/// <summary>
/// A button click event to unload given station
/// </summary>
/// <param name="sender"></param>
/// <param name="e"></param>
private void UnloadBTN_Click(object sender, EventArgs e)
{
string lp = LoadPortCB.Text;
this.TerminalRTB.Invoke(new MethodInvoker(delegate() { TerminalRTB.AppendText(Environment.NewLine + Environment.NewLine + "Client>>Server:Unload"); }));
/*Check selected load port connection is online before sending the command*/
if (String.IsNullOrEmpty(lp))
{
MessageBox.Show("Please select a Load Port");
}
else if (lp == "Load Port1" && LP1.Connection == ModuleConnection.Online)
{
ULTMServices.sendCommand(LP1.Unload());
}
else if (lp == "Load Port1" && LP1.Connection == ModuleConnection.Offline)
{
this.TerminalRTB.Invoke(new MethodInvoker(delegate() { TerminalRTB.AppendText(Environment.NewLine + Environment.NewLine + "LoadPort 1 Offline"); }));
}
else if (lp == "Load Port2" && LP2.Connection == ModuleConnection.Online)
{
ULTMServices.sendCommand(LP2.Unload());
}
else if (lp == "Load Port1" && LP2.Connection == ModuleConnection.Offline)
{
this.TerminalRTB.Invoke(new MethodInvoker(delegate() { TerminalRTB.AppendText(Environment.NewLine + Environment.NewLine + "LoadPort 2 Offline"); }));
}
}
/// <summary>
/// A button click event to get the status of robot and get robot current possition
/// </summary>
/// <param name="sender"></param>
/// <param name="e"></param>
private void GetStatusBtn_Click(object sender, EventArgs e)
{
string rbt = RobotCB.Text;
string hand = RbtHandCB.Text;
string lp = LoadPortCB.Text;
string slot = LPSlotCB.Text;
if (String.IsNullOrEmpty(rbt))
{
MessageBox.Show("Please select Robot");
}
if (String.IsNullOrEmpty(lp))
{
MessageBox.Show("Please select a Load Port");
}
if (String.IsNullOrEmpty(hand))
{
MessageBox.Show("Please select a Load Port");
}
string[] statusCmd = R1.GetStatus();
ULTMServices.sendCommand(statusCmd[0]);
ULTMServices.sendCommand(statusCmd[1]);
this.TerminalRTB.Invoke(new MethodInvoker(delegate() { TerminalRTB.AppendText(Environment.NewLine + Environment.NewLine + "Client>>Server:Ishome,QRYPOS"); }));
}
/// <summary>
/// A button click event to serv off the robot
/// </summary>
/// <param name="sender"></param>
/// <param name="e"></param>
private void ServOffBTN_Click(object sender, EventArgs e)
{
string rbt = RobotCB.Text;
ULTMServices.sendCommand(R1.RobotServOFF());
this.TerminalRTB.Invoke(new MethodInvoker(delegate() { TerminalRTB.AppendText(Environment.NewLine + Environment.NewLine + "Client>>Server:ServoOFF"); }));
}
/// <summary>
/// A button click event to perform Robot map for a selected station
/// </summary>
/// <param name="sender"></param>
/// <param name="e"></param>
private void MapBTN_Click(object sender, EventArgs e)
{
if (connection.isConnected())
{
string lp = LoadPortCB.Text;
string cmd = "";
/*Construct and send the command to server accordingly */
if (String.IsNullOrEmpty(lp))
{
MessageBox.Show("Please select a Load Port");
}
else if (lp == "Load Port1")
{
cmd = R1.Map("P1");
ULTMServices.sendCommand(cmd);
commandLogger.Log(cmd);
}
else if (lp == "Load Port2")
{
cmd = R1.Map("P2");
ULTMServices.sendCommand(cmd);
commandLogger.Log(cmd);
}
this.TerminalRTB.Invoke(new MethodInvoker(delegate() { TerminalRTB.AppendText(Environment.NewLine + Environment.NewLine + "Client>>Server:Map"); }));
}
else
{
errorLogger.Log("Robot is not connected");
}
}
/// <summary>
/// A button click event,for connecting to server which is listening to given IP address and port in the text boxes.
/// Once connection is success ReadTR will start to receive data from server.
/// </summary>
/// <param name="sender"></param>
/// <param name="e"></param>
private void ConnectBtn_Click(object sender, EventArgs e)
{
connection = new ULTMConnection();
string ip = IPAddressTB.Text;
int port = Convert.ToInt32(PortNumberTB.Text);
try
{
if (connection.ConnectToServer(ip, port))
{
TerminalRTB.Text = "Connected to Simulator .." + Environment.NewLine;
commandLogger.Log("Connected to Simulator ..");
this.TerminalRTB.Invoke(new MethodInvoker(delegate() { TerminalRTB.AppendText(services.ReadReceive() + "\n"); }));
ReadTR = new Thread(readThredServer);
ReadTR.Start();
}
}
catch (Exception)
{
MessageBox.Show("Could not connect to server");
errorLogger.Log("Connection to server fails");
}
}
/// <summary>
/// A button click event to get know the connection of configured devices
/// </summary>
/// <param name="sender"></param>
/// <param name="e"></param>
private void InitBTN_Click(object sender, EventArgs e)
{
this.TerminalRTB.Invoke(new MethodInvoker(delegate() { TerminalRTB.AppendText(Environment.NewLine + Environment.NewLine + "Tool Initialize"); }));
string cmd = ToolConfiguration.ToolInitialize();
ULTMServices.sendCommand(cmd);
}
/// <summary>
/// A button click event to perform Get Wafer from a location (station+slot)
/// </summary>
/// <param name="sender"></param>
/// <param name="e"></param>
private void GetBTN_Click(object sender, EventArgs e)
{
if (connection.isConnected())
{
string rbt = RobotCB.Text;
string hand = RbtHandCB.Text;
string lp = LoadPortCB.Text;
string slot = LPSlotCB.Text;
if (String.IsNullOrEmpty(rbt))
{
MessageBox.Show("Please select Robot");
}
if (String.IsNullOrEmpty(lp))
{
MessageBox.Show("Please select a Load Port");
}
if (String.IsNullOrEmpty(hand))
{
MessageBox.Show("Please select a Load Port");
}
/*Get selected robot hand in type of RobotArm enum */
RobotArm Hand = new RobotArm();
switch (hand)
{
case "H1":
Hand = RobotArm.ARM_1;
break;
case "H2":
Hand = RobotArm.ARM_2;
break;
}
/*Construct and send the command to server accordingly */
switch (lp)
{
case "Load Port1":
string cmd1 = R1.GetWafer(Hand, LP1, (LoadPortSlot)Convert.ToInt32(slot));
ULTMServices.sendCommand(cmd1);
commandLogger.Log($"{cmd1}");
break;
case "Load Port2":
string cmd2 = R1.GetWafer(Hand, LP2, (LoadPortSlot)Convert.ToInt32(slot));
ULTMServices.sendCommand(cmd2);
commandLogger.Log($"{cmd2}");
break;
}
;
this.TerminalRTB.Invoke(new MethodInvoker(delegate() { TerminalRTB.AppendText(Environment.NewLine + Environment.NewLine + "Client>>Server:Get"); }));
}
else
{
errorLogger.Log("Robot is not connected");
}
}
/// <summary>
/// This method will continuously read receive data from the server,until the client is connected to server.
/// </summary>
private void readThredServer()
{
/*connection.isConnected() is returning bool true if the client is connected to the server or false if the client is disconnected from the server*/
while (connection.isConnected())
{
try
{
/*services.ReadReceive() is returning a string which received from server to client*/
string receive = services.ReadReceive();
if (!String.IsNullOrEmpty(receive))
{
this.TerminalRTB.Invoke(new MethodInvoker(delegate() { TerminalRTB.AppendText("\r\n" + receive); }));
/*Check R1 and P1 are online or offline , update module status lables accordingly*/
if (R1.Connection == ModuleConnection.Online)
{
this.Rbt_status.Invoke(new MethodInvoker(delegate()
{ Rbt_status.Text = R1.State.ToString(); }));
}
else if (R1.Connection == ModuleConnection.Offline)
{
this.Rbt_status.Invoke(new MethodInvoker(delegate()
{ Rbt_status.Text = "--"; }));
}
if (LP1.Connection == ModuleConnection.Online)
{
this.Lp_status.Invoke(new MethodInvoker(delegate()
{ Lp_status.Text = LP1.State.ToString(); }));
}
else if (LP1.Connection == ModuleConnection.Offline)
{
this.Lp_status.Invoke(new MethodInvoker(delegate()
{ Lp_status.Text = "--"; }));
}
commandLogger.Log(receive);
receive = "";
}
}
catch (Exception ex)
{
errorLogger.Log(ex.ToString());
}
}
}
/// <summary>
/// A button click event,to disconnect the client from server
/// </summary>
/// <param name="sender"></param>
/// <param name="e"></param>
private void DisconnectBTN_Click(object sender, EventArgs e)
{
try
{
connection.Disconnect();
ReadTR.Join();
Console.WriteLine("disconnected");
this.TerminalRTB.Invoke(new MethodInvoker(delegate() { TerminalRTB.AppendText(Environment.NewLine + Environment.NewLine + "Client disconnected from server"); }));
this.Rbt_status.Invoke(new MethodInvoker(delegate()
{ Rbt_status.Text = "--"; }));
this.Lp_status.Invoke(new MethodInvoker(delegate()
{ Lp_status.Text = "--"; }));
}
catch (Exception ex)
{
errorLogger.Log(ex.ToString());
}
}
/// <summary>
/// A button click event to perform robot move to a selected location code of selected slot of selected station
/// </summary>
/// <param name="sender"></param>
/// <param name="e"></param>
private void MoveBTN_Click(object sender, EventArgs e)
{
if (connection.isConnected())
{
string rbt = RobotCB.Text;
string hand = RbtHandCB.Text;
string lp = LoadPortCB.Text;
string slot = LPSlotCB.Text;
string locationCode = locationCodeCB.Text;
if (String.IsNullOrEmpty(locationCode))
{
MessageBox.Show("Please select Location Code");
}
if (String.IsNullOrEmpty(rbt))
{
MessageBox.Show("Please select Robot");
}
if (String.IsNullOrEmpty(lp))
{
MessageBox.Show("Please select a Load Port");
}
if (String.IsNullOrEmpty(hand))
{
MessageBox.Show("Please select a Load Port");
}
/*Get selected robot hand in type of RobotArm enum */
RobotArm Hand = new RobotArm();
switch (hand)
{
case "H1":
Hand = RobotArm.ARM_1;
break;
case "H2":
Hand = RobotArm.ARM_2;
break;
}
/*Get selected location code in type of LocationCode enum */
LocationCode LC = new LocationCode();
switch (locationCode)
{
case "pbx":
LC = LocationCode.pbx;
break;
case "gbx":
LC = LocationCode.gbx;
break;
}
/*Construct and send the command to server accordingly */
string cmd = "";
switch (lp)
{
case "Load Port1":
ULTMServices.sendCommand(R1.Move(Hand, LP1, (LoadPortSlot)Convert.ToInt32(slot), LC));
break;
case "Load Port2":
ULTMServices.sendCommand(R1.Move(Hand, LP1, (LoadPortSlot)Convert.ToInt32(slot), LC));
break;
}
this.TerminalRTB.Invoke(new MethodInvoker(delegate() { TerminalRTB.AppendText(Environment.NewLine + Environment.NewLine + "Client>>Server:Move"); }));
}
else
{
errorLogger.Log("Robot is not connected");
}
}
/// <summary>
/// A button click event to perform Transfer a wafer from a location(station+slot) to an another location(station+slot)
/// </summary>
/// <param name="sender"></param>
/// <param name="e"></param>
private void TransferBTN_Click(object sender, EventArgs e)
{
if (connection.isConnected())
{
string rbt = RobotCB.Text;
string hand = RbtHandCB.Text;
string source = SourceCB.Text;
string sourSlot = SrcSlotCB.Text;
string destination = DestinationCB.Text;
string destSlot = DstSlotCB.Text;
if (String.IsNullOrEmpty(rbt))
{
MessageBox.Show("Please select Robot");
}
if (String.IsNullOrEmpty(hand))
{
MessageBox.Show("Please select a Load Port");
}
/*Get selected robot hand in type of RobotArm enum */
RobotArm Hand = new RobotArm();
switch (hand)
{
case "H1":
Hand = RobotArm.ARM_1;
break;
case "H2":
Hand = RobotArm.ARM_2;
break;
}
/*Construct and send the command to server accordingly */
string cmd = "";
switch (source)
{
case "Load Port1":
switch (destination)
{
case "Load Port1":
cmd = R1.Tranfer(Hand, LP1, (LoadPortSlot)Convert.ToInt32(sourSlot), LP1, (LoadPortSlot)Convert.ToInt32(destSlot));
ULTMServices.sendCommand(cmd);
commandLogger.Log(cmd);
break;
case "Load Port2":
cmd = R1.Tranfer(Hand, LP1, (LoadPortSlot)Convert.ToInt32(sourSlot), LP2, (LoadPortSlot)Convert.ToInt32(destSlot));
ULTMServices.sendCommand(cmd);
commandLogger.Log(cmd);
break;
}
break;
case "Load Port2":
switch (destination)
{
case "Load Port1":
cmd = R1.Tranfer(Hand, LP2, (LoadPortSlot)Convert.ToInt32(sourSlot), LP1, (LoadPortSlot)Convert.ToInt32(destSlot));
ULTMServices.sendCommand(cmd);
commandLogger.Log(cmd);
break;
case "Load Port2":
cmd = R1.Tranfer(Hand, LP2, (LoadPortSlot)Convert.ToInt32(sourSlot), LP2, (LoadPortSlot)Convert.ToInt32(destSlot));
ULTMServices.sendCommand(cmd);
commandLogger.Log(cmd);
break;
}
break;
}
this.TerminalRTB.Invoke(new MethodInvoker(delegate() { TerminalRTB.AppendText(Environment.NewLine + Environment.NewLine + "Client>>Server:Transfer"); }));
}
else
{
errorLogger.Log("Robot is not connected");
}
}
