| | |
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| | | #define BLOCK_BUFFER_MAX 1024 |
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| | | #define ALIVE_TIMEOUT 15 |
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| | | #define VCR_MAX 1 |
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| | | #define ARM_ALL 99 |
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| | | |
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| | | typedef std::function<void(void* pEiuipment, BOOL bAlive)> ONALIVE; |
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| | | typedef std::function<void(void* pEiuipment, int code)> ONDATACHANGED; |
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| | |
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| | | Local = 2 |
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| | | }; |
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| | | |
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| | | enum RCMD { |
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| | | Robot_home = 1, |
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| | | Transfer, |
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| | | Move, |
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| | | Get, |
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| | | Put, |
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| | | One_Action_Exchange, |
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| | | Two_Action_Exchange, |
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| | | Command_Clear, |
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| | | Batch_get, |
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| | | Batch_put |
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| | | }; |
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| | | |
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| | | // Robot cmd param |
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| | | #define ROBOT_CMD_PARAM_SIZE 16 /* 防止以后修改ROBOT_CMD_PARAM为不是4的整数倍 */ |
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| | | typedef struct _ROBOT_CMD_PARAM { |
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| | | short sequenceNo; |
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| | | short rcmd; |
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| | | short armNo; |
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| | | short getPosition; |
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| | | short putPosition; |
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| | | short getSlotNo; |
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| | | short putSlotNo; |
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| | | short subCmd; |
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| | | } ROBOT_CMD_PARAM; |
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| | | |
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| | | class CEquipment |
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| | | { |
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| | | public: |
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