using SA_LTT;
|
using SA_LTT.Info.WaferInfo;
|
using System;
|
using System.Drawing;
|
using System.Threading;
|
using System.Windows.Forms;
|
using static SA_LTT.Info.WaferInfo.WaferInfoManager;
|
using static SA_LTT.Module.Robot;
|
|
namespace SA_LTT_UI.Viewer
|
{
|
public partial class RobotViewer : Form
|
{
|
enum MoveSteps
|
{
|
Wait,
|
|
Get,
|
GetWait,
|
|
Put,
|
PutWait,
|
|
End
|
}
|
|
MainFrame _mainFrame;
|
Thread t_UIUpdate;
|
Thread t_Move;
|
int mappingPort = 1;
|
|
DateTime _tactTimeCheck = DateTime.Now;
|
TimeSpan _mappingTime = new TimeSpan();
|
|
bool _updateCheck;
|
private MoveSteps _moveStep;
|
|
protected override CreateParams CreateParams
|
{
|
get
|
{
|
CreateParams MyCp = base.CreateParams;
|
MyCp.ExStyle |= 0x02000000;
|
|
return MyCp;
|
}
|
}
|
|
public RobotViewer(MainFrame mainFrame)
|
{
|
InitializeComponent();
|
|
_mainFrame = mainFrame;
|
StageComboBoxInit();
|
|
t_UIUpdate = new Thread(UIUpdateTh);
|
t_UIUpdate.Start();
|
|
t_Move = new Thread(MoveThread);
|
t_Move.Start();
|
}
|
|
private void StageComboBoxInit()
|
{
|
string[] stageList = Enum.GetNames(typeof(StageList));
|
|
cbb_Stage.Items.Clear();
|
|
cbb_Stage.Items.AddRange(stageList);
|
|
cbb_Stage.SelectedIndex = 0;
|
|
cbb_StartStage.Items.Clear();
|
|
cbb_StartStage.Items.AddRange(stageList);
|
|
cbb_StartStage.SelectedIndex = 0;
|
|
cbb_EndStage.Items.Clear();
|
|
cbb_EndStage.Items.AddRange(stageList);
|
|
cbb_EndStage.SelectedIndex = 0;
|
}
|
|
private void SlotComboBoxRefresh(int stageIndex)
|
{
|
cbb_Slot.Items.Clear();
|
switch(stageIndex)
|
{
|
case 1:
|
{
|
for(int i = 0; i < 25; i++)
|
{
|
cbb_Slot.Items.Add(WaferNumbers.A1 + i);
|
}
|
break;
|
}
|
case 2:
|
{
|
for (int i = 0; i < 25; i++)
|
{
|
cbb_Slot.Items.Add(WaferNumbers.B1 + i);
|
}
|
break;
|
}
|
default:
|
{
|
cbb_Slot.Items.Add(1);
|
break;
|
}
|
}
|
|
cbb_Slot.SelectedIndex = 0;
|
}
|
|
private void StartSlotComboBoxRefresh(int stageIndex)
|
{
|
cbb_StartSlot.Items.Clear();
|
switch (stageIndex)
|
{
|
case 1:
|
{
|
for (int i = 0; i < 25; i++)
|
{
|
cbb_StartSlot.Items.Add(WaferNumbers.A1 + i);
|
}
|
break;
|
}
|
case 2:
|
{
|
for (int i = 0; i < 25; i++)
|
{
|
cbb_StartSlot.Items.Add(WaferNumbers.B1 + i);
|
}
|
break;
|
}
|
default:
|
{
|
cbb_StartSlot.Items.Add(1);
|
break;
|
}
|
}
|
|
cbb_StartSlot.SelectedIndex = 0;
|
}
|
|
private void EndSlotComboBoxRefresh(int stageIndex)
|
{
|
cbb_EndSlot.Items.Clear();
|
switch (stageIndex)
|
{
|
case 1:
|
{
|
for (int i = 0; i < 25; i++)
|
{
|
cbb_EndSlot.Items.Add(WaferNumbers.A1 + i);
|
}
|
break;
|
}
|
case 2:
|
{
|
for (int i = 0; i < 25; i++)
|
{
|
cbb_EndSlot.Items.Add(WaferNumbers.B1 + i);
|
}
|
break;
|
}
|
default:
|
{
|
cbb_EndSlot.Items.Add(1);
|
break;
|
}
|
}
|
|
cbb_EndSlot.SelectedIndex = 0;
|
}
|
|
private void UIUpdateTh()
|
{
|
while (_mainFrame.equipment.IsDisposed == false)
|
{
|
Thread.Sleep(10);
|
|
if (_updateCheck == false)
|
{
|
_updateCheck = true;
|
UIUpdate();
|
}
|
}
|
}
|
|
private void UIUpdate()
|
{
|
if (InvokeRequired)
|
{
|
BeginInvoke(new UIUpdateDelegate(UIUpdate));
|
return;
|
}
|
else
|
{
|
try
|
{
|
lb_PortName.Text = _mainFrame.equipment.robot.PortName;
|
lb_PortName.BackColor = _mainFrame.equipment.robot.IsOpen ? Color.Lime : Color.Red;
|
|
lb_PowerState.Text = $"Power State - {_mainFrame.equipment.robot.PowerStatus}";
|
lb_PowerState.BackColor = _mainFrame.equipment.robot.IsServoOn ? Color.Lime : Color.Red;
|
tb_ErrorCode.Text = _mainFrame.equipment.robot.AlarmCode;
|
tb_ErrorDescription.Text = _mainFrame.equipment.robot.AlarmDescription;
|
|
tb_PositionT.Text = _mainFrame.equipment.robot.PositionT.ToString();
|
tb_PositionZ.Text = _mainFrame.equipment.robot.PositionZ.ToString();
|
tb_PositionR.Text = _mainFrame.equipment.robot.PositionR.ToString();
|
tb_PositionF.Text = _mainFrame.equipment.robot.PositionF.ToString();
|
|
lb_WaferDetected.BackColor = _mainFrame.equipment.robot.IsWaferExist ? Color.Lime : Color.Red;
|
lb_Vacuum.BackColor = _mainFrame.equipment.robot.IsVacuumOn ? Color.Lime : Color.Red;
|
lb_IsRun.BackColor = _mainFrame.equipment.robot.IsRun ? Color.Lime : Color.Red;
|
lb_IsRunEnable.BackColor = _mainFrame.equipment.robot.IsRunEnable ? Color.Lime : Color.Red;
|
|
tb_MappingTime.Text = $"{_mappingTime.TotalSeconds:F3} s";
|
tb_GetTime.Text = $"{_mainFrame.equipment.robot.GetTactTime.TotalSeconds:F3} s";
|
tb_PutTime.Text = $"{_mainFrame.equipment.robot.PutTactTime.TotalSeconds:F3} s";
|
|
if (_mainFrame.equipment.robot.IsRunEnable && (_mainFrame.equipment.ProcessStatus == ProcessStatus.Idle || _mainFrame.equipment.ProcessStatus == ProcessStatus.Pause))
|
{
|
if (gb_Control.Enabled == false)
|
{
|
gb_Control.Enabled = true;
|
}
|
|
if (gb_Move.Enabled == false)
|
{
|
gb_Move.Enabled = true;
|
}
|
|
}
|
else
|
{
|
if(gb_Control.Enabled)
|
{
|
gb_Control.Enabled = false;
|
}
|
|
if (gb_Move.Enabled)
|
{
|
gb_Move.Enabled = false;
|
}
|
}
|
}
|
catch (Exception e)
|
{
|
EquipmentLogManager.Instance.WriteExceptionLog(e.StackTrace);
|
}
|
finally
|
{
|
_updateCheck = false;
|
}
|
}
|
}
|
|
private void RobotViewer_FormClosing(object sender, FormClosingEventArgs e)
|
{
|
e.Cancel = true;
|
this.Hide();
|
}
|
|
private void btn_GetReady_Click(object sender, EventArgs e)
|
{
|
StageList stage = StageList.Port1;
|
|
if (Enum.TryParse(cbb_Stage.Text, out stage))
|
{
|
EquipmentLogManager.Instance.WriteButtonLog($"{this.Name} : {((Control)sender).Text} : {stage.ToString()} {cbb_Slot.SelectedIndex + 1}");
|
_mainFrame.equipment.robot.GetReady(stage, cbb_Slot.SelectedIndex + 1);
|
}
|
}
|
|
private void btn_ErrorClear_Click(object sender, EventArgs e)
|
{
|
EquipmentLogManager.Instance.WriteButtonLog($"{this.Name} : {((Control)sender).Text}");
|
_mainFrame.equipment.robot.ErrorClear();
|
}
|
|
private void btn_Home_Click(object sender, EventArgs e)
|
{
|
EquipmentLogManager.Instance.WriteButtonLog($"{this.Name} : {((Control)sender).Text}");
|
_mainFrame.equipment.robot.Home();
|
}
|
|
private void btn_PutReady_Click(object sender, EventArgs e)
|
{
|
StageList stage = StageList.Port1;
|
|
if (Enum.TryParse(cbb_Stage.Text, out stage))
|
{
|
EquipmentLogManager.Instance.WriteButtonLog($"{this.Name} : {((Control)sender).Text} : {stage.ToString()} {cbb_Slot.SelectedIndex + 1}");
|
_mainFrame.equipment.robot.PutReady(stage, cbb_Slot.SelectedIndex + 1);
|
}
|
}
|
|
private void MappingTh()
|
{
|
_tactTimeCheck = DateTime.Now;
|
_mainFrame.equipment.robot.Mapping(mappingPort);
|
|
DateTime checkTime = DateTime.Now;
|
|
//Mapping 시작 후 1초 대기 or Run 확인.
|
while(true)
|
{
|
if (_mainFrame.equipment.robot.IsRun)
|
{
|
break;
|
}
|
else
|
{
|
if ((DateTime.Now - checkTime).TotalSeconds > 1)
|
break;
|
}
|
}
|
|
while(true)
|
{
|
//Run 종료 후 Mapping 결과 받기 시작.
|
if(_mainFrame.equipment.robot.IsRun == false)
|
{
|
if (mappingPort == 1)
|
ReadPort1MappingResult();
|
else if (mappingPort == 2)
|
ReadPort2MappingResult();
|
|
break;
|
}
|
}
|
|
_mappingTime = DateTime.Now - _tactTimeCheck;
|
}
|
|
private void ReadPort1MappingResult()
|
{
|
string mappingData = _mainFrame.equipment.robot.ReadMappingResult();
|
|
if (mappingData.Length == 25)
|
{
|
for (int i = 0; i < 25; i++)
|
{
|
WaferInfo info = _mainFrame.equipment.waferInfoManager.GetWaferInfo(WaferInfoManager.WaferNumbers.A1 + i);
|
info.SourceNumber = WaferInfoManager.WaferNumbers.A1 + i;
|
|
if (mappingData[i] == '0')
|
{
|
info.IsStatus = WaferInfo.WaferStatus.Empty;
|
}
|
else if (mappingData[i] == '1')
|
{
|
info.IsStatus = WaferInfo.WaferStatus.Exist;
|
}
|
else if (mappingData[i] == 'C')
|
{
|
info.IsStatus = WaferInfo.WaferStatus.Leaning;
|
}
|
else if (mappingData[i] == 'D')
|
{
|
info.IsStatus = WaferInfo.WaferStatus.Overlap;
|
}
|
|
_mainFrame.equipment.waferInfoManager.SetWaferInfo(WaferInfoManager.WaferNumbers.A1 + i, info);
|
}
|
}
|
}
|
|
private void ReadPort2MappingResult()
|
{
|
string mappingData = _mainFrame.equipment.robot.ReadMappingResult();
|
|
if (mappingData.Length == 25)
|
{
|
for (int i = 0; i < 25; i++)
|
{
|
WaferInfo info = _mainFrame.equipment.waferInfoManager.GetWaferInfo(WaferInfoManager.WaferNumbers.B1 + i);
|
info.SourceNumber = WaferInfoManager.WaferNumbers.B1 + i;
|
|
if (mappingData[i] == '0')
|
{
|
info.IsStatus = WaferInfo.WaferStatus.Empty;
|
}
|
else if (mappingData[i] == '1')
|
{
|
info.IsStatus = WaferInfo.WaferStatus.Exist;
|
}
|
else if (mappingData[i] == 'C')
|
{
|
info.IsStatus = WaferInfo.WaferStatus.Leaning;
|
}
|
else if (mappingData[i] == 'D')
|
{
|
info.IsStatus = WaferInfo.WaferStatus.Overlap;
|
}
|
|
_mainFrame.equipment.waferInfoManager.SetWaferInfo(WaferInfoManager.WaferNumbers.B1 + i, info);
|
}
|
}
|
}
|
|
private void MoveSequence()
|
{
|
if (InvokeRequired)
|
{
|
BeginInvoke(new UIUpdateDelegate(MoveSequence));
|
return;
|
}
|
else
|
{
|
switch (_moveStep)
|
{
|
case MoveSteps.Wait:
|
{
|
break;
|
}
|
case MoveSteps.Get:
|
{
|
StageList stage = StageList.Port1;
|
|
if (Enum.TryParse(cbb_StartStage.Text, out stage))
|
{
|
if (_mainFrame.equipment.robot.Get(stage, cbb_StartSlot.SelectedIndex + 1))
|
{
|
_moveStep = MoveSteps.GetWait;
|
}
|
else
|
{
|
MessageBoxPad mbp = new MessageBoxPad("Get 할 수 없는 상태 입니다.");
|
mbp.Show();
|
_moveStep = MoveSteps.End;
|
}
|
}
|
|
break;
|
}
|
case MoveSteps.GetWait:
|
{
|
if (_mainFrame.equipment.robot.IsRunEnable)
|
{
|
if (_mainFrame.equipment.robot.IsWaferExist)
|
{
|
_moveStep = MoveSteps.Put;
|
}
|
else
|
{
|
MessageBoxPad mbp = new MessageBoxPad("Wafer를 확인해 주세요 !");
|
mbp.Show();
|
_moveStep = MoveSteps.End;
|
}
|
}
|
break;
|
}
|
case MoveSteps.Put:
|
{
|
StageList stage = StageList.Port1;
|
|
if (Enum.TryParse(cbb_EndStage.Text, out stage))
|
{
|
if (_mainFrame.equipment.robot.Put(stage, cbb_EndSlot.SelectedIndex + 1))
|
{
|
_moveStep = MoveSteps.PutWait;
|
}
|
else
|
{
|
MessageBoxPad mbp = new MessageBoxPad("Put 할 수 없는 상태 입니다.");
|
mbp.Show();
|
_moveStep = MoveSteps.End;
|
}
|
}
|
break;
|
}
|
case MoveSteps.PutWait:
|
{
|
if (_mainFrame.equipment.robot.IsRunEnable)
|
{
|
if (_mainFrame.equipment.robot.IsWaferExist == false)
|
{
|
_moveStep = MoveSteps.End;
|
}
|
else
|
{
|
MessageBoxPad mbp = new MessageBoxPad("Wafer를 확인해 주세요 !");
|
mbp.Show();
|
_moveStep = MoveSteps.End;
|
}
|
}
|
break;
|
}
|
case MoveSteps.End:
|
{
|
_moveStep = MoveSteps.Wait;
|
|
break;
|
}
|
}
|
}
|
}
|
|
private void MoveThread()
|
{
|
while(_mainFrame.equipment.IsDisposed == false)
|
{
|
Thread.Sleep(50);
|
MoveSequence();
|
}
|
}
|
|
private void btn_Get_Click(object sender, EventArgs e)
|
{
|
StageList stage = StageList.Port1;
|
|
if (Enum.TryParse(cbb_Stage.Text, out stage))
|
{
|
EquipmentLogManager.Instance.WriteButtonLog($"{this.Name} : {((Control)sender).Text} : {stage.ToString()} {cbb_Slot.SelectedIndex + 1}");
|
_mainFrame.equipment.robot.Get(stage, cbb_Slot.SelectedIndex + 1);
|
}
|
}
|
|
private void btn_Put_Click(object sender, EventArgs e)
|
{
|
StageList stage = StageList.Port1;
|
|
if (Enum.TryParse(cbb_Stage.Text, out stage))
|
{
|
EquipmentLogManager.Instance.WriteButtonLog($"{this.Name} : {((Control)sender).Text} : {stage.ToString()} {cbb_Slot.SelectedIndex + 1}");
|
_mainFrame.equipment.robot.Put(stage, cbb_Slot.SelectedIndex + 1);
|
}
|
}
|
|
private void cbb_Stage_SelectedIndexChanged(object sender, EventArgs e)
|
{
|
SlotComboBoxRefresh(cbb_Stage.SelectedIndex + 1);
|
}
|
|
private void btn_ServoOn_Click(object sender, EventArgs e)
|
{
|
EquipmentLogManager.Instance.WriteButtonLog($"{this.Name} : {((Control)sender).Text}");
|
_mainFrame.equipment.robot.ServoOn();
|
}
|
|
private void btn_ServoOff_Click(object sender, EventArgs e)
|
{
|
EquipmentLogManager.Instance.WriteButtonLog($"{this.Name} : {((Control)sender).Text}");
|
_mainFrame.equipment.robot.ServoOff();
|
}
|
|
private void btn_EMO_Click(object sender, EventArgs e)
|
{
|
EquipmentLogManager.Instance.WriteButtonLog($"{this.Name} : {((Control)sender).Text}");
|
_mainFrame.equipment.robot.EMS();
|
}
|
|
private void btn_Port1Mapping_Click(object sender, EventArgs e)
|
{
|
if(_mainFrame.equipment.robot.MappingSeq(1))
|
{
|
EquipmentLogManager.Instance.WriteButtonLog($"{this.Name} : {((Control)sender).Text}");
|
}
|
}
|
|
private void btn_Port2Mapping_Click(object sender, EventArgs e)
|
{
|
if (_mainFrame.equipment.robot.MappingSeq(2))
|
{
|
EquipmentLogManager.Instance.WriteButtonLog($"{this.Name} : {((Control)sender).Text}");
|
}
|
}
|
|
private void cbb_StartStage_SelectedIndexChanged(object sender, EventArgs e)
|
{
|
StartSlotComboBoxRefresh(cbb_StartStage.SelectedIndex + 1);
|
}
|
|
private void cbb_EndStage_SelectedIndexChanged(object sender, EventArgs e)
|
{
|
EndSlotComboBoxRefresh(cbb_EndStage.SelectedIndex + 1);
|
}
|
|
//미리 인터락을 걸어 놓을까 ...? 아님 말까
|
private void btn_Move_Click(object sender, EventArgs e)
|
{
|
if (_moveStep == MoveSteps.Wait)
|
{
|
EquipmentLogManager.Instance.WriteButtonLog($"{this.Name} : {((Control)sender).Text}");
|
|
_moveStep = MoveSteps.Get;
|
}
|
else
|
{
|
MessageBoxPad mbp = new MessageBoxPad("Move 진행 중 입니다.");
|
mbp.Show();
|
}
|
}
|
|
private void btn_MoveStop_Click(object sender, EventArgs e)
|
{
|
if (_moveStep != MoveSteps.Wait)
|
{
|
EquipmentLogManager.Instance.WriteButtonLog($"{this.Name} : {((Control)sender).Text}");
|
_moveStep = MoveSteps.End;
|
}
|
}
|
}
|
}
|
