ZZ-EFEM/Jet/Jet_001_2P_Jet/EfemUI/Views/Maintenance/RobotView.xaml.cs

using System.Collections.Generic;
using System.Windows;
using System.Windows.Controls;
using System.Windows.Input;
using Aitex.Core.Common;
using Aitex.Core.UI.MVVM;
using Aitex.Core.UI.View.Common;
using Aitex.Core.Util;
using Aitex.Sorter.Common;
using Aitex.Sorter.UI.Controls;
using Aitex.Sorter.UI.Controls.Common;
using Aitex.Sorter.UI.ViewModel.Maintenance;
using EfemUI.Controls;
using MECF.Framework.Common.Equipment;
using MECF.Framework.Common.OperationCenter;

namespace EfemUI.Views.Maintenance
{
    /// <summary>
    /// RobotView.xaml 的交互逻辑
    /// </summary>
    public partial class RobotView : UserControl, IBaseView
    {
        private RobotViewModel robotViewModel;

        public RobotView()
        {
            InitializeComponent();

            robotViewModel = new RobotViewModel2();
            //efem.SubscribeKeys(robotViewModel);
            //robotControl.Hands = new Hand[] { Hand.Blade1, Hand.Blade2 };
            //robotControl.SubscribeKeys(robotViewModel);

            DataContext = robotViewModel;
            IsVisibleChanged += Robot_IsVisibleChanged;
        }

        private void Robot_IsVisibleChanged(object sender, DependencyPropertyChangedEventArgs e)
        {
            robotViewModel.EnableTimer(IsVisible);
        }
    }

    public class RobotViewModel2 : RobotViewModel
    {
        public bool EnablePageControl
        {
            get { return !IsOnlineMode; }
        }

        [Subscription("System.Robot.ReadCassetNumber")]
        public string ReadCassetNumber { get; set; }
        [Subscription("System.Robot.ReadSlotNumber")]
        public string ReadSlotNumber { get; set; }
        [Subscription("System.Robot.ReadBankNumber")]
        public string ReadBankNumber { get; set; }


        [Subscription("System.Robot.MappingFirstSlotPosition")]
        public string MappingFirstSlotPosition { get; set; }
        [Subscription("System.Robot.MappingGateWidth")]
        public string MappingGateWidth { get; set; }

        [Subscription("System.Robot.MappingMaxDetectWidth")]
        public string MappingMaxDetectWidth { get; set; }

        [Subscription("System.Robot.MappingMinDetectWidth")]
        public string MappingMinDetectWidth { get; set; }

        [Subscription("System.Robot.MappingSlotsNumber")]
        public string MappingSlotsNumber { get; set; }

        [Subscription("System.Robot.MappingSpeed")]
        public string MappingSpeed { get; set; }

        [Subscription("System.Robot.MappingStopPostion")]
        public string MappingStopPostion { get; set; }

        [Subscription("System.Robot.MappingTopSlotPostion")]
        public string MappingTopSlotPostion { get; set; }


        [Subscription("System.Robot.IsMappingSensorON")]
        public string IsMappingSensorON { get; set; }

        [Subscription("System.Robot.MappingWaferResult")]
        public string MappingWaferResult { get; set; }


        [Subscription("System.Robot.MappingWidthResult")]
        public string MappingWidthResult { get; set; }









        [Subscription("System.Robot.ReadParameterMax")]
        public string ReadParameterMax { get; set; }
        [Subscription("System.Robot.ReadParameterMin")]
        public string ReadParameterMin { get; set; }
        [Subscription("System.Robot.ReadParameterValue")]
        public string ReadParameterValue { get; set; }


        [Subscription("System.Robot.CurrentReadRoutine")]
        public string CurrentReadRoutine { get; set; }

        //[Subscription("System.Robot.CurrentReadSpeedData")]
        //public int CurrentReadSpeedData { get; set; }

        [Subscription("System.Robot.RobotSpeed")]
        public int CurrentReadSpeedData { get; set; }

        [Subscription("System.Robot.CurrentReadAData")]
        public int CurrentReadAData { get; set; }

        [Subscription("System.Robot.Axis1Postion")]
        public string RobotPositionX
        {
            get;set;
        }
        [Subscription("System.Robot.Axis2Postion")]
        public string RobotPositionY
        {
            get; set;
        }
        [Subscription("System.Robot.Axis3Postion")]
        public string RobotPositionZ
        {
            get; set;
        }
        [Subscription("System.Robot.Axis4Postion")]
        public string RobotPositionW
        {
            get; set;
        }

        [Subscription("System.Robot.LeftarmAndZaxisStatus")]
        public string LeftarmAndZaxisStatus
        {
            get; set;
        }
        [Subscription("System.Robot.RightarmAndThetaarmStatus")]
        public string RightarmAndThetaarmStatus
        {
            get; set;
        }
        [Subscription("System.Robot.IsLeftArmPressureSensorON")]
        public bool IsLeftArmPressureSensorON
        {
            get; set;
        }
        [Subscription("System.Robot.IsRightArmPressureSensorON")]
        public bool IsRightArmPressureSensorON
        {
            get; set;
        }

        [Subscription("System.Robot.CurrentCompoundCommandStatus")]

        public string CurrentCompoundCommandStatus { get; set; }



        [Subscription("System.Robot.CurrentExtParaValue")]
        public string ExtendedParaValue
        {
            get;set;
        }

        [Subscription("System.Robot.State")]
        public string RobotState
        {
            get; set;
        }
        [Subscription("System.Robot.RobotErrorCode")]
        public string RobotErrorCode
        {
            get; set;
        }
        [Subscription("System.Robot.RobotIsOnline")]
        public string RobotIsOnline
        {
            get; set;
        }
        [Subscription("System.Robot.RobotIsManual")]
        public string RobotIsManual
        {
            get; set;
        }
        [Subscription("System.Robot.RobotIsAuto")]
        public string RobotIsAuto
        {
            get; set;
        }
        [Subscription("System.Robot.RobotStopSignal")]
        public string RobotStopSignal
        {
            get; set;
        }
        [Subscription("System.Robot.RobotEMSignal")]
        public string RobotEMSignal
        {
            get; set;
        }
        [Subscription("System.Robot.RobotZaxisSaftyZone")]
        public string RobotZaxisSaftyZone
        {
            get; set;
        }
        [Subscription("System.Robot.RobotPositioningCompleted")]
        public string RobotPositioningCompleted
        {
            get; set;
        }
        [Subscription("System.Robot.RobotACalCompleted")]
        public string RobotACalCompleted
        {
            get; set;
        }
        [Subscription("System.Robot.RobotExecutionCompleted")]
        public string RobotExecutionCompleted
        {
            get; set;
        }
        [Subscription("System.Robot.ReadPosLeftArmPostion")]
        public string RobotReadXPosition
        {
            get;set;
        }
        [Subscription("System.Robot.ReadPosRightArmPostion")]
        public string RobotReadYPosition
        {
            get; set;
        }
        [Subscription("System.Robot.ReadPosZAxisPostion")]
        public string RobotReadZPosition
        {
            get; set;
        }
        [Subscription("System.Robot.ReadPosThetaAxisPostion")]
        public string RobotReadWPosition
        {
            get; set;
        }

        [Subscription("System.Robot.RobotMdata")]
        public string RobotMdata
        {
            get; set;
        }
        [Subscription("System.Robot.RobotFCode")]
        public string RobotFCode
        {
            get; set;
        }
        [Subscription("System.Robot.RobotSCode")]
        public string RobotSCode
        {
            get; set;
        }
        [Subscription("System.Robot.ExtPara_MapWaferCount")]
        public string ExtPara_MapWaferCount
        {
            get; set;
        }
        [Subscription("System.Robot.ExtPara_WaferThickness")]
        public string ExtPara_WaferThickness
        {
            get; set;
        }
        [Subscription("System.Robot.ExtPara_PositionRange")]
        public string ExtPara_PositionRange
        {
            get; set;
        }
        [Subscription("System.Robot.ExtPara_Pitch")]
        public string ExtPara_Pitch
        {
            get; set;
        }
        [Subscription("System.Robot.ExtPara_Filter")]
        public string ExtPara_Filter
        {
            get; set;
        }
        [Subscription("System.Robot.ExtPara_WaferMinThickness")]
        public string ExtPara_MinThickness
        {
            get; set;
        }



        [Subscription("System.IsOnlineMode")]
        public bool IsOnlineMode
        {
            get;
            set;
        }

        [Subscription(ParamName.ModuleWaferList, DeviceName.Buffer1)]
        public WaferInfo[] Buffer1Wafers
        {
            get;
            set;
        }

        public WaferInfo Buffer1Wafer
        {
            get
            {
                if (Buffer1Wafers != null)
                {
                    return Buffer1Wafers[0];
                }
                else
                {
                    return null;
                }
            }
        }

        [Subscription(ParamName.IsAutoMode, "System")]
        public bool IsAutoMode { get; set; }

        [Subscription(ParamName.RTStatus, "System")]
        public int RoutManagerState
        {
            get;
            set;
        }

        public bool IsMaintenanceMode
        {
            get => RoutManagerState == (int)RtState.Maintenance;
        }

        public ICommand Command
        {
            get;
            private set;
        }

        public RobotViewModel2() : base(4)
        {
            
            Command = new DelegateCommand<DependencyObject>(DoCommand, x => !IsMaintenanceMode && !IsAutoMode);
            
            RobotMotionType = new List<string>() { "A", "I", "U", "O" };
            RobotTargetStation = new List<string>() { "LP1", "LP2","Buffer1", "Buffer2", "LL1", "LL2" ,"CoolingBuffer1", "CoolingBuffer2" ,"Aligner1", "Aligner2" };
            RobotActionType = new List<string>() { "Pick", "Place", "Swap" };
            RobotArmSelected = new List<string>() { "Lower(Left)", "Upper(Right)"};
            RobotSpeedType = new List<string>() { "H(High speed)","L(Low speed)","S(Domain of Acc/Dec)","G(Acc/Dec speed",
                "X(Magnification frequency)","D(Pulse position of manual slow down)" };
            RobotSelectSlot = new List<string>();
            for (int i = 0; i < 25; i++) RobotSelectSlot.Add((i+1).ToString());
            MappingParameterType = new List<string>() { "M01", "M02", "M03", "M04", "M05", "M06", "M07", "M08", "M09" };
            LoadPortList = new List<string>() { "LP1", "LP2", "LP3", "LP4" };
            JelCompaundCommandType = new List<string> { "MainRoutine", "SubRoutine" };
            JelMoveBaseType = new List<string> { "0(Absolute position)", "1(Relative postion)" };
            JelMoveSpeedType = new List<string> { "(Normal)", "M(Manual slow down)", "L(Low Speed)" };



        }

      


        private void DoCommand(DependencyObject sender)
        {
            var command = CommandHelper.GetCommandItem(sender);  
            var lstParameter = new List<object>(command.Parameters);

            if (command.CommandName == "ReadParameter")
            {
                if (lstParameter.Count == 0) return;
                if(lstParameter[0].ToString() == "ExtParameter")
                {
                    if (lstParameter.Count < 2) return;
                    if (!uint.TryParse(lstParameter[1].ToString(), out _)) return;
                }
                
            }
            if (command.CommandName == "SetParameter")
            {
                if (lstParameter.Count == 0) return;
                if (lstParameter[0].ToString() == "ExtParameter")
                {
                    if (lstParameter.Count < 2) return;
                    if (!uint.TryParse(lstParameter[1].ToString(), out _)) return;
                }

            }
            if(command.CommandName == "RobotGoTo")
            {
                
            }
            if (command.CommandName == "RobotPlace" || command.CommandName == "RobotPick" || command.CommandName == "RobotExchange")
            {
                if (lstParameter.Count == 0) return;
                if (lstParameter.Count < 3) return;
                lstParameter[1] = int.Parse(lstParameter[1].ToString()) - 1;
            }


            lstParameter.Insert(0, command.Target);
            lstParameter.Insert(1, command.CommandName);
            

            InvokeClient.Instance.Service.DoOperation(OperationName.DeviceOperation, lstParameter.ToArray());




        }

        public List<string> RobotMotionType { get; set; }
        public List<string> RobotTargetStation { get; set; }
        public List<string> RobotActionType { get; set; }
        public List<string> RobotArmSelected { get; set; }
        public List<string> RobotSpeedType { get; set; }

        public List<string> RobotSelectSlot { get; set; }

        public List<string> MappingParameterType { get; set; }
        public List<string> LoadPortList { get; private set; }

        public List<string> JelCompaundCommandType{ get; private set; }
        public List<string> JelMoveBaseType { get; private set; }
        public List<string> JelMoveSpeedType { get; private set; }



        public override Dictionary<ModuleName, int> Target => new Dictionary<ModuleName, int>() {
            { ModuleName.LP1, 25 }
            , { ModuleName.LP2, 25 }
            , { ModuleName.LP3, 25 }
             , { ModuleName.LP4, 25 }
             , { ModuleName.Buffer1, 25 }
             , { ModuleName.Buffer2, 25 }
             , { ModuleName.Buffer3, 25 }
             , { ModuleName.Buffer4, 25 }
             , { ModuleName.LL1, 1 }
             , { ModuleName.LL2, 1 }
             , { ModuleName.LL3, 1 }
             , { ModuleName.LL4, 1 }
             , { ModuleName.LL5, 1 }
             , { ModuleName.LL6, 1 }
             , { ModuleName.LL7, 1 }
             , { ModuleName.LL8, 1 }
            , { ModuleName.Aligner, 1 }

        };




        protected override void InitFoupList()
        {
            base.InitFoupList();
            if (FoupList.Count >= 1) FoupList[0].FoupType = FoupType.OpenCassetteNoReadID;
            if (FoupList.Count >= 2) FoupList[1].FoupType = FoupType.OpenCassetteNoReadID;
            if (FoupList.Count >= 3) FoupList[2].FoupType = FoupType.OpenCassetteNoReadID;
            if (FoupList.Count >= 4) FoupList[3].FoupType = FoupType.OpenCassetteNoReadID;

        }
    }

}