1.实现RobotCmd的下发，待测；

LAPTOP-SNT8I5JK\Boounion

2025-05-19 0ec075ed33382a0fd69b680c42ab6ed537b1eca7

1.实现RobotCmd的下发，待测；

 SourceCode/Bond/Servo/CEFEM.cpp

@@ -1,5 +1,6 @@
#include "stdafx.h"
#include "CEFEM.h"
#include "Log.h"


#define ADD_EQ_CASSETTE_TRANSFER_STATE_STEP(name,ws,index,psd) {                \
@@ -56,6 +57,73 @@
        if (index < 2) {
            m_pArmTray[index] = pArmTray;
        }
    }

    int CEFEM::robotCmd(ROBOT_CMD_PARAM& robotCmdParam, ONWRITED onWritedBlock/* = nullptr*/)
    {
        SERVO::CEqWriteStep* pStep = (SERVO::CEqWriteStep*)getStepWithName(STEP_EFEM_ROBOT_CMD);
        if (pStep == nullptr) {
            return -1;
        }

        LOGI("<CEFEM-%s>准备发送RobotCmd<%d>", m_strName.c_str(), (int)robotCmdParam.rcmd);
        if (onWritedBlock != nullptr) {
            pStep->writeDataEx((const char*)&robotCmdParam, ROBOT_CMD_PARAM_SIZE, onWritedBlock);
        }
        else {
            pStep->writeDataEx((const char*)&robotCmdParam, ROBOT_CMD_PARAM_SIZE, [&](int code) -> int {
                if (code == WOK) {
                    LOGI("<CEFEM-%s>发送RobotCmd成功.", m_strName.c_str());
                }
                else {
                    LOGI("<CEFEM-%s>发送RobotCmd失败，code:%d", m_strName.c_str(), code);
                }

                return 0;
                });
        }

        return 0;
    }

    int CEFEM::robotCmds(ROBOT_CMD_PARAM* robotCmdParam, unsigned int count, ONWRITED onWritedBlock/* = nullptr*/)
    {
        SERVO::CEqWriteStep* pStep = (SERVO::CEqWriteStep*)getStepWithName(STEP_EFEM_ROBOT_CMD);
        if (pStep == nullptr) {
            return -1;
        }


        // 平铺到内存中，如果ROBOT_CMD_PARAM不是4的整数倍，只能一个一个复制
        std::string strLog = "准备发送RobotCmds<";
        char szBuffer[ROBOT_CMD_PARAM_SIZE * 4];
        for (int i = 0; i < min(4, count); i++) {
            memcpy(&szBuffer[i * ROBOT_CMD_PARAM_SIZE], (robotCmdParam + i), ROBOT_CMD_PARAM_SIZE);
            strLog += std::to_string((robotCmdParam + i)->rcmd);
            strLog += ",";
            LOGI("%d", (robotCmdParam + 1)->rcmd);
        }
        strLog += ">.";
        LOGI("<CEFEM-%s>%s", m_strName.c_str(), strLog.c_str());


        if (onWritedBlock != nullptr) {
            pStep->writeDataEx(szBuffer, ROBOT_CMD_PARAM_SIZE * min(4, count), onWritedBlock);
        }
        else {
            pStep->writeDataEx(szBuffer, ROBOT_CMD_PARAM_SIZE * min(4, count), [&](int code) -> int {
                if (code == WOK) {
                    LOGI("<CEquipment-%s>发送RobotCmdS成功.", m_strName.c_str());
                }
                else {
                    LOGI("<CEquipment-%s>发送RobotCmds失败，code:%d", m_strName.c_str(), code);
                }

                return 0;
                });
        }

        return 0;
    }

    void CEFEM::init()
@@ -375,6 +443,17 @@
                delete pStep;
            }
        }

        {
            // Robot CMD
            CEqWriteStep* pStep = new CEqWriteStep();
            pStep->setName(STEP_EFEM_ROBOT_CMD);
            pStep->setWriteSignalDev(0x14D);
            pStep->setDataDev(0x90a);
            if (addStep(STEP_ID_ROBOT_CMD_REPLY, pStep) != 0) {
                delete pStep;
            }
        }
    }

    int CEFEM::onStepEvent(CStep* pStep, int code)

 SourceCode/Bond/Servo/CEFEM.h

@@ -37,6 +37,8 @@
        void setAligner(CAligner* pAligner);
        void setFliper(CFliper* pFliper);
        void setArmTray(unsigned int index, CArmTray* pArmTray);
        int robotCmd(ROBOT_CMD_PARAM& robotCmdParam, ONWRITED onWritedBlock = nullptr);
        int robotCmds(ROBOT_CMD_PARAM* robotCmdParam, unsigned int count, ONWRITED onWritedBlock = nullptr);

    private:
        CLoadPort* m_pPort[4];

 SourceCode/Bond/Servo/CEquipment.h

@@ -73,6 +73,32 @@
        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:

 SourceCode/Bond/Servo/CPageGraph2.cpp

@@ -247,6 +247,35 @@
        else if (nCmd == ID_EQSGRAPHITEM_TEST4) {
            SERVO::CEquipment* pEquipment = (SERVO::CEquipment*)pItem->pData;

            /* 测试 RobotCMD */
            if (pEquipment->getID() == EQ_ID_EFEM) {
                SERVO::CEFEM* pEFEM = (SERVO::CEFEM*)pEquipment;



                SERVO::ROBOT_CMD_PARAM cmds[4];
                cmds[0].sequenceNo = 1;
                cmds[0].rcmd = (short)SERVO::RCMD::Move;
                cmds[0].armNo = 1;
                cmds[0].getPosition = 1;
                cmds[0].putPosition = 2;
                cmds[0].getSlotNo = 3;
                cmds[0].putSlotNo = 4;
                cmds[0].subCmd = 5;
                cmds[1].sequenceNo = 2;
                cmds[1].rcmd = (short)SERVO::RCMD::Transfer;
                cmds[1].armNo = 2;
                cmds[1].getPosition = 6;
                cmds[1].putPosition = 7;
                cmds[1].getSlotNo = 8;
                cmds[1].putSlotNo = 9;
                cmds[1].subCmd = 10;
                pEFEM->robotCmds(cmds, 2);
            }




            // 测试下发Cim Message
            /*
            if (pEquipment->getID() == EQ_ID_Bonder1

 SourceCode/Bond/Servo/Common.h

@@ -208,6 +208,7 @@
#define STEP_EQ_STORED_JOB14            _T("EQStoredJobReport14")
#define STEP_EQ_STORED_JOB15            _T("EQStoredJobReport15")
#define STEP_EQ_DISPATCHINT_MODE_CHANGE    _T("EQDispatchingModeChangeCommand")
#define STEP_EFEM_ROBOT_CMD                _T("EFEMRobotCmd")



@@ -330,6 +331,7 @@
#define STEP_ID_PORT4_CASSETTIE_INUSE            0x653
#define STEP_ID_PORT4_CASSETTIE_UNLOAD_READY    0x65b
#define STEP_ID_PORT4_CASSETTIE_BLOCKED            0x663
#define STEP_ID_ROBOT_CMD_REPLY                    0x6b0


/* base alarm */