/// <summary>
/// Check driver id is unique
/// </summary>
public void CheckDriverId()
{
var dict = new Dictionary <string, int>();//Driver Id with Count
foreach (var driver in this.manifest.Drivers)
{
var key = driver.DriverId;
if (!dict.ContainsKey(key))
{
dict[key] = 0;
}
dict[key]++;
}
var duplicates = (from row in dict
where row.Value > 1
select row).ToList();
foreach (var did in duplicates)
{
MvaLog.WarnNs(this, "Duplicate driver id: {0}", did.Key);
}
if (duplicates.Count != 0)
{
var did = duplicates.FirstOrDefault().Key;
throw new MacWrongDriverException("Exist non-unique driver id " + did);
}
}
public void LoadPortUnDock()
{
MacHalContext halContext = null;
MacHalLoadPort loportAssembly = null;
MacHalLoadPortGudeng TestLoadport = null;
try
{
halContext = new MacHalContext("GenCfg/Manifest/Manifest.xml.real");
halContext.MvaCfLoad();
loportAssembly = halContext.HalDevices[EnumMacDeviceId.loadportA_assembly.ToString()] as MacHalLoadPort;
TestLoadport = loportAssembly.Hals[EnumMacDeviceId.loadport_1.ToString()] as MacHalLoadPortGudeng;
TestLoadport.HalConnect();
BindLoadPortEvent(TestLoadport);
TestLoadport.CommandUndockRequest();
Repeat();
}
catch (Exception ex) { MvaLog.WarnNs(this, ex); }
finally
{
if (halContext != null)
{
halContext.Dispose();
}
}
}
public override int HalConnect()
{ // LddPool
var connected = false;
try
{
LddPool = MvaKjMachineDrawerLddPool.GetInstance(HostListenDrawerPortRangeStart, HostListenDrawerPortRangeEnd, HostListenDrawerSysEventPort);
if (LddPool == null)
{
connected = false;
}
else
{
Ldd = LddPool.CreateLdd(DeviceId, DeviceEndPoint, HostIP);
}
if (Ldd == null || LddPool == null)
{
connected = false;
}
else
{
BindLddEvent();
connected = true;
}
}
catch (Exception ex)
{
connected = false;
MvaLog.WarnNs(this, ex);
}
return(connected ? 1 : 0);
}
public int HalClose()
{
//關閉所有HAL
foreach (var kv in this.HalDevices)
{
try { this.HalClose(kv.Value); }
catch (Exception ex) { MvaLog.WarnNs(this, ex); }
}
//釋放資源
foreach (var kv in this.Resources)
{
try
{
if (kv.Value == null)
{
continue;
}
kv.Value.Dispose();
}
catch (Exception ex) { MvaLog.WarnNs(this, ex); }
}
return(0);
}
public object Read(string VarName)
{
Exception myex = null;
//Fail允許重新再執行, 上限3次
for (var tryIndex = 0; tryIndex < 3; tryIndex++)
{
try
{
lock (this)
{
//每個要存取PLC的 都要稍等一下, 讓PLC有恢復Clock的時間
Thread.Sleep(50);
return(_CIPcompolet.ReadVariable(VarName));
}
}
catch (Exception ex)
{
LogInfo(ex.Message);
MvaLog.WarnNs(this, ex);
myex = ex;
}
}
//若3次嘗試存取失敗, 直接拋出Exception
throw new MvaException("PLC read fail over 3 times", myex);
}
public void ResourceDispose()
{
foreach (var rsc in this.Resources)
{
try { rsc.Value.Dispose(); }
catch (Exception ex) { MvaLog.WarnNs(this, ex); }
}
}
public void Close()
{
try
{
if (this.TcpClient != null)
{
using (var obj = this.TcpClient) { obj.Disconnect(); }
}
}
catch (Exception ex) { MvaLog.WarnNs(this, ex); }
}
/// <summary>由IP 取得 Drawer</summary>
/// <param name="deviceIP">Drawer IP</param>
/// <returns></returns>
public MvaKjMachineDrawerLdd GetDrawerByDeviceIP(string deviceIP)
{
try
{
var drawer = this.Drawers.Where(m => m.DeviceIP.Equals(deviceIP)).FirstOrDefault();
Debug.WriteLine(drawer.DeviceIP);
return(drawer);
}
catch (Exception ex)
{
MvaLog.WarnNs(this, ex);
return(null);
}
}
/// <summary>監聽 Server 的Method</summary>
private void ListenFromServer()
{
int rtnEmptyCount = 0;
while (true)
{
try
{
byte[] B = new byte[1023];
int inLine = ClientSocket.Receive(B);//從Server端回復(Listen Point)
string rtn = Encoding.Default.GetString(B, 0, inLine);
//rtn = "~001,Placement,0@\0\0\0\0";
Debug.WriteLine("[RETURN] " + rtn);
rtn = rtn.Replace("\0", "");
if (string.IsNullOrEmpty(rtn))
{ // 忽然斷線(將一直收到空白 50 次視為遺失連線)
if (++rtnEmptyCount > 50 && OnHostLostTcpServerHandler != null)
{
OnHostLostTcpServerHandler.Invoke(this, EventArgs.Empty);
break;
}
System.Threading.Thread.Sleep(100);
continue;
}
else
{
rtnEmptyCount = 0;
}
if (OnReceviceRtnFromServerHandler != null)
{
// 可能一次會有多個結果
var rtnAry = rtn.Split(new string[] { BaseHostToLoadPortCommand.CommandPostfixText }, StringSplitOptions.RemoveEmptyEntries);
foreach (var element in rtnAry)
{
var eventArgs = new OnReceviceRtnFromServerEventArgs(element);
OnReceviceRtnFromServerHandler.Invoke(this, eventArgs);
}
}
}
catch (Exception ex)
{
MvaLog.WarnNs(this, ex);
}
}
}
public MvaKjMachineDrawerLdd CreateLdd(string drawerIndex, IPEndPoint deviceEndpoint, string localIP)
{
try
{
// 檢查一下, ldd 是否存在, 如果存在, 就將 Ldd 找出來,回傳 Note: 2020/11/13 King
MvaKjMachineDrawerLdd ldd = new MvaKjMachineDrawerLdd(drawerIndex, deviceEndpoint, localIP, this.PortStatusDictionary);
_ldds.Add(ldd);
return(ldd);
}
catch (Exception ex)
{
MvaLog.WarnNs(this, ex);
return(null);
}
}
/// <summary>產生 Drawer</summary>
/// <param name="cabinetNo">Cabinet 編號</param>
/// <param name="drawerNo">Drawer 編號</param>
/// <param name="deviceIP">裝置 IP</param>
/// <param name="udpServerPort">Drawer 內建 UDP Server Port</param>
/// <returns></returns>
public MvaKjMachineDrawerLdd CreateDrawer(int cabinetNo, string drawerNo, IPEndPoint deviceEndpoint, string localIP)
{
try
{
MvaKjMachineDrawerLdd drawer = new MvaKjMachineDrawerLdd(cabinetNo, drawerNo, deviceEndpoint, localIP, this.PortStatusDictionary);
Drawers.Add(drawer);
return(drawer);
}
catch (Exception ex)
{
MvaLog.WarnNs(this, ex);
return(null);
}
}
/// <summary>Client(本地)端 Listen 收到 Server 端回傳資料後引發的事件程序</summary>
/// <param name="sender"></param>
/// <param name="args"></param>
private void ReceiveMessageFromServer(object sender, EventArgs args)
{
var eventArgs = (OnReceviceRtnFromServerEventArgs)args;
ReturnFromServer rtnContent = new ReturnFromServer(eventArgs.RtnContent);
var methodName = rtnContent.StringContent.Replace(" ", "_");//.Replace("\0", "");
try
{
var method = typeof(MvGudengLoadPortLdd).GetMethod(methodName);
method.Invoke(this, new object[] { rtnContent });
}
catch (Exception ex)
{
MvaLog.WarnNs(this, ex);
}
}
/// <summary>啟動監聽 Server 端的 Thread</summary>
public bool StartListenServerThread()
{
try
{
ClientSocket = new Socket(AddressFamily.InterNetwork, SocketType.Stream, ProtocolType.Tcp);
ClientSocket.Connect(ServerEndPoint);
ThreadClientListen = new Thread(ListenFromServer);
ThreadClientListen.Start();
IsListenServer = true;
}
catch (Exception ex)
{
MvaLog.WarnNs(this, ex);
IsListenServer = false;
}
return(IsListenServer);
}
public void LoadPortCommandTest()
{
try
{
using (var halContext = new MacHalContext("GenCfg/Manifest/Manifest.xml.real"))
{
halContext.MvaCfLoad();
var loportAssembly = halContext.HalDevices[EnumMacDeviceId.loadportA_assembly.ToString()] as MacHalLoadPort;
var testLoadPort = loportAssembly.Hals[EnumMacDeviceId.loadport_1.ToString()] as MacHalLoadPortGudeng;
testLoadPort.HalConnect();
// BindLoadPortEvent(loadport1);
BindLoadPortEvent(testLoadPort);
testLoadPort.CommandAlarmReset();
testLoadPort.CommandInitialRequest();
Repeat();
}
}
catch (Exception ex) { MvaLog.WarnNs(this, ex); }
}
public void DrawerTest()
{
using (var halContext = new MacHalContext("UserData/Manifest/Manifest.xml.real"))
{
halContext.InitialAndLoad();
var s = halContext.DrawersConnect();
var drawer = halContext.GetDrawer(DrawerKeys[1]);
try
{
drawer.Initial();
// while (true)
//{
// System.Threading.Thread. Sleep(100);
// }
drawer.MoveTrayToOut();
drawer.MoveTrayToHome();
drawer.MoveTrayToIn();
}
catch (Exception ex) { MvaLog.WarnNs(this, ex); }
}
}
public MvaKjMachineDrawerLdd(int cabinetNO, string drawerNO, IPEndPoint deviceEndpoint, string localIp, IDictionary <int, bool?> portTable) : this()
{
DrawerNO = drawerNO;
CabinetNO = cabinetNO;
DeviceIP = deviceEndpoint.Address.ToString();
TargetEndpoint = deviceEndpoint;
UdpSocket = new Socket(AddressFamily.InterNetwork, SocketType.Dgram, ProtocolType.Udp);
while (true)
{
// 可用的 port
int variablePort = 0;
try
{
KeyValuePair <int, bool?> keyValuePair = portTable.Where(m => m.Value == default(bool?)).FirstOrDefault();
if (keyValuePair.Equals(default(KeyValuePair <int, bool?>)))
{ // 無 Port 可用時
// TODO : To Thorw an Exception
}
variablePort = keyValuePair.Key;
// Bind 的端點名稱
IPEndPoint endPoint = new IPEndPoint(IPAddress.Parse(localIp), variablePort);
UdpSocket.Bind(endPoint);
portTable.Remove(variablePort);
portTable.Add(variablePort, true);
break;
}
catch (Exception ex)
{
portTable.Remove(variablePort);
portTable.Add(variablePort, false);
MvaLog.WarnNs(this, ex);
}
}
ListenThread = new Thread(Listen);
ListenThread.IsBackground = true;
ListenThread.Start();
}
public void DrawerBasicTest()
{
try
{
var halContext = new MacHalContext("GenCfg/Manifest/Manifest.xml.real");
halContext.MvaCfLoad();
var cabinet = halContext.HalDevices[EnumMacDeviceId.cabinet_drawer_01_01.ToString()] as MacHalCabinet;
var drawer = cabinet.Hals[EnumMacDeviceId.cabinet_drawer_01_01.ToString()] as MacHalDrawerKjMachine;
var connected = drawer.HalConnect();
var isConnected = drawer.HalIsConnected();
// vs 2013
//Debug.WriteLine($"IsConnected={isConnected}");
Debug.WriteLine("IsConnected=" + isConnected);
BindEvents(drawer);
Repeat();
}
catch (Exception ex)
{
MvaLog.WarnNs(this, ex);
}
}
/// <summary>按入 Load 鍵</summary>
/// <param name="sender"></param>
/// <param name="e"></param>
private void BtnLoad_Click(object sender, EventArgs e)
{
try
{
if (File.Exists(TxtBxDevicePath.Text))
{
var datas = ToLoad();
if (datas > 0)
{
RefreshPositionInfoList();
MessageBox.Show("資料己經載入");
}
else
{
MessageBox.Show("沒有資料");
}
}
else
{
MessageBox.Show(TxtBxDevicePath.Text + " 不存在");
}
}
catch (Exception ex) { MvaLog.WarnNs(this, ex); }
}
[DataRow(EnumMacMaskBoxType.IronBox, false)] // 鐵盒
//[DataRow(BoxType.CrystalBox,false)]// 水晶盒
public void Test_Ut001_BT(EnumMacMaskBoxType boxType, bool autoConnect)
{
var BREAK_POINT = 0;
using (var halContext = MacHalContextExtends.Create_MacHalContext_Instance())
{
try
{
var universal = halContext.GetUniversalAssembly(autoConnect);
var boxTransfer = halContext.GetBoxTransferAssembly(autoConnect);
var cabinet = halContext.GetCabinetAssembly(autoConnect);
var openStage = halContext.GetOpenStageAssembly(autoConnect);
if (!autoConnect)
{
universal.HalConnect();
boxTransfer.HalConnect();
cabinet.HalConnect();
openStage.HalConnect();
}
// Initial OpenStage
openStage.Initial();
openStage.SetBoxType((uint)boxType);
openStage.SortClamp();
// Initial BoxTransfer
boxTransfer.Initial();
// 關燈
boxTransfer.TurnOffCameraLight();
// connect 所有 Drawer
halContext.DrawersConnect();
for (int i = 0; 0 < DrawerKeys.Count; i++)
{
try
{
// 取得 Drawer
var drawer = halContext.GetDrawer(DrawerKeys[i]);
// Drawer 代碼
var drawerLocation = DrawerLocations[i];
// Drawer Home
var drawerHome = DrawerLocations[i].GetCabinetHomeCode().Item2;
// Drawer Initial
drawer.Initial();
// boxTransfer 轉向 Cabitnet 1 Home
boxTransfer.TurnToCB1Home();
BREAK_POINT = 0;
/** 1 光罩鐵盒放置於Open Stage平台上*/
BREAK_POINT = 0; // 確認 光罩鐵盒放置於Open Stage平台上*/
/** 2. Drawer往機台內部移動到光罩盒可放置的位置 */
// 將 Drawer 的Tray 移到 In
drawer.MoveTrayToIn();
BREAK_POINT = 0;
/** 3. Box Robot從Home點至Open Stage進行光罩鐵盒夾取*/
// 3.1 能否入侵 Open Stage?
openStage.SetRobotIntrude(true, null);
// 3.2 將 Boxrobot 移到 OpenStage
var path = pathFileObj.FromCabinet01HomeToOpenStage_GET_PathFile();
openStage.SortUnclamp();
openStage.Lock();
boxTransfer.Move(path);
boxTransfer.Clamp((uint)boxType);
BREAK_POINT = 0;
/** 4. Box Robot從Open Stage夾持光罩至Drawer放置點位之前一個點位 (暫且定義為 CB1 Home 或CB2 Home) */
path = pathFileObj.FromOpenStageToCabinet01Home_GET_PathFile();
boxTransfer.Move(path);
if (drawerHome == BoxrobotTransferLocation.Cabinet_02_Home)
{
boxTransfer.TurnToCB2Home();
}
#region 拍照 , 移到 6~7 間
// 5. (編號13-CCD): 開啟光源 -> 拍照(FOV正確) -> 關閉光源, 確認Drawer中無光罩盒
#endregion
BREAK_POINT = 0;
/** 6. Box Robot從Open Stage夾持光罩至Drawer放置點位 (不做放置光罩鐵盒於drawer的動作) */
// 將 BoxRobot 移到 Drawer
if (drawerHome == BoxrobotTransferLocation.Cabinet_01_Home)
{
path = pathFileObj.FromCabinet01HomeToDrawer_PUT_PathFile(drawerLocation);
}
else //if(drawerHome == BoxrobotTransferLocation.Cabinet_02_Home)
{
boxTransfer.TurnToCB2Home();
path = pathFileObj.FromCabinet02HomeToDrawer_PUT_PathFile(drawerLocation);
}
boxTransfer.Move(path);
// 拍照
// boxTransfer.CameraShot("Ut001_BT_" + drawerLocation);
BREAK_POINT = 0;
/** 7. Box Robot夾持光罩回到Drawer entry點位 (目前没有 teach Drawer entry 點 這個點位, 改以 回到 CB1_HOME 或 CB2_Home)*/
// 7.1 以Get 方式回到 Cb1Home(目前有盒子)
if (drawerHome == BoxrobotTransferLocation.Cabinet_01_Home)
{ // cabinet 1
path = pathFileObj.FromDrawerToCabinet01Home_GET_PathFile(drawerLocation);
}
else if (drawerHome == BoxrobotTransferLocation.Cabinet_02_Home)
{ // cabinet 2
path = pathFileObj.FromDrawerToCabinet02Home_GET_PathFile(drawerLocation);
}
boxTransfer.Move(path);
// 7.2 如果 Drawer 是 Cabinet 2的Drawer, 再回到 Cabitnet 1 Home
if (drawerHome == BoxrobotTransferLocation.Cabinet_02_Home)
{
boxTransfer.TurnToCB1Home();
}
// 7.3 檢查入侵到 Open Stage
openStage.SetRobotIntrude(true, null); // 入侵
path = pathFileObj.FromCabinet01HomeToOpenStage_PUT_PathFile();
// 7.4 BoxTransfer 移到 OpenStage
boxTransfer.Move(path);
// 7.5 放下盒子
boxTransfer.Unclamp(); // => 第二 個以後Drawer(01_03, 01_04 ,......, 07_03) 的 1.
// 7.6 Box robot 回CB1Home
path = pathFileObj.FromOpenStageToCabinet01Home_PUT_PathFile();
boxTransfer.Move(path);
BREAK_POINT = 0;
// 8. Drawer回到Cabinet內
drawer.MoveTrayToHome();
// 9. 重複1~8步驟, 完成20個Drawer的光罩鐵盒的移動測試(下個 Cycle)
//10.重複1~8步驟, 完成20個Drawer的光罩水晶盒的移動測試
}
catch (Exception ex)
{
}
}
}
catch (Exception ex)
{
MvaLog.WarnNs(this, ex);
}
};
}
public void TestMethod1()
{
MacTestMyUtil.RegisterLog();
//Clean Ch./Light IWDV-100S-24
var are = new AutoResetEvent(false);
using (var light = new MvaLeimacLightLdd())
{
light.TcpClient.EhDataReceive += (ss, ee) =>
{
MvaLog.WarnNs(this, ee.Message);
MvaLog.WarnNs(this, ee.TrxMessage.GetString());
are.Set();
};
light.TcpClient.EhErrorReceive += (ss, ee) =>
{
MvaLog.WarnNs(this, ee.Message);
};
light.TcpClient.EhFailConnect += (ss, ee) =>
{
MvaLog.WarnNs(this, ee.Message);
};
light.TcpClient.EhDisconnect += (ss, ee) =>
{
MvaLog.WarnNs(this, ee.Message);
};
light.TcpClient.EhFirstConnect += (ss, ee) =>
{
MvaLog.WarnNs(this, ee.Message);
};
//LP
//light.Model = MvEnumLeimacModel.IDGB_50M4PG_24_TP;
//light.ConnectTry("192.168.0.119", 1000);
//CL
//light.Model = MvEnumLeimacModel.IWDV_100S_24;
//light.ConnectTry("192.168.0.129", 1000);
//OS
//light.Model = MvEnumLeimacModel.IDGB_50M4PG_24_TP;
//light.ConnectTry("192.168.0.139", 1000);
//RB
//light.Model = MvEnumLeimacModel.IDGB_50M4PG_24_TP;
//light.ConnectTry("192.168.0.155", 1000);
//IC1: ch1: Top Defense 環形光 ; ch2: Side Inspection 條形光 ; ch3: Side Defense 條形光 ; ch4: No install
light.Model = MvaEnumLeimacModel.IDGB_50M4PG_24_TP;
var status = light.ConnectTry("192.168.0.160", 1000);
//IC2: ch1: Top Inspcetion 環形光 ; ch2: No install
//light.Model = MvEnumLeimacModel.IDGB_50M2PG_12_TP;
//var status = light.ConnectTry("192.168.0.161", 1000);
while (!light.TcpClient.IsRemoteConnected)
{
Thread.Sleep(100);
}
//IC3: ch1: Left Spot Light ; ch2: Right Spot Light
//light.Model = MvEnumLeimacModel.IWDV_600M2_24;
//light.ConnectTry("192.168.0.162", 1000);
for (var idx = 0; idx < 10; idx++)
{
light.SetValue(1, 0);
Thread.Sleep(1000);
are.WaitOne();
}
}
}
public void DrawerCommandTest()
{
try
{
using (var halContext = new MacHalContext("GenCfg/Manifest/Manifest.xml.real"))
{
halContext.MvaCfBootup();
halContext.MvaCfLoad();
// halContext.MvCfInit();
//halContext.MvCfLoad();
var unv = halContext.HalDevices[EnumMacDeviceId.eqp_assembly.ToString()] as MacHalEqp;
unv.HalConnect();
var cabinet = halContext.HalDevices[EnumMacDeviceId.cabinet_assembly.ToString()] as MacHalCabinet;
cabinet.HalConnect();
// var drawer_01_01 = cabinet.Hals[MacEnumDevice.cabinet_drawer_01_01.ToString()] as MacHalDrawerKjMachine;
// var drawer_01_02 = cabinet.Hals[MacEnumDevice.cabinet_drawer_01_02.ToString()] as MacHalDrawerKjMachine;
var DR0101 = halContext.HalDevices[EnumMacDeviceId.cabinet_drawer_01_01.ToString()] as MacHalCabinet; //.Hals[MacEnumDevice.cabinet_drawer_01_01.ToString()] as MacHalDrawerKjMachine;
var DR0102 = halContext.HalDevices[EnumMacDeviceId.cabinet_drawer_01_02.ToString()] as MacHalCabinet; //.Hals[MacEnumDevice.cabinet_drawer_01_02.ToString()] as MacHalDrawerKjMachine;
// var drawer_01_01 = halContext.HalDevices[MacEnumDevice.cabinet_drawer_01_01.ToString()] as MacHalCabinet;//.Hals[MacEnumDevice.cabinet_drawer_01_01.ToString()] as MacHalDrawerKjMachine;
// var drawer_01_02 = halContext.HalDevices[MacEnumDevice.cabinet_drawer_01_02.ToString()] as MacHalCabinet;//.Hals[MacEnumDevice.cabinet_drawer_01_02.ToString()] as MacHalDrawerKjMachine;
var drawer_01_01 = DR0101.MacHalDrawer;
var drawer_01_02 = DR0102.MacHalDrawer;
var isConnected = drawer_01_01.HalConnect();
// vs 2013
// Debug.WriteLine($"IsConnected={isConnected}");
Debug.WriteLine("IsConnected=" + isConnected);
drawer_01_02.HalConnect();
BindEvents(drawer_01_01);
BindEvents(drawer_01_02);
/** CommandSetMotionSpeed */
drawer_01_01.CommandSetMotionSpeed(100);
drawer_01_02.CommandSetMotionSpeed(100);
/** CommandPositionRead
* drawer_01_02.CommandPositionRead();
* drawer_01_01.CommandPositionRead();
*/
/** CommandBoxDetection
* drawer_01_01.CommandBoxDetection();
* drawer_01_02.CommandBoxDetection();
*/
/**CommandBrightLEDAllOn()
* drawer_01_01.CommandBrightLEDAllOn();
* drawer_01_02.CommandBrightLEDAllOn();
*/
/**CommandBrightLEDAllOff()
* drawer_01_01.CommandBrightLEDAllOff();
* drawer_01_02.CommandBrightLEDAllOff();
*/
/** CommandBrightLEDGreenOn()
* drawer_01_01.CommandBrightLEDGreenOn();
* drawer_01_02.CommandBrightLEDGreenOn();
*/
/** CommandBrightLEDRedOn()
* drawer_01_01.CommandBrightLEDRedOn();
* drawer_01_02.CommandBrightLEDRedOn();
*/
/** CommandINI()
* drawer_01_01.CommandINI();
* drawer_01_02.CommandINI();
*/
/** CommandSetTimeOut()
* drawer_01_01.CommandSetTimeOut(100);
* drawer_01_02.CommandSetTimeOut(100);
*/
/** CommandTrayMotionHome()
* drawer_01_01.CommandTrayMotionHome();
* drawer_01_02.CommandTrayMotionHome();
*/
/** CommandTrayMotionHome()
* drawer_01_01.CommandTrayMotionIn();
* drawer_01_02.CommandTrayMotionIn();
*/
/** CommandTrayMotionHome()
* drawer_01_01.CommandTrayMotionOut();
* drawer_01_01.CommandTrayMotionOut();
*/
Repeat();
}
}
catch (Exception ex)
{
MvaLog.WarnNs(this, ex);
}
}
[DataRow(EnumMacMaskBoxType.IronBox, true, DrawerReplaceBoxPlace.In)] // 鐵盒
//[DataRow(BoxType.CrystalBox,true)] // 水晶盒
public void TestMethod1(EnumMacMaskBoxType boxType, bool autoConnect, DrawerReplaceBoxPlace drawerReplaceBoxPlace)
{
var BREAK_POINT = 0;
using (var halContext = new MacHalContext("UserData/Manifest/Manifest.xml.real"))
{
/** 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
*/
halContext.MvaCfBootup();
halContext.MvaCfLoad();
try
{
var uni = halContext.HalDevices[EnumMacDeviceId.eqp_assembly.ToString()] as MacHalEqp;
var bt = halContext.HalDevices[EnumMacDeviceId.boxtransfer_assembly.ToString()] as MacHalBoxTransfer;
var os = halContext.HalDevices[EnumMacDeviceId.openstage_assembly.ToString()] as MacHalOpenStage;
string btMovePathFile = default(string);
uni.HalConnect();
bt.HalConnect();
os.HalConnect();
halContext.DrawersConnect();
//bt.Reset();
bt.Initial();
//bt.TurnToCB1Home();
int start = 8;
int end = 10;
for (var i = start; i < end; i++)
{
try
{
var drawerLocation = DrawerLocations[i];
var drawer = halContext.GetDrawer(DrawerKeys[i]);
IMacHalDrawer previousDrawer = null;
var drawerHome = drawerLocation.GetCabinetHomeCode().Item2;
/** 00 預先動作, 如有上一輪的 Drawer, 將上一輪的 Drawer 推回到 Out , 取出 Box, 將Box放到現在的 Drawer Tray中, 並將 Tray 放回 Home */
// 0.1 如有上一輪的 Drawer, 將其 Tray 移到 可抽換 box 的位置
if (i > start)
{
previousDrawer = halContext.GetDrawer(DrawerKeys[i - 1]);
previousDrawer.MoveTrayToHome();
if (drawerReplaceBoxPlace == DrawerReplaceBoxPlace.In)
{
previousDrawer.MoveTrayToIn();
}
else
{
previousDrawer.MoveTrayToOut();
}
}
// 0.2 將目前的 Drawer Tray Initial
drawer.Initial();
// 0.3 將 目前的 Drawer Tray 移回 可以置換 Drawer 的地方
if (drawerReplaceBoxPlace == DrawerReplaceBoxPlace.In)
{
drawer.MoveTrayToIn();
}
else
{
drawer.MoveTrayToOut();
}
/**1. 光罩盒置於 Drawer內*/
BREAK_POINT++; //[[[[[[[[[[[[[[[[[[一定要暫停]]]]]]]]]]]]]]]]]]]]]]]]]] 確認有 Box後往下執行
// 1.1 如有上一個 Drawer, 將上一個 Drawer 移到 Home
if (previousDrawer != null)
{ //
previousDrawer.MoveTrayToHome();;
}
// 1.2 Drawer Tray 往機台內部移動到可以取得光罩的位置
drawer.MoveTrayToHome();
drawer.MoveTrayToIn();
/** 02 Box Robot從Home點至Drawer entry處*/
if (drawerHome == BoxrobotTransferLocation.Cabinet_01_Home)
{ // Drawer 01-01 ~ Drawer 03-05
bt.TurnToCB1Home();
btMovePathFile = pathFileObj.FromCabinet01HomeToDrawer_GET_PathFile(drawerLocation); // Box Transfer 要去 Drawer 夾盒子, 所以用 GET
}
else //if(drawerHome == BoxrobotTransferLocation.Cabinet_02_Home)
{ // // Drawer 04-01 ~ Drawer 07-05
//Cabinet 2 Drawer 的 Path
bt.TurnToCB1Home();
bt.TurnToCB2Home();
btMovePathFile = pathFileObj.FromCabinet02HomeToDrawer_GET_PathFile(drawerLocation); // Box Transfer 要去 Drawer 夾盒子, 所以用 GET
}
bt.Move(btMovePathFile);
/** 03 (編號13-CCD): 開啟光源 -> 拍照(FOV正確) -> 關閉光源*/
try
{
var lightValue = bt.GetCameraLightValue(boxType);
bt.LightForGripperSetValue(lightValue);
bt.Camera_CapToSave("D:/Image/BT/Gripper", "jpg");
//bt.LightForGripper(0);
}
catch (Exception ex)
{
MvaLog.WarnNs(this, ex);
}
finally
{
bt.LightForGripperSetValue(0);
}
// bt.Clamp((uint)boxType);
//var lightValue = bt.GetCameraLightValue(boxType);
//var resultTemp=bt.CameraShot("D:/Image/BT/Gripper", "jpg",lightValue);
/** 04 Box Robot從Drawer Entry處移至Drawer內進行光罩鐵盒夾取*/
var resultTemp = bt.Clamp((uint)boxType);
/** 05 光罩鐵盒夾取前確認Box Robot是水平狀態 (by 水平儀)*/
var Level = bt.ReadLevelSensor();
/** 06 Box Robot將光罩鐵盒從Drawer移動至Open Stage上方*/
// 6.1 回到 Cabinet 1 Home
if (drawerHome == BoxrobotTransferLocation.Cabinet_01_Home)
{
btMovePathFile = pathFileObj.FromDrawerToCabinet01Home_GET_PathFile(drawerLocation); // Box Transfer 夾到盒子後,由 Drawer 回到 Home, 用GET
bt.Move(btMovePathFile);
}
else // if(drawerHome == BoxrobotTransferLocation.Cabinet_02_Home)
{ // Drawer 04_01~07~05 回到 Cabinet 1 Home
btMovePathFile = pathFileObj.FromDrawerToCabinet02Home_GET_PathFile(drawerLocation);// Box Transfer 夾到盒子後,由 Drawer 回到 Home, 用GET
bt.Move(btMovePathFile);
bt.TurnToCB1Home();
}
// 6.2 boxrobot 移到 OpenStage
os.SetRobotIntrude(true, null);
btMovePathFile = pathFileObj.FromCabinet01HomeToOpenStage_PUT_PathFile(); // boxrobot 目前有盒子, 要到 Open Stage, 用PUT
bt.Move(btMovePathFile);
/** 07 光罩鐵盒放置前確認Box Robot是水平狀態 (by 水平儀)*/
Level = bt.ReadLevelSensor();
/** 08 Box Robot將光罩鐵盒放置於Open Stage上*/
bt.Unclamp();
/** 09 Box Robot退出Open Stage, 並回到Box Robot Home點*/
btMovePathFile = pathFileObj.FromOpenStageToCabinet01Home_PUT_PathFile();
bt.Move(btMovePathFile);
os.SetRobotIntrude(false, null);
/** 10 (編號9-CCD): 開啟光源 -> 拍照(FOV正確) -> 關閉光源*/
/**
* os.LightForTopBarDfsSetValue(200);
* os.Camera_Top_CapToSave("D:/Image/OS/Top", "jpg");
* os.LightForTopBarDfsSetValue(0);
*/
try
{
os.LightForFrontBarDfsSetValue(85); //bar 0~255
os.LightForSideBarDfsSetValue(140); //bar 0~255
os.LightForTopBarDfsSetValue(20); //bar 0~255
os.Camera_Top_CapToSave("D:/Image/OS/Top", "jpg");
Debug.WriteLine("Open Stage Camera Shot(Top) OK");
}
catch (Exception ex)
{
Debug.WriteLine("Open Stage Camera Shot(Top) Error=" + ex.Message);
}
finally
{
os.LightForFrontBarDfsSetValue(0);
os.LightForSideBarDfsSetValue(0);
os.LightForTopBarDfsSetValue(0);
}
/** 11 (編號12-CCD): 開啟光源 -> 拍照(FOV正確) -> 關閉光源*/
/**
* os.LightForSideBarDfsSetValue(200);
* os.Camera_Side_CapToSave("D:/Image/OS/Side", "jpg");
* os.LightForSideBarDfsSetValue(0);
*/
try
{
os.LightForFrontBarDfsSetValue(85); //bar 0~255
os.LightForSideBarDfsSetValue(140); //bar 0~255
os.LightForTopBarDfsSetValue(20); //bar 0~255
os.Camera_Side_CapToSave("D:/Image/OS/Side", "jpg");
Debug.WriteLine("Open Stage Camera Shot OK");
}
catch (Exception ex)
{
Debug.WriteLine("Open Stage Camera Shot(Side) Error=" + ex.Message);
}
finally
{
os.LightForFrontBarDfsSetValue(0);
os.LightForSideBarDfsSetValue(0);
os.LightForTopBarDfsSetValue(0);
}
/** 12 Box Robot(無夾持光罩鐵盒)從Home點移動進入Open Stage上方*/
os.SetRobotIntrude(true, null);
btMovePathFile = pathFileObj.FromCabinet01HomeToOpenStage_GET_PathFile();
bt.Move(btMovePathFile);
/** 13 光罩鐵盒夾取前確認Box Robot是水平狀態 (by 水平儀)*/
Level = bt.ReadLevelSensor();
/** 14 Box Robot從Open Stage上方夾取光罩鐵盒*/
bt.Clamp((uint)boxType);
/** 15 Box Robot將光罩鐵盒移動至Drawer處*/
// 15.1 Boxrobot 移到 Cabitnet 1 Home
btMovePathFile = pathFileObj.FromOpenStageToCabinet01Home_GET_PathFile(); // boxrobot 目前有盒子,要回到 Cabinet 1 Home, 用 GET
bt.Move(btMovePathFile);
os.SetRobotIntrude(false, null);
// 15.2
if (drawerHome == BoxrobotTransferLocation.Cabinet_01_Home)
{ // drawer 01-01 ~ drawer 03-05
btMovePathFile = pathFileObj.FromCabinet01HomeToDrawer_PUT_PathFile(drawerLocation); // boxrobot 目前有盒子,要到 Drawer, 所以用 PUT
bt.Move(btMovePathFile);
}
else //if(drawerHome == BoxrobotTransferLocation.Cabinet_02_Home)
{
// drawer 04-01 ~ drawer 07-05
bt.TurnToCB2Home();
btMovePathFile = pathFileObj.FromCabinet02HomeToDrawer_PUT_PathFile(drawerLocation); // boxrobot 目前有盒子,要到 Drawer, 所以用 PUT
bt.Move(btMovePathFile);
}
/** 16 (編號13-CCD): 開啟光源 -> 拍照(FOV正確) -> 關閉光源*/
try
{
var lightValue = bt.GetCameraLightValue(boxType);
bt.LightForGripperSetValue(lightValue);
bt.Camera_CapToSave("D:/Image/BT/Gripper", "jpg");
}
catch (Exception ex)
{
MvaLog.WarnNs(this, ex);
}
finally
{
bt.LightForGripperSetValue(0);
}
//lightValue = bt.GetCameraLightValue(boxType);
//resultTemp= bt.CameraShot("D:/Image/BT/Gripper", "jpg", lightValue);
/** 17 Box Robot將光罩鐵盒移動至Drawer內*/
bt.Unclamp();
/** 18 Box Robot (無夾持光罩鐵盒) 從Drawer移回Home點*/
// 18.1 Boxrobot 移回 Home 點
if (drawerHome == BoxrobotTransferLocation.Cabinet_01_Home)
{
btMovePathFile = pathFileObj.FromDrawerToCabinet01Home_PUT_PathFile(drawerLocation); //
}
else //if(drawerHome == BoxrobotTransferLocation.Cabinet_02_Home)
{
btMovePathFile = pathFileObj.FromDrawerToCabinet02Home_PUT_PathFile(drawerLocation); // T
}
bt.Move(btMovePathFile);
// 18.2 Drawer 04-01 ~ Drawer 07-05 時 Boxrobot 轉回 Cabitnet 1 Home
if (drawerHome == BoxrobotTransferLocation.Cabinet_02_Home)
{
bt.TurnToCB1Home();
}
// drawer.CommandINI();
/** 19 重複1~18步驟, 完成20個Drawer的光罩鐵盒測試*/
/** 20 重複1~19步驟, 完成20個Drawer的光罩水晶盒測試*/
BREAK_POINT++; // [一定要暫停] 這個 drawer 做好了, 準備下一個
}
catch (Exception ex) { MvaLog.WarnNs(this, ex); }
}
}
catch (Exception ex) { MvaLog.WarnNs(this, ex); }
}
}