From 18108a94f48b2cd6f9fce59aa5ed1d1ccc3f27b2 Mon Sep 17 00:00:00 2001
From: mrDarker <mr.darker@163.com>
Date: 星期三, 18 六月 2025 17:34:44 +0800
Subject: [PATCH] 1. 系统日志修复关闭连接 2. 删除之前模仿台达的数据库管理类 3. 重做配方主界面 4. 配方管理类添加更新PPID和描述的函数
---
SourceCode/Bond/Servo/CEFEM.cpp | 62 +++++++++++++++++++++++++++---
1 files changed, 55 insertions(+), 7 deletions(-)
diff --git a/SourceCode/Bond/Servo/CEFEM.cpp b/SourceCode/Bond/Servo/CEFEM.cpp
index 86cd158..33e6b29 100644
--- a/SourceCode/Bond/Servo/CEFEM.cpp
+++ b/SourceCode/Bond/Servo/CEFEM.cpp
@@ -22,6 +22,10 @@
m_pPort[3] = nullptr;
m_pAligner = nullptr;
m_pFliper = nullptr;
+ m_robotData.status = ROBOT_STATUS::Idle;
+ m_robotData.position = ROBOT_POSITION::Port1;
+ m_robotData.armState[0] = FALSE;
+ m_robotData.armState[1] = FALSE;
}
CEFEM::~CEFEM()
@@ -331,6 +335,11 @@
return robotCmds(cmds, 2, onWritedBlock);
}
+ RMDATA& CEFEM::getRobotMonitoringData()
+ {
+ return m_robotData;
+ }
+
void CEFEM::init()
{
CEquipment::init();
@@ -357,7 +366,7 @@
// Eq mode
CEqModeStep* pStep = new CEqModeStep();
pStep->setName(STEP_MODE);
- pStep->setWriteSignalDev(0x50);
+ pStep->setWriteSignalDev(0x40);
pStep->setModeDev(0x5d7d);
if (addStep(STEP_ID_EQMODE_CHANGED, pStep) != 0) {
delete pStep;
@@ -368,7 +377,7 @@
// Eq Status
CEqStatusStep* pStep = new CEqStatusStep();
pStep->setName(STEP_STATUS);
- pStep->setWriteSignalDev(0x51);
+ pStep->setWriteSignalDev(0x41);
pStep->setStatusDev(0x5d59);
if (addStep(STEP_ID_EQSTATUS_CHANGED, pStep) != 0) {
delete pStep;
@@ -379,7 +388,7 @@
// Eq Alarm
static char* pszName[] = { STEP_ALARM_BLOCK1, STEP_ALARM_BLOCK2, STEP_ALARM_BLOCK3, STEP_ALARM_BLOCK4, STEP_ALARM_BLOCK5 };
static int dev[] = { 0x5f0e , 0x5f3b, 0x5f68, 0x5f95, 0x5fc2 };
- static int writeSignalDev[] = { 0x52, 0x53, 0x54, 0x55, 0x56 };
+ static int writeSignalDev[] = { 0x42, 0x43, 0x44, 0x45, 0x46 };
static int addr[] = { STEP_ID_EQALARM1, STEP_ID_EQALARM2, STEP_ID_EQALARM3, STEP_ID_EQALARM4, STEP_ID_EQALARM5 };
for (int i = 0; i < 5; i++) {
@@ -398,7 +407,7 @@
// eq process
CEqProcessStep* pStep = new CEqProcessStep();
pStep->setName(STEP_PROCESS);
- pStep->setWriteSignalDev(0x57);
+ pStep->setWriteSignalDev(0x47);
pStep->setProcessDev(0x6b55);
if (addStep(STEP_ID_PROCESS_DATA_REPORT, pStep) != 0) {
delete pStep;
@@ -430,7 +439,7 @@
{
// CIM Message Confirm
- CEqReadIntStep* pStep = new CEqReadIntStep(__INT32, 0x5f80);
+ CEqReadIntStep* pStep = new CEqReadIntStep(__INT32, 0x5d80);
pStep->setName(STEP_EQ_CIM_MESSAGE_CONFIRM);
pStep->setWriteSignalDev(0x49);
if (addStep(STEP_ID_CIM_MSG_CONFIRM_REPORT, pStep) != 0) {
@@ -493,7 +502,7 @@
// eq mode change
CEqModeChangeStep* pStep = new CEqModeChangeStep();
pStep->setName(STEP_EQ_MODE_CHANGE);
- pStep->setWriteSignalDev(0x65);
+ pStep->setWriteSignalDev(0x40);
pStep->setEqModeDev(0x1E);
if (addStep(STEP_ID_EQMODE_CHANGE_CMD_REPLY, pStep) != 0) {
delete pStep;
@@ -610,7 +619,7 @@
CEqWriteStep* pStep = new CEqWriteStep();
pStep->setName(STEP_EFEM_ROBOT_CMD);
pStep->setWriteSignalDev(0x14D);
- pStep->setDataDev(0x90a);
+ pStep->setDataDev(0x5c7);
if (addStep(STEP_ID_ROBOT_CMD_REPLY, pStep) != 0) {
delete pStep;
}
@@ -640,6 +649,23 @@
pStep->setProp("Port", (void*)1);
pStep->setWriteSignalDev(0x15e);
if (addStep(STEP_ID_PANEL_DATA_REPORT, pStep) != 0) {
+ delete pStep;
+ }
+ }
+
+ {
+ // FAC Data Report
+ CEqReadStep* pStep = new CEqReadStep(0x6301, 108 * 2,
+ [&](void* pFrom, int code, const char* pszData, size_t size) -> int {
+ if (code == ROK && pszData != nullptr && size > 0) {
+ decodePanelDataReport((CStep*)pFrom, pszData, size);
+ }
+ return -1;
+ });
+ pStep->setName(STEP_EQ_FAC_DATA_REPORT);
+ pStep->setProp("Port", (void*)1);
+ pStep->setWriteSignalDev(0x04d);
+ if (addStep(STEP_ID_FAC_DATA_REPORT, pStep) != 0) {
delete pStep;
}
}
@@ -675,6 +701,28 @@
{
__super::onReceiveLBData(pszData, size);
+ // 解释得到Robot状态
+ // 地址从(0x3500 - 0x3000)开始
+ int index = 0x500;
+ for (int i = 0; i < 6; i++) {
+ if (isBitOn(pszData, size, index + i)) {
+ m_robotData.status = (ROBOT_STATUS)i;
+ break;
+ }
+ }
+ index += 8;
+
+ for (int i = 0; i < 11; i++) {
+ if (isBitOn(pszData, size, index + i)) {
+ m_robotData.position = (ROBOT_POSITION)i;
+ break;
+ }
+ }
+ index += 16;
+ m_robotData.armState[0] = isBitOn(pszData, size, index);
+ m_robotData.armState[1] = isBitOn(pszData, size, index + 1);
+
+
for (unsigned int i = 0; i < 4; i++) {
if (m_pPort[i] != nullptr) {
m_pPort[i]->onReceiveLBData(pszData, size);
--
Gitblit v1.9.3