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/CPageGraph2.cpp | 45 ++++++++++++++++++++++++++-------------------
1 files changed, 26 insertions(+), 19 deletions(-)
diff --git a/SourceCode/Bond/Servo/CPageGraph2.cpp b/SourceCode/Bond/Servo/CPageGraph2.cpp
index 83e917f..cbce17f 100644
--- a/SourceCode/Bond/Servo/CPageGraph2.cpp
+++ b/SourceCode/Bond/Servo/CPageGraph2.cpp
@@ -12,6 +12,7 @@
#include "CPagePortProperty.h"
#include "CPageCassetteCtrlCmd.h"
#include "CJobDataB.h"
+#include "CRobotCmdContainerDlg.h"
// CPageGraph2 瀵硅瘽妗�
@@ -251,26 +252,32 @@
if (pEquipment->getID() == EQ_ID_EFEM) {
SERVO::CEFEM* pEFEM = (SERVO::CEFEM*)pEquipment;
+ //SERVO::ROBOT_CMD_PARAM cmds[4];
+ //cmds[0].sequenceNo = 1;
+ //cmds[0].rcmd = (short)SERVO::RCMD::Move;
+ //cmds[0].armNo = 1;
+ //cmds[0].getPosition = 1;
+ //cmds[0].putPosition = 2;
+ //cmds[0].getSlotNo = 3;
+ //cmds[0].putSlotNo = 4;
+ //cmds[0].subCmd = 5;
+ //cmds[1].sequenceNo = 2;
+ //cmds[1].rcmd = (short)SERVO::RCMD::Transfer;
+ //cmds[1].armNo = 2;
+ //cmds[1].getPosition = 6;
+ //cmds[1].putPosition = 7;
+ //cmds[1].getSlotNo = 8;
+ //cmds[1].putSlotNo = 9;
+ //cmds[1].subCmd = 10;
+ //pEFEM->robotCmds(cmds, 2);
-
- SERVO::ROBOT_CMD_PARAM cmds[4];
- cmds[0].sequenceNo = 1;
- cmds[0].rcmd = (short)SERVO::RCMD::Move;
- cmds[0].armNo = 1;
- cmds[0].getPosition = 1;
- cmds[0].putPosition = 2;
- cmds[0].getSlotNo = 3;
- cmds[0].putSlotNo = 4;
- cmds[0].subCmd = 5;
- cmds[1].sequenceNo = 2;
- cmds[1].rcmd = (short)SERVO::RCMD::Transfer;
- cmds[1].armNo = 2;
- cmds[1].getPosition = 6;
- cmds[1].putPosition = 7;
- cmds[1].getSlotNo = 8;
- cmds[1].putSlotNo = 9;
- cmds[1].subCmd = 10;
- pEFEM->robotCmds(cmds, 2);
+ CRobotCmdContainerDlg dlg;
+ if (dlg.DoModal() == IDOK) {
+ std::vector<SERVO::ROBOT_CMD_PARAM>& cmds = dlg.GetResultCmds();
+ if (!cmds.empty()) {
+ pEFEM->robotCmds(cmds.data(), (int)cmds.size());
+ }
+ }
}
--
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