From 0393d1ff2ebc378b3c4cff9b45f72ebc8a4ea516 Mon Sep 17 00:00:00 2001
From: mrDarker <mr.darker@163.com>
Date: 星期二, 03 六月 2025 15:13:42 +0800
Subject: [PATCH] Merge branch 'master' into liuyang
---
SourceCode/Bond/Servo/CEFEM.cpp | 181 ++++++++++++++++-----------------------------
1 files changed, 65 insertions(+), 116 deletions(-)
diff --git a/SourceCode/Bond/Servo/CEFEM.cpp b/SourceCode/Bond/Servo/CEFEM.cpp
index b59945d..6cbb23b 100644
--- a/SourceCode/Bond/Servo/CEFEM.cpp
+++ b/SourceCode/Bond/Servo/CEFEM.cpp
@@ -3,7 +3,7 @@
#include "Log.h"
-#define ADD_EQ_CASSETTE_TRANSFER_STATE_STEP(name,ws,index,psd) { \
+#define ADD_EQ_PORT_STATUS_STEP(name,ws,index,psd) { \
CEqCassetteTransferStateStep* pStep = new CEqCassetteTransferStateStep(); \
pStep->setName(name); \
pStep->setWriteSignalDev(ws); \
@@ -126,15 +126,15 @@
return 0;
}
- int CEFEM::SendHome(int seq)
+ int CEFEM::robotSendHome(int seq, ONWRITED onWritedBlock/* = nullptr*/)
{
SERVO::ROBOT_CMD_PARAM cmd = {};
cmd.sequenceNo = static_cast<short>(seq);
cmd.rcmd = static_cast<short>(SERVO::RCMD::Robot_home);
- return robotCmd(cmd);
+ return robotCmd(cmd, onWritedBlock);
}
- int CEFEM::SendTransfer(int seq, int armNo, int fromPos, int toPos, int fromSlot, int toSlot)
+ int CEFEM::robotSendTransfer(int seq, int armNo, int fromPos, int toPos, int fromSlot, int toSlot, ONWRITED onWritedBlock/* = nullptr*/)
{
SERVO::ROBOT_CMD_PARAM cmd = {};
cmd.sequenceNo = static_cast<short>(seq);
@@ -144,10 +144,10 @@
cmd.getSlotNo = static_cast<short>(fromSlot);
cmd.putPosition = static_cast<short>(toPos);
cmd.putSlotNo = static_cast<short>(toSlot);
- return robotCmd(cmd);
+ return robotCmd(cmd, onWritedBlock);
}
- int CEFEM::SendMoveToGet(int seq, int armNo, int pos, int slot)
+ int CEFEM::robotSendMoveToGet(int seq, int armNo, int pos, int slot, ONWRITED onWritedBlock/* = nullptr*/)
{
SERVO::ROBOT_CMD_PARAM cmd = {};
cmd.sequenceNo = static_cast<short>(seq);
@@ -156,10 +156,10 @@
cmd.getPosition = static_cast<short>(pos);
cmd.getSlotNo = static_cast<short>(slot);
cmd.subCmd = 1;
- return robotCmd(cmd);
+ return robotCmd(cmd, onWritedBlock);
}
- int CEFEM::SendMoveToPut(int seq, int armNo, int pos, int slot)
+ int CEFEM::robotSendMoveToPut(int seq, int armNo, int pos, int slot, ONWRITED onWritedBlock/* = nullptr*/)
{
SERVO::ROBOT_CMD_PARAM cmd = {};
cmd.sequenceNo = static_cast<short>(seq);
@@ -168,10 +168,10 @@
cmd.putPosition = static_cast<short>(pos);
cmd.putSlotNo = static_cast<short>(slot);
cmd.subCmd = 2;
- return robotCmd(cmd);
+ return robotCmd(cmd, onWritedBlock);
}
- int CEFEM::SendGet(int seq, int armNo, int pos, int slot)
+ int CEFEM::robotSendGet(int seq, int armNo, int pos, int slot, ONWRITED onWritedBlock/* = nullptr*/)
{
SERVO::ROBOT_CMD_PARAM cmd = {};
cmd.sequenceNo = static_cast<short>(seq);
@@ -179,10 +179,10 @@
cmd.armNo = static_cast<short>(armNo);
cmd.getPosition = static_cast<short>(pos);
cmd.getSlotNo = static_cast<short>(slot);
- return robotCmd(cmd);
+ return robotCmd(cmd, onWritedBlock);
}
- int CEFEM::SendPut(int seq, int armNo, int pos, int slot)
+ int CEFEM::robotSendPut(int seq, int armNo, int pos, int slot, ONWRITED onWritedBlock/* = nullptr*/)
{
SERVO::ROBOT_CMD_PARAM cmd = {};
cmd.sequenceNo = static_cast<short>(seq);
@@ -190,10 +190,10 @@
cmd.armNo = static_cast<short>(armNo);
cmd.putPosition = static_cast<short>(pos);
cmd.putSlotNo = static_cast<short>(slot);
- return robotCmd(cmd);
+ return robotCmd(cmd, onWritedBlock);
}
- int CEFEM::SendExchange(int seq, int armNo, int pos, int getSlot, int putSlot)
+ int CEFEM::robotSendExchange(int seq, int armNo, int pos, int getSlot, int putSlot, ONWRITED onWritedBlock/* = nullptr*/)
{
SERVO::ROBOT_CMD_PARAM cmd = {};
cmd.sequenceNo = static_cast<short>(seq);
@@ -203,18 +203,18 @@
cmd.putPosition = static_cast<short>(pos);
cmd.getSlotNo = static_cast<short>(getSlot);
cmd.putSlotNo = static_cast<short>(putSlot);
- return robotCmd(cmd);
+ return robotCmd(cmd, onWritedBlock);
}
- int CEFEM::SendCommandClear(int seq)
+ int CEFEM::robotSendCommandClear(int seq, ONWRITED onWritedBlock/* = nullptr*/)
{
SERVO::ROBOT_CMD_PARAM cmd = {};
cmd.sequenceNo = static_cast<short>(seq);
cmd.rcmd = static_cast<short>(SERVO::RCMD::Command_Clear);
- return robotCmd(cmd);
+ return robotCmd(cmd, onWritedBlock);
}
- int CEFEM::SendBatchGet(int seq, int getPos, int getSlot)
+ int CEFEM::robotSendBatchGet(int seq, int getPos, int getSlot, ONWRITED onWritedBlock/* = nullptr*/)
{
SERVO::ROBOT_CMD_PARAM cmd = {};
cmd.sequenceNo = static_cast<short>(seq);
@@ -222,10 +222,10 @@
cmd.armNo = ARM_ALL;
cmd.getPosition = static_cast<short>(getPos);
cmd.getSlotNo = static_cast<short>(getSlot);
- return robotCmd(cmd);
+ return robotCmd(cmd, onWritedBlock);
}
- int CEFEM::SendBatchPut(int seq, int putPos, int putSlot)
+ int CEFEM::robotSendBatchPut(int seq, int putPos, int putSlot, ONWRITED onWritedBlock/* = nullptr*/)
{
SERVO::ROBOT_CMD_PARAM cmd = {};
cmd.sequenceNo = static_cast<short>(seq);
@@ -233,10 +233,10 @@
cmd.armNo = ARM_ALL;
cmd.putPosition = static_cast<short>(putPos);
cmd.putSlotNo = static_cast<short>(putSlot);
- return robotCmd(cmd);
+ return robotCmd(cmd, onWritedBlock);
}
- int CEFEM::SendMoveToGetAndHome(int seq, int armNo, int getPos, int getSlot)
+ int CEFEM::robotSendMoveToGetAndHome(int seq, int armNo, int getPos, int getSlot, ONWRITED onWritedBlock/* = nullptr*/)
{
SERVO::ROBOT_CMD_PARAM cmds[2] = {};
@@ -252,10 +252,10 @@
cmds[1].sequenceNo = static_cast<short>(seq + 1);
cmds[1].rcmd = static_cast<short>(SERVO::RCMD::Robot_home);
- return robotCmds(cmds, 2);
+ return robotCmds(cmds, 2, onWritedBlock);
}
- int CEFEM::SendMoveToPutAndHome(int seq, int armNo, int putPos, int putSlot)
+ int CEFEM::robotSendMoveToPutAndHome(int seq, int armNo, int putPos, int putSlot, ONWRITED onWritedBlock/* = nullptr*/)
{
SERVO::ROBOT_CMD_PARAM cmds[2] = {};
@@ -271,10 +271,10 @@
cmds[1].sequenceNo = static_cast<short>(seq + 1);
cmds[1].rcmd = static_cast<short>(SERVO::RCMD::Robot_home);
- return robotCmds(cmds, 2);
+ return robotCmds(cmds, 2, onWritedBlock);
}
- int CEFEM::SendTransferAndHome(int seq, int armNo, int fromPos, int toPos, int fromSlot, int toSlot)
+ int CEFEM::robotSendTransferAndHome(int seq, int armNo, int fromPos, int toPos, int fromSlot, int toSlot, ONWRITED onWritedBlock/* = nullptr*/)
{
SERVO::ROBOT_CMD_PARAM cmds[2] = {};
@@ -291,10 +291,10 @@
cmds[1].sequenceNo = static_cast<short>(seq + 1);
cmds[1].rcmd = static_cast<short>(SERVO::RCMD::Robot_home);
- return robotCmds(cmds, 2);
+ return robotCmds(cmds, 2, onWritedBlock);
}
- int CEFEM::SendGetAndPut(int seq, int armNo, int getPos, int getSlot, int putPos, int putSlot)
+ int CEFEM::robotSendGetAndPut(int seq, int armNo, int getPos, int getSlot, int putPos, int putSlot, ONWRITED onWritedBlock/* = nullptr*/)
{
SERVO::ROBOT_CMD_PARAM cmds[2] = {};
@@ -310,10 +310,10 @@
cmds[1].putPosition = static_cast<short>(putPos);
cmds[1].putSlotNo = static_cast<short>(putSlot);
- return robotCmds(cmds, 2);
+ return robotCmds(cmds, 2, onWritedBlock);
}
- int CEFEM::SendPutAndHome(int seq, int armNo, int putPos, int putSlot)
+ int CEFEM::robotSendPutAndHome(int seq, int armNo, int putPos, int putSlot, ONWRITED onWritedBlock/* = nullptr*/)
{
SERVO::ROBOT_CMD_PARAM cmds[2] = {};
@@ -328,7 +328,7 @@
cmds[1].sequenceNo = static_cast<short>(seq + 1);
cmds[1].rcmd = static_cast<short>(SERVO::RCMD::Robot_home);
- return robotCmds(cmds, 2);
+ return robotCmds(cmds, 2, onWritedBlock);
}
void CEFEM::init()
@@ -409,7 +409,7 @@
// eq cim mode change
CEqCimModeChangeStep* pStep = new CEqCimModeChangeStep();
pStep->setName(STEP_CIM_MODE_CHANGE);
- pStep->setWriteSignalDev(0x70);
+ pStep->setWriteSignalDev(0x60);
pStep->setCimModeDev(0x15);
if (addStep(STEP_ID_CIMMODE_CHANGED_CMD_REPLY, pStep) != 0) {
delete pStep;
@@ -420,7 +420,7 @@
// eq cim message
CEqCimMessageCmdStep* pStep = new CEqCimMessageCmdStep();
pStep->setName(STEP_CIM_MESSAGE_CMD);
- pStep->setWriteSignalDev(0x71);
+ pStep->setWriteSignalDev(0x61);
pStep->setCimMessageDev(0x0);
if (addStep(STEP_ID_CIM_MSG_SET_CMD_REPLY, pStep) != 0) {
delete pStep;
@@ -432,19 +432,25 @@
// CIM Message Confirm
CEqReadIntStep* pStep = new CEqReadIntStep(__INT32, 0x5f80);
pStep->setName(STEP_EQ_CIM_MESSAGE_CONFIRM);
- pStep->setWriteSignalDev(0x59);
+ pStep->setWriteSignalDev(0x49);
if (addStep(STEP_ID_CIM_MSG_CONFIRM_REPORT, pStep) != 0) {
delete pStep;
}
}
{
- // VCR1 Event Report
- CEqVcrEventStep* pStep = new CEqVcrEventStep();
+ // VCR Event Report
+ // 机器上报扫码结果，扫码器预计安装在巡边检机器上
+ CEqReadStep* pStep = new CEqReadStep(0x5fef, 15 * 2,
+ [&](void* pFrom, int code, const char* pszData, size_t size) -> int {
+ if (code == ROK && pszData != nullptr && size > 0) {
+ decodeVCREventReport((CStep*)pFrom, pszData, size);
+ }
+ return -1;
+ });
pStep->setName(STEP_EQ_VCR1_EVENT_REPORT);
+ pStep->setProp("Port", (void*)1);
pStep->setWriteSignalDev(0x4a);
- pStep->setReturnDev(0x91e);
- pStep->setVcrEventReportDev(0x5fef);
if (addStep(STEP_ID_VCR1_EVENT_REPORT, pStep) != 0) {
delete pStep;
}
@@ -454,7 +460,7 @@
// eq cim message clear
CEqCimMessageClearStep* pStep = new CEqCimMessageClearStep();
pStep->setName(STEP_CIM_MESSAGE_CLEAR);
- pStep->setWriteSignalDev(0x72);
+ pStep->setWriteSignalDev(0x62);
pStep->setClearCimMessageDev(0x13);
if (addStep(STEP_ID_CIM_MSG_CLEAR_CMD_REPLY, pStep) != 0) {
delete pStep;
@@ -465,7 +471,7 @@
// datetime set cmd
CEqDateTimeSetCmdStep* pStep = new CEqDateTimeSetCmdStep();
pStep->setName(STEP_DATETIME_SET_CMD);
- pStep->setWriteSignalDev(0x73);
+ pStep->setWriteSignalDev(0x63);
pStep->setDateTimeDev(0x16);
if (addStep(STEP_ID_DATETIME_SET_CMD_REPLY, pStep) != 0) {
delete pStep;
@@ -476,7 +482,7 @@
// vcr enable
CEqVCREnableStep* pStep = new CEqVCREnableStep();
pStep->setName(STEP_EQ_VCR_ENABLE);
- pStep->setWriteSignalDev(0x74);
+ pStep->setWriteSignalDev(0x64);
pStep->setEqVCRModeDev(0x1F);
if (addStep(STEP_ID_VCR_ENABLE_CMD_REPLY, pStep) != 0) {
delete pStep;
@@ -487,7 +493,7 @@
// eq mode change
CEqModeChangeStep* pStep = new CEqModeChangeStep();
pStep->setName(STEP_EQ_MODE_CHANGE);
- pStep->setWriteSignalDev(0x75);
+ pStep->setWriteSignalDev(0x65);
pStep->setEqModeDev(0x1E);
if (addStep(STEP_ID_EQMODE_CHANGE_CMD_REPLY, pStep) != 0) {
delete pStep;
@@ -515,56 +521,6 @@
delete pStep;
}
}
-
- // CEqCassetteTranserStateStep
- ADD_EQ_CASSETTE_TRANSFER_STATE_STEP(STEP_EQ_P1_CASSETTE_EMPTY, 0xd8,
- STEP_ID_PORT1_CASSETTIE_EMPTY, 0x6050);
- ADD_EQ_CASSETTE_TRANSFER_STATE_STEP(STEP_EQ_P1_CASSETTE_LOAD_EADY, 0xe0,
- STEP_ID_PORT1_CASSETTIE_LOAD_READY, 0x6050);
- ADD_EQ_CASSETTE_TRANSFER_STATE_STEP(STEP_EQ_P1_CASSETTE_LOADED, 0xe8,
- STEP_ID_PORT1_CASSETTIE_LOADED, 0x6050);
- ADD_EQ_CASSETTE_TRANSFER_STATE_STEP(STEP_EQ_P1_CASSETTE_INUSE, 0xf0,
- STEP_ID_PORT1_CASSETTIE_INUSE, 0x6050);
- ADD_EQ_CASSETTE_TRANSFER_STATE_STEP(STEP_EQ_P1_CASSETTE_UNLOAD_EADY, 0xf8,
- STEP_ID_PORT1_CASSETTIE_UNLOAD_READY, 0x60f50);
- ADD_EQ_CASSETTE_TRANSFER_STATE_STEP(STEP_EQ_P1_CASSETTE_BLOCKED, 0x100,
- STEP_ID_PORT1_CASSETTIE_BLOCKED, 0x6050);
- ADD_EQ_CASSETTE_TRANSFER_STATE_STEP(STEP_EQ_P2_CASSETTE_EMPTY, 0xd9,
- STEP_ID_PORT2_CASSETTIE_EMPTY, 0x6070);
- ADD_EQ_CASSETTE_TRANSFER_STATE_STEP(STEP_EQ_P2_CASSETTE_LOAD_EADY, 0xe1,
- STEP_ID_PORT2_CASSETTIE_LOAD_READY, 0x6070);
- ADD_EQ_CASSETTE_TRANSFER_STATE_STEP(STEP_EQ_P2_CASSETTE_LOADED, 0xe9,
- STEP_ID_PORT2_CASSETTIE_LOADED, 0x6070);
- ADD_EQ_CASSETTE_TRANSFER_STATE_STEP(STEP_EQ_P2_CASSETTE_INUSE, 0xf1,
- STEP_ID_PORT2_CASSETTIE_INUSE, 0x6070);
- ADD_EQ_CASSETTE_TRANSFER_STATE_STEP(STEP_EQ_P2_CASSETTE_UNLOAD_EADY, 0xf9,
- STEP_ID_PORT2_CASSETTIE_UNLOAD_READY, 0x6070);
- ADD_EQ_CASSETTE_TRANSFER_STATE_STEP(STEP_EQ_P2_CASSETTE_BLOCKED, 0x101,
- STEP_ID_PORT2_CASSETTIE_BLOCKED, 0x6070);
- ADD_EQ_CASSETTE_TRANSFER_STATE_STEP(STEP_EQ_P3_CASSETTE_EMPTY, 0xda,
- STEP_ID_PORT3_CASSETTIE_EMPTY, 0x6090);
- ADD_EQ_CASSETTE_TRANSFER_STATE_STEP(STEP_EQ_P3_CASSETTE_LOAD_EADY, 0xe2,
- STEP_ID_PORT3_CASSETTIE_LOAD_READY, 0x6090);
- ADD_EQ_CASSETTE_TRANSFER_STATE_STEP(STEP_EQ_P3_CASSETTE_LOADED, 0xea,
- STEP_ID_PORT3_CASSETTIE_INUSE, 0x6090);
- ADD_EQ_CASSETTE_TRANSFER_STATE_STEP(STEP_EQ_P3_CASSETTE_INUSE, 0xf2,
- STEP_ID_PORT3_CASSETTIE_INUSE, 0x6090);
- ADD_EQ_CASSETTE_TRANSFER_STATE_STEP(STEP_EQ_P3_CASSETTE_UNLOAD_EADY, 0xfa,
- STEP_ID_PORT3_CASSETTIE_UNLOAD_READY, 0x6090);
- ADD_EQ_CASSETTE_TRANSFER_STATE_STEP(STEP_EQ_P3_CASSETTE_BLOCKED, 0x102,
- STEP_ID_PORT3_CASSETTIE_BLOCKED, 0x6090);
- ADD_EQ_CASSETTE_TRANSFER_STATE_STEP(STEP_EQ_P4_CASSETTE_EMPTY, 0xdb,
- STEP_ID_PORT4_CASSETTIE_EMPTY, 0x60b0);
- ADD_EQ_CASSETTE_TRANSFER_STATE_STEP(STEP_EQ_P4_CASSETTE_LOAD_EADY, 0xe3,
- STEP_ID_PORT4_CASSETTIE_LOAD_READY, 0x60b0);
- ADD_EQ_CASSETTE_TRANSFER_STATE_STEP(STEP_EQ_P4_CASSETTE_LOADED, 0xeb,
- STEP_ID_PORT4_CASSETTIE_LOADED, 0x60b0);
- ADD_EQ_CASSETTE_TRANSFER_STATE_STEP(STEP_EQ_P4_CASSETTE_INUSE, 0xf3,
- STEP_ID_PORT4_CASSETTIE_INUSE, 0x60b0);
- ADD_EQ_CASSETTE_TRANSFER_STATE_STEP(STEP_EQ_P4_CASSETTE_UNLOAD_EADY, 0xfb,
- STEP_ID_PORT4_CASSETTIE_UNLOAD_READY, 0x60b0);
- ADD_EQ_CASSETTE_TRANSFER_STATE_STEP(STEP_EQ_P4_CASSETTE_BLOCKED, 0x103,
- STEP_ID_PORT4_CASSETTIE_BLOCKED, 0x60b0);
{
// Received Job Report Upstream#1~9
@@ -659,25 +615,23 @@
delete pStep;
}
}
- }
- int CEFEM::onStepEvent(CStep* pStep, int code)
- {
- int nRet = CEquipment::onStepEvent(pStep, code);
- if (nRet > 0) return nRet;
-
- if (code == STEP_EVENT_READDATA) {
- if (isCassetteTransferStateStep(pStep)) {
- SERVO::CEqCassetteTransferStateStep* pEqCassetteStep = (SERVO::CEqCassetteTransferStateStep*)pStep;
- int id = pEqCassetteStep->getID();
- if (id == STEP_ID_PORT1_CASSETTIE_EMPTY) {
-
- }
+ {
+ // Indexer Operation Mode Change
+ CEqWriteStep* pStep = new CEqWriteStep();
+ pStep->setName(STEP_EFEM_IN_OP_MODE_CHANGE);
+ pStep->setWriteSignalDev(0x070);
+ pStep->setDataDev(0x023);
+ if (addStep(STEP_ID_IN_OP_CMD_REPLY, pStep) != 0) {
+ delete pStep;
}
}
+ }
+ // 必须要实现的虚函数，在此初始化Slot信息
+ void CEFEM::initSlots()
+ {
- return 0;
}
void CEFEM::onTimer(UINT nTimerid)
@@ -698,16 +652,6 @@
int CEFEM::recvIntent(CPin* pPin, CIntent* pIntent)
{
return __super::recvIntent(pPin, pIntent);
- }
-
- BOOL CEFEM::glassWillArrive(CGlass* pGlass)
- {
- BOOL bRet = __super::glassWillArrive(pGlass);
- if (!bRet) {
- return FALSE;
- }
-
- return m_glassList.empty();
}
void CEFEM::onReceiveLBData(const char* pszData, size_t size)
@@ -808,4 +752,9 @@
return -1;
}
+
+ int CEFEM::getIndexerOperationModeBaseValue()
+ {
+ return 10000;
+ }
}
--
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