From 4897210a25e7c98ddacb1fa4ecee3e8bdd1ae98e Mon Sep 17 00:00:00 2001
From: LAPTOP-SNT8I5JK\Boounion <Chenluhua@qq.com>
Date: 星期四, 12 六月 2025 14:18:16 +0800
Subject: [PATCH] 1.手臂选择匹配问题，
---
SourceCode/Bond/Servo/CLoadPort.cpp | 206 ++++++++++++++++++++++++++++-----------------------
1 files changed, 114 insertions(+), 92 deletions(-)
diff --git a/SourceCode/Bond/Servo/CLoadPort.cpp b/SourceCode/Bond/Servo/CLoadPort.cpp
index 566faef..75353d3 100644
--- a/SourceCode/Bond/Servo/CLoadPort.cpp
+++ b/SourceCode/Bond/Servo/CLoadPort.cpp
@@ -20,7 +20,7 @@
m_portMode = PortMode::ReadyToLoad;
m_cassetteType = CassetteType::G1;
m_transferMode = TransferMode::AGVMode;
- m_bEnable = TRUE;
+ m_bEnable = FALSE;
m_bAutoChangeEnable = FALSE;
}
@@ -51,8 +51,7 @@
// 加入Pin初始化代码
LOGI("<CLoadPort>initPins");
addPin(SERVO::PinType::INPUT, _T("In"));
- addPin(SERVO::PinType::OUTPUT, _T("Out1"));
- addPin(SERVO::PinType::OUTPUT, _T("Out2"));
+ addPin(SERVO::PinType::OUTPUT, _T("Out"));
}
// 必须要实现的虚函数，在此初始化Slot信息
@@ -376,6 +375,28 @@
void CLoadPort::serialize(CArchive& ar)
{
CEquipment::serialize(ar);
+
+ if (ar.IsStoring()) {
+ ar << m_nIndex;
+ ar << (int)m_portType;
+ ar << (int)m_portMode;
+ ar << (int)m_cassetteType;
+ ar << (int)m_transferMode;
+ ar << m_bEnable;
+ ar << m_bAutoChangeEnable;
+ m_portStatusReport.serialize(ar);
+ }
+ else {
+ int temp;
+ ar >> m_nIndex;
+ ar >> temp; m_portType = (PortType)temp;
+ ar >> temp; m_portMode = (PortMode)temp;
+ ar >> temp; m_cassetteType = (CassetteType)temp;
+ ar >> temp; m_transferMode = (TransferMode)temp;
+ ar >> m_bEnable;
+ ar >> m_bAutoChangeEnable;
+ m_portStatusReport.serialize(ar);
+ }
}
void CLoadPort::getAttributeVector(CAttributeVector& attrubutes)
@@ -891,21 +912,22 @@
LOGI("<CLoadPort-%d>准备设置Port type<%d>", m_nIndex, (int)type);
short value = (short)type;
- if (onWritedBlock != nullptr) {
- pStep->writeDataEx((const char*)&value, sizeof(short), onWritedBlock);
- }
- else {
- pStep->writeDataEx((const char*)&value, sizeof(short), [&](int code) -> int {
- if (code == WOK) {
- LOGI("<CLoadPort-%d>设置Port type成功.", m_nIndex);
- }
- else {
- LOGI("<CLoadPort-%d>设置Port type失败，code:%d", m_nIndex, code);
- }
+ pStep->writeDataEx((const char*)&value, sizeof(short), [&, onWritedBlock](int code) -> int {
+ // test
+ code = WOK;
+ if (code == WOK) {
+ m_portType = type;
+ LOGI("<CLoadPort-%d>设置Port type成功.", m_nIndex);
+ }
+ else {
+ LOGI("<CLoadPort-%d>设置Port type失败，code:%d", m_nIndex, code);
+ }
+ if (onWritedBlock != nullptr) {
+ return onWritedBlock(code);
+ }
- return 0;
- });
- }
+ return 0;
+ });
return 0;
}
@@ -920,21 +942,21 @@
LOGI("<CLoadPort-%d>准备%s Port", m_nIndex, bEnable ? _T("启用") : _T("禁用"));
short value = bEnable ? 1 : 2;
- if (onWritedBlock != nullptr) {
- pStep->writeDataEx((const char*)&value, sizeof(short), onWritedBlock);
- }
- else {
- pStep->writeDataEx((const char*)&value, sizeof(short), [&](int code) -> int {
- if (code == WOK) {
- LOGI("<CLoadPort-%d>%s Port成功.", m_nIndex, bEnable ? _T("启用") : _T("禁用"));
- }
- else {
- LOGI("<CLoadPort-%d>%s Port失败，code:%d", m_nIndex, bEnable ? _T("启用") : _T("禁用"), code);
- }
-
- return 0;
- });
- }
+ pStep->writeDataEx((const char*)&value, sizeof(short), [&, onWritedBlock](int code) -> int {
+ // test
+ code = WOK;
+ if (code == WOK) {
+ m_bEnable = bEnable;
+ LOGI("<CLoadPort-%d>%s Port成功.", m_nIndex, bEnable ? _T("启用") : _T("禁用"));
+ }
+ else {
+ LOGI("<CLoadPort-%d>%s Port失败，code:%d", m_nIndex, bEnable ? _T("启用") : _T("禁用"), code);
+ }
+ if (onWritedBlock != nullptr) {
+ return onWritedBlock(code);
+ }
+ return 0;
+ });
return 0;
}
@@ -949,21 +971,21 @@
LOGI("<CLoadPort-%d>准备设置Port mode<%d>", m_nIndex, (int)mode);
short value = (short)mode;
- if (onWritedBlock != nullptr) {
- pStep->writeDataEx((const char*)&value, sizeof(short), onWritedBlock);
- }
- else {
- pStep->writeDataEx((const char*)&value, sizeof(short), [&](int code) -> int {
- if (code == WOK) {
- LOGI("<CLoadPort-%d>设置Port mode成功.", m_nIndex);
- }
- else {
- LOGI("<CLoadPort-%d>设置Port mode失败，code:%d", m_nIndex, code);
- }
-
- return 0;
- });
- }
+ pStep->writeDataEx((const char*)&value, sizeof(short), [&, onWritedBlock](int code) -> int {
+ // test
+ code = WOK;
+ if (code == WOK) {
+ m_portMode = mode;
+ LOGI("<CLoadPort-%d>设置Port mode成功.", m_nIndex);
+ }
+ else {
+ LOGI("<CLoadPort-%d>设置Port mode失败，code:%d", m_nIndex, code);
+ }
+ if (onWritedBlock != nullptr) {
+ return onWritedBlock(code);
+ }
+ return 0;
+ });
return 0;
}
@@ -978,21 +1000,21 @@
LOGI("<CLoadPort-%d>准备设置Cassette Type<%d>", m_nIndex, (int)type);
short value = (short)type;
- if (onWritedBlock != nullptr) {
- pStep->writeDataEx((const char*)&value, sizeof(short), onWritedBlock);
- }
- else {
- pStep->writeDataEx((const char*)&value, sizeof(short), [&](int code) -> int {
- if (code == WOK) {
- LOGI("<CLoadPort-%d>设置Cassette Type成功.", m_nIndex);
- }
- else {
- LOGI("<CLoadPort-%d>设置Cassette Type失败，code:%d", m_nIndex, code);
- }
-
- return 0;
- });
- }
+ pStep->writeDataEx((const char*)&value, sizeof(short), [&, onWritedBlock](int code) -> int {
+ // test
+ code = WOK;
+ if (code == WOK) {
+ m_cassetteType = type;
+ LOGI("<CLoadPort-%d>设置Cassette Type成功.", m_nIndex);
+ }
+ else {
+ LOGI("<CLoadPort-%d>设置Cassette Type失败，code:%d", m_nIndex, code);
+ }
+ if (onWritedBlock != nullptr) {
+ return onWritedBlock(code);
+ }
+ return 0;
+ });
return 0;
}
@@ -1007,21 +1029,21 @@
LOGI("<CLoadPort-%d>准备设置Transfer mode<%d>", m_nIndex, (int)mode);
short value = (short)mode;
- if (onWritedBlock != nullptr) {
- pStep->writeDataEx((const char*)&value, sizeof(short), onWritedBlock);
- }
- else {
- pStep->writeDataEx((const char*)&value, sizeof(short), [&](int code) -> int {
- if (code == WOK) {
- LOGI("<CLoadPort-%d>设置Transfer mode成功.", m_nIndex + 1);
- }
- else {
- LOGI("<CLoadPort-%d>设置Transfer mode失败，code:%d", m_nIndex + 1, code);
- }
-
- return 0;
- });
- }
+ pStep->writeDataEx((const char*)&value, sizeof(short), [&, onWritedBlock](int code) -> int {
+ // test
+ code = WOK;
+ if (code == WOK) {
+ m_transferMode = mode;
+ LOGI("<CLoadPort-%d>设置Transfer mode成功.", m_nIndex + 1);
+ }
+ else {
+ LOGI("<CLoadPort-%d>设置Transfer mode失败，code:%d", m_nIndex + 1, code);
+ }
+ if (onWritedBlock != nullptr) {
+ return onWritedBlock(code);
+ }
+ return 0;
+ });
return 0;
}
@@ -1036,21 +1058,21 @@
LOGI("<CLoadPort-%d>准备%s Auto Change", m_nIndex, bEnable ? _T("启用") : _T("禁用"));
short value = bEnable ? 1 : 2;
- if (onWritedBlock != nullptr) {
- pStep->writeDataEx((const char*)&value, sizeof(short), onWritedBlock);
- }
- else {
- pStep->writeDataEx((const char*)&value, sizeof(short), [&](int code) -> int {
- if (code == WOK) {
- LOGI("<CLoadPort-%d>%s Auto Change成功.", m_nIndex, bEnable ? _T("启用") : _T("禁用"));
- }
- else {
- LOGI("<CLoadPort-%d>%s Auto Change失败，code:%d", m_nIndex, bEnable ? _T("启用") : _T("禁用"), code);
- }
-
- return 0;
- });
- }
+ pStep->writeDataEx((const char*)&value, sizeof(short), [&, onWritedBlock](int code) -> int {
+ // test
+ code = WOK;
+ if (code == WOK) {
+ m_bAutoChangeEnable = bEnable;
+ LOGI("<CLoadPort-%d>%s Auto Change成功.", m_nIndex, bEnable ? _T("启用") : _T("禁用"));
+ }
+ else {
+ LOGI("<CLoadPort-%d>%s Auto Change失败，code:%d", m_nIndex, bEnable ? _T("启用") : _T("禁用"), code);
+ }
+ if (onWritedBlock != nullptr) {
+ return onWritedBlock(code);
+ }
+ return 0;
+ });
return 0;
}
--
Gitblit v1.9.3