#include "stdafx.h"
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#include "CEFEM.h"
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#include "Log.h"
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#define ADD_EQ_CASSETTE_TRANSFER_STATE_STEP(name,ws,index,psd) { \
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CEqCassetteTransferStateStep* pStep = new CEqCassetteTransferStateStep(); \
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pStep->setName(name); \
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pStep->setWriteSignalDev(ws); \
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pStep->setPortStatusDev(psd); \
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if (addStep(index, pStep) != 0) { \
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delete pStep; \
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} \
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}
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namespace SERVO {
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CEFEM::CEFEM() : CEquipment()
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{
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m_pPort[0] = nullptr;
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m_pPort[1] = nullptr;
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m_pPort[2] = nullptr;
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m_pPort[3] = nullptr;
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m_pAligner = nullptr;
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m_pFliper = nullptr;
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}
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CEFEM::~CEFEM()
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{
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}
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const char* CEFEM::getClassName()
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{
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static char* pszName = "CEFEM";
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return pszName;
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}
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void CEFEM::setPort(unsigned int index, CLoadPort* pPort)
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{
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if (index < 4) {
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m_pPort[index] = pPort;
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}
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}
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void CEFEM::setAligner(CAligner* pAligner)
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{
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m_pAligner = pAligner;
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}
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void CEFEM::setFliper(CFliper* pFliper)
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{
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m_pFliper = pFliper;
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}
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void CEFEM::setArmTray(unsigned int index, CArmTray* pArmTray)
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{
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if (index < 2) {
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m_pArmTray[index] = pArmTray;
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}
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}
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int CEFEM::robotCmd(ROBOT_CMD_PARAM& robotCmdParam, ONWRITED onWritedBlock/* = nullptr*/)
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{
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SERVO::CEqWriteStep* pStep = (SERVO::CEqWriteStep*)getStepWithName(STEP_EFEM_ROBOT_CMD);
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if (pStep == nullptr) {
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return -1;
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}
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LOGI("<CEFEM-%s>×¼±¸·¢ËÍRobotCmd<%d>", m_strName.c_str(), (int)robotCmdParam.rcmd);
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if (onWritedBlock != nullptr) {
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pStep->writeDataEx((const char*)&robotCmdParam, ROBOT_CMD_PARAM_SIZE, onWritedBlock);
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}
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else {
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pStep->writeDataEx((const char*)&robotCmdParam, ROBOT_CMD_PARAM_SIZE, [&](int code) -> int {
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if (code == WOK) {
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LOGI("<CEFEM-%s>·¢ËÍRobotCmd³É¹¦.", m_strName.c_str());
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}
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else {
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LOGI("<CEFEM-%s>·¢ËÍRobotCmdʧ°Ü£¬code:%d", m_strName.c_str(), code);
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}
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return 0;
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});
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}
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return 0;
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}
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int CEFEM::robotCmds(ROBOT_CMD_PARAM* robotCmdParam, unsigned int count, ONWRITED onWritedBlock/* = nullptr*/)
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{
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SERVO::CEqWriteStep* pStep = (SERVO::CEqWriteStep*)getStepWithName(STEP_EFEM_ROBOT_CMD);
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if (pStep == nullptr) {
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return -1;
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}
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// ƽÆÌµ½ÄÚ´æÖУ¬Èç¹ûROBOT_CMD_PARAM²»ÊÇ4µÄÕûÊý±¶£¬Ö»ÄÜÒ»¸öÒ»¸ö¸´ÖÆ
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std::string strLog = "×¼±¸·¢ËÍRobotCmds<";
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char szBuffer[ROBOT_CMD_PARAM_SIZE * 4];
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for (int i = 0; i < min(4, count); i++) {
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memcpy(&szBuffer[i * ROBOT_CMD_PARAM_SIZE], (robotCmdParam + i), ROBOT_CMD_PARAM_SIZE);
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strLog += std::to_string((robotCmdParam + i)->rcmd);
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strLog += ",";
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LOGI("%d", (robotCmdParam + 1)->rcmd);
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}
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strLog += ">.";
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LOGI("<CEFEM-%s>%s", m_strName.c_str(), strLog.c_str());
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if (onWritedBlock != nullptr) {
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pStep->writeDataEx(szBuffer, ROBOT_CMD_PARAM_SIZE * min(4, count), onWritedBlock);
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}
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else {
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pStep->writeDataEx(szBuffer, ROBOT_CMD_PARAM_SIZE * min(4, count), [&](int code) -> int {
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if (code == WOK) {
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LOGI("<CEquipment-%s>·¢ËÍRobotCmdS³É¹¦.", m_strName.c_str());
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}
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else {
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LOGI("<CEquipment-%s>·¢ËÍRobotCmdsʧ°Ü£¬code:%d", m_strName.c_str(), code);
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}
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return 0;
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});
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}
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return 0;
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}
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void CEFEM::init()
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{
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CEquipment::init();
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}
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void CEFEM::term()
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{
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CEquipment::term();
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}
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// ±ØÐëҪʵÏÖµÄÐ麯Êý£¬Ôڴ˳õʼ»¯PinÁбí
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void CEFEM::initPins()
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{
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// ¼ÓÈëPin³õʼ»¯´úÂë
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LOGI("<CEFEM>initPins");
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}
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void CEFEM::initSteps()
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{
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CEquipment::initSteps();
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{
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// Eq mode
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CEqModeStep* pStep = new CEqModeStep();
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pStep->setName(STEP_MODE);
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pStep->setWriteSignalDev(0x50);
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pStep->setModeDev(0x5d7d);
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if (addStep(STEP_ID_EQMODE_CHANGED, pStep) != 0) {
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delete pStep;
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}
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}
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{
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// Eq Status
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CEqStatusStep* pStep = new CEqStatusStep();
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pStep->setName(STEP_STATUS);
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pStep->setWriteSignalDev(0x51);
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pStep->setStatusDev(0x5d59);
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if (addStep(STEP_ID_EQSTATUS_CHANGED, pStep) != 0) {
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delete pStep;
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}
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}
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{
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// Eq Alarm
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static char* pszName[] = { STEP_ALARM_BLOCK1, STEP_ALARM_BLOCK2, STEP_ALARM_BLOCK3, STEP_ALARM_BLOCK4, STEP_ALARM_BLOCK5 };
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static int dev[] = { 0x5f0e , 0x5f3b, 0x5f68, 0x5f95, 0x5fc2 };
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static int writeSignalDev[] = { 0x52, 0x53, 0x54, 0x55, 0x56 };
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static int addr[] = { STEP_ID_EQALARM1, STEP_ID_EQALARM2, STEP_ID_EQALARM3, STEP_ID_EQALARM4, STEP_ID_EQALARM5 };
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for (int i = 0; i < 5; i++) {
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CEqAlarmStep* pStep = new CEqAlarmStep();
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pStep->setName(pszName[i]);
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pStep->setWriteSignalDev(writeSignalDev[i]);
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pStep->setAlarmDev(dev[i]);
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if (addStep(addr[i], pStep) != 0) {
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delete pStep;
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}
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}
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}
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{
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// eq process
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CEqProcessStep* pStep = new CEqProcessStep();
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pStep->setName(STEP_PROCESS);
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pStep->setWriteSignalDev(0x57);
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pStep->setProcessDev(0x6b55);
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if (addStep(STEP_ID_PROCESS_DATA_REPORT, pStep) != 0) {
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delete pStep;
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}
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}
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{
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// eq cim mode change
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CEqCimModeChangeStep* pStep = new CEqCimModeChangeStep();
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pStep->setName(STEP_CIM_MODE_CHANGE);
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pStep->setWriteSignalDev(0x70);
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pStep->setCimModeDev(0x15);
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if (addStep(STEP_ID_CIMMODE_CHANGED_CMD_REPLY, pStep) != 0) {
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delete pStep;
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}
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}
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{
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// eq cim message
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CEqCimMessageCmdStep* pStep = new CEqCimMessageCmdStep();
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pStep->setName(STEP_CIM_MESSAGE_CMD);
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pStep->setWriteSignalDev(0x71);
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pStep->setCimMessageDev(0x0);
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if (addStep(STEP_ID_CIM_MSG_SET_CMD_REPLY, pStep) != 0) {
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delete pStep;
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}
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}
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{
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// CIM Message Confirm
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CEqReadIntStep* pStep = new CEqReadIntStep(__INT32, 0x5f80);
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pStep->setName(STEP_EQ_CIM_MESSAGE_CONFIRM);
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pStep->setWriteSignalDev(0x59);
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if (addStep(STEP_ID_CIM_MSG_CONFIRM_REPORT, pStep) != 0) {
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delete pStep;
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}
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}
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{
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// VCR1 Event Report
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CEqVcrEventStep* pStep = new CEqVcrEventStep();
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pStep->setName(STEP_EQ_VCR1_EVENT_REPORT);
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pStep->setWriteSignalDev(0x4a);
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pStep->setReturnDev(0x91e);
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pStep->setVcrEventReportDev(0x5fef);
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if (addStep(STEP_ID_VCR1_EVENT_REPORT, pStep) != 0) {
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delete pStep;
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}
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}
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{
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// eq cim message clear
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CEqCimMessageClearStep* pStep = new CEqCimMessageClearStep();
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pStep->setName(STEP_CIM_MESSAGE_CLEAR);
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pStep->setWriteSignalDev(0x72);
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pStep->setClearCimMessageDev(0x13);
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if (addStep(STEP_ID_CIM_MSG_CLEAR_CMD_REPLY, pStep) != 0) {
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delete pStep;
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}
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}
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{
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// datetime set cmd
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CEqDateTimeSetCmdStep* pStep = new CEqDateTimeSetCmdStep();
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pStep->setName(STEP_DATETIME_SET_CMD);
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pStep->setWriteSignalDev(0x73);
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pStep->setDateTimeDev(0x16);
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if (addStep(STEP_ID_DATETIME_SET_CMD_REPLY, pStep) != 0) {
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delete pStep;
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}
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}
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{
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// vcr enable
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CEqVCREnableStep* pStep = new CEqVCREnableStep();
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pStep->setName(STEP_EQ_VCR_ENABLE);
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pStep->setWriteSignalDev(0x74);
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pStep->setEqVCRModeDev(0x1F);
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if (addStep(STEP_ID_VCR_ENABLE_CMD_REPLY, pStep) != 0) {
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delete pStep;
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}
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}
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{
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// eq mode change
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CEqModeChangeStep* pStep = new CEqModeChangeStep();
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pStep->setName(STEP_EQ_MODE_CHANGE);
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pStep->setWriteSignalDev(0x75);
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pStep->setEqModeDev(0x1E);
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if (addStep(STEP_ID_EQMODE_CHANGE_CMD_REPLY, pStep) != 0) {
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delete pStep;
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}
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}
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{
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// current recipe change
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CEqCurrentRecipeChangeStep* pStep = new CEqCurrentRecipeChangeStep();
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pStep->setName(STEP_EQ_RURRENT_RECIPE_CHANGE);
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pStep->setWriteSignalDev(0x48);
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pStep->setDataDev(0x6850);
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if (addStep(STEP_ID_CURRENT_RECIPE_CHANGE_REPORT, pStep) != 0) {
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delete pStep;
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}
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}
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{
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// ÇëÇóÖ÷Åä·½ÁбíµÄstep
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CEqWriteStep* pStep = new CEqWriteStep();
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pStep->setName(STEP_EQ_MASTER_RECIPE_LIST_REQ);
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pStep->setWriteSignalDev(0x66);
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pStep->setDataDev(0x90a);
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if (addStep(STEP_ID_MASTER_RECIPE_LIST_CMD_REPLY, pStep) != 0) {
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delete pStep;
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}
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}
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// CEqCassetteTranserStateStep
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ADD_EQ_CASSETTE_TRANSFER_STATE_STEP(STEP_EQ_P1_CASSETTE_EMPTY, 0xd8,
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STEP_ID_PORT1_CASSETTIE_EMPTY, 0x6050);
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ADD_EQ_CASSETTE_TRANSFER_STATE_STEP(STEP_EQ_P1_CASSETTE_LOAD_EADY, 0xe0,
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STEP_ID_PORT1_CASSETTIE_LOAD_READY, 0x6050);
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ADD_EQ_CASSETTE_TRANSFER_STATE_STEP(STEP_EQ_P1_CASSETTE_LOADED, 0xe8,
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STEP_ID_PORT1_CASSETTIE_LOADED, 0x6050);
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ADD_EQ_CASSETTE_TRANSFER_STATE_STEP(STEP_EQ_P1_CASSETTE_INUSE, 0xf0,
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STEP_ID_PORT1_CASSETTIE_INUSE, 0x6050);
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ADD_EQ_CASSETTE_TRANSFER_STATE_STEP(STEP_EQ_P1_CASSETTE_UNLOAD_EADY, 0xf8,
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STEP_ID_PORT1_CASSETTIE_UNLOAD_READY, 0x60f50);
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ADD_EQ_CASSETTE_TRANSFER_STATE_STEP(STEP_EQ_P1_CASSETTE_BLOCKED, 0x100,
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STEP_ID_PORT1_CASSETTIE_BLOCKED, 0x6050);
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ADD_EQ_CASSETTE_TRANSFER_STATE_STEP(STEP_EQ_P2_CASSETTE_EMPTY, 0xd9,
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STEP_ID_PORT2_CASSETTIE_EMPTY, 0x6070);
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ADD_EQ_CASSETTE_TRANSFER_STATE_STEP(STEP_EQ_P2_CASSETTE_LOAD_EADY, 0xe1,
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STEP_ID_PORT2_CASSETTIE_LOAD_READY, 0x6070);
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ADD_EQ_CASSETTE_TRANSFER_STATE_STEP(STEP_EQ_P2_CASSETTE_LOADED, 0xe9,
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STEP_ID_PORT2_CASSETTIE_LOADED, 0x6070);
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ADD_EQ_CASSETTE_TRANSFER_STATE_STEP(STEP_EQ_P2_CASSETTE_INUSE, 0xf1,
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STEP_ID_PORT2_CASSETTIE_INUSE, 0x6070);
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ADD_EQ_CASSETTE_TRANSFER_STATE_STEP(STEP_EQ_P2_CASSETTE_UNLOAD_EADY, 0xf9,
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STEP_ID_PORT2_CASSETTIE_UNLOAD_READY, 0x6070);
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ADD_EQ_CASSETTE_TRANSFER_STATE_STEP(STEP_EQ_P2_CASSETTE_BLOCKED, 0x101,
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STEP_ID_PORT2_CASSETTIE_BLOCKED, 0x6070);
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ADD_EQ_CASSETTE_TRANSFER_STATE_STEP(STEP_EQ_P3_CASSETTE_EMPTY, 0xda,
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STEP_ID_PORT3_CASSETTIE_EMPTY, 0x6090);
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ADD_EQ_CASSETTE_TRANSFER_STATE_STEP(STEP_EQ_P3_CASSETTE_LOAD_EADY, 0xe2,
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STEP_ID_PORT3_CASSETTIE_LOAD_READY, 0x6090);
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ADD_EQ_CASSETTE_TRANSFER_STATE_STEP(STEP_EQ_P3_CASSETTE_LOADED, 0xea,
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STEP_ID_PORT3_CASSETTIE_INUSE, 0x6090);
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ADD_EQ_CASSETTE_TRANSFER_STATE_STEP(STEP_EQ_P3_CASSETTE_INUSE, 0xf2,
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STEP_ID_PORT3_CASSETTIE_INUSE, 0x6090);
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ADD_EQ_CASSETTE_TRANSFER_STATE_STEP(STEP_EQ_P3_CASSETTE_UNLOAD_EADY, 0xfa,
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STEP_ID_PORT3_CASSETTIE_UNLOAD_READY, 0x6090);
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ADD_EQ_CASSETTE_TRANSFER_STATE_STEP(STEP_EQ_P3_CASSETTE_BLOCKED, 0x102,
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STEP_ID_PORT3_CASSETTIE_BLOCKED, 0x6090);
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ADD_EQ_CASSETTE_TRANSFER_STATE_STEP(STEP_EQ_P4_CASSETTE_EMPTY, 0xdb,
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STEP_ID_PORT4_CASSETTIE_EMPTY, 0x60b0);
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ADD_EQ_CASSETTE_TRANSFER_STATE_STEP(STEP_EQ_P4_CASSETTE_LOAD_EADY, 0xe3,
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STEP_ID_PORT4_CASSETTIE_LOAD_READY, 0x60b0);
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ADD_EQ_CASSETTE_TRANSFER_STATE_STEP(STEP_EQ_P4_CASSETTE_LOADED, 0xeb,
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STEP_ID_PORT4_CASSETTIE_LOADED, 0x60b0);
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ADD_EQ_CASSETTE_TRANSFER_STATE_STEP(STEP_EQ_P4_CASSETTE_INUSE, 0xf3,
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STEP_ID_PORT4_CASSETTIE_INUSE, 0x60b0);
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ADD_EQ_CASSETTE_TRANSFER_STATE_STEP(STEP_EQ_P4_CASSETTE_UNLOAD_EADY, 0xfb,
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STEP_ID_PORT4_CASSETTIE_UNLOAD_READY, 0x60b0);
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ADD_EQ_CASSETTE_TRANSFER_STATE_STEP(STEP_EQ_P4_CASSETTE_BLOCKED, 0x103,
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STEP_ID_PORT4_CASSETTIE_BLOCKED, 0x60b0);
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{
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// Received Job Report Upstream#1~9
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char szBuffer[256];
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for (int i = 0; i < 9; i++) {
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CEqReadStep* pStep = new CEqReadStep(0x4c90 + 320 * i, 320 * 2,
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[&](void* pFrom, int code, const char* pszData, size_t size) -> int {
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if (code == ROK && pszData != nullptr && size > 0) {
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int port = (int)(__int64)((CEqReadStep*)pFrom)->getProp("Port");
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if (port > 0) {
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decodeFetchedOutJobReport((CStep*)pFrom, port, pszData, size);
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}
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}
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return -1;
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});
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sprintf_s(szBuffer, "%s%d", STEP_EQ_RECEIVED_JOBn, i + 1);
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pStep->setName(szBuffer);
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pStep->setProp("Upstream", (void*)(__int64)(i + 1));
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pStep->setWriteSignalDev(0x0 + i);
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if (addStep(STEP_ID_FETCHED_OUT_JOB_REPORT1 + i, pStep) != 0) {
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delete pStep;
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}
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}
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}
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{
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// Fetched Out Job Report #1~15
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char szBuffer[256];
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for (int i = 0; i < 15; i++) {
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CEqReadStep* pStep = new CEqReadStep(0x5c31 + 18 * i, 18 * 2,
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[&](void* pFrom, int code, const char* pszData, size_t size) -> int {
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if (code == ROK && pszData != nullptr && size > 0) {
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int port = (int)(__int64)((CEqReadStep*)pFrom)->getProp("Port");
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if (port > 0) {
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decodeFetchedOutJobReport((CStep*)pFrom, port, pszData, size);
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}
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}
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return -1;
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});
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sprintf_s(szBuffer, "%s%d", STEP_EQ_FETCHED_OUT_JOBn, i+1);
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pStep->setName(szBuffer);
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pStep->setProp("Port", (void*)(__int64)(i + 1));
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pStep->setWriteSignalDev(0x023 + i);
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if (addStep(STEP_ID_FETCHED_OUT_JOB_REPORT1 + i, pStep) != 0) {
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delete pStep;
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}
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}
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}
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{
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// Store Job Report #1~15
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char szBuffer[256];
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for (int i = 0; i < 15; i++) {
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CEqReadStep* pStep = new CEqReadStep(0x5b23 + 18 * i, 18 * 2,
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[&](void* pFrom, int code, const char* pszData, size_t size) -> int {
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if (code == ROK && pszData != nullptr && size > 0) {
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int port = (int)(__int64)((CEqReadStep*)pFrom)->getProp("Port");
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if (port > 0) {
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decodeStoredJobReport((CStep*)pFrom, port, pszData, size);
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}
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}
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return -1;
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});
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sprintf_s(szBuffer, "%s%d", STEP_EQ_STORED_JOBn, i + 1);
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pStep->setName(szBuffer);
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pStep->setProp("Port", (void*)(__int64)(i + 1));
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pStep->setWriteSignalDev(0x014 + i);
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if (addStep(STEP_ID_STORE_JOB_REPORT1 + i, pStep) != 0) {
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delete pStep;
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}
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}
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}
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{
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// Dispatching Mode Change Command
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CEqWriteStep* pStep = new CEqWriteStep();
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pStep->setName(STEP_EQ_DISPATCHINT_MODE_CHANGE);
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pStep->setWriteSignalDev(0x071);
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pStep->setDataDev(0x5c6);
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if (addStep(STEP_ID_DISPATCHING_MODE_CHANGE_REPLY, pStep) != 0) {
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delete pStep;
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}
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}
|
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{
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// Robot CMD
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CEqWriteStep* pStep = new CEqWriteStep();
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pStep->setName(STEP_EFEM_ROBOT_CMD);
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pStep->setWriteSignalDev(0x14D);
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pStep->setDataDev(0x90a);
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if (addStep(STEP_ID_ROBOT_CMD_REPLY, pStep) != 0) {
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delete pStep;
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}
|
}
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}
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int CEFEM::onStepEvent(CStep* pStep, int code)
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{
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int nRet = CEquipment::onStepEvent(pStep, code);
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if (nRet > 0) return nRet;
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if (code == STEP_EVENT_READDATA) {
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if (isCassetteTransferStateStep(pStep)) {
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SERVO::CEqCassetteTransferStateStep* pEqCassetteStep = (SERVO::CEqCassetteTransferStateStep*)pStep;
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int id = pEqCassetteStep->getID();
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if (id == STEP_ID_PORT1_CASSETTIE_EMPTY) {
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}
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}
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}
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return 0;
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}
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void CEFEM::onTimer(UINT nTimerid)
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{
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CEquipment::onTimer(nTimerid);
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}
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void CEFEM::serialize(CArchive& ar)
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{
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CEquipment::serialize(ar);
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}
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void CEFEM::getAttributeVector(CAttributeVector& attrubutes)
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{
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__super::getAttributeVector(attrubutes);
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}
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int CEFEM::recvIntent(CPin* pPin, CIntent* pIntent)
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{
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return __super::recvIntent(pPin, pIntent);
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}
|
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BOOL CEFEM::glassWillArrive(CGlass* pGlass)
|
{
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BOOL bRet = __super::glassWillArrive(pGlass);
|
if (!bRet) {
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return FALSE;
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}
|
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return m_glassList.empty();
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}
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void CEFEM::onReceiveLBData(const char* pszData, size_t size)
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{
|
__super::onReceiveLBData(pszData, size);
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|
for (unsigned int i = 0; i < 4; i++) {
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if (m_pPort[i] != nullptr) {
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m_pPort[i]->onReceiveLBData(pszData, size);
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}
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}
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}
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int CEFEM::onReceivedJob(int port, CJobDataS* pJobDataS)
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{
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m_pPort[0]->onReceivedJob(port, pJobDataS);
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m_pPort[1]->onReceivedJob(port, pJobDataS);
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m_pPort[2]->onReceivedJob(port, pJobDataS);
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m_pPort[3]->onReceivedJob(port, pJobDataS);
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m_pArmTray[0]->onReceivedJob(port, pJobDataS);
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m_pArmTray[1]->onReceivedJob(port, pJobDataS);
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m_pAligner->onReceivedJob(port, pJobDataS);
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m_pFliper->onReceivedJob(port, pJobDataS);
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|
return 0;
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}
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int CEFEM::onSentOutJob(int port, CJobDataS* pJobDataS)
|
{
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m_pPort[0]->onSentOutJob(port, pJobDataS);
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m_pPort[1]->onSentOutJob(port, pJobDataS);
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m_pPort[2]->onSentOutJob(port, pJobDataS);
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m_pPort[3]->onSentOutJob(port, pJobDataS);
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m_pArmTray[0]->onSentOutJob(port, pJobDataS);
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m_pArmTray[1]->onSentOutJob(port, pJobDataS);
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m_pAligner->onSentOutJob(port, pJobDataS);
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m_pFliper->onSentOutJob(port, pJobDataS);
|
|
return 0;
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}
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int CEFEM::onFetchedOutJob(int port, CJobDataB* pJobDataB)
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{
|
if (port == 1) {
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return m_pPort[0]->onFetchedOutJob(port, pJobDataB);
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}
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if (port == 2) {
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return m_pPort[1]->onFetchedOutJob(port, pJobDataB);
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}
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if (port == 3) {
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return m_pPort[2]->onFetchedOutJob(port, pJobDataB);
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}
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if (port == 4) {
|
return m_pPort[3]->onFetchedOutJob(port, pJobDataB);
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}
|
if (port == 5) {
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return m_pArmTray[0]->onFetchedOutJob(port, pJobDataB);
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}
|
if (port == 6) {
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return m_pArmTray[1]->onFetchedOutJob(port, pJobDataB);
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}
|
if (port == 7) {
|
return m_pAligner->onFetchedOutJob(port, pJobDataB);
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}
|
if (port == 8) {
|
return m_pFliper->onFetchedOutJob(port, pJobDataB);
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}
|
|
return -1;
|
}
|
|
int CEFEM::onStoredJob(int port, CJobDataB* pJobDataB)
|
{
|
if (port == 1) {
|
return m_pPort[0]->onStoredJob(port, pJobDataB);
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}
|
if (port == 2) {
|
return m_pPort[1]->onStoredJob(port, pJobDataB);
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}
|
if (port == 3) {
|
return m_pPort[2]->onStoredJob(port, pJobDataB);
|
}
|
if (port == 4) {
|
return m_pPort[3]->onStoredJob(port, pJobDataB);
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}
|
if (port == 5) {
|
return m_pArmTray[0]->onStoredJob(port, pJobDataB);
|
}
|
if (port == 6) {
|
return m_pArmTray[1]->onStoredJob(port, pJobDataB);
|
}
|
if (port == 7) {
|
return m_pAligner->onStoredJob(port, pJobDataB);
|
}
|
if (port == 8) {
|
return m_pFliper->onStoredJob(port, pJobDataB);
|
}
|
|
return -1;
|
}
|
}
|