From 2d7e131c2e7f547df8d5e0d56fcea85cd49c712e Mon Sep 17 00:00:00 2001
From: LAPTOP-SNT8I5JK\Boounion <Chenluhua@qq.com>
Date: 星期五, 21 二月 2025 14:17:15 +0800
Subject: [PATCH] 1.增加Equipment Status（机器和机器单元状态）获取；
---
SourceCode/Bond/Servo/CMaster.cpp | 78 +++++++++++++++++++++++++++++++++-----
1 files changed, 67 insertions(+), 11 deletions(-)
diff --git a/SourceCode/Bond/Servo/CMaster.cpp b/SourceCode/Bond/Servo/CMaster.cpp
index 85bf38e..248d0dc 100644
--- a/SourceCode/Bond/Servo/CMaster.cpp
+++ b/SourceCode/Bond/Servo/CMaster.cpp
@@ -1,4 +1,5 @@
#include "stdafx.h"
+#include "Common.h"
#include "CMaster.h"
namespace SERVO {
@@ -12,7 +13,7 @@
CMaster::CMaster()
{
-
+ m_listener = {nullptr, nullptr};
}
CMaster::~CMaster()
@@ -23,6 +24,12 @@
m_listEquipment.clear();
}
+ void CMaster::setListener(MasterListener listener)
+ {
+ m_listener.onEqAlive = listener.onEqAlive;
+ m_listener.onEqCimStateChanged = listener.onEqCimStateChanged;
+ }
+
int CMaster::init()
{
LOGI("<Master>正在初始化...");
@@ -31,7 +38,6 @@
// cclink
if (m_cclink.Connect(CC_LINK_IE_CONTROL_CHANNEL(1)) != 0) {
LOGE("连接CC-Link失败.");
- return -1;
}
else {
LOGI("连接CC-Link成功.");
@@ -58,11 +64,34 @@
// 初始化添加各子设备
{
CEFEM* pEquipment = new CEFEM();
+ pEquipment->setID(EQ_ID_EFEM);
pEquipment->setName("EFEM(ROBOT)");
pEquipment->setDescription("EFEM(ROBOT).");
pEquipment->setReadBitBlock(0x4000, 0x45ff);
- pEquipment->setStation(1, 2);
+ pEquipment->setStation(0, 255);
addEquipment(pEquipment);
+
+
+ // 添加 step
+ {
+ CEqModeStep* pStep = new CEqModeStep();
+ pStep->setWriteSignalDev(0x30);
+ pStep->setModeDev(0x4a8c);
+ if (pEquipment->addStep(0x360, pStep) != 0) {
+ delete pStep;
+ }
+ }
+ {
+ CEqStatusStep* pStep = new CEqStatusStep();
+ pStep->setWriteSignalDev(0x31);
+ pStep->setStatusDev(0x4a68);
+ if (pEquipment->addStep(0x361, pStep) != 0) {
+ delete pStep;
+ }
+ }
+
+
+ pEquipment->init();
LOGE("已添加“EFEM(ROBOT)”.");
}
/*
@@ -88,13 +117,43 @@
int CMaster::term()
{
+ LOGI("<Master>正在结束程序.");
+ for (auto item : m_listEquipment) {
+ item->term();
+ }
+
return 0;
}
int CMaster::addEquipment(CEquipment* pEquipment)
{
+ EquipmentListener listener;
+ listener.onAlive = [&](void* pEquipment, BOOL bAlive) -> void {
+ CEquipment* p = (CEquipment*)pEquipment;
+ if (m_listener.onEqAlive != nullptr) {
+ m_listener.onEqAlive(this, p, bAlive);
+ }
+ };
+ listener.onCimStateChanged = [&](void* pEquipment, BOOL bOn) -> void {
+ CEquipment* p = (CEquipment*)pEquipment;
+ if (m_listener.onEqCimStateChanged != nullptr) {
+ m_listener.onEqCimStateChanged(this, p, bOn);
+ }
+ };
+ pEquipment->setListener(listener);
+ pEquipment->setCcLink(&m_cclink);
m_listEquipment.push_back(pEquipment);
+
return 0;
+ }
+
+ CEquipment* CMaster::getEquipment(int id)
+ {
+ for (auto item : m_listEquipment) {
+ if (item->getID() == id) return item;
+ }
+
+ return nullptr;
}
void CMaster::onTimer(UINT nTimerid)
@@ -104,7 +163,7 @@
}
- // 以下为测试代码
+ // 按一定频率扫描LB数据
static int i = 0;
i++;
if (i % (4 * 1) == 0) {
@@ -113,14 +172,11 @@
const StationIdentifier& station = item->getStation();
MemoryBlock& block = item->getReadBitBlock();
- char szBuffer[1024];
- int nRet = m_cclink.ReadData2(station, (short)block.type,
- block.start, block.size, szBuffer);
- for (unsigned int i = 0; i < block.size; i++) {
- if(szBuffer[i] != 0)
- TRACE("%d[%x]\n", i, szBuffer[i]);
+ int nRet = m_cclink.ReadData2(station, (DeviceType)block.type,
+ block.start, block.size, block.buffer);
+ if (0 == nRet) {
+ item->onReceiveLBData(block.buffer, block.size);
}
- TRACE("nRet=%d\n", nRet);
}
}
}
--
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