#pragma once
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#include "CEquipment.h"
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#include "CLoadPort.h"
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#include "CAligner.h"
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#include "CFliper.h"
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#include "CArmTray.h"
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#include "Context.h"
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namespace SERVO {
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class CEFEM :
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public CEquipment
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{
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public:
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CEFEM();
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virtual ~CEFEM();
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public:
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virtual const char* getClassName();
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virtual void init();
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virtual void term();
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virtual void initPins();
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virtual void initSteps();
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virtual void initSlots();
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virtual void onTimer(UINT nTimerid);
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virtual void serialize(CArchive& ar);
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virtual void getAttributeVector(CAttributeVector& attrubutes);
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virtual int recvIntent(CPin* pPin, CIntent* pIntent);
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virtual void onReceiveLBData(const char* pszData, size_t size);
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virtual int onReceivedJob(int port, CJobDataS* pJobDataS);
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virtual int onSentOutJob(int port, CJobDataS* pJobDataS);
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virtual int onFetchedOutJob(int port, CJobDataB* pJobDataB);
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virtual int onStoredJob(int port, CJobDataB* pJobDataB);
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virtual int getIndexerOperationModeBaseValue();
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public:
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void setContext(CContext* pContext);
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void setPort(unsigned int index, CLoadPort* pPort);
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void setAligner(CAligner* pAligner);
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void setFliper(CFliper* pFliper);
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void setArmTray(unsigned int index, CArmTray* pArmTray);
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int robotCmd(ROBOT_CMD_PARAM& robotCmdParam, ONWRITED onWritedBlock = nullptr);
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int robotCmds(ROBOT_CMD_PARAM* robotCmdParam, unsigned int count, ONWRITED onWritedBlock = nullptr);
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RMDATA& getRobotMonitoringData();
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// ¿ì½Ý·â×°
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int robotSendHome(int seq, ONWRITED onWritedBlock = nullptr);
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int robotSendTransfer(int seq, int armNo, int fromPos, int toPos, int fromSlot, int toSlot, ONWRITED onWritedBlock = nullptr);
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int robotSendMoveToGet(int seq, int armNo, int pos, int slot, ONWRITED onWritedBlock = nullptr);
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int robotSendMoveToPut(int seq, int armNo, int pos, int slot, ONWRITED onWritedBlock = nullptr);
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int robotSendGet(int seq, int armNo, int pos, int slot, ONWRITED onWritedBlock = nullptr);
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int robotSendPut(int seq, int armNo, int pos, int slot, ONWRITED onWritedBlock = nullptr);
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int robotSendExchange(int seq, int armNo, int pos, int getSlot, int putSlot, ONWRITED onWritedBlock = nullptr);
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int robotSendCommandClear(int seq, ONWRITED onWritedBlock = nullptr);
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int robotSendBatchGet(int seq, int getPos, int getSlot, ONWRITED onWritedBlock = nullptr);
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int robotSendBatchPut(int seq, int putPos, int putSlot, ONWRITED onWritedBlock = nullptr);
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int robotSendMoveToGetAndHome(int seq, int armNo, int getPos, int getSlot, ONWRITED onWritedBlock = nullptr);
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int robotSendMoveToPutAndHome(int seq, int armNo, int putPos, int putSlot, ONWRITED onWritedBlock = nullptr);
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int robotSendTransferAndHome(int seq, int armNo, int fromPos, int toPos, int fromSlot, int toSlot, ONWRITED onWritedBlock = nullptr);
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int robotSendGetAndPut(int seq, int armNo, int getPos, int getSlot, int putPos, int putSlot, ONWRITED onWritedBlock = nullptr);
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int robotSendPutAndHome(int seq, int armNo, int putPos, int putSlot, ONWRITED onWritedBlock = nullptr);
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void printDebugRobotState();
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private:
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CLoadPort* m_pPort[4];
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CAligner* m_pAligner;
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CFliper* m_pFliper;
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CArmTray* m_pArmTray[2];
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RMDATA m_robotData;
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CContext* m_pActiveContext;
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};
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}
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