From c2641efdd93e0ffe5ae18680cbf58e9ed83f7974 Mon Sep 17 00:00:00 2001
From: hanqiangqiang <1364346467@qq.com>
Date: Thu, 9 Apr 2026 10:35:31 +0800
Subject: [PATCH] =?UTF-8?q?=E8=B0=83=E6=95=B4=E6=A8=A1=E5=9D=97=E7=95=8C?=
=?UTF-8?q?=E9=9D=A2=E5=B8=83=E5=B1=80?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit
---
SicUI/Controls/Mainframe/AtmRobotMultiLP.xaml | 17 ++---
.../Mainframe/AtmRobotMultiLP.xaml.cs | 71 ++++++++++---------
SicUI/Controls/Mainframe/M2C4EFEMView3.xaml | 22 +++---
3 files changed, 54 insertions(+), 56 deletions(-)
diff --git a/SicUI/Controls/Mainframe/AtmRobotMultiLP.xaml b/SicUI/Controls/Mainframe/AtmRobotMultiLP.xaml
index c017a12..90c37dd 100644
--- a/SicUI/Controls/Mainframe/AtmRobotMultiLP.xaml
+++ b/SicUI/Controls/Mainframe/AtmRobotMultiLP.xaml
@@ -19,16 +19,12 @@
x:Name="root"
Width="416"
Height="38">
-
-
-
-
-
diff --git a/SicUI/Controls/Mainframe/AtmRobotMultiLP.xaml.cs b/SicUI/Controls/Mainframe/AtmRobotMultiLP.xaml.cs
index 3e429fa..021a0c3 100644
--- a/SicUI/Controls/Mainframe/AtmRobotMultiLP.xaml.cs
+++ b/SicUI/Controls/Mainframe/AtmRobotMultiLP.xaml.cs
@@ -77,9 +77,9 @@ namespace SicUI.Controls.M2C4Parts
// Using a DependencyProperty as the backing store for Wafer1. This enables animation, styling, binding, etc...
public static readonly DependencyProperty Wafer1Property =
DependencyProperty.Register("Wafer1", typeof(MECF.Framework.UI.Client.ClientBase.WaferInfo), typeof(AtmRobotMultiLP), new PropertyMetadata(null));
-
+
//public Visibility IsArmWater => Wafer1 == null ? Visibility.Hidden : Wafer1.IsVisibility;
-
+
public MECF.Framework.UI.Client.ClientBase.WaferInfo Wafer2
{
get { return (MECF.Framework.UI.Client.ClientBase.WaferInfo)GetValue(Wafer2Property); }
@@ -159,7 +159,7 @@ namespace SicUI.Controls.M2C4Parts
public static readonly DependencyProperty StationPositionProperty =
DependencyProperty.Register("StationPosition", typeof(Dictionary), typeof(AtmRobotMultiLP), new PropertyMetadata(null, StationPositionChangedCallback));
- public Visibility HasWafer
+ public Visibility HasWafer
{
get { return (Visibility)GetValue(HasWaferProperty); }
set { SetValue(HasWaferProperty, value); }
@@ -243,17 +243,16 @@ namespace SicUI.Controls.M2C4Parts
StartPosition= new RobotPosition()
{
Z=0,
- Root = 99,
+ Root = 100,
Arm = 240,
- Hand = 240
+ Hand = -110
},
EndPosition= new RobotPosition()
{
- Root = 239,
- Arm = 0,
- Hand = 360
+ Root =238,
+ Arm = 0,
+ Hand = 0
}
-
}
},
{ "ArmA.PM2",new StationPosition() //ArmA.ReactorB
@@ -261,15 +260,15 @@ namespace SicUI.Controls.M2C4Parts
StartPosition= new RobotPosition()
{
Z=0,
- Root = 10,
- Arm = 194,
- Hand = 99
+ Root = 60,
+ Arm = 120,
+ Hand = 130
},
EndPosition= new RobotPosition()
{
- Root = -58,
- Arm = 360,
- Hand = 0
+ Root = -54,
+ Arm = 360,
+ Hand = 0
}
}
},
@@ -278,15 +277,15 @@ namespace SicUI.Controls.M2C4Parts
StartPosition= new RobotPosition()
{
Z=0,
- Root = 80,
- Arm = 190,
- Hand = 100
+ Root = 5,
+ Arm = 240,
+ Hand = -110
},
EndPosition= new RobotPosition()
{
- Root = 13,
- Arm = 360,
- Hand = 0
+ Root = 137,
+ Arm = 0,
+ Hand = 0
}
}
},
@@ -295,7 +294,7 @@ namespace SicUI.Controls.M2C4Parts
StartPosition= new RobotPosition()
{
Z=0,
- Root =27,
+ Root =27,
Arm = 240,
Hand = 240
},
@@ -312,22 +311,22 @@ namespace SicUI.Controls.M2C4Parts
StartPosition= new RobotPosition()
{
Z=0,
- Root =-45,
- Arm = 240,
- Hand = 240
+ Root = 170,
+ Arm = 120,
+ Hand = 120
},
EndPosition= new RobotPosition()
{
- Root = 90,
- Arm = 0,
- Hand = 360
+ Root = 47,
+ Arm = 360,
+ Hand = 0
}
}
},
};
}
- static void StationPositionChangedCallback(DependencyObject d, DependencyPropertyChangedEventArgs e)
+ private static void StationPositionChangedCallback(DependencyObject d, DependencyPropertyChangedEventArgs e)
{
var self = (AtmRobotMultiLP)d;
var positions = (Dictionary)e.NewValue;
@@ -440,7 +439,7 @@ namespace SicUI.Controls.M2C4Parts
//needRotate.Add(canvas21.Rotate(storyboard, position.StartPosition.Root, true, MoveTime));
//needRotate.Add(canvas22.Rotate(storyboard, position.StartPosition.Arm, true, MoveTime));
//needRotate.Add(canvas23.Rotate(storyboard, position.StartPosition.Hand, true, MoveTime));
- }
+ }
if (needRotate.Any(x => x))
{
@@ -457,7 +456,7 @@ namespace SicUI.Controls.M2C4Parts
private void MoveToEnd(RobotArm arm, string station, Action onComplete = null)
{
LogMsg($"{arm} move to end {station}");
-
+
var position = StationPosition[station];
var storyboard = new Storyboard();
@@ -499,12 +498,15 @@ namespace SicUI.Controls.M2C4Parts
case RobotAction.None:
case RobotAction.Moving:
return;
+
case RobotAction.Picking:
waferPresent = true;
break;
+
case RobotAction.Placing:
waferPresent = false;
break;
+
default:
break;
}
@@ -514,13 +516,16 @@ namespace SicUI.Controls.M2C4Parts
case RobotArm.ArmA:
WaferPresentA = waferPresent;
break;
+
case RobotArm.ArmB:
WaferPresentB = waferPresent;
break;
+
case RobotArm.Both:
WaferPresentA = waferPresent;
WaferPresentB = waferPresent;
break;
+
default:
break;
}
@@ -531,6 +536,4 @@ namespace SicUI.Controls.M2C4Parts
AnimationHelper.TranslateX(root, start, target, MoveTime, onComplete);
}
}
-
-
-}
+}
\ No newline at end of file
diff --git a/SicUI/Controls/Mainframe/M2C4EFEMView3.xaml b/SicUI/Controls/Mainframe/M2C4EFEMView3.xaml
index cd2a115..cc12f6f 100644
--- a/SicUI/Controls/Mainframe/M2C4EFEMView3.xaml
+++ b/SicUI/Controls/Mainframe/M2C4EFEMView3.xaml
@@ -174,8 +174,10 @@
Width="550"
Height="80"
HasTray="{Binding TMRobotHaveTray}"
+ HasWafer="{Binding IsArmWater}"
IsEnabled="{Binding TMEnableWaferClick}"
RobotMoveInfo="{Binding TmRobotMoveInfo}"
+ Wafer1="{Binding TMRobotWafer1}"
RotateAngle="123"
ShowDock="False"
TranslateX="120" />
@@ -225,9 +227,9 @@