From 2ee440d9e85eccd73d2c3d4cbfe42cb8c1c25ec0 Mon Sep 17 00:00:00 2001
From: LAPTOP-SNT8I5JK\Boounion <Chenluhua@qq.com>
Date: 星期六, 28 六月 2025 14:35:24 +0800
Subject: [PATCH] 1.在stroedJob和Fetchout Job中增加Port的校验； 2.在物料调度中增加检测物料是否已经处理完成的校验；
---
SourceCode/Bond/Servo/CEFEM.cpp | 34 +++++++++++++++++++++++++---------
1 files changed, 25 insertions(+), 9 deletions(-)
diff --git a/SourceCode/Bond/Servo/CEFEM.cpp b/SourceCode/Bond/Servo/CEFEM.cpp
index 645251f..8175eed 100644
--- a/SourceCode/Bond/Servo/CEFEM.cpp
+++ b/SourceCode/Bond/Servo/CEFEM.cpp
@@ -728,7 +728,6 @@
CJobDataS* pJobDataS = ((CGlass*)m_pActiveContext)->getJobDataS();
if (pJobDataS != nullptr) {
pJobDataS->serialize(szBuffer, 1024);
- pJobDataS->serialize(szBuffer, 1024);
ack = (short)JobDataRequestAck::OK;
}
}
@@ -806,14 +805,23 @@
}
// 更新信号到LoadPort, Robot, Aligner, Fliper
- m_pPort[0]->setLinkSignalBlock(0, &m_bLinkSignal[0][0]);
- m_pPort[1]->setLinkSignalBlock(0, &m_bLinkSignal[1][0]);
- m_pPort[2]->setLinkSignalBlock(0, &m_bLinkSignal[2][0]);
- m_pPort[3]->setLinkSignalBlock(0, &m_bLinkSignal[3][0]);
- m_pArmTray[0]->setLinkSignalBlock(0, &m_bLinkSignal[4][0]);
- m_pArmTray[1]->setLinkSignalBlock(0, &m_bLinkSignal[5][0]);
- m_pAligner->setLinkSignalBlock(0, &m_bLinkSignal[6][0]);
- m_pFliper->setLinkSignalBlock(0, &m_bLinkSignal[7][0]);
+ m_pPort[0]->setLinkSignalUpstreamBlock(0, &m_bLinkSignalToUpstream[0][0]);
+ m_pPort[1]->setLinkSignalUpstreamBlock(0, &m_bLinkSignalToUpstream[1][0]);
+ m_pPort[2]->setLinkSignalUpstreamBlock(0, &m_bLinkSignalToUpstream[2][0]);
+ m_pPort[3]->setLinkSignalUpstreamBlock(0, &m_bLinkSignalToUpstream[3][0]);
+ m_pArmTray[0]->setLinkSignalUpstreamBlock(0, &m_bLinkSignalToUpstream[4][0]);
+ m_pArmTray[1]->setLinkSignalUpstreamBlock(0, &m_bLinkSignalToUpstream[5][0]);
+ m_pAligner->setLinkSignalUpstreamBlock(0, &m_bLinkSignalToUpstream[6][0]);
+ m_pFliper->setLinkSignalUpstreamBlock(0, &m_bLinkSignalToUpstream[7][0]);
+
+ m_pPort[0]->setLinkSignalDownstreamBlock(0, &m_bLinkSignalToDownstream[0][0]);
+ m_pPort[1]->setLinkSignalDownstreamBlock(0, &m_bLinkSignalToDownstream[1][0]);
+ m_pPort[2]->setLinkSignalDownstreamBlock(0, &m_bLinkSignalToDownstream[2][0]);
+ m_pPort[3]->setLinkSignalDownstreamBlock(0, &m_bLinkSignalToDownstream[3][0]);
+ m_pArmTray[0]->setLinkSignalDownstreamBlock(0, &m_bLinkSignalToDownstream[4][0]);
+ m_pArmTray[1]->setLinkSignalDownstreamBlock(0, &m_bLinkSignalToDownstream[5][0]);
+ m_pAligner->setLinkSignalDownstreamBlock(0, &m_bLinkSignalToDownstream[6][0]);
+ m_pFliper->setLinkSignalDownstreamBlock(0, &m_bLinkSignalToDownstream[7][0]);
}
int CEFEM::onReceivedJob(int port, CJobDataS* pJobDataS)
@@ -872,4 +880,12 @@
{
return 10000;
}
+
+ void CEFEM::printDebugRobotState()
+ {
+ LOGI("<CEFEM>Robot status:%d, ARM1:%s, ARM2:%s",
+ m_robotData.status,
+ m_robotData.armState[1] ? _T("ON") : _T("OFF"),
+ m_robotData.armState[2] ? _T("ON") : _T("OFF"));
+ }
}
--
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