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| #pragma once
| #include <string>
| #include <vector>
|
|
| #define CHECK_READ_STEP_SIGNAL(addr, data, size) { \
| BOOL bFlag = isBitOn(data, size, addr); \
| SERVO::CStep* pStep = getStep(addr); \
| if (pStep != nullptr) { \
| ((CReadStep*)pStep)->onReadSignal(bFlag ? addr : 0); \
| } \
| }
|
| #define CHECK_WRITE_STEP_SIGNAL(addr, data, size) { \
| BOOL bFlag = isBitOn(data, size, addr); \
| SERVO::CStep* pStep = getStep(addr); \
| if (pStep != nullptr) { \
| ((CWriteStep*)pStep)->onRecvSignal(bFlag ? addr : 0); \
| } \
| }
|
| #define CHECK_RUN_ACTIVE_ROBOT_TASK(art) { \
| if (art != nullptr) { \
| art->pick(); \
| std::string strDescription = art->getDescription(); \
| unlock(); \
| if (m_listener.onRobotTaskEvent != nullptr) { \
| m_listener.onRobotTaskEvent(this, art, ROBOT_EVENT_CREATE); \
| } \
| LOGI("´´½¨ÐÂÈÎÎñ<%s>...", strDescription.c_str()); \
| continue; \
| } \
| }
|
| namespace SERVO {
| #define BLOCK_BUFFER_MAX 1024
| #define ALIVE_TIMEOUT 15
| #define VCR_MAX 1
| #define PATH_MAX 8
| #define SIGNAL_MAX 8
| #define ARM_ALL 99
|
| enum class RET {
| OK = 1,
| NG,
| };
| using JobDataRequestAck = RET;
|
| enum class InspResult
| {
| NotInspected = 0, // ³õʼ»¯×´Ì¬£¬ÉÐδ¼ì²â
| Pass, // ¼ì²âºÏ¸ñ
| Fail // ¼ì²â²»ºÏ¸ñ
| };
|
| enum class PortType {
| Loading = 1,
| Unloading,
| Both,
| Buffer,
| LoaderInBuffer,
| UnloaderInBuffer,
| UnloadingPartial
| };
|
| enum class PortMode {
| OutOfService = 0,
| TransferBlocked,
| ReadyToLoad,
| ReadyToUnload,
| InService,
| TransferReady
| };
|
| enum class MaterialsType {
| G0 = 0,
| G1 = 1,
| G2 = 2,
| G1G2 = 3
| };
| typedef MaterialsType CassetteType;
|
| enum class TransferMode {
| MGVMode = 1,
| AGVMode,
| StockerInlineMode
| };
|
| // Memory Block ½á¹¹Ì嶨Òå
| typedef struct _MemoryBlock {
| unsigned int type;
| unsigned int start;
| unsigned int end;
| unsigned int size;
| char buffer[BLOCK_BUFFER_MAX];
| } MemoryBlock;
|
| // ALIVE
| typedef struct _ALIVE {
| BOOL flag;
| int count;
| BOOL alive;
| } ALIVE;
|
| enum class DISPATCHING_MODE {
| EAS = 1,
| Local = 2
| };
|
| enum class IDNEXER_OPERATION_MODE {
| Normal = 1,
| Clear_Out = 2,
| Cold_Run = 2,
| Start = 10,
| Stop = 11,
| Pause = 12,
| Resume = 13,
| Abort = 14,
| Cancel = 15,
| };
|
| enum class VCR_Reply_Code {
| OK = 1,
| NG,
| Job_Data_Request,
| VCR_Mismatch
| };
|
| // Robot cmd param
| #define ROBOT_CMD_PARAM_SIZE 16 /* ·ÀÖ¹ÒÔºóÐÞ¸ÄROBOT_CMD_PARAMΪ²»ÊÇ4µÄÕûÊý±¶ */
| typedef struct _ROBOT_CMD_PARAM {
| short sequenceNo;
| short rcmd;
| short armNo;
| short getPosition;
| short putPosition;
| short getSlotNo;
| short putSlotNo;
| short subCmd;
| } ROBOT_CMD_PARAM;
|
| enum class RCMD {
| Robot_home = 1,
| Transfer,
| Move,
| Get,
| Put,
| One_Action_Exchange,
| Two_Action_Exchange,
| Command_Clear,
| Batch_get,
| Batch_put
| };
|
| enum class ROBOT_TASK_STATE {
| Ready = 0,
| Running,
| Picking,
| Picked,
| Placing,
| Restoring,
| Error,
| Abort,
| Restored,
| Completed
| };
|
| enum class ROBOT_STATUS {
| Setup = 0,
| Idle,
| Run,
| Pause,
| Stop,
| Moving,
| };
|
| enum class ROBOT_POSITION {
| Port1 = 0,
| Port2,
| Port3,
| Port4,
| Aligner,
| Fliper,
| Bonder1,
| Bonder2,
| Bake,
| Cooling,
| Measurement
| };
|
| /* Indexer Monitoring Status */
| /* Robot Monitoring Data */
| typedef struct _ROBOT_MONITORING_DATA {
| ROBOT_STATUS status;
| ROBOT_POSITION position;
| BOOL armState[2];
| } ROBOT_MONITORING_DATA, RMDATA;
|
| /* ¹¤ÒÕ(¼Ó¹¤´¦Àí)״̬ */
| enum class PROCESS_STATE {
| Ready = 0,
| Processing,
| Complete,
| Error
| };
|
| /* Port Status */
| struct SlotConfig {
| int nSlotID = 0;
| bool isEnabled = false;
| };
|
| struct PortConfig {
| int nMaterialType; // ÎïÁÏÀàÐÍ£¬1: G1, 2: G2, 3: G1+G2
| std::string strPortName; // ÀýÈç "Port 1"
| std::string strRecipe; // ÀýÈç "P1001"
| std::string strLotID;
| std::string strProductID;
| std::string strOperationID;
| std::vector<SlotConfig> vecSlot;
| };
|
| /* EQ Data changed code */
| #define EDCC_FETCHOUT_JOB 1000 /* ȡƬ */
| #define EDCC_STORED_JOB 1001 /* ၮ */
|
|
| /* Cassette Ctrl CMD */
| #define CCC_MAP_DOWNLOAD 1
| #define CCC_CLAMP 2
| #define CCC_UNCLAMP 3
| #define CCC_RECLAMP 4
| #define CCC_PROCESS_START 5
| #define CCC_PROCESS_START_BY_COUNT 6
| #define CCC_PROCESS_PAUSE 7
| #define CCC_PROCESS_RESUME 8
| #define CCC_PROCESS_ABORT 9
| #define CCC_PROCESS_CANCEL 10
| #define CCC_PROCESS_END 11
| #define CCC_ID_UPDATE 12
| #define CCC_MAP_UPDATE 13
| }
|
|
