Device.IsInfoPadBOn = false;
                //if ((infopadstatus & 4) != 0) Device.IsInfoPadCOn = true;
                //else Device.IsInfoPadCOn = false;
                //if ((infopadstatus & 8) != 0) Device.IsInfoPadDOn = true;
                //else Device.IsInfoPadDOn = false;

                //Device.InfoPadSensorIndex = (Device.IsInfoPadAOn ? 8 : 0) + (Device.IsInfoPadBOn ? 4 : 0) +
                //    (Device.IsInfoPadCOn ? 2 : 0) + (Device.IsInfoPadDOn ? 1 : 0);
              


            }
            if (cmddata.Contains("VERSN/"))
            {

            }
            if (cmddata.Contains("LEDST/"))
            {
                char[] ledstate = cmddata.Replace("LEDST/", "").ToArray();
                if (ledstate.Length == 9)
                {
                  IndicatorState[] lpledstate = new IndicatorState[]
                  {
                    Device.IndicatiorLoad,
                    Device.IndicatiorUnload,
                    Device.IndicatiorAccessManual,
                    Device.IndicatiorPresence,
                    Device.IndicatiorPlacement,
                    Device.IndicatiorAccessAuto,
                    Device.IndicatiorStatus1,
                    Device.IndicatorAlarm,
                   };
                    for (int i = 0; i < (lpledstate.Length > ledstate.Length ? ledstate.Length : lpledstate.Length); i++)
                    {
                        if (ledstate[i] == '0') lpledstate[i] = IndicatorState.OFF;
                        if (ledstate[i] == '1') lpledstate[i] = IndicatorState.ON;
                        if (ledstate[i] == '2') lpledstate[i] = IndicatorState.BLINK;
                    }
                }
                else
                {
                   IndicatorState[] lpledstate = new IndicatorState[]
                   {
                    Device.IndicatiorPresence,
                    Device.IndicatiorPlacement,
                    Device.IndicatiorLoad,
                    Device.IndicatiorUnload,
                    Device.IndicatiorOpAccess,
                    Device.IndicatiorStatus1,
                    Device.IndicatiorStatus2,
                    };
                    for (int i = 0; i < (lpledstate.Length > ledstate.Length ? ledstate.Length : lpledstate.Length); i++)
                    {
                        if (ledstate[i] == '0') lpledstate[i] = IndicatorState.OFF;
                        if (ledstate[i] == '1') lpledstate[i] = IndicatorState.ON;
                        if (ledstate[i] == '2') lpledstate[i] = IndicatorState.BLINK;
                    }
                }                         
            }
            if (cmddata.Contains("MAPRD/"))
            {
                string str1 = cmddata.Replace("MAPRD/", "");
                


                Device.OnSlotMapRead(str1);
            }
            if (cmddata.Contains("WFCNT/"))
            {

                Device.WaferCount = Convert.ToInt16(cmddata.Replace("WFCNT/", ""));
            }
            if (cmddata.Contains("MDAH/"))
            {

            }
            if (cmddata.Contains("LPIOI/"))
            {
                Device.ParseLPIO(cmddata);
            }
            if(cmddata.Contains("FSBxx/"))
            {
                if (cmddata.Contains("ON"))
                    Device.IsFosbModeActual = true;
                if (cmddata.Contains("OF"))
                    Device.IsFosbModeActual = false;
            }
        }

        private FoupDockState ConvertTDKDockPositin(TDKDockPosition dockPosition)
        {
            if (dockPosition == TDKDockPosition.Dock) return FoupDockState.Docked;
            if (dockPosition == TDKDockPosition.Undock) return FoupDockState.Undocked;
            return FoupDockState.Unknown;
        }
    }

    public class HirataIIModHandler : HirataIILoadPortHandler
    {
        public HirataIIModHandler(HirataIILoadPort device, string command, string para) : base(device, BuildData(command), para)
        {

        }
        private static string BuildData(string command)
        {
            return "MOD:" + command;
        }
        public override bool HandleMessage(MessageBase msg, out bool transactionComplete)
        {
            HirataIILoadPortMessage response = msg as HirataIILoadPortMessage;
            ResponseMessage = msg;
            //Device.TaExecuteSuccss = true;
            transactionComplete = false;
            if (response.IsAck)
            {
                SetState(EnumHandlerState.Acked);
                transactionComplete = true;
            }

            if (response.IsNak)
            {
                SetState(EnumHandlerState.Completed);
                transactionComplete = true;
                //ParseError(response.Data);
            }



            return true;
        }


        public void ParseData(byte[] cmd)
        {


        }
    }

    public class HirataIIMoveHandler : HirataIILoadPortHandler
    {
        private string moveCommand;
        public HirataIIMoveHandler(HirataIILoadPort device, string command, string para) : base(device, BuildData(command), para)
        {
            moveCommand = command;
        }
        private static string BuildData(string command)
        {
            return "MOV:" + command;
        }
        public override bool HandleMessage(MessageBase msg, out bool transactionComplete)
        {
            HirataIILoadPortMessage response = msg as HirataIILoadPortMessage;
            ResponseMessage = msg;
            //Device.TaExecuteSuccss = true;
            transactionComplete = false;
            if (response.IsAck)
            {
                SetState(EnumHandlerState.Acked);
                transactionComplete = false;
            }

            if (response.IsNak)
            {
                
                SetState(EnumHandlerState.Completed);
                transactionComplete = true;
                //ParseError(response.Data);
            }
            if (response.IsError)
            {
                
                SetState(EnumHandlerState.Completed);
                transactionComplete = true;
            }
            if (response.IsEvent)
            {
                if (response.Command.Contains("ORGSH") || response.Command.Contains("ABORG"))
                {
                    Device.OnHomed();
                }
                if (response.Command.Contains(moveCommand))
                {
                    SetState(EnumHandlerState.Completed);
                    transactionComplete = true;
                }
            }

            return true;
        }


        public void ParseData(byte[] cmd)
        {


        }
    }


    public class HirataIIMoveToReadCarrierIDHandler : HirataIILoadPortHandler
    {
        private string moveCommand;
        public HirataIIMoveToReadCarrierIDHandler(HirataIILoadPort device) : base(device, BuildData(),null)
        {
            moveCommand = "FCCTP";
        }
        private static string BuildData()
        {
            return "MOV:FCCTP";
        }
        public override bool HandleMessage(MessageBase msg, out bool transactionComplete)
        {
            HirataIILoadPortMessage response = msg as HirataIILoadPortMessage;
            ResponseMessage = msg;
            //Device.TaExecuteSuccss = true;
            transactionComplete = false;
            if (response.IsAck)
            {
                SetState(EnumHandlerState.Acked);
                transactionComplete = false;
            }

            if (response.IsNak)
            {

                SetState(EnumHandlerState.Completed);
                transactionComplete = true;
                //ParseError(response.Data);
            }
            if (response.IsError)
            {

                SetState(EnumHandlerState.Completed);
                transactionComplete = true;
            }
            if (response.IsEvent)
            {
                if (Device.CurrentReader != null)
                    Device.CurrentReader.ReadCarrierID();
                Thread.Sleep(10000);
                if (response.Command.Contains("ORGSH") || response.Command.Contains("ABORG"))
                {
                    Device.OnHomed();
                }
                if (response.Command.Contains(moveCommand))
                {
                    SetState(EnumHandlerState.Completed);
                    transactionComplete = true;
                }
            }

            return true;
        }


        public void ParseData(byte[] cmd)
        {


        }
    }

}