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 | 87 ++++++++++++++++++++++++++++++++++++++++++-
1 files changed, 84 insertions(+), 3 deletions(-)
diff --git a/SourceCode/Bond/Servo/CPageGraph2.cpp b/SourceCode/Bond/Servo/CPageGraph2.cpp
index cc44782..cbce17f 100644
--- a/SourceCode/Bond/Servo/CPageGraph2.cpp
+++ b/SourceCode/Bond/Servo/CPageGraph2.cpp
@@ -8,8 +8,11 @@
#include "CHMPropertyDlg.h"
#include "CEquipmentPage1.h"
#include "CEquipmentPage2.h"
+#include "CEquipmentPage3.h"
#include "CPagePortProperty.h"
#include "CPageCassetteCtrlCmd.h"
+#include "CJobDataB.h"
+#include "CRobotCmdContainerDlg.h"
// CPageGraph2 瀵硅瘽妗�
@@ -137,6 +140,13 @@
pPage2->Create(IDD_PAGE_EQUIPMENT2);
dlg.addPage(pPage2, "Glass");
+ if (pEquipment->getID() == EQ_ID_EFEM) {
+ CEquipmentPage3* pPage3 = new CEquipmentPage3();
+ pPage3->setEquipment(pEquipment);
+ pPage3->Create(IDD_PAGE_EQUIPMENT3);
+ dlg.addPage(pPage3, "Dispatching Mode");
+ }
+
if (pEquipment->getID() == EQ_ID_LOADPORT1
|| pEquipment->getID() == EQ_ID_LOADPORT2) {
CPageCassetteCtrlCmd* pPage = new CPageCassetteCtrlCmd();
@@ -191,16 +201,87 @@
else if (nCmd == ID_EQSGRAPHITEM_TEST1) {
SERVO::CEquipment* pEquipment = (SERVO::CEquipment*)pItem->pData;
if (pEquipment->getID() == EQ_ID_LOADPORT1) {
- pEquipment->outputGlass(1);
+ ((SERVO::CLoadPort*)pEquipment)->testGenerateGlassList(SERVO::MaterialsType::G1, 10,
+ "P20250320G1X", 1);
}
- pEquipment->fetchedOutJob("P20250320A1A2");
+ else if (pEquipment->getID() == EQ_ID_LOADPORT2) {
+ ((SERVO::CLoadPort*)pEquipment)->testGenerateGlassList(SERVO::MaterialsType::G2, 10,
+ "P20250320G2X", 1);
+ }
+ SERVO::CGlass* pGlass = pEquipment->getFrontGlass();
+ if (pGlass != nullptr) {
+ SERVO::CJobDataB* pJobDataB = pGlass->getJobDataB();
+ SERVO::CJobDataS* pJobDataS = pGlass->getJobDataS();
+ if (pJobDataB != nullptr && pJobDataS != nullptr) {
+ pEquipment->fetchedOutJob(pJobDataB);
+ pEquipment->onSentOutJob(0, pJobDataS);
+ }
+ }
}
else if (nCmd == ID_EQSGRAPHITEM_TEST2) {
SERVO::CEquipment* pEquipment = (SERVO::CEquipment*)pItem->pData;
- pEquipment->storedJob("P20250320A1A2");
+ SERVO::CArm* pArm = (SERVO::CArm*)pEquipment->getArm();
+ if (pArm != nullptr) {
+ SERVO::CGlass* pGlass = pArm->getFrontGlass();
+ if (pGlass != nullptr) {
+ SERVO::CJobDataB* pJobDataB = pGlass->getJobDataB();
+ SERVO::CJobDataS* pJobDataS = pGlass->getJobDataS();
+ if (pJobDataB != nullptr && pJobDataS != nullptr) {
+ pEquipment->onReceivedJob(0, pJobDataS);
+ Sleep(600);
+ pEquipment->onStoredJob(0, pJobDataB);
+ }
+ }
+ }
}
else if (nCmd == ID_EQSGRAPHITEM_TEST3) {
SERVO::CEquipment* pEquipment = (SERVO::CEquipment*)pItem->pData;
+ if (pEquipment != nullptr) {
+ SERVO::CGlass* pGlass = pEquipment->getFrontGlass();
+ if (pGlass != nullptr) {
+ SERVO::CProcessData pd;
+ pd.setGlassId(pGlass->getID().c_str());
+ pEquipment->onProcessData(&pd);
+ }
+ }
+ }
+ else if (nCmd == ID_EQSGRAPHITEM_TEST4) {
+ SERVO::CEquipment* pEquipment = (SERVO::CEquipment*)pItem->pData;
+
+ /* 娴嬭瘯 RobotCMD */
+ 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);
+
+ 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());
+ }
+ }
+ }
+
+
+
// 娴嬭瘯涓嬪彂Cim Message
/*
--
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