1746 lines
56 KiB
C#
1746 lines
56 KiB
C#
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using MECF.Framework.Common.CommonData;
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using MECF.Framework.Common.Communications;
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using MECF.Framework.Common.Equipment;
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using System;
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namespace MECF.Framework.RT.EquipmentLibrary.HardwareUnits.Robots.Sunway
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{
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public abstract class SunwayRobotHandler : HandlerBase
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{
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public SunwayRobot Device { get; }
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public bool HasResponse { get; set; } = true;
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protected string _command;
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protected string _parameter;
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protected string _target;
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protected RobotArmEnum _blade;
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/// <summary>
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/// Handler执行完毕后执行的任务。
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/// </summary>
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protected Action _onHandlerEndTask;
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protected string _requestResponse = "";
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protected SunwayRobotHandler(SunwayRobot device, string command, string parameter = null, Action onHandlerEndTask = null)
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: base(BuildMessage(command, parameter))
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{
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Device = device;
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_command = command;
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_parameter = parameter;
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Name = command;
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_onHandlerEndTask = onHandlerEndTask;
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}
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private static string BuildMessage(string command, string parameter)
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{
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string msg = parameter == null ? $"{command}" : $"{command} {parameter}";
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return msg + "\r\n";
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}
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public override bool HandleMessage(MessageBase msg, out bool transactionComplete)
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{
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var response = msg as SunwayRobotMessage;
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ResponseMessage = msg;
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if (response.IsError)
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{
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Device.NoteError(response.Data);
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}
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if (response.IsComplete)
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{
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SetState(EnumHandlerState.Completed);
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transactionComplete = true;
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return true;
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}
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if (response.IsResponse)
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{
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_requestResponse = response.Data;
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}
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transactionComplete = false;
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return false;
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}
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}
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public class SunwayRobotHomeHandler : SunwayRobotHandler
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{
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//HOM
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public SunwayRobotHomeHandler(SunwayRobot device, int timeout = 60, Action onHandlerEndTask = null)
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: base(device, $"HOME ALL", onHandlerEndTask: onHandlerEndTask)
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{
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AckTimeout = TimeSpan.FromSeconds(timeout);
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CompleteTimeout = TimeSpan.FromSeconds(timeout);
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device.MoveInfo = new RobotMoveInfo()
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{
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Action = RobotAction.Moving,
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ArmTarget = RobotArm.Both,
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BladeTarget = "ArmA.System",
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};
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}
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public override bool HandleMessage(MessageBase msg, out bool handled)
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{
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var result = msg as SunwayRobotMessage;
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handled = false;
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if (!result.IsResponse)
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{
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Device.NoteError("Robot HOM Timeout");
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return true;
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}
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if (result.Data == "_RDY")
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{
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Device.IsBusy = false;
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}
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else if (result.Data.Contains("ERR"))
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{
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Device.NoteError("Robot HOME Response Error");
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return false;
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}
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Device.MoveInfo = new RobotMoveInfo()
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{
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Action = RobotAction.Moving,
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ArmTarget = RobotArm.ArmA,
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BladeTarget = ModuleName.System.ToString(),
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};
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ResponseMessage = msg;
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handled = true;
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_onHandlerEndTask?.Invoke();
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Device.NoteActionCompleted();
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return true;
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}
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}
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public class SunwayRobotRQLoadHandler : SunwayRobotHandler
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{
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// RQ LOAD
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public SunwayRobotRQLoadHandler(SunwayRobot device, int timeout = 5)
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: base(device, "RQ LOAD A")
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{
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AckTimeout = TimeSpan.FromSeconds(timeout);
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CompleteTimeout = TimeSpan.FromSeconds(timeout);
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}
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public override bool HandleMessage(MessageBase msg, out bool handled)
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{
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var result = msg as SunwayRobotMessage;
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handled = false;
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if (!result.IsResponse)
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{
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Device.NoteError("Robot RQ LOAD Timeout");
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return true;
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}
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if (result.Data.Contains("ERR"))
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{
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Device.NoteError("Robot RQ LOAD Error");
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return false;
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}
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else
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{
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Device.SetWaferData(result.Data);
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}
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Device.MoveInfo = new RobotMoveInfo()
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{
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Action = RobotAction.Moving,
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ArmTarget = RobotArm.ArmA,
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BladeTarget = ModuleName.System.ToString(),
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};
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ResponseMessage = msg;
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Device.IsBusy = false;
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handled = true;
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return true;
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}
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}
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public class SunwayRobotGotoMapHandler : SunwayRobotHandler
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{
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//GOTO N station [MAP (EX|RE)] [[RX] R1|R2|R3]
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public SunwayRobotGotoMapHandler(SunwayRobot device, string module, bool isRetract,int timeout = 60)
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: base(device, "GOTO", $"N {device.ModuleAssociateStationDic[module]} MAP {(isRetract ? "RE" : "EX")}")
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{
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AckTimeout = TimeSpan.FromSeconds(timeout);
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CompleteTimeout = TimeSpan.FromSeconds(timeout);
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device.MoveInfo = new RobotMoveInfo()
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{
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Action = RobotAction.Moving,
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ArmTarget = RobotArm.Both,
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BladeTarget = "ArmA.System",
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};
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}
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public override bool HandleMessage(MessageBase msg, out bool handled)
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{
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var result = msg as SunwayRobotMessage;
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handled = false;
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if (!result.IsResponse)
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{
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Device.NoteError("Robot Goto Map Timeout");
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return true;
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}
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if (result.Data == "_RDY")
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{
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Device.IsBusy = false;
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}
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else if (result.Data.Contains("ERR"))
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{
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Device.NoteError("Robot Goto Map Response Error");
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return false;
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}
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Device.MoveInfo = new RobotMoveInfo()
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{
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Action = RobotAction.Moving,
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ArmTarget = RobotArm.ArmA,
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BladeTarget = ModuleName.System.ToString(),
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};
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ResponseMessage = msg;
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handled = true;
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_onHandlerEndTask?.Invoke();
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Device.NoteActionCompleted();
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return true;
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}
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}
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public class SunwayRobotMapHandler : SunwayRobotHandler
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{
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//MAP station
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public SunwayRobotMapHandler(SunwayRobot device, string module, int timeout = 60)
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: base(device, $"MAP {device.ModuleAssociateStationDic[module]}")
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{
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AckTimeout = TimeSpan.FromSeconds(timeout);
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CompleteTimeout = TimeSpan.FromSeconds(timeout);
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device.MoveInfo = new RobotMoveInfo()
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{
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Action = RobotAction.Moving,
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ArmTarget = RobotArm.Both,
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BladeTarget = "ArmA.System",
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};
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}
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public override bool HandleMessage(MessageBase msg, out bool handled)
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{
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var result = msg as SunwayRobotMessage;
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handled = false;
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if (!result.IsResponse)
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{
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Device.NoteError("Robot Goto Map Timeout");
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return true;
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}
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if (result.Data == "_RDY")
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{
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Device.IsBusy = false;
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}
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else if (result.Data.Contains("ERR"))
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{
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Device.NoteError("Robot Goto Map Response Error");
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return false;
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}
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Device.MoveInfo = new RobotMoveInfo()
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{
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Action = RobotAction.Moving,
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ArmTarget = RobotArm.ArmA,
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BladeTarget = ModuleName.System.ToString(),
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};
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ResponseMessage = msg;
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handled = true;
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_onHandlerEndTask?.Invoke();
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Device.NoteActionCompleted();
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return true;
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}
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}
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public class SunwayRobotRSRHandler : SunwayRobotHandler
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{
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//RSR station
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public SunwayRobotRSRHandler(SunwayRobot device, string module, int timeout = 60)
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: base(device, $"RSR {device.ModuleAssociateStationDic[module]}")
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{
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AckTimeout = TimeSpan.FromSeconds(timeout);
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CompleteTimeout = TimeSpan.FromSeconds(timeout);
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}
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public override bool HandleMessage(MessageBase msg, out bool handled)
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{
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var result = msg as SunwayRobotMessage;
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handled = false;
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if (!result.IsResponse)
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{
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Device.NoteError("Robot RSR Timeout");
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return true;
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}
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if (result.Data.Length == 53 || result.Data.Length == 19)
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{
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Device.SetWaferData(result.Data);
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}
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else if (result.Data.Contains("ERR"))
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{
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Device.NoteError("Robot RSR Response Error");
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return false;
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}
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Device.MoveInfo = new RobotMoveInfo()
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{
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Action = RobotAction.Moving,
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ArmTarget = RobotArm.ArmA,
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BladeTarget = ModuleName.System.ToString(),
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};
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ResponseMessage = msg;
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Device.NoteActionCompleted();
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handled = true;
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return true;
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}
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}
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public class SunwayRobotGotoHandler : SunwayRobotHandler
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{
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//GOTO N station [R (EX|RE)] [Z (UP|DN)] [SLOT num] [[ARM] arm]
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public SunwayRobotGotoHandler(SunwayRobot device, string module, int slot, RobotArmEnum blade,
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bool isRetract = true, bool isZaxisDown = true, int timeout = 60)
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: base(device, "GOTO", $"N {device.ModuleAssociateStationDic[module]} R {(isRetract ? "RE" : "EX")}" +
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$" Z {(isZaxisDown ? "DN" : "UP")} SLOT {slot} ARM {(blade == RobotArmEnum.Blade1 ? "A" : "B")}")
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{
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AckTimeout = TimeSpan.FromSeconds(timeout);
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CompleteTimeout = TimeSpan.FromSeconds(timeout);
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}
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public override bool HandleMessage(MessageBase msg, out bool handled)
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{
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var result = msg as SunwayRobotMessage;
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handled = false;
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if (!result.IsResponse)
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{
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Device.NoteError("Robot GoTo Command Timeout");
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return true;
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}
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if (result.Data == "_RDY")
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{
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Device.IsBusy = false;
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}
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else if (result.Data.Contains("ERR"))
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{
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Device.NoteError("Robot Goto Command Error");
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Device.MoveInfo = new RobotMoveInfo()
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{
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Action = RobotAction.Moving,
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ArmTarget = RobotArm.ArmA,
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BladeTarget = ModuleName.System.ToString(),
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};
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return false;
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}
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ResponseMessage = msg;
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handled = true;
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return true;
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}
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}
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public class SunwayRobotPickHandler : SunwayRobotHandler
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{
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private bool isRetract;
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private string cModule;
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//PICK station [SLOT slot] [[ARM] arm] [ENRT|STRT NR]
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public SunwayRobotPickHandler(SunwayRobot device, string module, int slot, RobotArmEnum blade, bool isRetract = true, int timeout = 60)
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: base(device, "PICK", $"{device.ModuleAssociateStationDic[module]} SLOT {slot}" +
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$" ARM {(blade == RobotArmEnum.Blade1 ? "A" : "B")}" + $" {(isRetract ? "STRT" : "ENRT")}" + " NR")
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{
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this.isRetract = isRetract;
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this.cModule = module;
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AckTimeout = TimeSpan.FromSeconds(timeout);
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CompleteTimeout = TimeSpan.FromSeconds(timeout);
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|||
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//伸出时的动画
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if (!isRetract)
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{
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device.MoveInfo = new RobotMoveInfo()
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|||
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{
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Action = RobotAction.Picking,
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ArmTarget = RobotArm.ArmA,
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BladeTarget = module,
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};
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|||
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}
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|||
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}
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|||
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|||
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public override bool HandleMessage(MessageBase msg, out bool handled)
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|||
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{
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|||
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var result = msg as SunwayRobotMessage;
|
|||
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handled = false;
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|||
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if (!result.IsResponse)
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|||
|
|
{
|
|||
|
|
Device.NoteError("Robot Pick Command Timeout");
|
|||
|
|
return true;
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
if (result.Data == "_RDY")
|
|||
|
|
{
|
|||
|
|
if (!isRetract)
|
|||
|
|
{
|
|||
|
|
//将Robot的状态从ExtendingForPick转到Idle
|
|||
|
|
Device.NoteActionCompleted();
|
|||
|
|
|
|||
|
|
//伸出
|
|||
|
|
Device.MoveInfo = new RobotMoveInfo()
|
|||
|
|
{
|
|||
|
|
Action = RobotAction.Picking,
|
|||
|
|
ArmTarget = _blade == RobotArmEnum.Blade1 ? RobotArm.ArmA : RobotArm.ArmB,
|
|||
|
|
BladeTarget = cModule,
|
|||
|
|
};
|
|||
|
|
}
|
|||
|
|
else
|
|||
|
|
{
|
|||
|
|
//将Robot的状态从Picking转到Idle
|
|||
|
|
Device.NoteActionCompleted();
|
|||
|
|
|
|||
|
|
//缩回
|
|||
|
|
Device.MoveInfo = new RobotMoveInfo()
|
|||
|
|
{
|
|||
|
|
Action = RobotAction.Moving,
|
|||
|
|
ArmTarget = RobotArm.ArmA,
|
|||
|
|
BladeTarget = ModuleName.System.ToString(),
|
|||
|
|
};
|
|||
|
|
}
|
|||
|
|
}
|
|||
|
|
else if (result.Data.Contains("ERR"))
|
|||
|
|
{
|
|||
|
|
Device.NoteError("Robot Pick Command Response Error");
|
|||
|
|
|
|||
|
|
if (!isRetract) // 伸出手臂
|
|||
|
|
{
|
|||
|
|
Device.MoveInfo = new RobotMoveInfo()
|
|||
|
|
{
|
|||
|
|
Action = RobotAction.Extending,
|
|||
|
|
ArmTarget = RobotArm.ArmA,
|
|||
|
|
BladeTarget = cModule,
|
|||
|
|
};
|
|||
|
|
}
|
|||
|
|
else
|
|||
|
|
{
|
|||
|
|
Device.MoveInfo = new RobotMoveInfo()
|
|||
|
|
{
|
|||
|
|
Action = RobotAction.Moving,
|
|||
|
|
ArmTarget = RobotArm.ArmA,
|
|||
|
|
BladeTarget = ModuleName.System.ToString(),
|
|||
|
|
};
|
|||
|
|
}
|
|||
|
|
return false;
|
|||
|
|
}
|
|||
|
|
ResponseMessage = msg;
|
|||
|
|
handled = true;
|
|||
|
|
return true;
|
|||
|
|
}
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
public class SunwayRobotPlaceHandler : SunwayRobotHandler
|
|||
|
|
{
|
|||
|
|
private bool isRetract;
|
|||
|
|
private string cModule;
|
|||
|
|
|
|||
|
|
//Place station [SLOT slot] [[ARM] arm] [ENRT|STRT NR]
|
|||
|
|
public SunwayRobotPlaceHandler(SunwayRobot device, string module, int slot, RobotArmEnum blade, bool isRetract = true, int timeout = 60)
|
|||
|
|
: base(device, "PLACE", $"{device.ModuleAssociateStationDic[module]} SLOT {slot}" +
|
|||
|
|
$" ARM {(blade == RobotArmEnum.Blade1 ? "A" : "B")}" + $" {(isRetract ? "STRT" : "ENRT")}" + " NR")
|
|||
|
|
{
|
|||
|
|
this.isRetract = isRetract;
|
|||
|
|
this.cModule = module;
|
|||
|
|
|
|||
|
|
AckTimeout = TimeSpan.FromSeconds(timeout);
|
|||
|
|
CompleteTimeout = TimeSpan.FromSeconds(timeout);
|
|||
|
|
|
|||
|
|
//伸出时的动画
|
|||
|
|
if (!isRetract)
|
|||
|
|
{
|
|||
|
|
device.MoveInfo = new RobotMoveInfo()
|
|||
|
|
{
|
|||
|
|
Action = RobotAction.Placing,
|
|||
|
|
ArmTarget = RobotArm.ArmA,
|
|||
|
|
BladeTarget = module,
|
|||
|
|
};
|
|||
|
|
}
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
public override bool HandleMessage(MessageBase msg, out bool handled)
|
|||
|
|
{
|
|||
|
|
var result = msg as SunwayRobotMessage;
|
|||
|
|
handled = false;
|
|||
|
|
if (!result.IsResponse)
|
|||
|
|
{
|
|||
|
|
Device.NoteError("Robot Place Command Timeout");
|
|||
|
|
return true;
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
if (result.Data == "_RDY")
|
|||
|
|
{
|
|||
|
|
if (!isRetract)
|
|||
|
|
{
|
|||
|
|
//将Robot的状态从ExtendingForPlace转到Idle
|
|||
|
|
Device.NoteActionCompleted();
|
|||
|
|
|
|||
|
|
//伸出
|
|||
|
|
Device.MoveInfo = new RobotMoveInfo()
|
|||
|
|
{
|
|||
|
|
Action = RobotAction.Placing,
|
|||
|
|
ArmTarget = _blade == RobotArmEnum.Blade1 ? RobotArm.ArmA : RobotArm.ArmB,
|
|||
|
|
BladeTarget = cModule,
|
|||
|
|
};
|
|||
|
|
}
|
|||
|
|
else
|
|||
|
|
{
|
|||
|
|
//将Robot的状态从Placeing转到Idle
|
|||
|
|
Device.NotePlaceCompleted();
|
|||
|
|
|
|||
|
|
//缩回
|
|||
|
|
Device.MoveInfo = new RobotMoveInfo()
|
|||
|
|
{
|
|||
|
|
Action = RobotAction.Moving,
|
|||
|
|
ArmTarget = RobotArm.ArmA,
|
|||
|
|
BladeTarget = ModuleName.System.ToString(),
|
|||
|
|
};
|
|||
|
|
}
|
|||
|
|
}
|
|||
|
|
else if (result.Data.Contains("ERR"))
|
|||
|
|
{
|
|||
|
|
Device.NoteError("Robot Place Command Response Error");
|
|||
|
|
|
|||
|
|
if (!isRetract) // 伸出手臂
|
|||
|
|
{
|
|||
|
|
Device.MoveInfo = new RobotMoveInfo()
|
|||
|
|
{
|
|||
|
|
Action = RobotAction.Extending,
|
|||
|
|
ArmTarget = RobotArm.ArmA,
|
|||
|
|
BladeTarget = cModule,
|
|||
|
|
};
|
|||
|
|
}
|
|||
|
|
else
|
|||
|
|
{
|
|||
|
|
Device.MoveInfo = new RobotMoveInfo()
|
|||
|
|
{
|
|||
|
|
Action = RobotAction.Moving,
|
|||
|
|
ArmTarget = RobotArm.ArmA,
|
|||
|
|
BladeTarget = ModuleName.System.ToString(),
|
|||
|
|
};
|
|||
|
|
}
|
|||
|
|
return false;
|
|||
|
|
}
|
|||
|
|
ResponseMessage = msg;
|
|||
|
|
handled = true;
|
|||
|
|
return true;
|
|||
|
|
}
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
public class SunwayRobotVacHandler : SunwayRobotHandler
|
|||
|
|
{
|
|||
|
|
//VAC ON|OFF ARM A|B
|
|||
|
|
public SunwayRobotVacHandler(SunwayRobot device,bool isOpen, RobotArmEnum blade,int timeout = 5)
|
|||
|
|
: base(device, $"VAC {(isOpen ? "ON" : "OFF")} ARM {(blade == RobotArmEnum.Blade1 ? "A" : "B")}")
|
|||
|
|
{
|
|||
|
|
AckTimeout = TimeSpan.FromSeconds(timeout);
|
|||
|
|
CompleteTimeout = TimeSpan.FromSeconds(timeout);
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
public override bool HandleMessage(MessageBase msg, out bool handled)
|
|||
|
|
{
|
|||
|
|
var result = msg as SunwayRobotMessage;
|
|||
|
|
handled = false;
|
|||
|
|
if (!result.IsResponse)
|
|||
|
|
{
|
|||
|
|
Device.NoteError("Robot VAC Command Timeout");
|
|||
|
|
return true;
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
if (result.Data.Contains("ERR"))
|
|||
|
|
{
|
|||
|
|
Device.NoteError("Robot VAC Command Error");
|
|||
|
|
return false;
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
Device.MoveInfo = new RobotMoveInfo()
|
|||
|
|
{
|
|||
|
|
Action = RobotAction.Moving,
|
|||
|
|
ArmTarget = RobotArm.ArmA,
|
|||
|
|
BladeTarget = ModuleName.System.ToString(),
|
|||
|
|
};
|
|||
|
|
|
|||
|
|
ResponseMessage = msg;
|
|||
|
|
Device.IsBusy = false;
|
|||
|
|
handled = true;
|
|||
|
|
return true;
|
|||
|
|
}
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
public class SunwayRobotGripHandler : SunwayRobotHandler
|
|||
|
|
{
|
|||
|
|
//GRIP ON|OFF ARM A|B
|
|||
|
|
public SunwayRobotGripHandler(SunwayRobot device, bool isOpen, RobotArmEnum blade, int timeout = 5)
|
|||
|
|
: base(device, $"GRIP {(isOpen ? "ON" : "OFF")} ARM {(blade == RobotArmEnum.Blade1 ? "A" : "B")}")
|
|||
|
|
{
|
|||
|
|
AckTimeout = TimeSpan.FromSeconds(timeout);
|
|||
|
|
CompleteTimeout = TimeSpan.FromSeconds(timeout);
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
public override bool HandleMessage(MessageBase msg, out bool handled)
|
|||
|
|
{
|
|||
|
|
var result = msg as SunwayRobotMessage;
|
|||
|
|
handled = false;
|
|||
|
|
if (!result.IsResponse)
|
|||
|
|
{
|
|||
|
|
Device.NoteError("Robot GRIP Command Timeout");
|
|||
|
|
return true;
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
if (result.Data.Contains("ERR"))
|
|||
|
|
{
|
|||
|
|
Device.NoteError("Robot GRIP Command Error");
|
|||
|
|
return false;
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
ResponseMessage = msg;
|
|||
|
|
Device.IsBusy = false;
|
|||
|
|
handled = true;
|
|||
|
|
return true;
|
|||
|
|
}
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
public class SunwayRobotSetEchoHandler : SunwayRobotHandler
|
|||
|
|
{
|
|||
|
|
//SET IO ECHO Y|N
|
|||
|
|
public SunwayRobotSetEchoHandler(SunwayRobot device, bool isOpen, int timeout = 5)
|
|||
|
|
: base(device, $"SET IO ECHO {(isOpen ? "Y" : "N")}")
|
|||
|
|
{
|
|||
|
|
AckTimeout = TimeSpan.FromSeconds(timeout);
|
|||
|
|
CompleteTimeout = TimeSpan.FromSeconds(timeout);
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
public override bool HandleMessage(MessageBase msg, out bool handled)
|
|||
|
|
{
|
|||
|
|
var result = msg as SunwayRobotMessage;
|
|||
|
|
handled = false;
|
|||
|
|
if (!result.IsResponse)
|
|||
|
|
{
|
|||
|
|
Device.NoteError("Robot Set IO Echo Command Timeout");
|
|||
|
|
return true;
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
if (result.Data.Contains("ERR"))
|
|||
|
|
{
|
|||
|
|
Device.NoteError("Robot Set IO Echo Command Error");
|
|||
|
|
return false;
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
ResponseMessage = msg;
|
|||
|
|
Device.IsBusy = false;
|
|||
|
|
handled = true;
|
|||
|
|
return true;
|
|||
|
|
}
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
|
|||
|
|
public class SunwayRobotSTATHandler : SunwayRobotHandler
|
|||
|
|
{
|
|||
|
|
// STAT
|
|||
|
|
public SunwayRobotSTATHandler(SunwayRobot device, int timeout = 5, Action onHandlerEndTask = null)
|
|||
|
|
: base(device, $"RQ STATE", onHandlerEndTask: onHandlerEndTask)
|
|||
|
|
{
|
|||
|
|
AckTimeout = TimeSpan.FromSeconds(timeout);
|
|||
|
|
CompleteTimeout = TimeSpan.FromSeconds(timeout);
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
public override bool HandleMessage(MessageBase msg, out bool handled)
|
|||
|
|
{
|
|||
|
|
var result = msg as SunwayRobotMessage;
|
|||
|
|
handled = false;
|
|||
|
|
if (!result.IsResponse)
|
|||
|
|
{
|
|||
|
|
Device.NoteError("Robot STAT Timeout");
|
|||
|
|
return true;
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
if (result.Data.Contains("ERR"))
|
|||
|
|
{
|
|||
|
|
Device.NoteError("Robot STAT Response Error");
|
|||
|
|
return false;
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
//Wafer位置从机械手和Station之间转换
|
|||
|
|
if (Device.ParseStatusData(result.Data))
|
|||
|
|
_onHandlerEndTask?.Invoke();
|
|||
|
|
|
|||
|
|
|
|||
|
|
|
|||
|
|
handled = true;
|
|||
|
|
return true;
|
|||
|
|
}
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
public class SunwayRobotERRHandler : SunwayRobotHandler
|
|||
|
|
{
|
|||
|
|
// STAT
|
|||
|
|
public SunwayRobotERRHandler(SunwayRobot device, int timeout = 5, Action onHandlerEndTask = null)
|
|||
|
|
: base(device, $"ERR 0", onHandlerEndTask: onHandlerEndTask)
|
|||
|
|
{
|
|||
|
|
AckTimeout = TimeSpan.FromSeconds(timeout);
|
|||
|
|
CompleteTimeout = TimeSpan.FromSeconds(timeout);
|
|||
|
|
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
public override bool HandleMessage(MessageBase msg, out bool handled)
|
|||
|
|
{
|
|||
|
|
var result = msg as SunwayRobotMessage;
|
|||
|
|
handled = false;
|
|||
|
|
if (!result.IsResponse)
|
|||
|
|
{
|
|||
|
|
Device.NoteError("Robot ERR Timeout", false);
|
|||
|
|
return true;
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
if (result.Data.Contains("ERR"))
|
|||
|
|
{
|
|||
|
|
Device.NoteError("Robot ERR Response Error", false);
|
|||
|
|
return false;
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
if (Device.ParseErrData(result.Data))
|
|||
|
|
_onHandlerEndTask?.Invoke();
|
|||
|
|
|
|||
|
|
handled = true;
|
|||
|
|
return true;
|
|||
|
|
}
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
|
|||
|
|
public class SunwayRobotGETAHandler : SunwayRobotHandler
|
|||
|
|
{
|
|||
|
|
//GETA [module],[slot]
|
|||
|
|
public SunwayRobotGETAHandler(SunwayRobot device, string module, int slot, int timeout = 60)
|
|||
|
|
: base(device, $"GETA {device.ModuleAssociateStationDic[module]} {slot + 1}")
|
|||
|
|
{
|
|||
|
|
AckTimeout = TimeSpan.FromSeconds(timeout);
|
|||
|
|
CompleteTimeout = TimeSpan.FromSeconds(timeout);
|
|||
|
|
|
|||
|
|
device.MoveInfo = new RobotMoveInfo()
|
|||
|
|
{
|
|||
|
|
Action = RobotAction.Picking,
|
|||
|
|
ArmTarget = RobotArm.ArmA,
|
|||
|
|
BladeTarget = module,
|
|||
|
|
};
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
public override bool HandleMessage(MessageBase msg, out bool handled)
|
|||
|
|
{
|
|||
|
|
var result = msg as SunwayRobotMessage;
|
|||
|
|
handled = false;
|
|||
|
|
if (!result.IsResponse)
|
|||
|
|
{
|
|||
|
|
Device.NoteError("Robot GETA Timeout");
|
|||
|
|
return true;
|
|||
|
|
}
|
|||
|
|
if (result.Data == "_RDY")
|
|||
|
|
{
|
|||
|
|
//Wafer位置从机械手和Station之间转换
|
|||
|
|
Device.PrasePutWaferData();
|
|||
|
|
}
|
|||
|
|
else if (result.Data.Contains("ERR"))
|
|||
|
|
{
|
|||
|
|
Device.NoteError("Robot GETA Response Error");
|
|||
|
|
return false;
|
|||
|
|
}
|
|||
|
|
ResponseMessage = msg;
|
|||
|
|
handled = true;
|
|||
|
|
return true;
|
|||
|
|
}
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
public class SunwayRobotGETBHandler : SunwayRobotHandler
|
|||
|
|
{
|
|||
|
|
//GETB [module],[slot]
|
|||
|
|
public SunwayRobotGETBHandler(SunwayRobot device, string module, int slot, int timeout = 60)
|
|||
|
|
: base(device, $"GETB {device.ModuleAssociateStationDic[module]} {slot + 1}")
|
|||
|
|
{
|
|||
|
|
AckTimeout = TimeSpan.FromSeconds(timeout);
|
|||
|
|
CompleteTimeout = TimeSpan.FromSeconds(timeout);
|
|||
|
|
|
|||
|
|
device.MoveInfo = new RobotMoveInfo()
|
|||
|
|
{
|
|||
|
|
Action = RobotAction.Moving,
|
|||
|
|
ArmTarget = RobotArm.ArmA,
|
|||
|
|
BladeTarget = module,
|
|||
|
|
};
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
public override bool HandleMessage(MessageBase msg, out bool handled)
|
|||
|
|
{
|
|||
|
|
var result = msg as SunwayRobotMessage;
|
|||
|
|
handled = false;
|
|||
|
|
if (!result.IsResponse)
|
|||
|
|
{
|
|||
|
|
Device.NoteError("Robot GETB Timeout");
|
|||
|
|
return true;
|
|||
|
|
}
|
|||
|
|
if (result.Data == "_RDY")
|
|||
|
|
{
|
|||
|
|
//Wafer位置从机械手和Station之间转换
|
|||
|
|
Device.PraseGetWaferData();
|
|||
|
|
}
|
|||
|
|
else if (result.Data.Contains("ERR"))
|
|||
|
|
{
|
|||
|
|
Device.NoteError("Robot GETB Response Error");
|
|||
|
|
return false;
|
|||
|
|
}
|
|||
|
|
ResponseMessage = msg;
|
|||
|
|
handled = true;
|
|||
|
|
return true;
|
|||
|
|
}
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
public class SunwayRobotBGETBHandler : SunwayRobotHandler
|
|||
|
|
{
|
|||
|
|
//GETB [module],[slot]
|
|||
|
|
string cModule = "";
|
|||
|
|
|
|||
|
|
public SunwayRobotBGETBHandler(SunwayRobot device, string module, int slot, int timeout = 60)
|
|||
|
|
: base(device, $"GETB {device.ModuleAssociateStationDic[module]} {slot + 1}")
|
|||
|
|
{
|
|||
|
|
AckTimeout = TimeSpan.FromSeconds(timeout);
|
|||
|
|
CompleteTimeout = TimeSpan.FromSeconds(timeout);
|
|||
|
|
|
|||
|
|
cModule = module;
|
|||
|
|
|
|||
|
|
device.MoveInfo = new RobotMoveInfo()
|
|||
|
|
{
|
|||
|
|
Action = RobotAction.Picking,
|
|||
|
|
ArmTarget = RobotArm.ArmA,
|
|||
|
|
BladeTarget = module,
|
|||
|
|
};
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
public override bool HandleMessage(MessageBase msg, out bool handled)
|
|||
|
|
{
|
|||
|
|
var result = msg as SunwayRobotMessage;
|
|||
|
|
handled = false;
|
|||
|
|
if (!result.IsResponse)
|
|||
|
|
{
|
|||
|
|
Device.NoteError("Robot GETB Timeout");
|
|||
|
|
return true;
|
|||
|
|
}
|
|||
|
|
if (result.Data == "_RDY")
|
|||
|
|
{
|
|||
|
|
Device.GetWaferData();
|
|||
|
|
Device.NotePickCompleted();
|
|||
|
|
|
|||
|
|
Device.MoveInfo = new RobotMoveInfo()
|
|||
|
|
{
|
|||
|
|
Action = RobotAction.Moving,
|
|||
|
|
ArmTarget = RobotArm.ArmA,
|
|||
|
|
BladeTarget = ModuleName.System.ToString(),
|
|||
|
|
};
|
|||
|
|
}
|
|||
|
|
else if (result.Data.Contains("ERR"))
|
|||
|
|
{
|
|||
|
|
Device.NoteError("Robot GETB Response Error");
|
|||
|
|
return true;
|
|||
|
|
}
|
|||
|
|
ResponseMessage = msg;
|
|||
|
|
handled = true;
|
|||
|
|
return true;
|
|||
|
|
}
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
public class SunwayRobotPUTAHandler : SunwayRobotHandler
|
|||
|
|
{
|
|||
|
|
//PUTA [module],[slot]
|
|||
|
|
public SunwayRobotPUTAHandler(SunwayRobot device, string module, int slot, int timeout = 60)
|
|||
|
|
: base(device, $"PUTA {device.ModuleAssociateStationDic[module]} {slot + 1}")
|
|||
|
|
{
|
|||
|
|
AckTimeout = TimeSpan.FromSeconds(timeout);
|
|||
|
|
CompleteTimeout = TimeSpan.FromSeconds(timeout);
|
|||
|
|
|
|||
|
|
device.MoveInfo = new RobotMoveInfo()
|
|||
|
|
{
|
|||
|
|
Action = RobotAction.Placing,
|
|||
|
|
ArmTarget = RobotArm.ArmA,
|
|||
|
|
BladeTarget = module,
|
|||
|
|
};
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
public override bool HandleMessage(MessageBase msg, out bool handled)
|
|||
|
|
{
|
|||
|
|
var result = msg as SunwayRobotMessage;
|
|||
|
|
handled = false;
|
|||
|
|
if (!result.IsResponse)
|
|||
|
|
{
|
|||
|
|
Device.NoteError("Robot PUTA Timeout");
|
|||
|
|
return true;
|
|||
|
|
}
|
|||
|
|
if (result.Data == "_RDY")
|
|||
|
|
{
|
|||
|
|
//Wafer位置从机械手和Station之间转换
|
|||
|
|
//Device.PraseWaferData(result.Data);
|
|||
|
|
}
|
|||
|
|
else if (result.Data.Contains("ERR"))
|
|||
|
|
{
|
|||
|
|
Device.NoteError("Robot PUTA Response Error");
|
|||
|
|
return false;
|
|||
|
|
}
|
|||
|
|
ResponseMessage = msg;
|
|||
|
|
handled = true;
|
|||
|
|
return true;
|
|||
|
|
}
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
public class SunwayRobotPUTBHandler : SunwayRobotHandler
|
|||
|
|
{
|
|||
|
|
//PUTA [module],[slot]
|
|||
|
|
public SunwayRobotPUTBHandler(SunwayRobot device, string module, int slot, int timeout = 60)
|
|||
|
|
: base(device, $"PUTB {device.ModuleAssociateStationDic[module]} {slot + 1}")
|
|||
|
|
{
|
|||
|
|
AckTimeout = TimeSpan.FromSeconds(timeout);
|
|||
|
|
CompleteTimeout = TimeSpan.FromSeconds(timeout);
|
|||
|
|
|
|||
|
|
device.MoveInfo = new RobotMoveInfo()
|
|||
|
|
{
|
|||
|
|
Action = RobotAction.Moving,
|
|||
|
|
ArmTarget = RobotArm.ArmA,
|
|||
|
|
BladeTarget = module,
|
|||
|
|
};
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
public override bool HandleMessage(MessageBase msg, out bool handled)
|
|||
|
|
{
|
|||
|
|
var result = msg as SunwayRobotMessage;
|
|||
|
|
handled = false;
|
|||
|
|
if (!result.IsResponse)
|
|||
|
|
{
|
|||
|
|
Device.NoteError("Robot PUTB Timeout");
|
|||
|
|
return true;
|
|||
|
|
}
|
|||
|
|
if (result.Data == "_RDY")
|
|||
|
|
{
|
|||
|
|
//Wafer位置从机械手和Station之间转换
|
|||
|
|
//Device.PraseWaferData(result.Data);
|
|||
|
|
}
|
|||
|
|
else if (result.Data.Contains("ERR"))
|
|||
|
|
{
|
|||
|
|
Device.NoteError("Robot PUTB Response Error");
|
|||
|
|
return false;
|
|||
|
|
}
|
|||
|
|
ResponseMessage = msg;
|
|||
|
|
handled = true;
|
|||
|
|
return true;
|
|||
|
|
}
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
public class SunwayRobotBPUTBHandler : SunwayRobotHandler
|
|||
|
|
{
|
|||
|
|
//PUTA [module],[slot]
|
|||
|
|
string cModule = "";
|
|||
|
|
|
|||
|
|
public SunwayRobotBPUTBHandler(SunwayRobot device, string module, int slot, int timeout = 60)
|
|||
|
|
: base(device, $"PUTB {device.ModuleAssociateStationDic[module]} {slot + 1}")
|
|||
|
|
{
|
|||
|
|
AckTimeout = TimeSpan.FromSeconds(timeout);
|
|||
|
|
CompleteTimeout = TimeSpan.FromSeconds(timeout);
|
|||
|
|
|
|||
|
|
cModule = module;
|
|||
|
|
|
|||
|
|
device.MoveInfo = new RobotMoveInfo()
|
|||
|
|
{
|
|||
|
|
Action = RobotAction.Placing,
|
|||
|
|
ArmTarget = RobotArm.ArmA,
|
|||
|
|
BladeTarget = module,
|
|||
|
|
};
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
public override bool HandleMessage(MessageBase msg, out bool handled)
|
|||
|
|
{
|
|||
|
|
var result = msg as SunwayRobotMessage;
|
|||
|
|
handled = false;
|
|||
|
|
if (!result.IsResponse)
|
|||
|
|
{
|
|||
|
|
Device.NoteError("Robot PUTB Timeout");
|
|||
|
|
return true;
|
|||
|
|
}
|
|||
|
|
if (result.Data == "_RDY")
|
|||
|
|
{
|
|||
|
|
Device.PutWaferData();
|
|||
|
|
Device.NotePlaceCompleted();
|
|||
|
|
|
|||
|
|
Device.MoveInfo = new RobotMoveInfo()
|
|||
|
|
{
|
|||
|
|
Action = RobotAction.Moving,
|
|||
|
|
ArmTarget = RobotArm.ArmA,
|
|||
|
|
BladeTarget = ModuleName.System.ToString(),
|
|||
|
|
};
|
|||
|
|
|
|||
|
|
}
|
|||
|
|
else if (result.Data.Contains("ERR"))
|
|||
|
|
{
|
|||
|
|
Device.NoteError("Robot PUTB Response Error");
|
|||
|
|
return false;
|
|||
|
|
}
|
|||
|
|
ResponseMessage = msg;
|
|||
|
|
handled = true;
|
|||
|
|
return true;
|
|||
|
|
}
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
public class SunwayRobotPUTSPHandler : SunwayRobotHandler
|
|||
|
|
{
|
|||
|
|
//PUTSP [module],[slot],[step]
|
|||
|
|
//step:1:初始化位置 2:伸出 3:开真空并抬升 4:到位回缩
|
|||
|
|
string cModule = "";
|
|||
|
|
int cSlot = 0;
|
|||
|
|
int cStep = 0;
|
|||
|
|
public SunwayRobotPUTSPHandler(SunwayRobot device, string module, int slot, int step, int timeout = 60)
|
|||
|
|
: base(device, $"PUTSP {device.ModuleAssociateStationDic[module]} {slot + 1} {step}")
|
|||
|
|
{
|
|||
|
|
AckTimeout = TimeSpan.FromSeconds(timeout);
|
|||
|
|
CompleteTimeout = TimeSpan.FromSeconds(timeout);
|
|||
|
|
|
|||
|
|
cModule = module;
|
|||
|
|
cSlot = slot;
|
|||
|
|
cStep = step;
|
|||
|
|
if (cStep == 2)
|
|||
|
|
{
|
|||
|
|
device.MoveInfo = new RobotMoveInfo()
|
|||
|
|
{
|
|||
|
|
Action = RobotAction.Placing,
|
|||
|
|
ArmTarget = RobotArm.ArmA,
|
|||
|
|
BladeTarget = module,
|
|||
|
|
};
|
|||
|
|
}
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
public override bool HandleMessage(MessageBase msg, out bool handled)
|
|||
|
|
{
|
|||
|
|
var result = msg as SunwayRobotMessage;
|
|||
|
|
handled = false;
|
|||
|
|
if (!result.IsResponse)
|
|||
|
|
{
|
|||
|
|
Device.NoteError("Robot PUTSP Timeout");
|
|||
|
|
return true;
|
|||
|
|
}
|
|||
|
|
if (result.Data == "_RDY")
|
|||
|
|
{
|
|||
|
|
if (cStep == 2)
|
|||
|
|
{
|
|||
|
|
Device.MoveInfo = new RobotMoveInfo()
|
|||
|
|
{
|
|||
|
|
Action = RobotAction.Placing,
|
|||
|
|
ArmTarget = _blade == RobotArmEnum.Blade1 ? RobotArm.ArmA : RobotArm.ArmB,
|
|||
|
|
BladeTarget = cModule,
|
|||
|
|
};
|
|||
|
|
}
|
|||
|
|
else if (cStep == 3)
|
|||
|
|
{
|
|||
|
|
Device.NoteActionCompleted();
|
|||
|
|
}
|
|||
|
|
else if (cStep == 4)
|
|||
|
|
{
|
|||
|
|
Device.NotePlaceCompleted();
|
|||
|
|
Device.MoveInfo = new RobotMoveInfo()
|
|||
|
|
{
|
|||
|
|
Action = RobotAction.Moving,
|
|||
|
|
ArmTarget = RobotArm.ArmA,
|
|||
|
|
BladeTarget = ModuleName.System.ToString(),
|
|||
|
|
};
|
|||
|
|
}
|
|||
|
|
}
|
|||
|
|
else if (result.Data.Contains("ERR"))
|
|||
|
|
{
|
|||
|
|
Device.NoteError("Robot PUTSP Response Error");
|
|||
|
|
|
|||
|
|
if (cStep == 2) // 伸出手臂
|
|||
|
|
{
|
|||
|
|
Device.MoveInfo = new RobotMoveInfo()
|
|||
|
|
{
|
|||
|
|
Action = RobotAction.Extending,
|
|||
|
|
ArmTarget = RobotArm.ArmA,
|
|||
|
|
BladeTarget = cModule,
|
|||
|
|
};
|
|||
|
|
}
|
|||
|
|
else if (cStep == 3) // 開啟真空並抬升取片
|
|||
|
|
{
|
|||
|
|
Device.MoveInfo = new RobotMoveInfo()
|
|||
|
|
{
|
|||
|
|
Action = RobotAction.Picking,
|
|||
|
|
ArmTarget = RobotArm.ArmA,
|
|||
|
|
BladeTarget = cModule,
|
|||
|
|
};
|
|||
|
|
}
|
|||
|
|
else // 1 = 縮回手臂至縮回位置並移動至取片的預備位置; 4 = 縮回手臂
|
|||
|
|
{
|
|||
|
|
Device.MoveInfo = new RobotMoveInfo()
|
|||
|
|
{
|
|||
|
|
Action = RobotAction.Moving,
|
|||
|
|
ArmTarget = RobotArm.ArmA,
|
|||
|
|
BladeTarget = ModuleName.System.ToString(),
|
|||
|
|
};
|
|||
|
|
}
|
|||
|
|
return false;
|
|||
|
|
}
|
|||
|
|
ResponseMessage = msg;
|
|||
|
|
handled = true;
|
|||
|
|
return true;
|
|||
|
|
}
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
public class SunwayRobotGETSPHandler : SunwayRobotHandler
|
|||
|
|
{
|
|||
|
|
//PUTSP [module],[slot],[step]
|
|||
|
|
//step:1:初始化位置 2:伸出 3:关真空并抬升 4:到位回缩
|
|||
|
|
string cModule = "";
|
|||
|
|
int cSlot = 0;
|
|||
|
|
int cStep = 0;
|
|||
|
|
public SunwayRobotGETSPHandler(SunwayRobot device, string module, int slot, int step, int timeout = 60)
|
|||
|
|
: base(device, $"GETSP {device.ModuleAssociateStationDic[module]} {slot + 1} {step}")
|
|||
|
|
{
|
|||
|
|
cModule = module;
|
|||
|
|
cSlot = slot;
|
|||
|
|
cStep = step;
|
|||
|
|
AckTimeout = TimeSpan.FromSeconds(timeout);
|
|||
|
|
CompleteTimeout = TimeSpan.FromSeconds(timeout);
|
|||
|
|
|
|||
|
|
if (cStep == 2)
|
|||
|
|
{
|
|||
|
|
device.MoveInfo = new RobotMoveInfo()
|
|||
|
|
{
|
|||
|
|
Action = RobotAction.Picking,
|
|||
|
|
ArmTarget = RobotArm.ArmA,
|
|||
|
|
BladeTarget = module,
|
|||
|
|
};
|
|||
|
|
}
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
public override bool HandleMessage(MessageBase msg, out bool handled)
|
|||
|
|
{
|
|||
|
|
var result = msg as SunwayRobotMessage;
|
|||
|
|
handled = false;
|
|||
|
|
if (!result.IsResponse)
|
|||
|
|
{
|
|||
|
|
Device.NoteError("Robot GETSP Timeout");
|
|||
|
|
return true;
|
|||
|
|
}
|
|||
|
|
if (result.Data == "_RDY")
|
|||
|
|
{
|
|||
|
|
if (cStep == 2)
|
|||
|
|
{
|
|||
|
|
Device.MoveInfo = new RobotMoveInfo()
|
|||
|
|
{
|
|||
|
|
Action = RobotAction.Picking,
|
|||
|
|
ArmTarget = _blade == RobotArmEnum.Blade1 ? RobotArm.ArmA : RobotArm.ArmB,
|
|||
|
|
BladeTarget = cModule,
|
|||
|
|
};
|
|||
|
|
Device.NoteActionCompleted();
|
|||
|
|
}
|
|||
|
|
else if (cStep == 3)
|
|||
|
|
{
|
|||
|
|
Device.NotePickCompleted();
|
|||
|
|
}
|
|||
|
|
else if (cStep == 4)
|
|||
|
|
{
|
|||
|
|
Device.NoteActionCompleted();
|
|||
|
|
Device.MoveInfo = new RobotMoveInfo()
|
|||
|
|
{
|
|||
|
|
Action = RobotAction.Moving,
|
|||
|
|
ArmTarget = RobotArm.ArmA,
|
|||
|
|
BladeTarget = ModuleName.System.ToString(),
|
|||
|
|
};
|
|||
|
|
}
|
|||
|
|
}
|
|||
|
|
else if (result.Data.Contains("ERR"))
|
|||
|
|
{
|
|||
|
|
Device.NoteError("Robot GETSP Response Error");
|
|||
|
|
|
|||
|
|
if (cStep == 2) // 伸出手臂
|
|||
|
|
{
|
|||
|
|
Device.MoveInfo = new RobotMoveInfo()
|
|||
|
|
{
|
|||
|
|
Action = RobotAction.Extending,
|
|||
|
|
ArmTarget = RobotArm.ArmA,
|
|||
|
|
BladeTarget = cModule,
|
|||
|
|
};
|
|||
|
|
}
|
|||
|
|
else if (cStep == 3) // 開啟真空並抬升取片
|
|||
|
|
{
|
|||
|
|
Device.MoveInfo = new RobotMoveInfo()
|
|||
|
|
{
|
|||
|
|
Action = RobotAction.Picking,
|
|||
|
|
ArmTarget = RobotArm.ArmA,
|
|||
|
|
BladeTarget = cModule,
|
|||
|
|
};
|
|||
|
|
}
|
|||
|
|
else // 1 = 縮回手臂至縮回位置並移動至取片的預備位置; 4 = 縮回手臂
|
|||
|
|
{
|
|||
|
|
Device.MoveInfo = new RobotMoveInfo()
|
|||
|
|
{
|
|||
|
|
Action = RobotAction.Moving,
|
|||
|
|
ArmTarget = RobotArm.ArmA,
|
|||
|
|
BladeTarget = ModuleName.System.ToString(),
|
|||
|
|
};
|
|||
|
|
}
|
|||
|
|
return false;
|
|||
|
|
}
|
|||
|
|
ResponseMessage = msg;
|
|||
|
|
handled = true;
|
|||
|
|
return true;
|
|||
|
|
}
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
public class SunwayRobotINPUTHandler : SunwayRobotHandler
|
|||
|
|
{
|
|||
|
|
// INPUT A 3
|
|||
|
|
public SunwayRobotINPUTHandler(SunwayRobot device, int timeout = 5, string com = "INPUT A 1")
|
|||
|
|
: base(device, com)
|
|||
|
|
{
|
|||
|
|
AckTimeout = TimeSpan.FromSeconds(timeout);
|
|||
|
|
CompleteTimeout = TimeSpan.FromSeconds(timeout);
|
|||
|
|
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
public override bool HandleMessage(MessageBase msg, out bool handled)
|
|||
|
|
{
|
|||
|
|
var result = msg as SunwayRobotMessage;
|
|||
|
|
handled = false;
|
|||
|
|
if (!result.IsResponse)
|
|||
|
|
{
|
|||
|
|
Device.NoteError("Robot INPUT Timeout");
|
|||
|
|
return true;
|
|||
|
|
}
|
|||
|
|
if (result.Data.Length == 1)
|
|||
|
|
{
|
|||
|
|
Device.SetWaferData(result.Data);
|
|||
|
|
}
|
|||
|
|
else if (result.Data.Contains("ERR"))
|
|||
|
|
{
|
|||
|
|
Device.NoteError("Robot INPUT Response Error");
|
|||
|
|
return false;
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
Device.MoveInfo = new RobotMoveInfo()
|
|||
|
|
{
|
|||
|
|
Action = RobotAction.Moving,
|
|||
|
|
ArmTarget = RobotArm.ArmA,
|
|||
|
|
BladeTarget = ModuleName.System.ToString(),
|
|||
|
|
};
|
|||
|
|
|
|||
|
|
ResponseMessage = msg;
|
|||
|
|
//Device.NoteActionCompleted();
|
|||
|
|
handled = true;
|
|||
|
|
return true;
|
|||
|
|
}
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
public class SunwayRobotBINPUTHandler : SunwayRobotHandler
|
|||
|
|
{
|
|||
|
|
// INPUT A 3
|
|||
|
|
public SunwayRobotBINPUTHandler(SunwayRobot device, int timeout = 5)
|
|||
|
|
: base(device, $"INPUT A 6")
|
|||
|
|
{
|
|||
|
|
AckTimeout = TimeSpan.FromSeconds(timeout);
|
|||
|
|
CompleteTimeout = TimeSpan.FromSeconds(timeout);
|
|||
|
|
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
public override bool HandleMessage(MessageBase msg, out bool handled)
|
|||
|
|
{
|
|||
|
|
var result = msg as SunwayRobotMessage;
|
|||
|
|
handled = false;
|
|||
|
|
if (!result.IsResponse)
|
|||
|
|
{
|
|||
|
|
Device.NoteError("Robot INPUT Timeout");
|
|||
|
|
return true;
|
|||
|
|
}
|
|||
|
|
if (result.Data.Length == 1)
|
|||
|
|
{
|
|||
|
|
Device.SetWaferData(result.Data);
|
|||
|
|
}
|
|||
|
|
else if (result.Data.Contains("ERR"))
|
|||
|
|
{
|
|||
|
|
Device.NoteError("Robot INPUT Response Error");
|
|||
|
|
return false;
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
Device.MoveInfo = new RobotMoveInfo()
|
|||
|
|
{
|
|||
|
|
Action = RobotAction.Moving,
|
|||
|
|
ArmTarget = RobotArm.ArmA,
|
|||
|
|
BladeTarget = ModuleName.System.ToString(),
|
|||
|
|
};
|
|||
|
|
|
|||
|
|
ResponseMessage = msg;
|
|||
|
|
Device.NoteActionCompleted();
|
|||
|
|
handled = true;
|
|||
|
|
return true;
|
|||
|
|
}
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
public class SunwayRobotOutpOpenHandler : SunwayRobotHandler
|
|||
|
|
{
|
|||
|
|
//开真空
|
|||
|
|
public SunwayRobotOutpOpenHandler(SunwayRobot device, int timeout = 5)
|
|||
|
|
: base(device, $"OUTP 1 1")
|
|||
|
|
{
|
|||
|
|
AckTimeout = TimeSpan.FromSeconds(timeout);
|
|||
|
|
CompleteTimeout = TimeSpan.FromSeconds(timeout);
|
|||
|
|
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
public override bool HandleMessage(MessageBase msg, out bool handled)
|
|||
|
|
{
|
|||
|
|
var result = msg as SunwayRobotMessage;
|
|||
|
|
handled = false;
|
|||
|
|
if (!result.IsResponse)
|
|||
|
|
{
|
|||
|
|
Device.NoteError("Robot OutP Timeout");
|
|||
|
|
return true;
|
|||
|
|
}
|
|||
|
|
else if (result.Data.Contains("ERR"))
|
|||
|
|
{
|
|||
|
|
Device.NoteError("Robot OutP Response Error");
|
|||
|
|
return false;
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
Device.MoveInfo = new RobotMoveInfo()
|
|||
|
|
{
|
|||
|
|
Action = RobotAction.Moving,
|
|||
|
|
ArmTarget = RobotArm.ArmA,
|
|||
|
|
BladeTarget = ModuleName.System.ToString(),
|
|||
|
|
};
|
|||
|
|
|
|||
|
|
ResponseMessage = msg;
|
|||
|
|
//Device.NoteActionCompleted();
|
|||
|
|
handled = true;
|
|||
|
|
return true;
|
|||
|
|
}
|
|||
|
|
}
|
|||
|
|
public class SunwayRobotBOPTClosePHandler : SunwayRobotHandler
|
|||
|
|
{
|
|||
|
|
//打开夹爪
|
|||
|
|
public SunwayRobotBOPTClosePHandler(SunwayRobot device, int timeout = 60)
|
|||
|
|
: base(device, $"OUTP 1 1")
|
|||
|
|
{
|
|||
|
|
AckTimeout = TimeSpan.FromSeconds(timeout);
|
|||
|
|
CompleteTimeout = TimeSpan.FromSeconds(timeout);
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
public override bool HandleMessage(MessageBase msg, out bool handled)
|
|||
|
|
{
|
|||
|
|
var result = msg as SunwayRobotMessage;
|
|||
|
|
handled = false;
|
|||
|
|
if (!result.IsResponse)
|
|||
|
|
{
|
|||
|
|
Device.NoteError("Robot OUTP Timeout");
|
|||
|
|
return true;
|
|||
|
|
}
|
|||
|
|
if (result.Data == "_RDY")
|
|||
|
|
{
|
|||
|
|
|
|||
|
|
}
|
|||
|
|
else if (result.Data.Contains("ERR"))
|
|||
|
|
{
|
|||
|
|
return false;
|
|||
|
|
}
|
|||
|
|
ResponseMessage = msg;
|
|||
|
|
handled = true;
|
|||
|
|
return true;
|
|||
|
|
}
|
|||
|
|
}
|
|||
|
|
public class SunwayRobotOutpCloseHandler : SunwayRobotHandler
|
|||
|
|
{
|
|||
|
|
//关真空
|
|||
|
|
public SunwayRobotOutpCloseHandler(SunwayRobot device, int timeout = 5)
|
|||
|
|
: base(device, $"OUTP 1 0")
|
|||
|
|
{
|
|||
|
|
AckTimeout = TimeSpan.FromSeconds(timeout);
|
|||
|
|
CompleteTimeout = TimeSpan.FromSeconds(timeout);
|
|||
|
|
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
public override bool HandleMessage(MessageBase msg, out bool handled)
|
|||
|
|
{
|
|||
|
|
var result = msg as SunwayRobotMessage;
|
|||
|
|
handled = false;
|
|||
|
|
if (!result.IsResponse)
|
|||
|
|
{
|
|||
|
|
Device.NoteError("Robot OutP Timeout");
|
|||
|
|
return true;
|
|||
|
|
}
|
|||
|
|
else if (result.Data.Contains("ERR"))
|
|||
|
|
{
|
|||
|
|
Device.NoteError("Robot OutP Response Error");
|
|||
|
|
return false;
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
Device.MoveInfo = new RobotMoveInfo()
|
|||
|
|
{
|
|||
|
|
Action = RobotAction.Moving,
|
|||
|
|
ArmTarget = RobotArm.ArmA,
|
|||
|
|
BladeTarget = ModuleName.System.ToString(),
|
|||
|
|
};
|
|||
|
|
|
|||
|
|
ResponseMessage = msg;
|
|||
|
|
Device.NoteActionCompleted();
|
|||
|
|
handled = true;
|
|||
|
|
return true;
|
|||
|
|
}
|
|||
|
|
}
|
|||
|
|
public class SunwayRobotBOPTPHandler : SunwayRobotHandler
|
|||
|
|
{
|
|||
|
|
//打开夹爪
|
|||
|
|
public SunwayRobotBOPTPHandler(SunwayRobot device, int timeout = 60)
|
|||
|
|
: base(device, $"OUTP 1 0")
|
|||
|
|
{
|
|||
|
|
AckTimeout = TimeSpan.FromSeconds(timeout);
|
|||
|
|
CompleteTimeout = TimeSpan.FromSeconds(timeout);
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
public override bool HandleMessage(MessageBase msg, out bool handled)
|
|||
|
|
{
|
|||
|
|
var result = msg as SunwayRobotMessage;
|
|||
|
|
handled = false;
|
|||
|
|
if (!result.IsResponse)
|
|||
|
|
{
|
|||
|
|
Device.NoteError("Robot OUTP Timeout");
|
|||
|
|
return true;
|
|||
|
|
}
|
|||
|
|
if (result.Data == "_RDY")
|
|||
|
|
{
|
|||
|
|
|
|||
|
|
}
|
|||
|
|
else if (result.Data.Contains("ERR"))
|
|||
|
|
{
|
|||
|
|
return false;
|
|||
|
|
}
|
|||
|
|
ResponseMessage = msg;
|
|||
|
|
handled = true;
|
|||
|
|
return true;
|
|||
|
|
}
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
public class SunwayRobotBRSRHandler : SunwayRobotHandler
|
|||
|
|
{
|
|||
|
|
//RSR
|
|||
|
|
public SunwayRobotBRSRHandler(SunwayRobot device, int timeout = 60)
|
|||
|
|
: base(device, $"RSR")
|
|||
|
|
{
|
|||
|
|
AckTimeout = TimeSpan.FromSeconds(timeout);
|
|||
|
|
CompleteTimeout = TimeSpan.FromSeconds(timeout);
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
public override bool HandleMessage(MessageBase msg, out bool handled)
|
|||
|
|
{
|
|||
|
|
var result = msg as SunwayRobotMessage;
|
|||
|
|
handled = false;
|
|||
|
|
if (!result.IsResponse)
|
|||
|
|
{
|
|||
|
|
Device.NoteError("Robot RSR Timeout");
|
|||
|
|
return true;
|
|||
|
|
}
|
|||
|
|
if (result.Data.Length > 5)
|
|||
|
|
{
|
|||
|
|
Device.SetWaferData(result.Data);
|
|||
|
|
}
|
|||
|
|
else if (result.Data.Contains("ERR"))
|
|||
|
|
{
|
|||
|
|
Device.NoteError("Robot RSR Response Error");
|
|||
|
|
return false;
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
Device.MoveInfo = new RobotMoveInfo()
|
|||
|
|
{
|
|||
|
|
Action = RobotAction.Moving,
|
|||
|
|
ArmTarget = RobotArm.ArmA,
|
|||
|
|
BladeTarget = ModuleName.System.ToString(),
|
|||
|
|
};
|
|||
|
|
|
|||
|
|
ResponseMessage = msg;
|
|||
|
|
Device.NoteActionCompleted();
|
|||
|
|
handled = true;
|
|||
|
|
return true;
|
|||
|
|
}
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
public class SunwayRobotRespHandler : SunwayRobotHandler
|
|||
|
|
{
|
|||
|
|
//RESP 确认控制器是否成功建立与主控电脑的通信
|
|||
|
|
public SunwayRobotRespHandler(SunwayRobot device, int timeout = 60)
|
|||
|
|
: base(device, $"RESP")
|
|||
|
|
{
|
|||
|
|
AckTimeout = TimeSpan.FromSeconds(timeout);
|
|||
|
|
CompleteTimeout = TimeSpan.FromSeconds(timeout);
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
public override bool HandleMessage(MessageBase msg, out bool handled)
|
|||
|
|
{
|
|||
|
|
var result = msg as SunwayRobotMessage;
|
|||
|
|
handled = false;
|
|||
|
|
if (!result.IsResponse)
|
|||
|
|
{
|
|||
|
|
Device.NoteError("Robot RESP Timeout");
|
|||
|
|
return true;
|
|||
|
|
}
|
|||
|
|
if (result.Data == "_RDY")
|
|||
|
|
{
|
|||
|
|
|
|||
|
|
}
|
|||
|
|
else if (result.Data.Contains("ERR"))
|
|||
|
|
{
|
|||
|
|
Device.NoteError("Robot RESP Response Error");
|
|||
|
|
return false;
|
|||
|
|
}
|
|||
|
|
Device.MoveInfo = new RobotMoveInfo()
|
|||
|
|
{
|
|||
|
|
Action = RobotAction.Moving,
|
|||
|
|
ArmTarget = RobotArm.ArmA,
|
|||
|
|
BladeTarget = ModuleName.System.ToString(),
|
|||
|
|
};
|
|||
|
|
ResponseMessage = msg;
|
|||
|
|
handled = true;
|
|||
|
|
return true;
|
|||
|
|
}
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
public class SunwayRobotRemsHandler : SunwayRobotHandler
|
|||
|
|
{
|
|||
|
|
//RESP 确认控制器是否成功建立与主控电脑的通信
|
|||
|
|
public SunwayRobotRemsHandler(SunwayRobot device, int timeout = 60)
|
|||
|
|
: base(device, $"REMS")
|
|||
|
|
{
|
|||
|
|
AckTimeout = TimeSpan.FromSeconds(timeout);
|
|||
|
|
CompleteTimeout = TimeSpan.FromSeconds(timeout);
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
public override bool HandleMessage(MessageBase msg, out bool handled)
|
|||
|
|
{
|
|||
|
|
var result = msg as SunwayRobotMessage;
|
|||
|
|
handled = false;
|
|||
|
|
if (!result.IsResponse)
|
|||
|
|
{
|
|||
|
|
Device.NoteError("Robot REMS Timeout");
|
|||
|
|
return true;
|
|||
|
|
}
|
|||
|
|
if (result.Data == "_RDY")
|
|||
|
|
{
|
|||
|
|
}
|
|||
|
|
else if (result.Data.Contains("ERR"))
|
|||
|
|
{
|
|||
|
|
Device.NoteError("Robot REMS Response Error");
|
|||
|
|
return false;
|
|||
|
|
}
|
|||
|
|
Device.MoveInfo = new RobotMoveInfo()
|
|||
|
|
{
|
|||
|
|
Action = RobotAction.Moving,
|
|||
|
|
ArmTarget = RobotArm.ArmA,
|
|||
|
|
BladeTarget = ModuleName.System.ToString(),
|
|||
|
|
};
|
|||
|
|
ResponseMessage = msg;
|
|||
|
|
handled = true;
|
|||
|
|
return true;
|
|||
|
|
}
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
public class SunwayRobotSVONHandler : SunwayRobotHandler
|
|||
|
|
{
|
|||
|
|
//SVON 用以激磁位于机械手臂内之伺服马达
|
|||
|
|
public SunwayRobotSVONHandler(SunwayRobot device, int timeout = 60)
|
|||
|
|
: base(device, $"SET SERVOS ON")
|
|||
|
|
{
|
|||
|
|
AckTimeout = TimeSpan.FromSeconds(timeout);
|
|||
|
|
CompleteTimeout = TimeSpan.FromSeconds(timeout);
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
public override bool HandleMessage(MessageBase msg, out bool handled)
|
|||
|
|
{
|
|||
|
|
var result = msg as SunwayRobotMessage;
|
|||
|
|
handled = false;
|
|||
|
|
if (!result.IsResponse)
|
|||
|
|
{
|
|||
|
|
Device.NoteError("Robot SVON Timeout");
|
|||
|
|
return true;
|
|||
|
|
}
|
|||
|
|
if (result.Data == "_RDY")
|
|||
|
|
{
|
|||
|
|
}
|
|||
|
|
else if (result.Data.Contains("ERR"))
|
|||
|
|
{
|
|||
|
|
Device.NoteError("Robot SVON Response Error");
|
|||
|
|
return false;
|
|||
|
|
}
|
|||
|
|
Device.MoveInfo = new RobotMoveInfo()
|
|||
|
|
{
|
|||
|
|
Action = RobotAction.Moving,
|
|||
|
|
ArmTarget = RobotArm.ArmA,
|
|||
|
|
BladeTarget = ModuleName.System.ToString(),
|
|||
|
|
};
|
|||
|
|
ResponseMessage = msg;
|
|||
|
|
handled = true;
|
|||
|
|
return true;
|
|||
|
|
}
|
|||
|
|
}
|
|||
|
|
public class SunwayRobotMTCSPHandler : SunwayRobotHandler
|
|||
|
|
{
|
|||
|
|
//前往位置
|
|||
|
|
public SunwayRobotMTCSPHandler(SunwayRobot device, string module, string strAction, int timeout = 60)
|
|||
|
|
: base(device, $"MTCS {device.ModuleAssociateStationDic[$"{module}.{strAction}"]}")
|
|||
|
|
{
|
|||
|
|
AckTimeout = TimeSpan.FromSeconds(timeout);
|
|||
|
|
CompleteTimeout = TimeSpan.FromSeconds(timeout);
|
|||
|
|
|
|||
|
|
device.MoveInfo = new RobotMoveInfo()
|
|||
|
|
{
|
|||
|
|
Action = RobotAction.Moving,
|
|||
|
|
ArmTarget = RobotArm.ArmA,
|
|||
|
|
BladeTarget = module,
|
|||
|
|
};
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
public override bool HandleMessage(MessageBase msg, out bool handled)
|
|||
|
|
{
|
|||
|
|
var result = msg as SunwayRobotMessage;
|
|||
|
|
handled = false;
|
|||
|
|
if (!result.IsResponse)
|
|||
|
|
{
|
|||
|
|
Device.NoteError("Robot MTCS Timeout");
|
|||
|
|
return true;
|
|||
|
|
}
|
|||
|
|
if (result.Data == "_RDY")
|
|||
|
|
{
|
|||
|
|
|
|||
|
|
}
|
|||
|
|
else if (result.Data.Contains("ERR"))
|
|||
|
|
{
|
|||
|
|
return false;
|
|||
|
|
}
|
|||
|
|
ResponseMessage = msg;
|
|||
|
|
handled = true;
|
|||
|
|
return true;
|
|||
|
|
}
|
|||
|
|
}
|
|||
|
|
public class SunwayRobotMOVRGHandler : SunwayRobotHandler
|
|||
|
|
{
|
|||
|
|
//抬升或下降 一定距离
|
|||
|
|
public SunwayRobotMOVRGHandler(SunwayRobot device, int rDistance, int timeout = 60)
|
|||
|
|
: base(device, $"MOVR Z {rDistance}")
|
|||
|
|
{
|
|||
|
|
AckTimeout = TimeSpan.FromSeconds(timeout);
|
|||
|
|
CompleteTimeout = TimeSpan.FromSeconds(timeout);
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
public override bool HandleMessage(MessageBase msg, out bool handled)
|
|||
|
|
{
|
|||
|
|
var result = msg as SunwayRobotMessage;
|
|||
|
|
handled = false;
|
|||
|
|
if (!result.IsResponse)
|
|||
|
|
{
|
|||
|
|
Device.NoteError("Robot MOVR Z Timeout");
|
|||
|
|
return true;
|
|||
|
|
}
|
|||
|
|
if (result.Data == "_RDY")
|
|||
|
|
{
|
|||
|
|
Device.GetWaferData();
|
|||
|
|
}
|
|||
|
|
else if (result.Data.Contains("ERR"))
|
|||
|
|
{
|
|||
|
|
Device.NoteError("Robot MOVR Z Response Error");
|
|||
|
|
return false;
|
|||
|
|
}
|
|||
|
|
ResponseMessage = msg;
|
|||
|
|
handled = true;
|
|||
|
|
return true;
|
|||
|
|
}
|
|||
|
|
}
|
|||
|
|
public class SunwayRobotMOVRPHandler : SunwayRobotHandler
|
|||
|
|
{
|
|||
|
|
//抬升或下降 一定距离
|
|||
|
|
public SunwayRobotMOVRPHandler(SunwayRobot device, int rDistance, int timeout = 60)
|
|||
|
|
: base(device, $"MOVR Z {rDistance}")
|
|||
|
|
{
|
|||
|
|
AckTimeout = TimeSpan.FromSeconds(timeout);
|
|||
|
|
CompleteTimeout = TimeSpan.FromSeconds(timeout);
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
public override bool HandleMessage(MessageBase msg, out bool handled)
|
|||
|
|
{
|
|||
|
|
var result = msg as SunwayRobotMessage;
|
|||
|
|
handled = false;
|
|||
|
|
if (!result.IsResponse)
|
|||
|
|
{
|
|||
|
|
Device.NoteError("Robot MOVR Z Timeout");
|
|||
|
|
return true;
|
|||
|
|
}
|
|||
|
|
if (result.Data == "_RDY")
|
|||
|
|
{
|
|||
|
|
Device.PutWaferData();
|
|||
|
|
}
|
|||
|
|
else if (result.Data.Contains("ERR"))
|
|||
|
|
{
|
|||
|
|
Device.NoteError("Robot MOVR Z Response Error");
|
|||
|
|
return false;
|
|||
|
|
}
|
|||
|
|
ResponseMessage = msg;
|
|||
|
|
handled = true;
|
|||
|
|
return true;
|
|||
|
|
}
|
|||
|
|
}
|
|||
|
|
public class SunwayRobotRETHHandler : SunwayRobotHandler
|
|||
|
|
{
|
|||
|
|
//缩回
|
|||
|
|
public SunwayRobotRETHHandler(SunwayRobot device, int timeout = 60)
|
|||
|
|
: base(device, $"RETH")
|
|||
|
|
{
|
|||
|
|
AckTimeout = TimeSpan.FromSeconds(timeout);
|
|||
|
|
CompleteTimeout = TimeSpan.FromSeconds(timeout);
|
|||
|
|
|
|||
|
|
device.MoveInfo = new RobotMoveInfo()
|
|||
|
|
{
|
|||
|
|
Action = RobotAction.Moving,
|
|||
|
|
ArmTarget = RobotArm.ArmA,
|
|||
|
|
BladeTarget = "ArmA.System",
|
|||
|
|
};
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
public override bool HandleMessage(MessageBase msg, out bool handled)
|
|||
|
|
{
|
|||
|
|
var result = msg as SunwayRobotMessage;
|
|||
|
|
handled = false;
|
|||
|
|
if (!result.IsResponse)
|
|||
|
|
{
|
|||
|
|
Device.NoteError("Robot RETH Timeout");
|
|||
|
|
return true;
|
|||
|
|
}
|
|||
|
|
if (result.Data == "_RDY")
|
|||
|
|
{
|
|||
|
|
Device.NotePickCompleted();
|
|||
|
|
}
|
|||
|
|
else if (result.Data.Contains("ERR"))
|
|||
|
|
{
|
|||
|
|
return false;
|
|||
|
|
}
|
|||
|
|
Device.MoveInfo = new RobotMoveInfo()
|
|||
|
|
{
|
|||
|
|
Action = RobotAction.Moving,
|
|||
|
|
ArmTarget = RobotArm.ArmA,
|
|||
|
|
BladeTarget = ModuleName.System.ToString(),
|
|||
|
|
};
|
|||
|
|
ResponseMessage = msg;
|
|||
|
|
handled = true;
|
|||
|
|
Device.NoteActionCompleted();
|
|||
|
|
return true;
|
|||
|
|
}
|
|||
|
|
}
|
|||
|
|
}
|