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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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| | | |
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| | | namespace SERVO { |
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| | |
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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 BOOL glassWillArrive(CGlass* pGlass); |
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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 getIndexerOperationModeBaseValue(); |
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| | | |
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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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| | | |
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| | | // 快捷封装 |
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| | | int robotSendHome(int seq, 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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| | | |
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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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