void ICommandReport.On_Command_Error(string Device_ID, ReturnMsg Msg, Command Cmd, Job Job)
{
if (AlarmList.ContainsKey(Msg.GetDAT()))
{
Alarm alm;
if (AlarmList.TryGetValue(Msg.GetDAT(), out alm))
{
MessageBox.Show(Device_ID + "錯誤發生\n錯誤類型:" + alm.Error_Type + "\n錯誤名稱:" + alm.Error_Name + "\n錯誤描述:" + alm.Error_Cause, "錯誤碼:" + alm.Error_Code);
}
}
else
{
MessageBox.Show(Device_ID + "錯誤發生，錯誤碼:" + Msg.GetDAT());
}
}
void ICommandReport.On_Command_Finished(string Device_ID, ReturnMsg Msg, Command Cmd, Job Job)
{
string[] reply;
switch (Msg.GetCMD())
{
case "PNSTS":
reply = Msg.GetDAT().Split(',');
string arm = reply[0];
string vac = reply[1];
string pre = reply[2];
switch (arm)
{
case "1":
//R
status.R_ArmVacuumNo1 = Convert.ToBoolean(Convert.ToInt16(vac[0]));
status.R_ArmVacuumNo2 = Convert.ToBoolean(Convert.ToInt16(vac[1]));
status.R_ArmVacuumNo3 = Convert.ToBoolean(Convert.ToInt16(vac[2]));
status.R_ArmVacuumNo4 = Convert.ToBoolean(Convert.ToInt16(vac[3]));
status.R_ArmPresentNo1 = Convert.ToBoolean(Convert.ToInt16(pre[0]));
status.R_ArmPresentNo2 = Convert.ToBoolean(Convert.ToInt16(pre[1]));
status.R_ArmPresentNo3 = Convert.ToBoolean(Convert.ToInt16(pre[2]));
status.R_ArmPresentNo4 = Convert.ToBoolean(Convert.ToInt16(pre[3]));
break;
case "2":
//L
status.L_ArmVacuumNo1 = Convert.ToBoolean(Convert.ToInt16(vac[0]));
status.L_ArmVacuumNo2 = Convert.ToBoolean(Convert.ToInt16(vac[1]));
status.L_ArmVacuumNo3 = Convert.ToBoolean(Convert.ToInt16(vac[2]));
status.L_ArmVacuumNo4 = Convert.ToBoolean(Convert.ToInt16(vac[3]));
status.L_ArmPresentNo1 = Convert.ToBoolean(Convert.ToInt16(pre[0]));
status.L_ArmPresentNo2 = Convert.ToBoolean(Convert.ToInt16(pre[1]));
status.L_ArmPresentNo3 = Convert.ToBoolean(Convert.ToInt16(pre[2]));
status.L_ArmPresentNo4 = Convert.ToBoolean(Convert.ToInt16(pre[3]));
break;
}
break;
case "POS__":
reply = Msg.GetDAT().Split(',');
status.R_EncoderPosition = reply[0];
status.L_EncoderPosition = reply[1];
status.S_EncoderPosition = reply[2];
status.Z_EncoderPosition = reply[3];
status.X_EncoderPosition = reply[4];
status.R1_EncoderPosition = reply[5];
break;
}
RunIdx++;
if (RunIdx < cmdList.Count)
{
_Controller.SendCommand(cmdList[RunIdx]);
}
else
{
RefreshStatus();
RunIdx = 0;
_Controller.SendCommand(cmdList[RunIdx]);
}
}
void ICommandReport.On_Command_Excuted(string Device_ID, ReturnMsg Msg, Command Cmd, Job Job)
{
}
void IConnectionReport.OnSocketMessage(string Msg)
{
try
{
string[] MsgList = Msg.Split('\n');
foreach (string each in MsgList)
{
//logger.Debug("OnSocketMessage:" + each);
if (each.Trim().Equals(""))
{
continue;
}
ReturnMsg eachMsg = new ReturnMsg(each);
timeOutTimer.Enabled = false;
switch (eachMsg.GetFLG())
{
case "ACK":
if (LastSendCommand.GetFLG().Equals("CMD")) //如果送出的指令不是CMD，就做下一步，否則必須等待FIN才能繼續
{
SetStatus(Runing);
actionTimeOutTimer.Enabled = true;
tObj.On_Command_Excuted(ControllerName, eachMsg, LastSendCommand, LastJob);
}
else
{
SetStatus(Idle);
tObj.On_Command_Excuted(ControllerName, eachMsg, LastSendCommand, LastJob);
}
break;
case "NAK":
SetStatus(Idle);
tObj.On_Command_Error(ControllerName, eachMsg, LastSendCommand, LastJob);
//錯誤發生
logger.Error("Error happen:error code=" + eachMsg.GetDAT());
break;
case "FIN":
actionTimeOutTimer.Enabled = false;
SetStatus(Idle);
//下一步
if (eachMsg.GetDAT().Equals("00000000"))
{
tObj.On_Command_Finished(ControllerName, eachMsg, LastSendCommand, LastJob);
}
else
{
//錯誤發生
tObj.On_Command_Error(ControllerName, eachMsg, LastSendCommand, LastJob);
logger.Error("Error happen:error code=" + eachMsg.GetDAT());
}
break;
}
}
}
catch (Exception ex)
{
logger.Error("OnSocketMessage:" + ex.Message + "\n" + ex.StackTrace);
}
}
public void On_Command_Finished(string Device_ID, ReturnMsg Msg, Command Cmd, Job Job)
{
if (running)
{
RunIdx++;
if (RunIdx < cmdList.Count)
{
Run(cmdList[RunIdx]);
UpdateScriptProgress(RunIdx);
}
else
{
RunIdx = 0;
Run(cmdList[RunIdx]);
UpdateScriptProgress(RunIdx);
}
}
else
{
IController robot1;
if (Device_ID.Equals("Aligner"))
{
foreach (Job eachJob in JobList.Values)
{
if (eachJob.Position.Equals(Aligner_1))
{
if (ControllerList.TryGetValue(eachJob.Deliver, out robot1))
{
robot1.DoWork(RobotCommand.GetAfterWait, eachJob);
}
}
}
}
else
{
switch (Msg.GetCMD())
{
case "MAP__":
#region MAP動作完成
#endregion
break;
case "GET__":
if (Job.From.Equals(Port_1))
{
for (int i = 0; i < Port1.Count; i++)
{
if (Port1[i].JobID.Equals(Job.JobID))
{
Port1.Remove(Port1[i]);
}
}
UpdateMapResult(Port1_gv, Port1);
}
if ((Job.From.Equals(Aligner_1)))
{
Aligner.Clear();
UpdateMapResult(Aligner_gv, Aligner);
}
if (ControllerList.TryGetValue(Device_ID, out robot1))
{
if (Job.ToWay.Equals(Port_2))
{
Job.ToSlot = Port2.Count.ToString("000");
}
robot1.DoWork(Job.ToWay, Job);
}
break;
case "ALIGN":
foreach (Job eachJob in JobList.Values)
{
if (eachJob.Position.Equals(Aligner_1))
{
if (ControllerList.TryGetValue(eachJob.Deliver, out robot1))
{
robot1.DoWork(eachJob.FromWay, eachJob);
}
}
}
break;
case "PUT__":
Job.Position = Job.To;
//Job取得下一站目的地
Job.GetNext();
if (Job.Position.Equals(Aligner_1))
{
Slot inPanel = new Slot();
inPanel.JobID = Job.JobID;
Aligner.Add(inPanel);
UpdateMapResult(Aligner_gv, Aligner);
if (ControllerList.TryGetValue(Job.Producer, out robot1))
{
robot1.DoWork(RobotCommand.ALIGN, Job);
}
break;
}
if (Job.Position.Equals(Port_2))
{
Slot inPanel = new Slot();
inPanel.JobID = Job.JobID;
inPanel.SlotNo = (Port2.Count + 1).ToString();
Port2.Add(inPanel);
UpdateMapResult(Port2_gv, Port2);
}
//該Robot命令完成,尋找需要搬運的Panel
foreach (Job eachJob in JobList.Values)
{
if (eachJob.Deliver.Equals(Device_ID) && eachJob.Position.Equals(eachJob.From))
{
if (ControllerList.TryGetValue(Device_ID, out robot1))
{
robot1.DoWork(eachJob.FromWay, eachJob);
}
}
}
break;
}
}
}
}
void ICommandReport.On_Command_Excuted(string Device_ID, ReturnMsg Msg, Command Cmd, Job Job)
{
if (!running)
{
IController robot1;
if (Cmd.GetFLG().Equals("GET"))
{
switch (Msg.GetCMD())
{
case "MAP__":
#region MAP回傳結果
//string[] mapResult = Msg.GetDAT().Split(',');
string[] mapResult = "1,1,1,1".Split(','); //模擬slot 1~4 有片
for (int i = 1; i < mapResult.Count(); i++)
{
string status = mapResult[i];
switch (status)
{
case "0":
status = "無";
break;
case "1":
status = "有";
break;
case "W":
status = "厚度異常";
break;
case "E":
status = "傾斜異常";
break;
}
Slot eachSlot = new Slot();
eachSlot.JobID = "";
eachSlot.SlotNo = i.ToString();;
eachSlot.Status = status;
Port1.Add(eachSlot);
}
UpdateMapResult(Port1_gv, Port1);
#endregion
break;
}
}
else if (Cmd.GetFLG().Equals("CMD"))
{
switch (Msg.GetCMD())
{
case "GET__": //Panel 在手臂上
if (Job.Position.Equals(Aligner))
{
Aligner.Clear();;
UpdateMapResult(Aligner_gv, Aligner);
}
Job.Position = Device_ID;
break;
case "PUT__":
case "GETW_":
break;
}
}
}
else
{
if (!Cmd.GetFLG().Equals("CMD"))
{
RunIdx++;
if (RunIdx < cmdList.Count)
{
Run(cmdList[RunIdx]);
UpdateScriptProgress(RunIdx);
}
else
{
RunIdx = 0;
Run(cmdList[RunIdx]);
UpdateScriptProgress(RunIdx);
}
}
}
}
