public void TestFilePath()
{
PositionInstance.Load(); // 在這裏載入所有(Boxtransfer 及 Masktransfer)的路徑點位資料
pathFileObj = new BoxrobotTransferPathFile(PositionInstance.BTR_Path);
var path00 = pathFileObj.GetFromCabinetHomeToDrawerGetPath(BoxrobotTransferLocation.Drawer_01_01);
var path01 = pathFileObj.GetFromCabinetHomeToDrawerPutPath(BoxrobotTransferLocation.Drawer_01_01);
var path02 = pathFileObj.GetFromCabinetHomeToDrawerGetPath(BoxrobotTransferLocation.Drawer_04_01);
var path03 = pathFileObj.GetFromCabinetHomeToDrawerPutPath(BoxrobotTransferLocation.Drawer_04_01);
//pathFileObj = new BoxrobotTransferPathFile(PositionInstance.BTR_Path);
var path04 = pathFileObj.GetFromDrawerToCabitnetHomeGetPath(BoxrobotTransferLocation.Drawer_01_01);
var path05 = pathFileObj.GetFromDrawerToCabitnetHomePutPath(BoxrobotTransferLocation.Drawer_01_01);
var path06 = pathFileObj.GetFromDrawerToCabitnetHomeGetPath(BoxrobotTransferLocation.Drawer_04_01);
var path07 = pathFileObj.GetFromDrawerToCabitnetHomePutPath(BoxrobotTransferLocation.Drawer_04_01);
}
public void Test_MainMethod(EnumMacMaskBoxType boxType, bool getComeraShot, DrawerReplaceBoxPlace drawerReplaceBoxPlace)
{
/** Index & array
* [0] [1] [2]
* 1-2, 1-3, 1-4 IP: 31~33
* ------------------
* [3] [4] [5]
* 2-2, 2-3, 2-4, IP: 41~43
* ------------------
* [6] [7] [8]
* 3-2, 3-3, 3-4, IP: 51~53
* ----------------
* [9] [10] [11]
* 4-2, 4-3, 4-4, IP: 61~63
* ------------------
* [12] [13] [14]
* 5-2, 5-3, 5-4, IP: 71~73
* ------------------
* [15] [16] [17]
* 6-2, 6-3, 6-4, IP: 81~83
*--------------------
* [18] [19]
* 7-2, 7-3, IP: 91~92
*/
if (InitialError)
{
var message = InitialErrorMessage;
return;
}
int BREAK_POINT = 0;
// Connect, 所有Drawer
var failedConnectDrawers = HalContext.DrawersConnect();
int start = 2; // 0; // 3-2~ 4-4
int end = 6; // DrawerKeys.Count;// DrawerKeys.Count;
//int end = DrawerKeys.Count;
for (var i = start; i < end; i++)
{
var drawerKey = DrawerKeys[i];
var drawerLocation = DrawerLocations[i];
try
{
var drawer = HalContext.GetDrawer(drawerKey);
IMacHalDrawer previousDrawer = null;
var drawerHome = drawerLocation.GetCabinetHomeCode().Item2;
if (i != start)
{
// 取得前一個 Drawer
previousDrawer = HalContext.GetDrawer(DrawerKeys[i - 1]);
// 將前一個 Drawer Tray 移回 Home 點
previousDrawer.MoveTrayToHome();
// 將 前一個 Drawer 移到可以 抽換 Box 的位置
if (drawerReplaceBoxPlace == DrawerReplaceBoxPlace.In)
{
previousDrawer.MoveTrayToIn();
}
else
{
previousDrawer.MoveTrayToOut();
}
}
/** 004-01 光罩盒在 Drawer 內 */
drawer.Initial();
// 將 目前 Drawer 的 Tray 移到可抽換Box 的位置
if (drawerReplaceBoxPlace == DrawerReplaceBoxPlace.In)
{
drawer.MoveTrayToIn();
}
else
{
drawer.MoveTrayToOut();
}
BREAK_POINT++;// [[[[[[[[一定要暫停]]]]]]]]]]]] 將 Box 放入 Tray 中 (如果是第2個及第2個以後的 Drawer, 將 盒子從前一個測試的 Drawer 取出來, 放到這個 Drawer 當中)
// 前個 Drawer Tray 回 Home
if (previousDrawer != null)
{
previousDrawer.MoveTrayToHome();
}
/** 004-02 Drawer 往機台內部移動 到Box Robot 可以存光罩鐵盒的位置 */
// Drawer Tray 回 Home
drawer.MoveTrayToHome();
// Drawer Tray 移到 Box Robot 可以取得 光罩鐵盒的位置
drawer.MoveTrayToIn();
BREAK_POINT++; // 確試 Drawer Tray 已經移到 In
/** 004-03 Box Robot 從Home 點至Drawer 夾取點, 進行光罩鐵盒夾取(Clamp光鐵盒)*/
// BoxRobot 回 Cabinet 1 Home
HalBoxTransfer.TurnToCB1Home();
// Drawer 04-01 ~ Drawer 07-05 回 Cabitnet 1 Home 轉向 Cabitnet 2 Home
if (drawerHome == BoxrobotTransferLocation.Cabinet_02_Home)
{
HalBoxTransfer.TurnToCB2Home();
}
filePath = pathFileObj.GetFromCabinetHomeToDrawerGetPath(drawerLocation);
HalBoxTransfer.Move(filePath);
BREAK_POINT++; // 確認 BoxTransfer 是否到了Drawer
// 夾取
HalBoxTransfer.Clamp((uint)boxType);
BREAK_POINT++; // 確認 Box robot 是否夾到了 盒子
/**004-04. Box Robot 將光罩盒從Drawer 移動到Open stage Entry</para>*/
// Box robot 回 Home
filePath = pathFileObj.GetFromDrawerToCabitnetHomeGetPath(drawerLocation);
HalBoxTransfer.Move(filePath);
BREAK_POINT++; // 確認 Box robot 是否到了 Cabinet 1( or 2) Home
// Drawer 04-01 ~ Drawer 07-05 回 Cabitnet 1 Home
if (drawerHome == BoxrobotTransferLocation.Cabinet_02_Home)
{
HalBoxTransfer.TurnToCB1Home();
BREAK_POINT++; // 確認 Box robot 是否到了 Cabinet 1 Home
}
// OpenStage 入侵
HalOpenStage.SetRobotIntrude(true, null);
//HalOpenStage.SortUnclampAndLock();
BREAK_POINT++; // 確認 OPen Stage 的狀態是否可以放入盒子
// Boxrobot 移到 Open Stage
filePath = pathFileObj.FromCabinet01HomeToOpenStage_PUT_PathFile();
HalBoxTransfer.Move(filePath);
BREAK_POINT++; // 確認 BOx Robot 是否已到Open Stage
/** 004-05. Drawer 回到Cabinet 內 */
drawer.MoveTrayToHome();
/** 004-06. Box Robot將光罩盒放在 Open Stage平台上 */
HalBoxTransfer.Unclamp();
/** 004-07.Box Robot(無夾持光罩盒) 從Open Stage 移回 Home 點*/
// Boxrobot 回 Cabitnet 1 Home
filePath = pathFileObj.FromOpenStageToCabinet01Home_PUT_PathFile();
HalBoxTransfer.Move(filePath);
BREAK_POINT++;// 確認 BoxRobot 是否回到 Cabitnet 1 Home
// 解除 Open Stage 入侵
HalOpenStage.SetRobotIntrude(false, null);
BREAK_POINT++;//
// HalOpenStage.SetBoxTypeAndSortClamp(boxType);
//BREAK_POINT++;// 確認 OPenStage 是否 已固定
/** 005-01 光罩鐵盒位於於Open Stage平台上 */
// 目視, 確認
BREAK_POINT++;
/** 005-02. Drawer往機台內部移動到Box Robot可以存取光罩鐵盒的位置 */
drawer.MoveTrayToIn();
BREAK_POINT++;// 確認 Drawer Tray 是否在 In
/** 005-03. Box Robot從Home點至Open Stage進行光罩鐵盒夾取*/
// 入侵 OpenStage
HalOpenStage.SetRobotIntrude(true, null);
// HalOpenStage.SortUnclampAndLock();
BREAK_POINT++;// 確認 Open Stage 是否已經放開鐵盒 ?
// Boxrobot 移到 Open Stage
filePath = pathFileObj.FromCabinet01HomeToOpenStage_GET_PathFile();
HalBoxTransfer.Move(filePath);
BREAK_POINT++; // 確認 Boxrobot 是否已經到了 Cabitnet 1 Home
// Clamp
HalBoxTransfer.Clamp((uint)boxType);
BREAK_POINT++; // 確認 Boxrobot 已經夾到盒子
/** 005-04. Box Robot將光罩鐵盒從Open Stage夾取並放置於Drawer內 (release光罩鐵盒)*/
// Boxrobot 回到 Cabinet 1 Home
filePath = pathFileObj.FromOpenStageToCabinet01Home_GET_PathFile();
HalBoxTransfer.Move(filePath);
BREAK_POINT++; // 確認Boxrobot 已經到 Cabitnet 1 HOme
// 解除 入侵
HalOpenStage.SetRobotIntrude(false, null);
BREAK_POINT++;
if (drawerHome == BoxrobotTransferLocation.Cabinet_02_Home)
{ // Drawer 04-01 ~ Drawer 07-05 , Boxrobot 移到 Cabinet 2 Home
HalBoxTransfer.TurnToCB2Home();
BREAK_POINT++; // 確認Boxrobot 已經到 Cabitnet 2 HOme
}
// Boxrobot 移到 Drawer
filePath = pathFileObj.GetFromCabinetHomeToDrawerPutPath(drawerLocation);
HalBoxTransfer.Move(filePath);
BREAK_POINT++; // 1. 確認 DRAWER Tray 是否在In, 2.確認 BoxTRansfer 是否到位
// Unclamp
HalBoxTransfer.Unclamp();
BREAK_POINT++;// 確認 Box 是否已在 Tray 上
/** 005-05. Box Robot退回Home點 */
// Boxrobot 回 Home 點
filePath = pathFileObj.GetFromDrawerToCabitnetHomePutPath(drawerLocation);
HalBoxTransfer.Move(filePath);
BREAK_POINT++; //Box robot 是否到了 Cabinet 1(or 2) Home
if (drawerHome == BoxrobotTransferLocation.Cabinet_02_Home)
{ // Drawer 04-01 ~ Drawer 07-05, Boxrobot 回 Cabitnet 2 Home
HalBoxTransfer.TurnToCB1Home();
BREAK_POINT++; //Box robot 是否到了 Cabinet 1 Home
}
/** 005-06. Drawer回到Cabinet內 */
drawer.MoveTrayToHome();
/** 005-07 測試(編號13-CCD): 開啟光源 -> 拍照-> 關閉光源, 功能是否正常 */
if (getComeraShot)
{
// 2-07.測試(編號13-CCD): 開啟光源 -> 拍照-> 關閉光源, 功能是否正常
var lightValue = HalBoxTransfer.GetCameraLightValue(boxType);
var resultTemp = HalBoxTransfer.CameraShot("D:/Image/BT/Gripper", "jpg", lightValue);
}
/** 999999 ok*/
BREAK_POINT++; //[[[[[[[[[[[[[[[[[[一定要暫停]]]]]]]]]]]]]]]]]]]]]]]]]] 準備下一個
}
catch (Exception ex)
{
Debug.WriteLine("EX=" + ex.Message);
}
}
// Repeat();
}
