From 2a803976ed12e59f3e082e7c08941ef5004e6ea1 Mon Sep 17 00:00:00 2001
From: mrDarker <mr.darker@163.com>
Date: 星期二, 20 五月 2025 11:40:10 +0800
Subject: [PATCH] 1. 添加机器臂命令配置界面
---
SourceCode/Bond/Servo/CEFEM.cpp | 90 +++++++++++++++++++++++++++++++++++++++++++++
1 files changed, 90 insertions(+), 0 deletions(-)
diff --git a/SourceCode/Bond/Servo/CEFEM.cpp b/SourceCode/Bond/Servo/CEFEM.cpp
index 99e9b0c..3a277f3 100644
--- a/SourceCode/Bond/Servo/CEFEM.cpp
+++ b/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()
@@ -364,6 +432,28 @@
}
}
}
+
+ {
+ // Dispatching Mode Change Command
+ CEqWriteStep* pStep = new CEqWriteStep();
+ pStep->setName(STEP_EQ_DISPATCHINT_MODE_CHANGE);
+ pStep->setWriteSignalDev(0x071);
+ pStep->setDataDev(0x5c6);
+ if (addStep(STEP_ID_DISPATCHING_MODE_CHANGE_REPLY, pStep) != 0) {
+ 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)
--
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