private ACK_MODE RcvCheck(ref string sRcvData)
{
ACK_MODE _AckMode = ACK_MODE.NONE;
if (IsReceived("\r\n") == true)
{
byte[] bRcv = GetReceiveDataByte();
sRcvData = GetReceiveDataEx_EndCut(); //실제받아오는곳
LogTextOut(string.Format("RecvData:{0}", sRcvData));
if (bRcv[0] == (byte)RCV_CHAR.ACK)
{
FlushEx_EndCheckCut();
_AckMode = ACK_MODE.ACK;
}
else if (bRcv[0] == (byte)RCV_CHAR.DATA)
{
FlushEx_EndCheckCut();
_AckMode = ACK_MODE.DATA;
}
else if (bRcv[0] == (byte)RCV_CHAR.COMPLETE)
{
Flush();
_WorkStatus = WORK_STATUS.IDLE;
_AckMode = ACK_MODE.COMPLETE;
}
else if (sRcvData.Contains("ERR") == true)
{
Flush();
_WorkStatus = WORK_STATUS.ERROR;
//ERR:201[CR][LF]
Test.GlobalFunction.Instance.SetErr(sRcvData, Test.GlobalDefine.Eidentify_error.CyborgRobot_HTR);
//이벤트연결됨 -> 이벤트발생시 -> TBDB_CTC 프로젝트에서 참조후 에러메시지 띄움
_ErrMsg = sRcvData;
_AckMode = ACK_MODE.ERROR;
}
else if (sRcvData.Contains("WAR") == true)
{
//WAR:1001[CR][LF]
Flush();
_WorkStatus = WORK_STATUS.WARING;
Test.GlobalFunction.Instance.SetErr(sRcvData, Test.GlobalDefine.Eidentify_error.CyborgRobot_HTR);
_WarMsg = sRcvData;
_AckMode = ACK_MODE.WARNING;
}
}
return(_AckMode);
}
private ACK_MODE RcvCheck(ref string sRcvData)
{
ACK_MODE _AckMode = ACK_MODE.NONE;
if (IsReceived("\n>") == true)
{
byte[] bRcv = GetReceiveDataByteEx_EndCut();
sRcvData = GetReceiveDataEx_EndCut();
LogTextOut(string.Format("RecvData:{0}", sRcvData));
if (sRcvData.Contains("#ST") == true)
{
FlushEx_EndCheckCut();
_AckMode = ACK_MODE.ACK;
}
else if (sRcvData.Contains("#OK") == true)
{
FlushEx_EndCheckCut();
_WorkStatus = WORK_STATUS.IDLE;
_AckMode = ACK_MODE.COMPLETE;
}
else if (sRcvData.Contains("#BU") == true)
{
FlushEx_EndCheckCut();
_AckMode = ACK_MODE.BEFORE_CMD_PROC;
}
else if (sRcvData.Contains("#??") == true)
{
FlushEx_EndCheckCut();
_WorkStatus = WORK_STATUS.IDLE;
_AckMode = ACK_MODE.NAK;
}
else if (sRcvData.Contains("#ER") == true)
{
FlushEx_EndCheckCut();
_WorkStatus = WORK_STATUS.ERROR;
_ErrMsg = sRcvData;
_AckMode = ACK_MODE.ERROR;
}
else
{ //위의것이 아니면, 거의 체크 데이터로 본다. 그냥..
FlushEx_EndCheckCut();
_AckMode = ACK_MODE.DATA;
}
}
return(_AckMode);
}
public int Seq_Wait_Command_Test(string strCmd, ACK_MODE _CheckMode)
{
int nSeqNo = m_nSeqNo;
int nRet = 0;
switch (nSeqNo)
{
case 0: //상태 체크
{
nSeqNo = 100;
_WorkStatus = WORK_STATUS.ACK_CHECK;
m_RetryCount = 0;
}
break;
case 100: //명령 전송
{
if (SendData(strCmd + "\n") == true)
{
nSeqNo = 200;
m_TimeOut = DateTime.Now;
}
else
{
//알람
Flush();
nSeqNo = 0;
nRet = -1;
_ErrMsg = "Send Fail.";
_WorkStatus = WORK_STATUS.ERROR;
}
}
break;
case 200: //ACK Check.
{
string strRcv = "";
ACK_MODE _AckMode = RcvCheck(ref strRcv);
if ((int)_AckMode > 0)
{
if (_AckMode == _CheckMode)
{
//원하는 데이터 받을때 까지..돈다..
m_TimeOut = DateTime.Now;
nSeqNo = 1000;
}
else
{
m_TimeOut = DateTime.Now;
}
}
else if ((int)_AckMode < 0)
{
if (_AckMode == ACK_MODE.BEFORE_CMD_PROC)
{ //이미 명령 나가있는놈이 있어서, 방금보낸 명령이 안먹음...리트라이 해야한다.
if (m_RetryCount < MaxRetryCount)
{
m_RetryCount += 1;
nSeqNo = 100;
m_TimeOut = DateTime.Now;
LogTextOut(string.Format("{0}/Retry Count:{1})", strCmd, m_RetryCount));
}
else
{
nRet = nSeqNo * -1;
nSeqNo = 0;
LogTextOut(string.Format("{0}/RetryCount Over.", strCmd));
}
}
else
{
_WorkStatus = WORK_STATUS.ERROR;
nRet = nSeqNo * -1;
nSeqNo = 0;
}
}
else
{
if (strCmd == "OPEN" || strCmd == "CLOSE")
{
if (GetElapseTime(m_TimeOut) > READ_END_DELAY * 20)
{
_ErrMsg = "Receive Time Out.";
_WorkStatus = WORK_STATUS.ERROR;
nRet = nSeqNo * -1;
nSeqNo = 0;
Flush();
}
}
else
{
if (GetElapseTime(m_TimeOut) > READ_END_DELAY)
{
_ErrMsg = "Receive Time Out.";
_WorkStatus = WORK_STATUS.ERROR;
nRet = nSeqNo * -1;
nSeqNo = 0;
Flush();
}
}
}
}
break;
case 1000:
{
nRet = 1;
nSeqNo = 0;
_WorkStatus = WORK_STATUS.IDLE;
}
break;
default:
{
_ErrMsg = "Seq No Error.";
_WorkStatus = WORK_STATUS.ERROR;
nSeqNo = 0;
nRet = -1;
Flush();
}
break;
}
m_nSeqNo = nSeqNo;
return(nRet);
}
private ACK_MODE RcvCheck(ref string sRcvData)
{
ACK_MODE _AckMode = ACK_MODE.NONE;
if (IsReceived("\n") == true)
{
byte[] byRcv = GetReceiveDataByteEx_EndCut();
sRcvData = GetReceiveDataEx_EndCut();
LogTextOut(string.Format("RecvData:{0}", sRcvData));
if (byRcv[0] == 'A')
{ //정상적으로 수행
FlushEx_EndCheckCut();
_AckMode = ACK_MODE.ACK;
}
else if (byRcv[0] == 'N')
{ //정상적인 커맨드가 아님.
FlushEx_EndCheckCut();
_ErrMsg = "NAK.";
Test.GlobalFunction.Instance.SetErr(_ErrMsg, Test.GlobalDefine.Eidentify_error.Nano300);
_AckMode = ACK_MODE.NAK;
}
else if (byRcv[0] == 'B')
{ //이미 명령 수행 중.
FlushEx_EndCheckCut();
_ErrMsg = "Before Comand Processing.";
Test.GlobalFunction.Instance.SetErr(_ErrMsg, Test.GlobalDefine.Eidentify_error.Nano300);
_AckMode = ACK_MODE.BEFORE_CMD_PROC;
}
else if (byRcv[0] == 'E')
{ //Alarm이 발생하여 Error Code 전송.
FlushEx_EndCheckCut();
_ErrMsg = Encoding.ASCII.GetString(byRcv, 0, byRcv.Length);
Test.GlobalFunction.Instance.SetErr(_ErrMsg, Test.GlobalDefine.Eidentify_error.Nano300);
_AckMode = ACK_MODE.ERROR;
}
else if (byRcv[0] == 'C')
{ //EVENT 정보 전송.
FlushEx_EndCheckCut();
_AckMode = ACK_MODE.EVENT_DATA;
#region Event Data 처리
string strRcv = sRcvData;
strRcv = strRcv.Trim();
strRcv = strRcv.Trim('C');
strRcv = strRcv.Replace("\n", "");
int nDec = 0;
int.TryParse(strRcv, System.Globalization.NumberStyles.HexNumber, null, out nDec);
for (int nBit = 0; nBit < (int)EVENT_DATA.MAX_COUNT; nBit++)
{
LPM_Data.EventData[nBit] = (byte)((nDec >> nBit) & 0x00000001);
}
#endregion
}
else if (byRcv[0] == 'S')
{ //상태조회 커맨드
FlushEx_EndCheckCut();
_AckMode = ACK_MODE.STATUS_DATA;
#region Status Data 처리
string strRcv = sRcvData;
strRcv = strRcv.Trim();
strRcv = strRcv.Trim('S');
strRcv = strRcv.Replace("\n", "");
int nDec = 0;
int.TryParse(strRcv, System.Globalization.NumberStyles.HexNumber, null, out nDec);
for (int nBit = 0; nBit < (int)STATUS_DATA.MAX_COUNT; nBit++)
{
LPM_Data.StatusData[nBit] = (byte)((nDec >> nBit) & 0x00000001);
}
#endregion
}
else if (byRcv[0] == 'M')
{ //맵핑 데이터 커맨드
FlushEx_EndCheckCut();
Mapping_Proc(sRcvData);
_AckMode = ACK_MODE.MAPPING_DATA;
}
else
{ //위의것이 아니면, 거의 체크 데이터로 본다. 그냥..
FlushEx_EndCheckCut();
_AckMode = ACK_MODE.CHECK_DATA;
}
}
return(_AckMode);
}
public int Seq_ReadCommand_Test(string strCmd, ref string sRcvData)
{
int nSeqNo = m_nSeqNo;
int nRet = 0;
char STX = '#';
switch (nSeqNo)
{
case 0: //상태 체크
{
nSeqNo = 100;
_WorkStatus = WORK_STATUS.READING;
}
break;
case 100: //명령 전송
{
if (SendData(STX + strCmd + "\r") == true)
{
nSeqNo = 200;
m_TimeOut = DateTime.Now;
}
else
{
//알람
Flush();
nSeqNo = 0;
nRet = -1;
}
}
break;
case 200: //ACK Check.
{
ACK_MODE _AckMode = RcvCheck(ref sRcvData);
if ((int)_AckMode > 0)
{
if (_AckMode == ACK_MODE.DATA)
{
m_strBeforeRcvData = sRcvData;
_WorkStatus = WORK_STATUS.IDLE;
nRet = 1;
nSeqNo = 0;
}
}
else if ((int)_AckMode < 0)
{
nRet = nSeqNo * -1;
nSeqNo = 0;
}
else
{
if (GetElapseTime(m_TimeOut) > READ_END_DELAY)
{
nRet = nSeqNo * -1;
nSeqNo = 0;
Flush();
}
}
}
break;
default:
{
nSeqNo = 0;
nRet = -1;
Flush();
}
break;
}
m_nSeqNo = nSeqNo;
return(nRet);
}
private int Seq_SendCommand_WaitComplete(string strCmd)
{
int nSeqNo = m_nSeqNo;
int nRet = 0;
char STX = '#';
switch (nSeqNo)
{
case 0: //상태 체크
{
nSeqNo = 100;
_WorkStatus = WORK_STATUS.MOVING;
} break;
case 100: //명령 전송
{
if (SendData(STX + strCmd + "\r") == true)
{
nSeqNo = 200;
m_TimeOut = DateTime.Now;
}
else
{
//알람
Flush();
nSeqNo = 0;
nRet = -1;
}
} break;
case 200: //ACK Check.
{
string strRcvData = "";
ACK_MODE _AckMode = RcvCheck(ref strRcvData);
if ((int)_AckMode > 0)
{
m_TimeOut = DateTime.Now;
if (_AckMode == ACK_MODE.COMPLETE)
{
_WorkStatus = WORK_STATUS.IDLE;
nRet = 1;
nSeqNo = 0;
}
}
else if ((int)_AckMode < 0)
{
nRet = nSeqNo * -1;
nSeqNo = 0;
}
else
{
//if (GetElapseTime(m_TimeOut) > MOVING_COMPLETE_DELAY)
//{
// nRet = nSeqNo * -1;
// nSeqNo = 0;
// Flush();
//}
}
} break;
default:
{
nSeqNo = 0;
nRet = -1;
Flush();
} break;
}
m_nSeqNo = nSeqNo;
return(nRet);
}
private ACK_MODE RcvCheck(ref string sRcvData)
{
ACK_MODE _AckMode = ACK_MODE.NONE;
if (IsReceived("\n>") == true)
{
byte[] bRcv = GetReceiveDataByteEx_EndCut();
sRcvData = GetReceiveDataEx_EndCut();
LogTextOut(string.Format("RecvData:{0}", sRcvData));
if (sRcvData.Contains("#ST") == true)
{
FlushEx_EndCheckCut();
_AckMode = ACK_MODE.ACK;
}
else if (sRcvData.Contains("#OK") == true)
{
FlushEx_EndCheckCut();
_WorkStatus = WORK_STATUS.IDLE;
_AckMode = ACK_MODE.COMPLETE;
}
else if (sRcvData.Contains("#BU") == true)
{
FlushEx_EndCheckCut();
_AckMode = ACK_MODE.BEFORE_CMD_PROC;
}
else if (sRcvData.Contains("#??") == true)
{
FlushEx_EndCheckCut();
_WorkStatus = WORK_STATUS.IDLE;
_AckMode = ACK_MODE.NAK;
}
else if (sRcvData.Contains("#ER") == true)
{
SendData("#ERST" + "\r");
bError = true;
FlushEx_EndCheckCut();
_WorkStatus = WORK_STATUS.ERROR;
_ErrMsg = sRcvData;
_AckMode = ACK_MODE.ERROR;
}
else if (bError)
{
string[] temp = sRcvData.Split('#');
if (!(temp[1] == null))
{
bError = false;
Test.GlobalFunction.Instance.SetErr(temp[1], Test.GlobalDefine.Eidentify_error.Aligner_PA300C);
}
}
else
{ //위의것이 아니면, 거의 체크 데이터로 본다. 그냥..
FlushEx_EndCheckCut();
_AckMode = ACK_MODE.DATA;
}
}
//수정
BeforeAck = _AckMode;
return(_AckMode);
}
private int Seq_ReadCommand(string strCmd, ref string sRcvData)
{
int nSeqNo = m_nReadSeqNo;
int nRet = 0;
switch (nSeqNo)
{
case 0: //상태 체크
{
nSeqNo = 100;
_WorkStatus = WORK_STATUS.READING;
//Console.WriteLine("Send 1->" + strCmd);
} break;
case 100: //명령 전송
{
if (SendData(strCmd + "\r\n") == true)
{
//Console.WriteLine("Send 2->" + strCmd);
nSeqNo = 200;
m_TimeOut = DateTime.Now;
}
else
{
//알람
Flush();
nSeqNo = 0;
nRet = -1;
}
} break;
case 200: //ACK Check.
{
ACK_MODE _AckMode = RcvCheck(ref sRcvData);
if ((int)_AckMode > 0)
{
switch (_AckMode)
{
case ACK_MODE.ACK:
{ //Ack 받고.
m_TimeOut = DateTime.Now;
//Console.WriteLine("Ack->" + sRcvData);
} break;
case ACK_MODE.DATA:
{ //데이터 받고..
m_TimeOut = DateTime.Now;
sRcvData = sRcvData.Replace("\r\n", "");
sRcvData = sRcvData.Replace("*", "");
sRcvData = sRcvData.Replace(" ", "");
m_strBeforeRcvData = sRcvData;
//Console.WriteLine("Data->" + sRcvData);
} break;
case ACK_MODE.COMPLETE:
{ //데이터 받는거 완료 되었다..진짜끝임.
m_TimeOut = DateTime.Now;
sRcvData = m_strBeforeRcvData;
nRet = 1;
nSeqNo = 0;
//Console.WriteLine("Rcv Compl->" + strCmd);
} break;
}
}
else if ((int)_AckMode < 0)
{
nRet = nSeqNo * -1;
nSeqNo = 0;
}
else
{
if (GetElapseTime(m_TimeOut) > READ_END_DELAY)
{
nRet = nSeqNo * -1;
nSeqNo = 0;
Flush();
//Console.WriteLine("Time Out");
}
}
} break;
default:
{
Console.WriteLine("Error");
nSeqNo = 0;
nRet = -1;
Flush();
} break;
}
m_nReadSeqNo = nSeqNo;
return(nRet);
}
private int Seq_SendCommand(string strCmd)
{
int nSeqNo = m_nSeqNo;
int nRet = 0;
switch (nSeqNo)
{
case 0: //상태 체크
{
nSeqNo = 100;
_WorkStatus = WORK_STATUS.MOVING;
} break;
case 100: //명령 전송
{
if (SendData(strCmd + "\r\n") == true)
{
nSeqNo = 200;
m_TimeOut = DateTime.Now;
}
else
{
//알람
Flush();
nSeqNo = 0;
nRet = -1;
}
} break;
case 200: //ACK Check.
{
string strRcvData = "";
ACK_MODE _AckMode = RcvCheck(ref strRcvData);
if ((int)_AckMode > 0)
{
nRet = 1;
nSeqNo = 0;
}
else if ((int)_AckMode < 0)
{
nRet = nSeqNo * -1;
nSeqNo = 0;
}
else
{
if (GetElapseTime(m_TimeOut) > READ_END_DELAY)
{
nRet = nSeqNo * -1;
nSeqNo = 0;
Flush();
}
}
} break;
default:
{
nSeqNo = 0;
nRet = -1;
Flush();
} break;
}
m_nSeqNo = nSeqNo;
return(nRet);
}
private ACK_MODE RcvCheck(ref string sRcvData)
{
ACK_MODE _AckMode = ACK_MODE.NONE;
if (IsReceived("\r") == true)
{
byte[] byRcv = GetReceiveDataByteEx_EndCut();
sRcvData = GetReceiveDataEx_EndCut();
LogTextOut(string.Format("RecvData:{0}", sRcvData));
if (sRcvData.Contains("_ACK") == true)
{ //정상적으로 수행
FlushEx_EndCheckCut();
_AckMode = ACK_MODE.ACK;
_WorkStatus = WORK_STATUS.MOVING;
}
else if (sRcvData.Contains("_RDY") == true)
{ //동작완료.
FlushEx_EndCheckCut();
_AckMode = ACK_MODE.COMPLETE;
_WorkStatus = WORK_STATUS.IDLE;
}
else if (sRcvData.Contains("_NAK") == true)
{ //명령이 잘못됨.
FlushEx_EndCheckCut();
_AckMode = ACK_MODE.ERROR;
_WorkStatus = WORK_STATUS.ERROR;
Test.GlobalFunction.Instance.SetErr(_ErrMsg, Test.GlobalDefine.Eidentify_error.CyMechsRobot);
}
else if (sRcvData.Contains("_ERR") == true || sRcvData.Contains("ERR") == true)
{ //Alarm이 발생하여 Error Code 전송.
FlushEx_EndCheckCut();
_ErrMsg = Encoding.ASCII.GetString(byRcv, 0, byRcv.Length);
Test.GlobalFunction.Instance.SetErr(_ErrMsg, Test.GlobalDefine.Eidentify_error.CyMechsRobot);
_AckMode = ACK_MODE.ERROR;
_WorkStatus = WORK_STATUS.ERROR;
}
else if (sRcvData.Contains("POWER OFF") == true)
{
FlushEx_EndCheckCut();
_AckMode = ACK_MODE.DATA;
RobotData.PowerStatus = ONOFF.OFF;
}
else if (sRcvData.Contains("POWER ON") == true)
{
FlushEx_EndCheckCut();
_AckMode = ACK_MODE.DATA;
RobotData.PowerStatus = ONOFF.ON;
}
else if (sRcvData.Contains("WAFER A Y") == true)
{
FlushEx_EndCheckCut();
_AckMode = ACK_MODE.DATA;
RobotData.Wafer_A_Status = WAFER_STS.PRESENT;
}
else if (sRcvData.Contains("WAFER A N") == true)
{
FlushEx_EndCheckCut();
_AckMode = ACK_MODE.DATA;
RobotData.Wafer_A_Status = WAFER_STS.ABSENT;
}
else if (sRcvData.Contains("WAFER A ERR") == true)
{
FlushEx_EndCheckCut();
_AckMode = ACK_MODE.DATA;
RobotData.Wafer_A_Status = WAFER_STS.UNKNOWN;
}
else if (sRcvData.Contains("WAFER B Y") == true)
{
FlushEx_EndCheckCut();
_AckMode = ACK_MODE.DATA;
RobotData.Wafer_B_Status = WAFER_STS.PRESENT;
}
else if (sRcvData.Contains("WAFER B N") == true)
{
FlushEx_EndCheckCut();
_AckMode = ACK_MODE.DATA;
RobotData.Wafer_B_Status = WAFER_STS.ABSENT;
}
else if (sRcvData.Contains("WAFER B ERR") == true)
{
FlushEx_EndCheckCut();
_AckMode = ACK_MODE.DATA;
RobotData.Wafer_B_Status = WAFER_STS.UNKNOWN;
}
else if (sRcvData.Contains("VAC A N") == true)
{
FlushEx_EndCheckCut();
_AckMode = ACK_MODE.DATA;
RobotData.Vaccum_A_Status = ONOFF.OFF;
}
else if (sRcvData.Contains("VAC A Y") == true)
{
FlushEx_EndCheckCut();
_AckMode = ACK_MODE.DATA;
RobotData.Vaccum_A_Status = ONOFF.ON;
}
else if (sRcvData.Contains("VAC B N") == true)
{
FlushEx_EndCheckCut();
_AckMode = ACK_MODE.DATA;
RobotData.Vaccum_B_Status = ONOFF.OFF;
}
else if (sRcvData.Contains("VAC B Y") == true)
{
FlushEx_EndCheckCut();
_AckMode = ACK_MODE.DATA;
RobotData.Vaccum_B_Status = ONOFF.ON;
}
else if (sRcvData.Contains("CDM") == true)
{
FlushEx_EndCheckCut();
_AckMode = ACK_MODE.DATA;
RobotData.HostControlMode = CONTROL_MODE.CDM;
}
else if (sRcvData.Contains("HOST") == true)
{
FlushEx_EndCheckCut();
_AckMode = ACK_MODE.DATA;
RobotData.HostControlMode = CONTROL_MODE.HOST;
}
else if (sRcvData.Contains("VER") == true)
{
FlushEx_EndCheckCut();
_AckMode = ACK_MODE.DATA;
RobotData.Version = sRcvData;
}
else if (sRcvData.Contains("ENC A") == true)
{
FlushEx_EndCheckCut();
_AckMode = ACK_MODE.DATA;
RobotData.nEncA = Convert.ToInt32(sRcvData.Substring(4));
}
else if (sRcvData.Contains("ENC B") == true)
{
FlushEx_EndCheckCut();
_AckMode = ACK_MODE.DATA;
RobotData.nEncB = Convert.ToInt32(sRcvData.Substring(4));
}
else
{ //위의것이 아니면, 거의 체크 데이터로 본다. 그냥..
FlushEx_EndCheckCut();
_AckMode = ACK_MODE.DATA;
}
}
return(_AckMode);
}