From 2abde7163867930b35d4288546e4fb02bdec064f Mon Sep 17 00:00:00 2001
From: LAPTOP-SNT8I5JK\Boounion <Chenluhua@qq.com>
Date: 星期五, 20 六月 2025 09:48:34 +0800
Subject: [PATCH] 1.对方JobDataRequest没有带参数，因此在从loadPort取料时，先缓存Cassette Sequence No和Job Sequence No，以作为下一次JobDataRequest的参数
---
SourceCode/Bond/Servo/CEFEM.cpp | 42 +++++++++++++++++++++++++++++++-----------
SourceCode/Bond/Servo/CMaster.cpp | 1 +
SourceCode/Bond/Servo/CEqReadStep.cpp | 11 +++++++++++
SourceCode/Bond/Servo/CEFEM.h | 3 +++
SourceCode/Bond/Servo/ServoCommo.h | 1 +
5 files changed, 47 insertions(+), 11 deletions(-)
diff --git a/SourceCode/Bond/Servo/CEFEM.cpp b/SourceCode/Bond/Servo/CEFEM.cpp
index 4ef727c..995763b 100644
--- a/SourceCode/Bond/Servo/CEFEM.cpp
+++ b/SourceCode/Bond/Servo/CEFEM.cpp
@@ -26,17 +26,30 @@
m_robotData.position = ROBOT_POSITION::Port1;
m_robotData.armState[0] = FALSE;
m_robotData.armState[1] = FALSE;
+ m_pActiveContext = nullptr;
}
CEFEM::~CEFEM()
{
-
+ if (m_pActiveContext != nullptr) {
+ m_pActiveContext->release();
+ m_pActiveContext = nullptr;
+ }
}
const char* CEFEM::getClassName()
{
static char* pszName = "CEFEM";
return pszName;
+ }
+
+ void CEFEM::setContext(CContext* pContext)
+ {
+ if (m_pActiveContext != nullptr) {
+ m_pActiveContext->release();
+ }
+ m_pActiveContext = pContext;
+ m_pActiveContext->addRef();
}
void CEFEM::setPort(unsigned int index, CLoadPort* pPort)
@@ -698,21 +711,28 @@
{
// JOB Data Request
- CEqReadStep* pStep = new CEqReadStep(0x617d, 2 * 2,
+ CEqReadStep* pStep = new CEqReadStep(0x0, 0,
[&](void* pFrom, int code, const char* pszData, size_t size) -> int {
if (code == ROK && pszData != nullptr && size > 0) {
- decodeJobDataRequest((CStep*)pFrom, pszData, size);
+ // 由于EFEM没有发送参数到master, 我们只需要返回数据
+ // Cassette Sequence No和Job Sequence No根据上一次调试缓存而来
+ // decodeJobDataRequest((CStep*)pFrom, pszData, size);
- // efme， 获取数据后返回
- // Cassette Sequence No 1W
- // Job Sequence No 1W
- // Job DataS 256W
+ // 获取数据后返回给EFEM
+ // Job DataS 320W
+ // ACK 1W
+ // Reserved 15W
+ short ack = (short)JobDataRequestAck::NG; // 不存在jobData
char szBuffer[1024] = { 0 };
- CJobDataS* pJobDataS = m_pPort[3]->getJobDataSWithCassette(4001, 1);
- if (pJobDataS != nullptr) {
- int size = pJobDataS->serialize(szBuffer, 1024);
- ((CEqReadStep*)pFrom)->setReturnData(szBuffer, size);
+ if (m_pActiveContext != nullptr) {
+ CJobDataS* pJobDataS = ((CGlass*)m_pActiveContext)->getJobDataS();
+ if (pJobDataS != nullptr) {
+ pJobDataS->serialize(szBuffer, 1024);
+ ack = (short)JobDataRequestAck::OK;
+ }
}
+ memcpy(&szBuffer[320 * 2], &ack, sizeof(short));
+ ((CEqReadStep*)pFrom)->setReturnData(szBuffer, 336 * 2);
}
return -1;
});
diff --git a/SourceCode/Bond/Servo/CEFEM.h b/SourceCode/Bond/Servo/CEFEM.h
index aade245..4e0d202 100644
--- a/SourceCode/Bond/Servo/CEFEM.h
+++ b/SourceCode/Bond/Servo/CEFEM.h
@@ -4,6 +4,7 @@
#include "CAligner.h"
#include "CFliper.h"
#include "CArmTray.h"
+#include "Context.h"
namespace SERVO {
@@ -33,6 +34,7 @@
virtual int getIndexerOperationModeBaseValue();
public:
+ void setContext(CContext* pContext);
void setPort(unsigned int index, CLoadPort* pPort);
void setAligner(CAligner* pAligner);
void setFliper(CFliper* pFliper);
@@ -64,6 +66,7 @@
CFliper* m_pFliper;
CArmTray* m_pArmTray[2];
RMDATA m_robotData;
+ CContext* m_pActiveContext;
};
}
diff --git a/SourceCode/Bond/Servo/CEqReadStep.cpp b/SourceCode/Bond/Servo/CEqReadStep.cpp
index e94ba79..ce4f078 100644
--- a/SourceCode/Bond/Servo/CEqReadStep.cpp
+++ b/SourceCode/Bond/Servo/CEqReadStep.cpp
@@ -38,6 +38,17 @@
CReadStep::onReadData();
+ // 20250620新增，有些场景是不需要读数据的，只要检测到信息就写数据给机器
+ if (m_nReadSize == 0) {
+ if (m_onReadBlock != nullptr) {
+ m_onReadBlock(this, ROK, nullptr, 0);
+ }
+
+ return 0;
+ }
+
+
+ // 读数据
char szBuffer[READ_BUFFER_MAX];
int nRet = m_pCclink->ReadData2(m_station, DeviceType::W, m_nDataDev,
(long)min(READ_BUFFER_MAX, m_nReadSize), szBuffer);
diff --git a/SourceCode/Bond/Servo/CMaster.cpp b/SourceCode/Bond/Servo/CMaster.cpp
index 03df8d9..7349b9b 100644
--- a/SourceCode/Bond/Servo/CMaster.cpp
+++ b/SourceCode/Bond/Servo/CMaster.cpp
@@ -729,6 +729,7 @@
&& pEqLoadPort[s]->getPortMode() == PortMode::ReadyToLoad) {
m_pActiveRobotTask = createTransferTask(pEqLoadPort[s], pAligner, primaryType, secondaryType);
if (m_pActiveRobotTask != nullptr) {
+ pEFEM->setContext(m_pActiveRobotTask->getContext());
goto PORT_GET;
}
}
diff --git a/SourceCode/Bond/Servo/ServoCommo.h b/SourceCode/Bond/Servo/ServoCommo.h
index 979aabc..0b58600 100644
--- a/SourceCode/Bond/Servo/ServoCommo.h
+++ b/SourceCode/Bond/Servo/ServoCommo.h
@@ -13,6 +13,7 @@
OK = 1,
NG,
};
+ typedef RET JobDataRequestAck;
enum class PortType {
Loading = 1,
--
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