From 23cce52f9abd7dfd8e4eddd6068810e70c0a4ffa Mon Sep 17 00:00:00 2001
From: LAPTOP-SNT8I5JK\Boounion <Chenluhua@qq.com>
Date: 星期四, 12 六月 2025 15:10:40 +0800
Subject: [PATCH] 1.转换为新的站号和Slot
---
SourceCode/Bond/Servo/CEFEM.cpp | 341 +++++++++++++++++++++++++++++++++++++++++++-------------
1 files changed, 262 insertions(+), 79 deletions(-)
diff --git a/SourceCode/Bond/Servo/CEFEM.cpp b/SourceCode/Bond/Servo/CEFEM.cpp
index 82ab452..c0cbf6d 100644
--- a/SourceCode/Bond/Servo/CEFEM.cpp
+++ b/SourceCode/Bond/Servo/CEFEM.cpp
@@ -126,6 +126,211 @@
return 0;
}
+ 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, onWritedBlock);
+ }
+
+ 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);
+ cmd.rcmd = static_cast<short>(SERVO::RCMD::Transfer);
+ cmd.armNo = static_cast<short>(armNo);
+ cmd.getPosition = static_cast<short>(fromPos);
+ cmd.getSlotNo = static_cast<short>(fromSlot);
+ cmd.putPosition = static_cast<short>(toPos);
+ cmd.putSlotNo = static_cast<short>(toSlot);
+ return robotCmd(cmd, onWritedBlock);
+ }
+
+ 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);
+ cmd.rcmd = static_cast<short>(SERVO::RCMD::Move);
+ cmd.armNo = static_cast<short>(armNo);
+ cmd.getPosition = static_cast<short>(pos);
+ cmd.getSlotNo = static_cast<short>(slot);
+ cmd.subCmd = 1;
+ return robotCmd(cmd, onWritedBlock);
+ }
+
+ 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);
+ cmd.rcmd = static_cast<short>(SERVO::RCMD::Move);
+ cmd.armNo = static_cast<short>(armNo);
+ cmd.putPosition = static_cast<short>(pos);
+ cmd.putSlotNo = static_cast<short>(slot);
+ cmd.subCmd = 2;
+ return robotCmd(cmd, onWritedBlock);
+ }
+
+ 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);
+ cmd.rcmd = static_cast<short>(SERVO::RCMD::Get);
+ cmd.armNo = static_cast<short>(armNo);
+ cmd.getPosition = static_cast<short>(pos);
+ cmd.getSlotNo = static_cast<short>(slot);
+ return robotCmd(cmd, onWritedBlock);
+ }
+
+ 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);
+ cmd.rcmd = static_cast<short>(SERVO::RCMD::Put);
+ cmd.armNo = static_cast<short>(armNo);
+ cmd.putPosition = static_cast<short>(pos);
+ cmd.putSlotNo = static_cast<short>(slot);
+ return robotCmd(cmd, onWritedBlock);
+ }
+
+ 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);
+ cmd.rcmd = static_cast<short>(SERVO::RCMD::One_Action_Exchange);
+ cmd.armNo = static_cast<short>(armNo);
+ cmd.getPosition = static_cast<short>(pos);
+ cmd.putPosition = static_cast<short>(pos);
+ cmd.getSlotNo = static_cast<short>(getSlot);
+ cmd.putSlotNo = static_cast<short>(putSlot);
+ return robotCmd(cmd, onWritedBlock);
+ }
+
+ 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, onWritedBlock);
+ }
+
+ int CEFEM::robotSendBatchGet(int seq, int getPos, int getSlot, ONWRITED onWritedBlock/* = nullptr*/)
+ {
+ SERVO::ROBOT_CMD_PARAM cmd = {};
+ cmd.sequenceNo = static_cast<short>(seq);
+ cmd.rcmd = static_cast<short>(SERVO::RCMD::Batch_get);
+ cmd.armNo = ARM_ALL;
+ cmd.getPosition = static_cast<short>(getPos);
+ cmd.getSlotNo = static_cast<short>(getSlot);
+ return robotCmd(cmd, onWritedBlock);
+ }
+
+ int CEFEM::robotSendBatchPut(int seq, int putPos, int putSlot, ONWRITED onWritedBlock/* = nullptr*/)
+ {
+ SERVO::ROBOT_CMD_PARAM cmd = {};
+ cmd.sequenceNo = static_cast<short>(seq);
+ cmd.rcmd = static_cast<short>(SERVO::RCMD::Batch_put);
+ cmd.armNo = ARM_ALL;
+ cmd.putPosition = static_cast<short>(putPos);
+ cmd.putSlotNo = static_cast<short>(putSlot);
+ return robotCmd(cmd, onWritedBlock);
+ }
+
+ int CEFEM::robotSendMoveToGetAndHome(int seq, int armNo, int getPos, int getSlot, ONWRITED onWritedBlock/* = nullptr*/)
+ {
+ SERVO::ROBOT_CMD_PARAM cmds[2] = {};
+
+ // Move to Get
+ cmds[0].sequenceNo = static_cast<short>(seq);
+ cmds[0].rcmd = static_cast<short>(SERVO::RCMD::Move);
+ cmds[0].armNo = static_cast<short>(armNo);
+ cmds[0].getPosition = static_cast<short>(getPos);
+ cmds[0].getSlotNo = static_cast<short>(getSlot);
+ cmds[0].subCmd = 1;
+
+ // Home
+ cmds[1].sequenceNo = static_cast<short>(seq + 1);
+ cmds[1].rcmd = static_cast<short>(SERVO::RCMD::Robot_home);
+
+ return robotCmds(cmds, 2, onWritedBlock);
+ }
+
+ int CEFEM::robotSendMoveToPutAndHome(int seq, int armNo, int putPos, int putSlot, ONWRITED onWritedBlock/* = nullptr*/)
+ {
+ SERVO::ROBOT_CMD_PARAM cmds[2] = {};
+
+ // Move to Put
+ cmds[0].sequenceNo = static_cast<short>(seq);
+ cmds[0].rcmd = static_cast<short>(SERVO::RCMD::Move);
+ cmds[0].armNo = static_cast<short>(armNo);
+ cmds[0].putPosition = static_cast<short>(putPos);
+ cmds[0].putSlotNo = static_cast<short>(putSlot);
+ cmds[0].subCmd = 2;
+
+ // Home
+ cmds[1].sequenceNo = static_cast<short>(seq + 1);
+ cmds[1].rcmd = static_cast<short>(SERVO::RCMD::Robot_home);
+
+ return robotCmds(cmds, 2, onWritedBlock);
+ }
+
+ int CEFEM::robotSendTransferAndHome(int seq, int armNo, int fromPos, int toPos, int fromSlot, int toSlot, ONWRITED onWritedBlock/* = nullptr*/)
+ {
+ SERVO::ROBOT_CMD_PARAM cmds[2] = {};
+
+ // Transfer
+ cmds[0].sequenceNo = static_cast<short>(seq);
+ cmds[0].rcmd = static_cast<short>(SERVO::RCMD::Transfer);
+ cmds[0].armNo = static_cast<short>(armNo);
+ cmds[0].getPosition = static_cast<short>(fromPos);
+ cmds[0].getSlotNo = static_cast<short>(fromSlot);
+ cmds[0].putPosition = static_cast<short>(toPos);
+ cmds[0].putSlotNo = static_cast<short>(toSlot);
+
+ // Home
+ cmds[1].sequenceNo = static_cast<short>(seq + 1);
+ cmds[1].rcmd = static_cast<short>(SERVO::RCMD::Robot_home);
+
+ return robotCmds(cmds, 2, onWritedBlock);
+ }
+
+ int CEFEM::robotSendGetAndPut(int seq, int armNo, int getPos, int getSlot, int putPos, int putSlot, ONWRITED onWritedBlock/* = nullptr*/)
+ {
+ SERVO::ROBOT_CMD_PARAM cmds[2] = {};
+
+ cmds[0].sequenceNo = static_cast<short>(seq);
+ cmds[0].rcmd = static_cast<short>(SERVO::RCMD::Get);
+ cmds[0].armNo = static_cast<short>(armNo);
+ cmds[0].getPosition = static_cast<short>(getPos);
+ cmds[0].getSlotNo = static_cast<short>(getSlot);
+
+ cmds[1].sequenceNo = static_cast<short>(seq + 1);
+ cmds[1].rcmd = static_cast<short>(SERVO::RCMD::Put);
+ cmds[1].armNo = static_cast<short>(armNo);
+ cmds[1].putPosition = static_cast<short>(putPos);
+ cmds[1].putSlotNo = static_cast<short>(putSlot);
+
+ return robotCmds(cmds, 2, onWritedBlock);
+ }
+
+ int CEFEM::robotSendPutAndHome(int seq, int armNo, int putPos, int putSlot, ONWRITED onWritedBlock/* = nullptr*/)
+ {
+ SERVO::ROBOT_CMD_PARAM cmds[2] = {};
+
+ // Put
+ cmds[0].sequenceNo = static_cast<short>(seq);
+ cmds[0].rcmd = static_cast<short>(SERVO::RCMD::Put);
+ cmds[0].armNo = static_cast<short>(armNo);
+ cmds[0].putPosition = static_cast<short>(putPos);
+ cmds[0].putSlotNo = static_cast<short>(putSlot);
+
+ // Home
+ cmds[1].sequenceNo = static_cast<short>(seq + 1);
+ cmds[1].rcmd = static_cast<short>(SERVO::RCMD::Robot_home);
+
+ return robotCmds(cmds, 2, onWritedBlock);
+ }
+
void CEFEM::init()
{
CEquipment::init();
@@ -204,7 +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;
@@ -215,7 +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;
@@ -227,25 +432,13 @@
// 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();
- pStep->setName(STEP_EQ_VCR1_EVENT_REPORT);
- pStep->setWriteSignalDev(0x4a);
- pStep->setReturnDev(0x91e);
- pStep->setVcrEventReportDev(0x5fef);
- if (addStep(STEP_ID_VCR1_EVENT_REPORT, pStep) != 0) {
- delete pStep;
- }
- */
-
// 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,
@@ -267,7 +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;
@@ -278,7 +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;
@@ -289,7 +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;
@@ -300,7 +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;
@@ -328,56 +521,6 @@
delete pStep;
}
}
-
- // CEqCassetteTranserStateStep
- ADD_EQ_PORT_STATUS_STEP(STEP_EQ_PORT1_EMPTY, 0xd8,
- STEP_ID_PORT1_EMPTY, 0x6050);
- ADD_EQ_PORT_STATUS_STEP(STEP_EQ_PORT1_LOAD_EADY, 0xe0,
- STEP_ID_PORT1_LOAD_READY, 0x6050);
- ADD_EQ_PORT_STATUS_STEP(STEP_EQ_PORT1_LOADED, 0xe8,
- STEP_ID_PORT1_LOADED, 0x6050);
- ADD_EQ_PORT_STATUS_STEP(STEP_EQ_PORT1_INUSE, 0xf0,
- STEP_ID_PORT1_INUSE, 0x6050);
- ADD_EQ_PORT_STATUS_STEP(STEP_EQ_PORT1_UNLOAD_EADY, 0xf8,
- STEP_ID_PORT1_UNLOAD_READY, 0x60f50);
- ADD_EQ_PORT_STATUS_STEP(STEP_EQ_PORT1_BLOCKED, 0x100,
- STEP_ID_PORT1_BLOCKED, 0x6050);
- ADD_EQ_PORT_STATUS_STEP(STEP_EQ_PORT2_EMPTY, 0xd9,
- STEP_ID_PORT2_EMPTY, 0x6070);
- ADD_EQ_PORT_STATUS_STEP(STEP_EQ_PORT2_LOAD_EADY, 0xe1,
- STEP_ID_PORT2_LOAD_READY, 0x6070);
- ADD_EQ_PORT_STATUS_STEP(STEP_EQ_PORT2_LOADED, 0xe9,
- STEP_ID_PORT2_LOADED, 0x6070);
- ADD_EQ_PORT_STATUS_STEP(STEP_EQ_PORT2_INUSE, 0xf1,
- STEP_ID_PORT2_INUSE, 0x6070);
- ADD_EQ_PORT_STATUS_STEP(STEP_EQ_PORT2_UNLOAD_EADY, 0xf9,
- STEP_ID_PORT2_UNLOAD_READY, 0x6070);
- ADD_EQ_PORT_STATUS_STEP(STEP_EQ_PORT2_BLOCKED, 0x101,
- STEP_ID_PORT2_BLOCKED, 0x6070);
- ADD_EQ_PORT_STATUS_STEP(STEP_EQ_PORT3_EMPTY, 0xda,
- STEP_ID_PORT3_EMPTY, 0x6090);
- ADD_EQ_PORT_STATUS_STEP(STEP_EQ_PORT3_LOAD_EADY, 0xe2,
- STEP_ID_PORT3_LOAD_READY, 0x6090);
- ADD_EQ_PORT_STATUS_STEP(STEP_EQ_PORT3_LOADED, 0xea,
- STEP_ID_PORT3_INUSE, 0x6090);
- ADD_EQ_PORT_STATUS_STEP(STEP_EQ_PORT3_INUSE, 0xf2,
- STEP_ID_PORT3_INUSE, 0x6090);
- ADD_EQ_PORT_STATUS_STEP(STEP_EQ_PORT3_UNLOAD_EADY, 0xfa,
- STEP_ID_PORT3_UNLOAD_READY, 0x6090);
- ADD_EQ_PORT_STATUS_STEP(STEP_EQ_PORT3_BLOCKED, 0x102,
- STEP_ID_PORT3_BLOCKED, 0x6090);
- ADD_EQ_PORT_STATUS_STEP(STEP_EQ_PORT4_EMPTY, 0xdb,
- STEP_ID_PORT4_EMPTY, 0x60b0);
- ADD_EQ_PORT_STATUS_STEP(STEP_EQ_PORT4_LOAD_EADY, 0xe3,
- STEP_ID_PORT4_LOAD_READY, 0x60b0);
- ADD_EQ_PORT_STATUS_STEP(STEP_EQ_PORT4_LOADED, 0xeb,
- STEP_ID_PORT4_LOADED, 0x60b0);
- ADD_EQ_PORT_STATUS_STEP(STEP_EQ_PORT4_INUSE, 0xf3,
- STEP_ID_PORT4_INUSE, 0x60b0);
- ADD_EQ_PORT_STATUS_STEP(STEP_EQ_PORT4_UNLOAD_EADY, 0xfb,
- STEP_ID_PORT4_UNLOAD_READY, 0x60b0);
- ADD_EQ_PORT_STATUS_STEP(STEP_EQ_PORT4_BLOCKED, 0x103,
- STEP_ID_PORT4_BLOCKED, 0x60b0);
{
// Received Job Report Upstream#1~9
@@ -483,6 +626,46 @@
delete pStep;
}
}
+
+ {
+ // Panel Data Report
+ CEqReadStep* pStep = new CEqReadStep(0x617f, 386 * 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_PANEL_DATA_REPORT);
+ 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;
+ }
+ }
+ }
+
+ // 必须要实现的虚函数，在此初始化Slot信息
+ void CEFEM::initSlots()
+ {
+
}
void CEFEM::onTimer(UINT nTimerid)
@@ -505,16 +688,6 @@
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)
{
__super::onReceiveLBData(pszData, size);
@@ -524,6 +697,16 @@
m_pPort[i]->onReceiveLBData(pszData, size);
}
}
+
+ // 更新信号到LoadPort, Robot, Aligner, Fliper
+ m_pPort[0]->setLinkSignalBlock(0, &m_bLinkSignal[0][0]);
+ m_pPort[1]->setLinkSignalBlock(0, &m_bLinkSignal[1][0]);
+ m_pPort[2]->setLinkSignalBlock(0, &m_bLinkSignal[2][0]);
+ m_pPort[3]->setLinkSignalBlock(0, &m_bLinkSignal[3][0]);
+ m_pArmTray[0]->setLinkSignalBlock(0, &m_bLinkSignal[4][0]);
+ m_pArmTray[1]->setLinkSignalBlock(0, &m_bLinkSignal[5][0]);
+ m_pAligner->setLinkSignalBlock(0, &m_bLinkSignal[6][0]);
+ m_pFliper->setLinkSignalBlock(0, &m_bLinkSignal[7][0]);
}
int CEFEM::onReceivedJob(int port, CJobDataS* pJobDataS)
--
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