public void TestDrawer()
{
if (InitialError)
{
var message = InitialErrorMessage;
return;
}
var failedConnectDrawers = HalContext.DrawersConnect();
int start = 0; // 0; // 3-2~ 4-4
int end = DrawerKeys.Count; // DrawerKeys.Count;
//int end = DrawerKeys.Count;
for (var i = start; i < end; i++)
{
try
{
var drawer = HalContext.GetDrawer(DrawerKeys[i]);
/** drawer.Initial();
* drawer.MoveTrayToOut();
* drawer.MoveTrayToHome();
* drawer.MoveTrayToIn();
* drawer.MoveTrayToHome();
**/
drawer.CommandINI();
//Repeat();
Debug.WriteLine(DrawerKeys[i] + ", [OK]");
}
catch (Exception ex)
{
Debug.WriteLine(DrawerKeys[i] + ", [Error], Message=" + ex.Message);
}
}
Repeat();
}
/// <summary>Connect 所有 Drawer</summary>
/// <param name="instance"></param>
/// <returns>
/// Connect 失敗的 Drawer 的 Key 值
/// </returns>
public static List <EnumMacDeviceId> DrawersConnect(this MacHalContext instance)
{
List <EnumMacDeviceId> connectFailed = new List <EnumMacDeviceId>();
foreach (var key in HalDrawerExtends.DrawerKeys)
{
try
{
var drawer = instance.GetDrawer(key);
drawer.HalConnect();
}
catch (Exception e)
{
connectFailed.Add(key);
}
}
return(connectFailed);
}
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); }
}
}
[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); }
}
}