1. 补充发送信号读取PLC信号 2. 补充结束发送信号给PLC

mrDarker

2025-06-19 29adbde03b8499f070218181500e5774c301328e

1. 补充发送信号读取PLC信号
2. 补充结束发送信号给PLC

 SourceCode/Bond/Servo/CAttributeVector.cpp

@@ -19,9 +19,18 @@

    void CAttributeVector::addAttribute(CAttribute* pAttribute, BOOL bReplace/* = FALSE*/)
    {
        if (!pAttribute) { 
            return;
        }

        const std::string& name = pAttribute->getName();
        if (name.empty()) { 
            return;
        }

        if (bReplace) {
            for (auto it = m_attributes.begin(); it != m_attributes.end(); ) {
                if ((*it)->getName().compare(pAttribute->getName()) == 0) {
                if (name.compare((*it)->getName()) == 0) {
                    delete (*it);
                    it = m_attributes.erase(it);
                }

 SourceCode/Bond/Servo/CEquipment.cpp

@@ -578,7 +578,9 @@

        // robot cmd reply
        CHECK_WRITE_STEP_SIGNAL(STEP_ID_ROBOT_CMD_REPLY, pszData, size);
		

        // Indexer Operation Mode Change
        CHECK_WRITE_STEP_SIGNAL(STEP_ID_IN_OP_CMD_REPLY, pszData, size);
    }

    BOOL CEquipment::isBitOn(const char* pszData, size_t size, int index)
@@ -1021,14 +1023,15 @@

        unsigned short operationMode = (unsigned short)((unsigned short)mode + getIndexerOperationModeBaseValue());
        LOGI("<CEquipment-%s>准备设置indexerOperationMode<%d>", m_strName.c_str(), (int)mode);
        pStep->writeShort(operationMode, [&, mode, onWritedRetBlock](int code) -> int {
        pStep->writeShort(operationMode, [&, pStep, mode, onWritedRetBlock](int code) -> int {
            int retCode = 0;
            if (code == WOK) {
                LOGI("<CEquipment-%s>设置indexerOperationMode成功.", m_strName.c_str());
                const char* pszRetData = nullptr;
                pStep->getReturnData(pszRetData);
                ASSERT(pszRetData);
                retCode = (unsigned int)CToolUnits::toInt16(pszRetData);	
                retCode = (unsigned int)CToolUnits::toInt16(pszRetData);
                LOGI("<CEquipment-%s>返回值: %d", m_strName.c_str(), retCode);
            }
            else {
                LOGI("<CEquipment-%s>设置indexerOperationMode失败，code:%d", m_strName.c_str(), code);

 SourceCode/Bond/Servo/CMaster.cpp

@@ -340,7 +340,7 @@
                int nRet;
                CEquipment* pEq[6] = { pEFEM, pBonder1, pBonder2, pBakeCooling, 
                    pVacuumBake, pMeasurement};
                BOOL bIomcOk[7] = {FALSE, FALSE, FALSE, FALSE, FALSE, FALSE, TRUE};
                BOOL bIomcOk[7] = {FALSE, TRUE, TRUE, TRUE, TRUE, TRUE, TRUE};
                std::vector<std::promise<void>> promises(6);
                std::vector<std::future<void>> futures;

@@ -356,7 +356,7 @@
                    goto WAIT;
                }
                futures.push_back(promises[0].get_future());

                /*
                nRet = pEq[1]->indexerOperationModeChange(IDNEXER_OPERATION_MODE::Start,
                    [&](int writeCode, int retCode) -> void {
                        bIomcOk[1] = retCode == (int)RET::OK;
@@ -421,6 +421,7 @@
                    goto WAIT;
                }
                futures.push_back(promises[5].get_future());
                */

WAIT:
                for (auto& f : futures) {
@@ -450,7 +451,49 @@
            // 处理完成当前事务后，切换到停止或就绪状态
            else if (m_state == MASTERSTATE::STOPPING) {
                unlock();
                Sleep(1000);
                LOGI("<Master>开始切换各设备到 Stop 模式...");

                std::vector<std::promise<void>> promises(6);
                std::vector<std::future<void>> futures;
                BOOL bIomcOk[7] = { FALSE, TRUE, TRUE, TRUE, TRUE, TRUE, TRUE };

                int nRet;
                CEquipment* pEq[6] = { pEFEM, pBonder1, pBonder2, pBakeCooling,
                    pVacuumBake, pMeasurement };

                for (int i = 0; i < 1; ++i) {
                    nRet = pEq[i]->indexerOperationModeChange(IDNEXER_OPERATION_MODE::Stop,
                        [i, &promises, &bIomcOk](int writeCode, int retCode) -> void {
                            bIomcOk[i] = retCode == (int)RET::OK;
                            promises[i].set_value();
                            TRACE("s000%d: ret=%d\n", i + 1, retCode);
                        });
                    if (nRet != 0) {
                        LOGI("<Master>%s切换Stop状态发送失败", pEq[i]->getName().c_str());
                        m_strLastError = pEq[i]->getName() + "切换Stop状态发送失败.";
                        bIomcOk[i] = FALSE;
                        promises[i].set_value(); // 避免 wait 阻塞
                    }
                    futures.push_back(promises[i].get_future());
                }

                for (auto& f : futures) {
                    f.wait();  // 等待所有完成
                }

                for (int i = 0; i < 6; ++i) {
                    if (!bIomcOk[i]) {
                        bIomcOk[6] = FALSE;
                        LOGI("<Master>%s切换Stop状态失败", pEq[i]->getName().c_str());
                    }
                }

                if (!bIomcOk[6]) {
                    setState(MASTERSTATE::MSERROR);
                    continue;
                }

                LOGI("<Master>所有设备成功切换到 Stop 模式");
                setState(MASTERSTATE::READY);
                continue;
            }

 SourceCode/Bond/Servo/Servo.vcxproj.user

@@ -7,6 +7,6 @@
    <RemoteDebuggerCommand>\\DESKTOP-IODBVIQ\Servo\Debug\Servo.exe</RemoteDebuggerCommand>
    <RemoteDebuggerWorkingDirectory>\\DESKTOP-IODBVIQ\Servo\Debug\</RemoteDebuggerWorkingDirectory>
    <RemoteDebuggerServerName>DESKTOP-IODBVIQ</RemoteDebuggerServerName>
    <DebuggerFlavor>WindowsLocalDebugger</DebuggerFlavor>
    <DebuggerFlavor>WindowsRemoteDebugger</DebuggerFlavor>
  </PropertyGroup>
</Project>