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- using Aitex.Sorter.Common;
- using MECF.Framework.Common.CommonData;
- using MECF.Framework.Common.Communications;
- using MECF.Framework.Common.Equipment;
- using Newtonsoft.Json.Linq;
- using System;
- using System.Linq;
- using System.Text;
- namespace MECF.Framework.RT.EquipmentLibrary.HardwareUnits.Robots.SiasunPhoenixB
- {
- public abstract class RobotSiasunPhoenixBHandler : HandlerBase
- {
- public RobotSiasunPhoenixB Device { get; }
- public bool HasResponse { get; set; } = true;
- protected string _command;
- protected string _parameter;
- protected string _target;
- protected RobotArmEnum _blade;
- protected string _requestResponse = "";
- protected RobotSiasunPhoenixBHandler(RobotSiasunPhoenixB device, string command, string parameter = null)
- : base(BuildMessage(command, parameter))
- {
- Device = device;
- _command = command;
- _parameter = parameter;
- Name = command;
- }
- private static string BuildMessage(string command, string parameter)
- {
- string msg = parameter == null ? $"{command}" : $"{command} {parameter}";
- return msg + "\r";
- }
- public override bool HandleMessage(MessageBase msg, out bool transactionComplete)
- {
- RobotSiasunPhoenixBMessage response = msg as RobotSiasunPhoenixBMessage;
- ResponseMessage = msg;
- if (response.IsError)
- {
- Device.NoteError(response.Data);
- }
- if (response.IsComplete)
- {
- SetState(EnumHandlerState.Completed);
- transactionComplete = true;
- return true;
- }
- if (response.IsResponse)
- {
- _requestResponse = response.Data;
- }
- transactionComplete = false;
- return false;
- }
- }
- public class RobotSiasunPhoenixBRawCommandHandler : RobotSiasunPhoenixBHandler
- {
- public RobotSiasunPhoenixBRawCommandHandler(RobotSiasunPhoenixB device, string command, string parameter = null)
- : base(device, command, parameter)
- {
- }
- public override bool HandleMessage(MessageBase msg, out bool handled)
- {
- if (base.HandleMessage(msg, out handled))
- {
- var result = msg as RobotSiasunPhoenixBMessage;
- var rawMsg = _requestResponse != null ? _requestResponse + "$" + result.RawMessage : result.RawMessage;
- Device.NoteRawCommandInfo(_command, rawMsg);
- }
- return true;
- }
- }
- public class RobotSiasunPhoenixBGotoHandler : RobotSiasunPhoenixBHandler
- {
- //GOTO N station [R (EX|RE)] [Z (UP|DN)] [SLOT num] [[ARM] arm]
- public RobotSiasunPhoenixBGotoHandler(RobotSiasunPhoenixB device, ModuleName module, int slot, RobotArmEnum blade,
- bool isRetract = true, bool isZaxisDown = true, int timeout = 60)
- : base(device, "GOTO", $"N {device.ModuleAssociateStationDic[module.ToString()]} R {(isRetract ? "RE" : "EX")}" +
- $" Z {(isZaxisDown ? "DN" : "UP")} SLOT {slot} ARM {(blade == RobotArmEnum.Blade1 ? "A" : "B")}")
- {
- AckTimeout = TimeSpan.FromSeconds(timeout);
- CompleteTimeout = TimeSpan.FromSeconds(timeout);
- _target = (blade == RobotArmEnum.Blade2 ? "ArmB" : "ArmA") + "." + module;
- _blade = blade;
- device.MoveInfo = new RobotMoveInfo()
- {
- Action = isRetract ? RobotAction.Moving : RobotAction.Picking,
- ArmTarget = blade == RobotArmEnum.Blade1 ? RobotArm.ArmA : RobotArm.ArmB,
- BladeTarget = _target,
- };
- }
- public override bool HandleMessage(MessageBase msg, out bool handled)
- {
- var result = msg as RobotSiasunPhoenixBMessage;
- if (result.IsError)
- {
- Device.NoteError(result.Data);
- }
- else
- {
- Device.NoteError(null);
- }
- ResponseMessage = msg;
- handled = true;
- Device.NoteActionCompleted();
- return true;
- }
- }
- public class RobotSiasunPhoenixBPickHandler : RobotSiasunPhoenixBHandler
- {
- //PICK station [SLOT slot] [[ARM] arm][ENRT|STRT NR][RO x TO x]
- public RobotSiasunPhoenixBPickHandler(RobotSiasunPhoenixB device, string module, int slot, RobotArmEnum blade,
- int ro = 0, int to = 0, int timeout = 60, bool isDisableInterlock = false)
- : base(device, "PICK", $"{device.ModuleAssociateStationDic[module]} SLOT {slot}" +
- $" ARM {(blade == RobotArmEnum.Blade1 ? "A" : "B")}{(ro == 0 ? "" : $" RO {ro}")}{(to == 0 ? "" : $" TO {to}")}{(isDisableInterlock ? " INTLCK DIS" : "")}")
- {
- AckTimeout = TimeSpan.FromSeconds(timeout);
- CompleteTimeout = TimeSpan.FromSeconds(timeout);
- var moduleArr = module.Split('.');
- _target = (blade == RobotArmEnum.Blade2 ? "ArmB" : "ArmA") + "." + moduleArr[0];
- _blade = blade;
- device.MoveInfo = new RobotMoveInfo()
- {
- Action = RobotAction.Picking,
- ArmTarget = blade == RobotArmEnum.Blade2 ? RobotArm.ArmB : RobotArm.ArmA, //blade == RobotArmEnum.Blade1 ? RobotArm.ArmA : RobotArm.ArmB,
- BladeTarget = _target,
- };
- }
- public override bool HandleMessage(MessageBase msg, out bool handled)
- {
- var result = msg as RobotSiasunPhoenixBMessage;
- if (result.IsError)
- {
- Device.NoteError(result.Data);
- }
- else
- {
- Device.NoteError(null);
- Device.MoveInfo = new RobotMoveInfo()
- {
- Action = RobotAction.Moving,
- ArmTarget = _blade == RobotArmEnum.Blade1 ? RobotArm.ArmA : RobotArm.ArmB,
- BladeTarget = _target,
- };
- }
- ResponseMessage = msg;
- handled = true;
- Device.NoteActionCompleted();
- return true;
- }
- }
- public class RobotSiasunPhoenixBPickExtendHandler : RobotSiasunPhoenixBHandler
- {
- //PICK station [SLOT slot] [[ARM] arm][ENRT|STRT NR][RO x TO x]
- public RobotSiasunPhoenixBPickExtendHandler(RobotSiasunPhoenixB device, ModuleName module, int slot, RobotArmEnum blade,
- int ro = 0, int to = 0, int timeout = 60, bool isDisableInterlock = false)
- : base(device, "PICK", $"{device.ModuleAssociateStationDic[module.ToString()]} SLOT {slot}" +
- $" ARM {(blade == RobotArmEnum.Blade1 ? "A" : "B")} ENRT NR {(ro == 0 ? "" : $" RO {ro}")}{(to == 0 ? "" : $" TO {to}")}{(isDisableInterlock ? " INTLCK DIS" : "")}")
- {
- AckTimeout = TimeSpan.FromSeconds(timeout);
- CompleteTimeout = TimeSpan.FromSeconds(timeout);
- _target = (blade == RobotArmEnum.Blade2 ? "ArmB" : "ArmA") + "." + module;
- _blade = blade;
- device.MoveInfo = new RobotMoveInfo()
- {
- Action = RobotAction.Picking,
- ArmTarget = blade == RobotArmEnum.Blade2 ? RobotArm.ArmB : RobotArm.ArmA, //blade == RobotArmEnum.Blade1 ? RobotArm.ArmA : RobotArm.ArmB,
- BladeTarget = _target,
- };
- }
- public override bool HandleMessage(MessageBase msg, out bool handled)
- {
- var result = msg as RobotSiasunPhoenixBMessage;
- if (result.IsError)
- {
- Device.NoteError(result.Data);
- }
- else
- {
- Device.NoteError(null);
- }
- ResponseMessage = msg;
- handled = true;
- Device.NoteActionCompleted();
- return true;
- }
- }
- public class RobotSiasunPhoenixBPickRetractHandler : RobotSiasunPhoenixBHandler
- {
- //PICK station [SLOT slot] [[ARM] arm][ENRT|STRT NR][RO x TO x]
- public RobotSiasunPhoenixBPickRetractHandler(RobotSiasunPhoenixB device, ModuleName module, int slot, RobotArmEnum blade, int ro = 0, int to = 0, int timeout = 60, bool isDisableInterlock = false)
- : base(device, "PICK", $"{device.ModuleAssociateStationDic[module.ToString()]} SLOT {slot} ARM {(blade == RobotArmEnum.Blade1 ? "A" : "B")} STRT NR {(ro == 0 ? "" : $" RO {ro}")}{(to == 0 ? "" : $" TO {to}")}{(isDisableInterlock ? " INTLCK DIS" : "")}")
- {
- AckTimeout = TimeSpan.FromSeconds(timeout);
- CompleteTimeout = TimeSpan.FromSeconds(timeout);
- _target = (blade == RobotArmEnum.Blade2 ? "ArmB" : "ArmA") + "." + module;
- _blade = blade;
- device.MoveInfo = new RobotMoveInfo()
- {
- Action = RobotAction.Moving,
- ArmTarget = blade == RobotArmEnum.Blade1 ? RobotArm.ArmA : RobotArm.ArmB,
- BladeTarget = _target,
- };
- }
- public override bool HandleMessage(MessageBase msg, out bool handled)
- {
- var result = msg as RobotSiasunPhoenixBMessage;
- if (result.IsError)
- {
- Device.NoteError(result.Data);
- }
- else
- {
- Device.NoteError(null);
- }
- ResponseMessage = msg;
- handled = true;
- Device.NoteActionCompleted();
- return true;
- }
- }
- public class RobotSiasunPhoenixBPlaceHandler : RobotSiasunPhoenixBHandler
- {
- public RobotSiasunPhoenixBPlaceHandler(RobotSiasunPhoenixB device, string module, int slot, RobotArmEnum blade,
- int ro = 0, int to = 0, int timeout = 60, bool isDisableInterlock = false)
- : base(device, "PLACE", $"{device.ModuleAssociateStationDic[module]} SLOT {slot}" +
- $" ARM {(blade == RobotArmEnum.Blade1 ? "A" : "B")}{(ro == 0 ? "" : $" RO {ro}")}{(to == 0 ? "" : $" TO {to}")}{(isDisableInterlock ? " INTLCK DIS" : "")}")
- {
- AckTimeout = TimeSpan.FromSeconds(timeout);
- CompleteTimeout = TimeSpan.FromSeconds(timeout);
- var moduleArr = module.Split('.');
- _target = (blade == RobotArmEnum.Blade2 ? "ArmB" : "ArmA") + "." + moduleArr[0];
- _blade = blade;
- device.MoveInfo = new RobotMoveInfo()
- {
- Action = RobotAction.Placing,
- ArmTarget = blade == RobotArmEnum.Blade2 ? RobotArm.ArmB : RobotArm.ArmA,//RobotArmEnum.Blade1 ? RobotArm.ArmA : RobotArm.ArmB,
- BladeTarget = _target,
- };
- }
- public override bool HandleMessage(MessageBase msg, out bool handled)
- {
- var result = msg as RobotSiasunPhoenixBMessage;
- if (result.IsError)
- {
- Device.NoteError(result.Data);
- }
- else
- {
- Device.NoteError(null);
- Device.MoveInfo = new RobotMoveInfo()
- {
- Action = RobotAction.Moving,
- ArmTarget = _blade == RobotArmEnum.Blade1 ? RobotArm.ArmA : RobotArm.ArmB,
- BladeTarget = _target,
- };
- }
- ResponseMessage = msg;
- handled = true;
- Device.NoteActionCompleted();
- return true;
- }
- }
- public class RobotSiasunPhoenixBPlaceExtendHandler : RobotSiasunPhoenixBHandler
- {
- public RobotSiasunPhoenixBPlaceExtendHandler(RobotSiasunPhoenixB device, ModuleName module, int slot, RobotArmEnum blade, int ro = 0, int to = 0, int timeout = 60, bool isDisableInterlock = false)
- : base(device, "PLACE", $"{device.ModuleAssociateStationDic[module.ToString()]} SLOT {slot} ARM {(blade == RobotArmEnum.Blade1 ? "A" : "B")} ENRT NR {(ro == 0 ? "" : $" RO {ro}")}{(to == 0 ? "" : $" TO {to}")}{(isDisableInterlock ? " INTLCK DIS" : "")}")
- {
- AckTimeout = TimeSpan.FromSeconds(timeout);
- CompleteTimeout = TimeSpan.FromSeconds(timeout);
- _target = (blade == RobotArmEnum.Blade2 ? "ArmB" : "ArmA") + "." + module;
- _blade = blade;
- device.MoveInfo = new RobotMoveInfo()
- {
- Action = RobotAction.Placing,
- ArmTarget = blade == RobotArmEnum.Blade1 ? RobotArm.ArmA : RobotArm.ArmB,
- BladeTarget = _target,
- };
- }
- public override bool HandleMessage(MessageBase msg, out bool handled)
- {
- var result = msg as RobotSiasunPhoenixBMessage;
- if (result.IsError)
- {
- Device.NoteError(result.Data);
- }
- else
- {
- Device.NoteError(null);
- }
- ResponseMessage = msg;
- handled = true;
- Device.NoteActionCompleted();
- return true;
- }
- }
- public class RobotSiasunPhoenixBPlaceRetractHandler : RobotSiasunPhoenixBHandler
- {
- public RobotSiasunPhoenixBPlaceRetractHandler(RobotSiasunPhoenixB device, ModuleName module, int slot, RobotArmEnum blade, int ro = 0, int to = 0, int timeout = 60, bool isDisableInterlock = false)
- : base(device, "PLACE", $"{device.ModuleAssociateStationDic[module.ToString()]} SLOT {slot} ARM {(blade == RobotArmEnum.Blade1 ? "A" : "B")} STRT NR {(ro == 0 ? "" : $" RO {ro}")}{(to == 0 ? "" : $" TO {to}")}{(isDisableInterlock ? " INTLCK DIS" : "")}")
- {
- AckTimeout = TimeSpan.FromSeconds(timeout);
- CompleteTimeout = TimeSpan.FromSeconds(timeout);
- _target = (blade == RobotArmEnum.Blade2 ? "ArmB" : "ArmA") + "." + module;
- _blade = blade;
- device.MoveInfo = new RobotMoveInfo()
- {
- Action = RobotAction.Moving,
- ArmTarget = blade == RobotArmEnum.Blade1 ? RobotArm.ArmA : RobotArm.ArmB,
- BladeTarget = _target,
- };
- }
- public override bool HandleMessage(MessageBase msg, out bool handled)
- {
- var result = msg as RobotSiasunPhoenixBMessage;
- if (result.IsError)
- {
- Device.NoteError(result.Data);
- }
- else
- {
- Device.NoteError(null);
- }
- ResponseMessage = msg;
- handled = true;
- Device.NoteActionCompleted();
- return true;
- }
- }
- public class RobotSiasunPhoenixBTransferHandler : RobotSiasunPhoenixBHandler
- {
- //XFER [[ARM]arm] station-a station-b
- public RobotSiasunPhoenixBTransferHandler(RobotSiasunPhoenixB device, int fromStation, int toStation, RobotArmEnum blade, int timeout)
- : base(device, "XFER", $"ARM {(blade == RobotArmEnum.Blade1 ? "A" : "B")} {fromStation} {toStation}")
- {
- AckTimeout = TimeSpan.FromSeconds(timeout);
- CompleteTimeout = TimeSpan.FromSeconds(timeout);
- }
- public override bool HandleMessage(MessageBase msg, out bool handled)
- {
- var result = msg as RobotSiasunPhoenixBMessage;
- if (result.IsError)
- {
- Device.NoteError(result.Data);
- }
- else
- {
- Device.NoteError(null);
- }
- ResponseMessage = msg;
- handled = true;
- Device.NoteActionCompleted();
- return true;
- }
- }
- public class RobotSiasunPhoenixBRetractHandler : RobotSiasunPhoenixBHandler
- {
- public RobotSiasunPhoenixBRetractHandler(RobotSiasunPhoenixB device, int timeout)
- : base(device, "RETRACT")
- {
- AckTimeout = TimeSpan.FromSeconds(timeout);
- CompleteTimeout = TimeSpan.FromSeconds(timeout);
- }
- public override bool HandleMessage(MessageBase msg, out bool handled)
- {
- var result = msg as RobotSiasunPhoenixBMessage;
- if (result.IsError)
- {
- Device.NoteError(result.Data);
- }
- else
- {
- Device.NoteError(null);
- }
- ResponseMessage = msg;
- handled = true;
- Device.NoteActionCompleted();
- return true;
- }
- }
- public class RobotSiasunPhoenixBResetHandler : RobotSiasunPhoenixBHandler
- {
- //RESET
- public RobotSiasunPhoenixBResetHandler(RobotSiasunPhoenixB device)
- : base(device, "RESET")
- {
- HasResponse = false;
- }
- //no return message
- public override bool HandleMessage(MessageBase msg, out bool handled)
- {
- handled = true;
- return true;
- }
- }
- public class RobotSiasunPhoenixBHaltHandler : RobotSiasunPhoenixBHandler
- {
- public RobotSiasunPhoenixBHaltHandler(RobotSiasunPhoenixB device)
- : base(device, "HALT")
- {
- }
- public override bool HandleMessage(MessageBase msg, out bool handled)
- {
- var result = msg as RobotSiasunPhoenixBMessage;
- if (result.IsError)
- {
- Device.NoteError(result.Data);
- }
- else
- {
- Device.NoteError(null);
- }
- ResponseMessage = msg;
- handled = true;
- return true;
- }
- }
- public class RobotSiasunPhoenixBSetCommunicationEchoHandler : RobotSiasunPhoenixBHandler
- {
- public RobotSiasunPhoenixBSetCommunicationEchoHandler(RobotSiasunPhoenixB device, bool isEchoOn)
- : base(device, "SET COMM ECHO", isEchoOn ? "ON" : "OFF")
- {
- }
- public override bool HandleMessage(MessageBase msg, out bool handled)
- {
- if (base.HandleMessage(msg, out handled))
- {
- Device.NoteSetCommEchoCompleted(true);
- }
- return true;
- }
- }
- public class RobotSiasunPhoenixBSetLoadHandler : RobotSiasunPhoenixBHandler
- {
- public RobotSiasunPhoenixBSetLoadHandler(RobotSiasunPhoenixB device, RobotArmEnum blade, bool isWaferPresent)
- : base(device, "SET LOAD", $"{(blade == RobotArmEnum.Blade1 ? "A" : "B")} {(isWaferPresent ? "ON" : "OFF")}")
- {
- }
- public override bool HandleMessage(MessageBase msg, out bool handled)
- {
- if (base.HandleMessage(msg, out handled))
- {
- Device.NoteSetParametersComplete();
- }
- return true;
- }
- }
- public class RobotSiasunPhoenixBSevoOnOffHandler : RobotSiasunPhoenixBHandler
- {
- public RobotSiasunPhoenixBSevoOnOffHandler(RobotSiasunPhoenixB device, bool isOn)
- : base(device, isOn ? "SVON" : "SVOFF")
- {
- }
- public override bool HandleMessage(MessageBase msg, out bool handled)
- {
- var result = msg as RobotSiasunPhoenixBMessage;
- if (result.IsError)
- {
- Device.NoteError(result.Data);
- }
- else
- {
- Device.NoteError(null);
- Device.NoteSevoOnOff(_command == "SVON");
- }
- ResponseMessage = msg;
- handled = true;
- return true;
- }
- }
- public class RobotSiasunPhoenixBHomeAxisHandler : RobotSiasunPhoenixBHandler
- {
- public RobotSiasunPhoenixBHomeAxisHandler(RobotSiasunPhoenixB device, int timeout)
- : base(device, "HOME", "ALL")
- {
- AckTimeout = TimeSpan.FromSeconds(timeout);
- CompleteTimeout = TimeSpan.FromSeconds(timeout);
- device.MoveInfo = new RobotMoveInfo()
- {
- Action = RobotAction.Moving,
- ArmTarget = RobotArm.Both,
- BladeTarget = "ArmA.System",
- };
- }
- public override bool HandleMessage(MessageBase msg, out bool handled)
- {
- var result = msg as RobotSiasunPhoenixBMessage;
- if (result.IsError)
- {
- Device.NoteError(result.Data);
- }
- else
- {
- Device.NoteError(null);
- Device.NoteAxisHomed();
- }
- ResponseMessage = msg;
- handled = true;
- return true;
- }
- }
- public class RobotSiasunPhoenixBCheckLoadHandler : RobotSiasunPhoenixBHandler
- {
- //CHECK LOAD station [[ARM] arm]
- //_RDY
- public RobotSiasunPhoenixBCheckLoadHandler(RobotSiasunPhoenixB device, int station, RobotArmEnum blade, int timeout)
- : base(device, "CHECK LOAD", $"{station} {(blade == RobotArmEnum.Blade1 ? "A" : "B")}")
- {
- AckTimeout = TimeSpan.FromSeconds(timeout);
- CompleteTimeout = TimeSpan.FromSeconds(timeout);
- }
- public override bool HandleMessage(MessageBase msg, out bool handled)
- {
- RobotSiasunPhoenixBMessage response = msg as RobotSiasunPhoenixBMessage;
- ResponseMessage = msg;
- handled = false;
- if (response.IsError)
- {
- Device.NoteError(response.Data);
- }
- if (response.IsResponse)
- {
- _requestResponse = response.Data;
- }
- if (response.IsComplete)
- {
- SetState(EnumHandlerState.Completed);
- handled = true;
- Device.NoteReadDataComplete();
- return true;
- }
- return true;
- }
- }
- public class RobotSiasunPhoenixBQueryWaferPresentHandler : RobotSiasunPhoenixBHandler
- {
- public RobotSiasunPhoenixBQueryWaferPresentHandler(RobotSiasunPhoenixB device, RobotArmEnum blade)
- : base(device, "RQ LOAD", blade == RobotArmEnum.Blade1 ? "A" : "B")
- {
- }
- public override bool HandleMessage(MessageBase msg, out bool handled)
- {
- RobotSiasunPhoenixBMessage response = msg as RobotSiasunPhoenixBMessage;
- ResponseMessage = msg;
- handled = false;
- if (response.IsError)
- {
- Device.NoteError(response.Data);
- }
- if (response.IsResponse)
- {
- _requestResponse = response.Data;
- }
- if (_requestResponse != null && _requestResponse.Contains(" B"))
- {
- Device.NoteWafeOnOff("B", _requestResponse.ToUpper().Contains("ON"), _requestResponse.ToUpper().Contains("UNKNOW"));
- }
- else if (_requestResponse != null && _requestResponse.Contains(" A"))
- {
- Device.NoteWafeOnOff("A", _requestResponse.ToUpper().Contains("ON"), _requestResponse.ToUpper().Contains("UNKNOW"));
- }
- if (response.IsComplete)
- {
- SetState(EnumHandlerState.Completed);
- handled = true;
- Device.NoteReadDataComplete();
- return true;
- }
- return true;
- }
- }
- public class RobotSiasunPhoenixBRequestWaferCentDataHandler : RobotSiasunPhoenixBHandler
- {
- public RobotSiasunPhoenixBRequestWaferCentDataHandler(RobotSiasunPhoenixB device)
- : base(device, "RQ WAF_CEN DATA")
- {
- }
- public override bool HandleMessage(MessageBase msg, out bool handled)
- {
- RobotSiasunPhoenixBMessage response = msg as RobotSiasunPhoenixBMessage;
- ResponseMessage = msg;
- handled = false;
- if (response.IsError)
- {
- Device.NoteError(response.Data);
- }
- if (response.IsResponse)
- {
- _requestResponse = response.Data;
- }
- //WAF_CEN RT value1x value1y value4x value4y LFT value2x value2y value3x value3y offset_r offset_t
- Device.NoteWafeCenData(_requestResponse);
- if (response.IsComplete)
- {
- SetState(EnumHandlerState.Completed);
- handled = true;
- Device.NoteReadDataComplete();
- return true;
- }
- return true;
- }
- }
- public class RobotSiasunPhoenixBSetWaferCentModeHandler : RobotSiasunPhoenixBHandler
- {
- //SET WAF_CEN MODE SINGLE_SENS|RL_SENS
- public RobotSiasunPhoenixBSetWaferCentModeHandler(RobotSiasunPhoenixB device, bool isSingleSensorMode)
- : base(device, "SET WAF_CEN MODE", isSingleSensorMode ? "SINGLE_SENS" : "RL_SENS")
- {
- }
- public override bool HandleMessage(MessageBase msg, out bool handled)
- {
- if (base.HandleMessage(msg, out handled))
- {
- Device.NoteSetParametersComplete();
- }
- return true;
- }
- }
- public class RobotSiasunPhoenixBSetWaferCentEnableHandler : RobotSiasunPhoenixBHandler
- {
- //SET STN station [[ARM]arm] WAF_CEN ENABLE Y|N
- public RobotSiasunPhoenixBSetWaferCentEnableHandler(RobotSiasunPhoenixB device, int station, RobotArmEnum blade, bool isEnable)
- : base(device, "SET STN", $"{station} ARM {(blade == RobotArmEnum.Blade1 ? "A" : "B")} WAF_CEN ENABLE {(isEnable ? "Y" : "N")}")
- {
- }
- public override bool HandleMessage(MessageBase msg, out bool handled)
- {
- if (base.HandleMessage(msg, out handled))
- {
- Device.NoteSetParametersComplete();
- }
- return true;
- }
- }
- public class RobotSiasunPhoenixBSetWaferCentWaferSizeHandler : RobotSiasunPhoenixBHandler
- {
- //SET STN station [[ARM]arm] WAF_CEN WAF_SIZE value
- //SET STN 1 ARM A WAF_CEN WAF_SIZE 300000
- public RobotSiasunPhoenixBSetWaferCentWaferSizeHandler(RobotSiasunPhoenixB device, int station, RobotArmEnum blade, int waferSize)
- : base(device, "SET STN", $"{station} ARM {(blade == RobotArmEnum.Blade1 ? "A" : "B")} WAF_CEN WAF_SIZE {waferSize}")
- {
- }
- public override bool HandleMessage(MessageBase msg, out bool handled)
- {
- if (base.HandleMessage(msg, out handled))
- {
- Device.NoteSetParametersComplete();
- }
- return true;
- }
- }
- public class RobotSiasunPhoenixBSetWaferCentAutoNotchHandler : RobotSiasunPhoenixBHandler
- {
- //SET STN station [[ARM]arm] WAF_CEN AUTO_NOTCH Y|N
- //SET STN 1 ARM A WAF_CEN WAF_SIZE 300000
- public RobotSiasunPhoenixBSetWaferCentAutoNotchHandler(RobotSiasunPhoenixB device, int station, RobotArmEnum blade, bool isAutoNotch)
- : base(device, "SET STN", $"{station} ARM {(blade == RobotArmEnum.Blade1 ? "A" : "B")} WAF_CEN AUTO_NOTCH {(isAutoNotch ? "Y" : "N")}")
- {
- }
- public override bool HandleMessage(MessageBase msg, out bool handled)
- {
- if (base.HandleMessage(msg, out handled))
- {
- Device.NoteSetParametersComplete();
- }
- return true;
- }
- }
- #region Aligner
- public class RobotSiasunPhoenixBTransferAndAlignHandler : RobotSiasunPhoenixBHandler
- {
- //XFER [[ARM] arm] station [SLOT num] station [SLOT num] ALGN
- public RobotSiasunPhoenixBTransferAndAlignHandler(RobotSiasunPhoenixB device, int fromStation, int formSlot, int toStation, int toSlot, Hand blade)
- : base(device, "XFER", $"ARM {(blade == Hand.Blade1 ? "A" : "B")} {fromStation} SLOT {formSlot} {toStation} SLOT {toSlot} ALGN")
- {
- }
- }
- public class RobotSiasunPhoenixBAlignAndPickHandler : RobotSiasunPhoenixBHandler
- {
- //PICK station [SLOT num] [[ARM] arm][ENRT|STRT NR][RO x TO x][ALGN][PALGN]
- //align and then pick it
- public RobotSiasunPhoenixBAlignAndPickHandler(RobotSiasunPhoenixB device, int alignerStation, int alignerSlot, Hand blade, int ro = 0, int to = 0)
- : base(device, "PICK", $" {alignerStation} SLOT {alignerSlot} ARM {(blade == Hand.Blade1 ? "A" : "B")}{(ro == 0 ? "" : $" RO {ro}")}{(to == 0 ? "" : $" TO {to}")} ALGN")
- {
- }
- }
- public class RobotSiasunPhoenixBPlaceAndAlignHandler : RobotSiasunPhoenixBHandler
- {
- //PLACEstation [SLOT num] [[ARM] arm][ENRT|STRT NR][RO x TO x][ALGN]
- //place to aligner and align
- public RobotSiasunPhoenixBPlaceAndAlignHandler(RobotSiasunPhoenixB device, int alignerStation, int alignerSlot, Hand blade, int ro = 0, int to = 0)
- : base(device, "PLACE", $" {alignerStation} SLOT {alignerSlot} ARM {(blade == Hand.Blade1 ? "A" : "B")}{(ro == 0 ? "" : $" RO {ro}")}{(to == 0 ? "" : $" TO {to}")} ALGN")
- {
- }
- }
- //两个aligner怎么区分
- public class RobotSiasunPhoenixBRequestAlignerOffsetHandler : RobotSiasunPhoenixBHandler
- {
- //RQ ALGN 00 OFFSETS
- //RO 0.000 TO 0.000
- //_RDY
- public RobotSiasunPhoenixBRequestAlignerOffsetHandler(RobotSiasunPhoenixB device)
- : base(device, "RQ ALGN 00 OFFSETS")
- {
- }
- }
- //两个aligner怎么区分
- public class RobotSiasunPhoenixBRequestAlignerWaferPresentHandler : RobotSiasunPhoenixBHandler
- {
- //RQ ALIGNER RQWPRS
- //WFR PRS YES/NO
- //_RDY
- public RobotSiasunPhoenixBRequestAlignerWaferPresentHandler(RobotSiasunPhoenixB device)
- : base(device, "RQ ALIGNER RQWPRS")
- {
- }
- }
- //默认选用哪个index对应的angle?
- public class RobotSiasunPhoenixBSetAlignerAlignAngleHandler : RobotSiasunPhoenixBHandler
- {
- //SET ALIGNER 1 POSTPOS %i POS %i
- //_RDY
- //eg. SET ALIGNER 1 POSTPOS 1 POS 27.1
- public RobotSiasunPhoenixBSetAlignerAlignAngleHandler(RobotSiasunPhoenixB device, int alignerID, int index, int angle)
- : base(device, "SET ALIGNER", $"{alignerID} POSTPOS {index} POS {angle}")
- {
- }
- public override bool HandleMessage(MessageBase msg, out bool handled)
- {
- if (base.HandleMessage(msg, out handled))
- {
- Device.NoteSetParametersComplete();
- }
- return true;
- }
- }
- #endregion
- }
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