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 | 46 +++++++++++++++++++++++++++++++++++++++-------
1 files changed, 39 insertions(+), 7 deletions(-)
diff --git a/SourceCode/Bond/Servo/CEFEM.cpp b/SourceCode/Bond/Servo/CEFEM.cpp
index a331c96..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)
@@ -684,7 +697,7 @@
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) {
- decodePanelDataRequest((CStep*)pFrom, pszData, size);
+ decodeFacDataReport((CStep*)pFrom, pszData, size);
}
return -1;
});
@@ -697,18 +710,37 @@
}
{
- // Panel Data Request
- CEqReadStep* pStep = new CEqReadStep(0x617d, 2 * 2,
+ // JOB Data Request
+ CEqReadStep* pStep = new CEqReadStep(0x0, 0,
[&](void* pFrom, int code, const char* pszData, size_t size) -> int {
if (code == ROK && pszData != nullptr && size > 0) {
- decodePanelDataRequest((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);
+
+ // 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 };
+ 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;
});
pStep->setName(STEP_EFEM_PANEL_DATA_REQUEST);
pStep->setProp("Port", (void*)1);
- pStep->setWriteSignalDev(0x15d);
- if (addStep(STEP_ID_PANEL_DATA_REQUEST, pStep) != 0) {
+ pStep->setWriteSignalDev(0x35);
+ pStep->setReturnDev(0x5EA);
+ if (addStep(STEP_ID_JOB_DATA_REQUEST, pStep) != 0) {
delete pStep;
}
}
--
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