raphael
d22bbc4ab2
C++ (equipment_service.hpp): - ReportSubstrate ARRIVED: check CreateResult and return INVALID_OBJECT when the substrate ID already exists, instead of silently doing nothing - ReportSubstrate/ReportModule default switch branches: return false (→ CANNOT_DO_NOW) for unknown enum values instead of silently accepting Python (_client.py): - @eq.command: raise NameError (client-side name validation) instead of SecsGemError (which means "daemon declined a request") — wrong type - Module docstring: update example to show @eq.command / eq.names API Test (test_daemon_service.cpp): - Add duplicate-ARRIVED check (expects INVALID_OBJECT) Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
349 lines
14 KiB
Python
349 lines
14 KiB
Python
"""The Equipment client: a complete GEM tool integration in plain Python.
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The secs_gemd daemon owns everything SEMI — the HSMS link to the host, the
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GEM state machines, message formats, timers, spooling. This client only ever
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does two things: tell the equipment about itself (variables, events, alarms)
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and react to what the host asks (commands). Names are the ones from your
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equipment.yaml; values are plain Python.
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from secsgem_client import Equipment
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eq = Equipment("localhost:50051")
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eq.set(ChamberPressure=2.5)
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eq.fire(eq.names.event.ProcessStarted) # typo-safe; plain strings also work
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@eq.command # function name IS the RCMD name,
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def START(cmd): # validated against equipment at import
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run_recipe(cmd.params.get("PPID"))
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eq.fire(eq.names.event.ProcessStarted)
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eq.listen() # blocks, dispatching host commands to your handlers
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"""
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from __future__ import annotations
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import difflib
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import threading
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from dataclasses import dataclass
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from types import SimpleNamespace
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from typing import Callable, Dict, Iterator, Optional
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import grpc
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from ._proto import equipment_pb2 as pb
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from ._proto import equipment_pb2_grpc as rpc
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from ._values import from_value, to_value
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class SecsGemError(RuntimeError):
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"""The daemon declined a request (unknown name, bad value, wrong state)."""
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def __init__(self, code: int, message: str):
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super().__init__(message or pb.Ack.Code.Name(code))
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self.code = code
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def _check(ack: pb.Ack) -> None:
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if ack.code != pb.Ack.ACCEPT:
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raise SecsGemError(ack.code, ack.message)
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@dataclass
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class Command:
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"""A remote command from the host (e.g. START). The host has already been
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told "accepted, will finish later" — report the real outcome by firing an
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event (success) or raising an alarm (failure) from your handler."""
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id: str
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name: str
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params: Dict[str, object]
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_eq: "Equipment"
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def done(self, ok: bool = True) -> None:
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"""Mark the command complete (for the daemon's audit trail). Called
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automatically after your handler returns; call early if you want."""
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self._eq._complete(self.id, ok)
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self._done = True
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@dataclass
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class ProcessJob:
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"""An E40 process job the host wants run (or stopped/aborted). Do the
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physical work, then report progress with Equipment.report_job()."""
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id: str
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action: str # "START" | "STOP" | "PAUSE" | "RESUME" | "ABORT"
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recipe: str
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carriers: list
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@dataclass
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class Health:
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link: str # "DISCONNECTED" | "CONNECTED" | "SELECTED"
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control_state: str # "HOST_OFFLINE" | "ONLINE_REMOTE" | ...
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spool_depth: int
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class _Names:
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"""An autocomplete-able, typo-safe view of the equipment's real names
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(from Describe). `eq.names.event.ProcessStarted` returns "ProcessStarted";
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a wrong name raises AttributeError with close-match suggestions, and the
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set shows up in REPL/IDE completion via __dir__."""
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def __init__(self, kind: str, names):
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self._kind = kind
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self._names = set(names)
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def __getattr__(self, attr: str) -> str:
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if attr in self.__dict__.get("_names", ()):
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return attr
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close = difflib.get_close_matches(attr, self._names, n=3)
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hint = f" Did you mean {', '.join(close)}?" if close else ""
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raise AttributeError(
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f"no {self._kind} named '{attr}'.{hint}")
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def __dir__(self):
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return sorted(self._names)
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def __contains__(self, name: str) -> bool:
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return name in self._names
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class Equipment:
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"""A connection to the secs_gemd daemon — your equipment, by name."""
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def __init__(self, address: str = "localhost:50051",
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connect_timeout: float = 10.0):
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self._channel = grpc.insecure_channel(address)
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grpc.channel_ready_future(self._channel).result(timeout=connect_timeout)
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self._stub = rpc.EquipmentStub(self._channel)
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self._handlers: Dict[str, Callable[[Command], object]] = {}
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self._job_handler: Optional[Callable[[ProcessJob], object]] = None
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self._recipe_handler: Optional[Callable[[str, bytes], object]] = None
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self._constant_handler: Optional[Callable[[str, object], object]] = None
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self._listen_thread: Optional[threading.Thread] = None
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self._stop = threading.Event()
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self._names_cache: Optional[SimpleNamespace] = None
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# ---- report state to the host -------------------------------------------
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def set(self, values: Optional[Dict[str, object]] = None, **kwargs) -> None:
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"""Update status/data variables by name: eq.set(ChamberPressure=2.5).
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The host sees the new values immediately when it polls."""
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merged = dict(values or {})
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merged.update(kwargs)
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req = pb.VariableUpdate()
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for name, v in merged.items():
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req.values[name].CopyFrom(to_value(v))
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_check(self._stub.SetVariables(req))
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def get(self, *names: str) -> Dict[str, object]:
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"""Read variables back from the equipment. No names = all of them."""
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try:
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snap = self._stub.GetVariables(pb.VariableQuery(names=list(names)))
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except grpc.RpcError as e:
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raise SecsGemError(pb.Ack.PARAMETER_INVALID, e.details()) from None
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return {k: from_value(v) for k, v in snap.values.items()}
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@property
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def names(self) -> SimpleNamespace:
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"""The equipment's real names, by category, fetched once from the
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daemon (Describe): eq.names.event.* / .alarm.* / .command.* / .var.* /
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.constant.*. Autocomplete-friendly and typo-safe — handy instead of
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bare string literals."""
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if self._names_cache is None:
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d = self._stub.Describe(pb.Empty())
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self._names_cache = SimpleNamespace(
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var=_Names("variable", d.variables),
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event=_Names("event", d.events),
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alarm=_Names("alarm", d.alarms),
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command=_Names("command", d.commands),
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constant=_Names("constant", d.constants))
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return self._names_cache
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def __setitem__(self, name: str, value) -> None:
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self.set({name: value})
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def __getitem__(self, name: str):
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return self.get(name)[name]
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def fire(self, event: str, **data) -> None:
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"""Fire a collection event by name; the daemon assembles the configured
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report and sends it to the host. kwargs set variable values for this
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event first: eq.fire("WaferComplete", Thickness=1.2)."""
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req = pb.Event(name=event)
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for name, v in data.items():
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req.data[name].CopyFrom(to_value(v))
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_check(self._stub.FireEvent(req))
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def alarm(self, name: str) -> None:
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"""Raise an alarm by its config name (or stringified ALID)."""
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_check(self._stub.SetAlarm(pb.Alarm(name=name)))
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def clear(self, name: str) -> None:
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"""Clear a previously raised alarm."""
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_check(self._stub.ClearAlarm(pb.Alarm(name=name)))
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# ---- control state & health ---------------------------------------------
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@property
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def control_state(self) -> str:
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"""The GEM control state, e.g. "ONLINE_REMOTE"."""
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cs = self._stub.GetControlState(pb.Empty())
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return pb.ControlState.State.Name(cs.state)
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def request_control_state(self, desired: str) -> None:
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"""Operator-panel transition, e.g. eq.request_control_state("HOST_OFFLINE")
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before maintenance. Raises if the E30 table says no from here."""
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req = pb.ControlStateRequest(
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desired=pb.ControlState.State.Value(desired))
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_check(self._stub.RequestControlState(req))
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def health(self) -> Health:
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"""One health snapshot (link / control state / spool depth)."""
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for h in self._stub.WatchHealth(pb.Empty()):
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return Health(pb.Health.LinkState.Name(h.link),
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pb.ControlState.State.Name(h.control_state),
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h.spool_depth)
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raise SecsGemError(pb.Ack.CANNOT_DO_NOW, "health stream ended")
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def watch_health(self) -> Iterator[Health]:
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"""Yields a Health snapshot on every link/state change."""
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for h in self._stub.WatchHealth(pb.Empty()):
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yield Health(pb.Health.LinkState.Name(h.link),
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pb.ControlState.State.Name(h.control_state),
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h.spool_depth)
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# ---- react to the host ----------------------------------------------------
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def on(self, command: str):
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"""Decorator: run this function when the host sends `command`.
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Use "*" to catch commands with no specific handler."""
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def register(fn: Callable[[Command], object]):
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self._handlers[command] = fn
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return fn
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return register
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def command(self, fn: Callable[[Command], object]):
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"""Bind a handler to the host command of the SAME NAME as the
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function — no string literal:
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@eq.command
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def START(cmd): ... # binds the "START" RCMD
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The function name is validated against the equipment's real command
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set (via Describe), so a typo fails loudly at decoration time."""
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name = fn.__name__
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if name not in self.names.command:
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close = difflib.get_close_matches(name, dir(self.names.command), n=3)
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hint = f" Did you mean {', '.join(close)}?" if close else ""
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raise NameError(f"no host command '{name}' to bind @eq.command to.{hint}")
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self._handlers[name] = fn
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return fn
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def on_process_job(self, fn: Callable[[ProcessJob], object]):
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"""Decorator: the host wants a process job run/stopped (E40).
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Report progress with report_job()."""
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self._job_handler = fn
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return fn
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def on_recipe(self, fn: Callable[[str, bytes], object]):
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"""Decorator: the host downloaded a recipe (ppid, body)."""
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self._recipe_handler = fn
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return fn
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def on_constant_change(self, fn: Callable[[str, object], object]):
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"""Decorator: the host changed an equipment constant (name, value)."""
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self._constant_handler = fn
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return fn
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def report_job(self, job_id: str, state: str) -> None:
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"""Report physical job progress: "SETTING_UP" | "PROCESSING" |
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"COMPLETE" | "ABORTED". The daemon drives the E40 state machine and
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notifies the host (S16F9)."""
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req = pb.ProcessJobState(
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job_id=job_id, state=pb.ProcessJobState.State.Value(state))
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_check(self._stub.ReportProcessJob(req))
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def report_substrate(self, substrate_id: str, milestone: str,
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carrier_id: str = "", slot: int = 0) -> None:
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"""E90 wafer tracking. milestone: ARRIVED | AT_WORK | PROCESSING |
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PROCESSED | AT_DESTINATION. The daemon drives the E90 FSMs and emits
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the standard CEIDs to the host."""
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req = pb.SubstrateReport(
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substrate_id=substrate_id,
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milestone=pb.SubstrateReport.Milestone.Value(milestone),
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carrier_id=carrier_id, slot=slot)
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_check(self._stub.ReportSubstrate(req))
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def report_module(self, module_id: str, state: str) -> None:
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"""E157 module tracking. state: NOT_EXECUTING | GENERAL_EXECUTING |
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STEP_EXECUTING | STEP_COMPLETED. Auto-creates the module on first
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report."""
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req = pb.ModuleReport(
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module_id=module_id,
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state=pb.ModuleReport.State.Value(state))
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_check(self._stub.ReportModule(req))
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def listen(self, background: bool = False) -> None:
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"""Consume host requests and dispatch them to @eq.on handlers.
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Blocks; pass background=True to run on a daemon thread instead."""
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if background:
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self._listen_thread = threading.Thread(target=self._listen_loop,
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daemon=True)
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self._listen_thread.start()
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return
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self._listen_loop()
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def close(self) -> None:
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self._stop.set()
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self._channel.close()
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# ---- internals -------------------------------------------------------------
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def _listen_loop(self) -> None:
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try:
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for hr in self._stub.Subscribe(pb.SubscribeRequest(client="secsgem_client")):
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if self._stop.is_set():
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return
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if hr.HasField("process_job") and self._job_handler:
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j = hr.process_job
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self._job_handler(ProcessJob(
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j.job_id, pb.ProcessJob.Action.Name(j.action),
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j.recipe, list(j.carriers)))
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continue
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if hr.HasField("process_program") and self._recipe_handler:
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self._recipe_handler(hr.process_program.ppid,
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hr.process_program.body)
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continue
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if hr.HasField("constant") and self._constant_handler:
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self._constant_handler(hr.constant.name,
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from_value(hr.constant.value))
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continue
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if not hr.HasField("command"):
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continue # carriers etc.: future variants
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cmd = hr.command
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handler = self._handlers.get(cmd.name) or self._handlers.get("*")
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command = Command(cmd.id, cmd.name,
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{k: from_value(v) for k, v in cmd.params.items()},
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self)
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ok = True
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try:
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if handler is not None:
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handler(command)
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except Exception:
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ok = False
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raise
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finally:
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if not getattr(command, "_done", False):
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self._complete(cmd.id, ok)
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except grpc.RpcError:
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if not self._stop.is_set():
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raise
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def _complete(self, command_id: str, ok: bool) -> None:
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ack = pb.Ack(code=pb.Ack.ACCEPT if ok else pb.Ack.REJECTED)
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self._stub.CompleteCommand(pb.CommandResult(id=command_id, ack=ack))
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