| | |
|---|
| | | BOOL alive; |
|---|
| | | } ALIVE; |
|---|
| | | |
|---|
| | | enum DISPATCHING_MODE { |
|---|
| | | EAS = 1, |
|---|
| | | Local = 2 |
|---|
| | | }; |
|---|
| | | |
|---|
| | | enum RCMD { |
|---|
| | | Robot_home = 1, |
|---|
| | | Transfer, |
|---|
| | | Move, |
|---|
| | | Get, |
|---|
| | | Put, |
|---|
| | | One_Action_Exchange, |
|---|
| | | Two_Action_Exchange, |
|---|
| | | Command_Clear, |
|---|
| | | Batch_get, |
|---|
| | | Batch_put |
|---|
| | | }; |
|---|
| | | |
|---|
| | | // Robot cmd param |
|---|
| | | #define ROBOT_CMD_PARAM_SIZE 16 /* 防止以后修改ROBOT_CMD_PARAM为不是4的整数倍 */ |
|---|
| | | typedef struct _ROBOT_CMD_PARAM { |
|---|
| | | short sequenceNo; |
|---|
| | | short rcmd; |
|---|
| | | short armNo; |
|---|
| | | short getPosition; |
|---|
| | | short putPosition; |
|---|
| | | short getSlotNo; |
|---|
| | | short putSlotNo; |
|---|
| | | short subCmd; |
|---|
| | | } ROBOT_CMD_PARAM; |
|---|
| | | |
|---|
| | | class CEquipment |
|---|
| | | { |
|---|
| | | public: |
|---|
| | |
|---|
| | | virtual int onStoredJob(int port, CJobDataB* pJobDataB); |
|---|
| | | virtual int onProcessData(CProcessData* pProcessData); |
|---|
| | | void getGlassList(std::list<CGlass*>& list); |
|---|
| | | CGlass* getGlassFromList(const char* pszId); |
|---|
| | | CGlass* getFrontGlass(); |
|---|
| | | BOOL removeClass(CGlass* pGlass); |
|---|
| | | bool isAlarmStep(SERVO::CStep* pStep); |
|---|
| | |
|---|
| | | int setCimMessage(const char* pszMessage, short id, short nTouchPanelNo); |
|---|
| | | int clearCimMessage(short id, short nTouchPanelNo); |
|---|
| | | int setDateTime(short year, short month, short day, short hour, short minute, short second); |
|---|
| | | |
|---|
| | | int setDispatchingMode(DISPATCHING_MODE mode, ONWRITED onWritedBlock = nullptr); |
|---|
| | | |
|---|
| | | // 请求主配方列表 |
|---|
| | | // unitNo: 0:local; Others:unit No |
|---|
| | | int masterRecipeListRequest(short unitNo); |
|---|
