From 4e5df2e71445ca3c0cc412e24510234e671b6072 Mon Sep 17 00:00:00 2001
From: mrDarker <mr.darker@163.com>
Date: 星期四, 19 六月 2025 16:18:33 +0800
Subject: [PATCH] Merge branch 'clh' into liuyang
---
SourceCode/Bond/Servo/CEquipment.cpp | 93 ++++++++++++++++++++++++++++++++++++----------
1 files changed, 72 insertions(+), 21 deletions(-)
diff --git a/SourceCode/Bond/Servo/CEquipment.cpp b/SourceCode/Bond/Servo/CEquipment.cpp
index 165199a..ea36b48 100644
--- a/SourceCode/Bond/Servo/CEquipment.cpp
+++ b/SourceCode/Bond/Servo/CEquipment.cpp
@@ -578,7 +578,9 @@
// robot cmd reply
CHECK_WRITE_STEP_SIGNAL(STEP_ID_ROBOT_CMD_REPLY, pszData, size);
-
+
+ // Indexer Operation Mode Change
+ CHECK_WRITE_STEP_SIGNAL(STEP_ID_IN_OP_CMD_REPLY, pszData, size);
}
BOOL CEquipment::isBitOn(const char* pszData, size_t size, int index)
@@ -875,6 +877,61 @@
return nullptr;
}
+ CGlass* CEquipment::getGlassFromSlot(int slotNo)
+ {
+ CSlot* pSlot = nullptr;
+ for (int i = 0; i < SLOT_MAX; i++) {
+ if (!m_slot[i].isEnable()) continue;
+ if (m_slot[i].getNo() != slotNo) continue;
+ pSlot = &m_slot[i];
+ break;
+ }
+
+ if (pSlot != nullptr) {
+ return (CGlass*)pSlot->getContext();
+ }
+
+ return nullptr;
+ }
+
+ CGlass* CEquipment::getGlassWithCassette(int cassetteSequenceNo, int jobSequenceNo)
+ {
+ CSlot* pSlot = nullptr;
+ for (int i = 0; i < SLOT_MAX; i++) {
+ if (!m_slot[i].isEnable()) continue;
+ CGlass* pGlass = (CGlass*)m_slot[i].getContext();
+ if (pGlass == nullptr) continue;
+ CJobDataS* pJobDataS = pGlass->getJobDataS();
+ ASSERT(pJobDataS);
+ if (pJobDataS->getCassetteSequenceNo() == cassetteSequenceNo
+ && pJobDataS->getJobSequenceNo() == jobSequenceNo) {
+ return pGlass;
+ }
+ }
+
+
+ return nullptr;
+ }
+
+ CJobDataS* CEquipment::getJobDataSWithCassette(int cassetteSequenceNo, int jobSequenceNo)
+ {
+ CSlot* pSlot = nullptr;
+ for (int i = 0; i < SLOT_MAX; i++) {
+ if (!m_slot[i].isEnable()) continue;
+ CGlass* pGlass = (CGlass*)m_slot[i].getContext();
+ if (pGlass == nullptr) continue;
+ CJobDataS* pJobDataS = pGlass->getJobDataS();
+ ASSERT(pJobDataS);
+ if (pJobDataS->getCassetteSequenceNo() == cassetteSequenceNo
+ && pJobDataS->getJobSequenceNo() == jobSequenceNo) {
+ return pJobDataS;
+ }
+ }
+
+
+ return nullptr;
+ }
+
bool CEquipment::isAlarmStep(SERVO::CStep* pStep)
{
return CToolUnits::startsWith(pStep->getName(), STEP_ALARM_START);
@@ -1021,14 +1078,15 @@
unsigned short operationMode = (unsigned short)((unsigned short)mode + getIndexerOperationModeBaseValue());
LOGI("<CEquipment-%s>准备设置indexerOperationMode<%d>", m_strName.c_str(), (int)mode);
- pStep->writeShort(operationMode, [&, mode, onWritedRetBlock](int code) -> int {
+ pStep->writeShort(operationMode, [&, pStep, mode, onWritedRetBlock](int code) -> int {
int retCode = 0;
if (code == WOK) {
LOGI("<CEquipment-%s>设置indexerOperationMode成功.", m_strName.c_str());
const char* pszRetData = nullptr;
pStep->getReturnData(pszRetData);
ASSERT(pszRetData);
- retCode = (unsigned int)CToolUnits::toInt16(pszRetData);
+ retCode = (unsigned int)CToolUnits::toInt16(pszRetData);
+ LOGI("<CEquipment-%s>返回值: %d", m_strName.c_str(), retCode);
}
else {
LOGI("<CEquipment-%s>设置indexerOperationMode失败，code:%d", m_strName.c_str(), code);
@@ -1217,23 +1275,6 @@
{
if (index >= SLOT_MAX) return nullptr;
return &m_slot[index];
- }
-
- CGlass* CEquipment::getGlassFromSlot(int slotNo)
- {
- CSlot* pSlot = nullptr;
- for (int i = 0; i < SLOT_MAX; i++) {
- if (!m_slot[i].isEnable()) continue;
- if (m_slot[i].getNo() != slotNo) continue;
- pSlot = &m_slot[i];
- break;
- }
-
- if (pSlot != nullptr) {
- return (CGlass*)pSlot->getContext();
- }
-
- return nullptr;
}
CGlass* CEquipment::getAnyGlass()
@@ -1558,8 +1599,18 @@
// Cassette Sequence No 1W
// Job Sequence No 1W
// Job DataS 256W
+ char szBuffer[1024];
+ index = 0;
+ memcpy(&szBuffer[index], &cassetteSequenceNo, sizeof(short));
+ index += sizeof(short);
+ memcpy(&szBuffer[index], &jobSequenceNo, sizeof(short));
+ index += sizeof(short);
-
+ CJobDataS* pJobDataS = getJobDataSWithCassette(cassetteSequenceNo, jobSequenceNo);
+ if (pJobDataS != nullptr) {
+ index += pJobDataS->serialize(&szBuffer[index], 1024 - sizeof(short) - sizeof(short));
+ ((CEqReadStep*)pStep)->setReturnData(szBuffer, index);
+ }
// 缓存Attribute，用于调试时显示信息
--
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