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using System;
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using System.Collections.Generic;
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using System.Linq;
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using System.Threading;
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using System.Web.UI;
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using System.Windows.Threading;
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using Gumming.Execute.Station;
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using Gumming.Execute.Workflow;
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using Control = System.Windows.Forms.Control;
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namespace Gumming.Execute
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{
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public class Context
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{
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public BasketView View;
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public static string CA = "ca";
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public static string COT = "cot";
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public static string DEV = "dev";
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public static string HP = "hp";
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public static string CP = "cp";
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public static string CS = "cs";
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public Dictionary<string, StationUnit> StationUnitMap = new Dictionary<string, StationUnit>();
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public Dispatcher Dispatcher = Dispatcher.CurrentDispatcher;
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public Robot Robot { get; }
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public List<Wafer> Wafers { get; } = new List<Wafer>();
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public FlowUnit[] Flow { get; } = new FlowUnit[]
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{
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new FlowUnit(CA, 1),
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new FlowUnit(COT, 2),
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new FlowUnit(HP, 3),
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new FlowUnit(CP, 4),
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new FlowUnit(CS, 5)
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};
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public Context(int waferCount, Robot robot, BasketView basketView)
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{
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View = basketView;
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Robot = robot;
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for (int i = 0; i < waferCount; i++)
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{
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Wafers.Add(new Wafer($"wafer{i}", Flow, i));
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}
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}
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// 标记为wafer已做完，释放cot
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public void DoneWafer(StationWork stationWork, Wafer wafer)
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{
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if (wafer.Works.Count == Flow.Length)
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{
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Console.WriteLine($"wafer {wafer.Name} has finished");
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AppendLog($"wafer {wafer.Name} has finished");
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wafer.Done = true;
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StationUnitMap[stationWork.FlowUnit.Name].ReleasePos(wafer.CurrentPos);
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}
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}
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public FlowUnit GetFlowUnitByStation(string stationName)
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{
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foreach (var flowUnit in Flow)
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{
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if (flowUnit.Name == stationName)
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{
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return flowUnit;
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}
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}
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return null;
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}
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//先从机器人手臂上取
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private RobotHand GetTodoWaferByRobot(FlowUnit flowUnit, int pos)
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{
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foreach (var robotHand in Robot.Hands)
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{
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lock (Robot._lock)
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{
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//是上一个工位的wafer
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if (robotHand.CurrentWafer != null && !robotHand.IsFree &&
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robotHand.CurrentWafer.CurrentStationWork != null &&
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robotHand.CurrentWafer.CurrentStationWork.FlowUnit != null &&
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robotHand.CurrentWafer.CurrentStationWork.FlowUnit.Index ==
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flowUnit.Index - 1 &&
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robotHand.CurrentWafer.CurrentStationWork.Done)
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{
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var beginLog =
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$"{robotHand.CurrentWafer.Name} do from Robot {robotHand.Name} to {flowUnit.Name}{pos} [:RobotToStation] begin by Robot {robotHand.Name} {DateTime.Now}";
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Console.WriteLine(beginLog);
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AppendLog(beginLog);
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RobotExecute(flowUnit.Name + pos, robotHand.CurrentWafer.No, robotHand.GetRobotCode("Put"));
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var endLog =
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$"{robotHand.CurrentWafer.Name} do from Robot {robotHand.Name} to {flowUnit.Name}{pos} [:RobotToStation] end by Robot {robotHand.Name} {DateTime.Now}";
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Console.WriteLine(endLog);
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AppendLog(endLog);
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return robotHand;
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}
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}
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}
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return null;
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}
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public RobotHand GetTodoWaferByFlow(FlowUnit flowUnit, int pos)
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{
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var robotWafer = GetTodoWaferByRobot(flowUnit, pos);
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if (robotWafer != null)
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{
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return robotWafer;
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}
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var hand = Robot.GetFreeHand(1);
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if (hand == null)
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{
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return null;
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}
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else
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{
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// 如果我是第一个工艺，从花篮取
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if (flowUnit.Index == 1)
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{
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foreach (var wafer in Wafers)
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{
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if (wafer.Works.Count == 0)
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{
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wafer.CurrentPos = pos;
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hand.CurrentWafer = wafer;
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// Wafer currentWafer = GetCurrentWaferByFlow(flowUnit.Name, pos, hand);
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// 模拟等待
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lock (Robot._lock)
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{
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var beginLog = $"{wafer.Name} do from cs0 to ca0 [:robot] begin by Robot {hand.Name} {DateTime.Now}";
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Console.WriteLine(beginLog);
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AppendLog(beginLog);
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RobotExecute("cs0", wafer.No, hand.GetRobotCode("Get"));
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RobotExecute("ca0", wafer.No, hand.GetRobotCode("Put"));
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var endLog = $"{wafer.Name} do from cs0 to ca0 [:robot] end by Robot {hand.Name} {DateTime.Now}";
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Console.WriteLine(endLog);
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AppendLog(endLog);
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}
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return hand;
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}
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}
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}
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else
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{
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foreach (var wafer in Wafers)
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{
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// 当前晶圆 当前工艺为空 且最后一个工艺做完，且最后一个工艺是本工艺的上一个
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if (!wafer.Done && wafer.CurrentFlow != null)
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{
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if (wafer.Works.Count > 0)
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{
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var lastWork = wafer.Works[wafer.Works.Count - 1];
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if (lastWork.Done && lastWork.FlowUnit.Index == flowUnit.Index - 1)
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{
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// wafer.CurrentPos = pos;
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hand.CurrentWafer = wafer;
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// 模拟等待
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lock (Robot._lock)
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{
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var beginLog =
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$"{wafer.Name} do from {lastWork.StationName} to {flowUnit.Name}{pos} [:robot] begin by Robot {hand.Name} {DateTime.Now}";
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Console.WriteLine(beginLog);
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AppendLog(beginLog);
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RobotExecute(lastWork.StationName, wafer.No, hand.GetRobotCode("Get"));
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RobotExecute(flowUnit.Name + pos, wafer.No, hand.GetRobotCode("Put"));
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var endLog =
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$"{wafer.Name} do from {lastWork.StationName} to {flowUnit.Name}{pos} [:robot] end by Robot {hand.Name} {DateTime.Now}";
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Console.WriteLine(endLog);
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AppendLog(endLog);
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}
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return hand;
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}
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}
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}
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}
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}
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}
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Robot.ReleaseFreeHand(hand);
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return null;
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}
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public Wafer GetCurrentWaferByFlow(string stationName, int pos, RobotHand hand)
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{
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foreach (var wafer in Wafers)
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{
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// 当前晶圆 当前工艺为空 且最后一个工艺做完，且最后一个工艺是本工艺的上一个
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if (!wafer.Done && wafer.CurrentFlow != null)
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{
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var current = wafer.CurrentStationWork;
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//当前工位做完了
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if (current != null && current.Done && current.StationNo == pos &&
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current.StationName.Equals(stationName + pos))
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{
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var beginLog =
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$"{wafer.Name} do from {stationName}{pos} to Robot {hand.Name} [:StationToRobot] begin by Robot {hand.Name} {DateTime.Now}";
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Console.WriteLine(beginLog);
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AppendLog(beginLog);
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lock (Robot._lock)
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{
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RobotExecute(stationName + pos, wafer.No, hand.GetRobotCode("Get"));
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hand.CurrentWafer = wafer;
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}
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var endLog =
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$"{wafer.Name} do from {stationName}{pos} to Robot {hand.Name} [:StationToRobot] end by Robot {hand.Name} {DateTime.Now}";
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Console.WriteLine(endLog);
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AppendLog(endLog);
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return wafer;
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}
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}
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}
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return null;
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}
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private void RobotExecute(string key, int waferNo, int index)
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{
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int no = waferNo;
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if (key.Contains("cs"))
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{
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key = "cs0";
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}
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else
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{
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no = 1;
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}
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var list = Robot.RobotCommand[key];
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var getR = list[index];
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string code = "";
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switch (index)
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{
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case 0:
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case 2:
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code = "GETA";
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break;
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case 1:
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case 3:
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code = "PUTA";
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break;
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default:
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break;
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}
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var message = string.Format("{0} {1},{2}", code, getR, no);
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var callBack = GummingControl.Robot.Send(message);
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// if (callBack != ">")
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// {
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Console.WriteLine($"robot send message={message} waferNo={waferNo} callback={callBack}");
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// throw new Exception($"err message={message} callback={callBack}");
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// }
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}
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public void AppendLog(string message)
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{
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Dispatcher.Invoke(new Action(() =>
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{
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//将引发问题的代码放入此处
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//便可解决此问题
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/*View.log.AppendText(
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message +
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Environment.NewLine);*/
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}
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));
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}
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}
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} |
