From 331f447bb0e5eccf0b3161ab287c1372b14b8480 Mon Sep 17 00:00:00 2001
From: LAPTOP-SNT8I5JK\Boounion <Chenluhua@qq.com>
Date: 星期五, 08 八月 2025 11:53:58 +0800
Subject: [PATCH] 1.增加千传计数,保存计数，重启软件时恢复； 2.千传测试模式，打印相关日志，方便后期提取，用于统计； 3.千传模式时烘烤两腔体都要进入； 4.千传模式时，Fliper到Bonder修改为用手臂2取料； 5.修复千传模式不计运行时的问题； 6.千传模式，最后收料强制放入第一层； 6.修复Buf， 当任务未生成（在符合条件后仍有1秒间隙）而机器单元发送FetchOutJob时，数据检验失败的问题，增加Sleep, 缩小间隙；
---
SourceCode/Bond/Servo/CEFEM.cpp | 51 +++++++++++++++++++++++++++++++++------------------
1 files changed, 33 insertions(+), 18 deletions(-)
diff --git a/SourceCode/Bond/Servo/CEFEM.cpp b/SourceCode/Bond/Servo/CEFEM.cpp
index 901e3ae..dcb5684 100644
--- a/SourceCode/Bond/Servo/CEFEM.cpp
+++ b/SourceCode/Bond/Servo/CEFEM.cpp
@@ -137,7 +137,7 @@
}
return 0;
- });
+ });
}
return 0;
@@ -473,6 +473,7 @@
pStep->setName(STEP_EQ_VCR1_EVENT_REPORT);
pStep->setProp("Port", (void*)1);
pStep->setWriteSignalDev(0x4a);
+ pStep->setReturnDev(0x91e);
if (addStep(STEP_ID_VCR1_EVENT_REPORT, pStep) != 0) {
delete pStep;
}
@@ -540,6 +541,27 @@
pStep->setWriteSignalDev(0x66);
pStep->setDataDev(0x90a);
if (addStep(STEP_ID_MASTER_RECIPE_LIST_CMD_REPLY, pStep) != 0) {
+ delete pStep;
+ }
+ }
+
+ {
+ // master recipe list report
+ CEqReadStep* pStep = new CEqReadStep(0x6955, 255 * 2,
+ [&](void* pFrom, int code, const char* pszData, size_t size) -> int {
+ CEqReadStep* pTmpStep = (CEqReadStep*)pFrom;
+ short ret = MRLRC_OK;
+ if (code == ROK && pszData != nullptr && size > 0) {
+ // 此处解释配方数据
+ ret = decodeRecipeListReport(pszData, size);
+ }
+ pTmpStep->setReturnCode(ret);
+ return -1;
+ });
+ pStep->setName(STEP_EQ_MASTER_RECIPE_LIST);
+ pStep->setWriteSignalDev(0x4b);
+ pStep->setReturnDev(0x91d);
+ if (addStep(STEP_ID_MASTER_RECIPE_LIST_REPORT, pStep) != 0) {
delete pStep;
}
}
@@ -676,23 +698,6 @@
}
{
- // Panel Data Report
- CEqReadStep* pStep = new CEqReadStep(0x617f, 386 * 2,
- [&](void* pFrom, int code, const char* pszData, size_t size) -> int {
- if (code == ROK && pszData != nullptr && size > 0) {
- decodePanelDataReport((CStep*)pFrom, pszData, size);
- }
- return -1;
- });
- pStep->setName(STEP_EQ_PANEL_DATA_REPORT);
- pStep->setProp("Port", (void*)1);
- pStep->setWriteSignalDev(0x15e);
- if (addStep(STEP_ID_PANEL_DATA_REPORT, pStep) != 0) {
- delete pStep;
- }
- }
-
- {
// FAC Data Report
CEqReadStep* pStep = new CEqReadStep(0x6301, 108 * 2,
[&](void* pFrom, int code, const char* pszData, size_t size) -> int {
@@ -803,6 +808,8 @@
m_pPort[i]->onReceiveLBData(pszData, size);
}
}
+ m_pAligner->onReceiveLBData(pszData, size);
+
// 更新信号到LoadPort, Robot, Aligner, Fliper
m_pPort[0]->setLinkSignalUpstreamBlock(0, &m_bLinkSignalToUpstream[0][0]);
@@ -880,4 +887,12 @@
{
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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