1.对方JobDataRequest没有带参数，因此在从loadPort取料时，先缓存Cassette Sequence No和Job Sequenc...

LAPTOP-SNT8I5JK\Boounion

2025-06-20 2abde7163867930b35d4288546e4fb02bdec064f

 SourceCode/Bond/Servo/CEFEM.cpp

@@ -26,17 +26,30 @@
      m_robotData.position = ROBOT_POSITION::Port1;
      m_robotData.armState[0] = FALSE;
      m_robotData.armState[1] = FALSE;
      m_pActiveContext = nullptr;
   }

   CEFEM::~CEFEM()
   {

      if (m_pActiveContext != nullptr) {
         m_pActiveContext->release();
         m_pActiveContext = nullptr;
      }
   }

   const char* CEFEM::getClassName()
   {
      static char* pszName = "CEFEM";
      return pszName;
   }

   void CEFEM::setContext(CContext* pContext)
   {
      if (m_pActiveContext != nullptr) {
         m_pActiveContext->release();
      }
      m_pActiveContext = pContext;
      m_pActiveContext->addRef();
   }

   void CEFEM::setPort(unsigned int index, CLoadPort* pPort)
@@ -698,21 +711,28 @@

      {
         // JOB Data Request
         CEqReadStep* pStep = new CEqReadStep(0x617d, 2 * 2,
         CEqReadStep* pStep = new CEqReadStep(0x0, 0,
            [&](void* pFrom, int code, const char* pszData, size_t size) -> int {
               if (code == ROK && pszData != nullptr && size > 0) {
                  decodeJobDataRequest((CStep*)pFrom, pszData, size);
                  // 由于EFEM没有发送参数到master, 我们只需要返回数据
                  // Cassette Sequence No和Job Sequence No根据上一次调试缓存而来
                  // decodeJobDataRequest((CStep*)pFrom, pszData, size);

                  // efme， 获取数据后返回
                  // Cassette Sequence No      1W
                  // Job Sequence No         1W
                  // Job DataS            256W
                  // 获取数据后返回给EFEM
                  // Job DataS            320W
                  // ACK                  1W
                  // Reserved               15W
                  short ack = (short)JobDataRequestAck::NG;      // 不存在jobData
                  char szBuffer[1024] = { 0 };
                  CJobDataS* pJobDataS = m_pPort[3]->getJobDataSWithCassette(4001, 1);
                  if (pJobDataS != nullptr) {
                     int size = pJobDataS->serialize(szBuffer, 1024);
                     ((CEqReadStep*)pFrom)->setReturnData(szBuffer, size);
                  if (m_pActiveContext != nullptr) {
                     CJobDataS* pJobDataS = ((CGlass*)m_pActiveContext)->getJobDataS();
                     if (pJobDataS != nullptr) {
                        pJobDataS->serialize(szBuffer, 1024);
                        ack = (short)JobDataRequestAck::OK;
                     }
                  }
                  memcpy(&szBuffer[320 * 2], &ack, sizeof(short));
                  ((CEqReadStep*)pFrom)->setReturnData(szBuffer, 336 * 2);
               }
               return -1;
            });