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/CMaster.h | 17 ++++++++++++++---
1 files changed, 14 insertions(+), 3 deletions(-)
diff --git a/SourceCode/Bond/Servo/CMaster.h b/SourceCode/Bond/Servo/CMaster.h
index 2be2371..28e2f5f 100644
--- a/SourceCode/Bond/Servo/CMaster.h
+++ b/SourceCode/Bond/Servo/CMaster.h
@@ -16,11 +16,12 @@
namespace SERVO {
- enum MASTERSTATE {
+ enum class MASTERSTATE {
READY = 0,
STARTING,
RUNNING,
- STOPPING
+ STOPPING,
+ MSERROR
};
typedef std::function<void(void* pMaster, MASTERSTATE state)> ONMASTERSTATECHANGED;
@@ -55,6 +56,7 @@
int term();
int start();
int stop();
+ void clearError();
ULONGLONG getRunTime();
MASTERSTATE getState();
unsigned DispatchProc();
@@ -63,6 +65,9 @@
std::list<CEquipment*>& getEquipmentList();
CEquipment* getEquipment(int id);
void setCacheFilepath(const char* pszFilepath);
+ int abortCurrentTask();
+ void setPortType(unsigned int index, BOOL enable, int type, int mode,
+ int cassetteType, int transferMode, BOOL autoChangeEnable);
private:
inline void lock() { EnterCriticalSection(&m_criticalSection); }
@@ -85,9 +90,11 @@
void serialize(CArchive& ar);
void setState(MASTERSTATE state);
CRobotTask* createTransferTask(CEquipment* pSrcEq, CEquipment* pTarEq,
- MaterialsType primaryType = MaterialsType::G1, MaterialsType secondaryType = MaterialsType::G2);
+ MaterialsType primaryType = MaterialsType::G1, MaterialsType secondaryType = MaterialsType::G2,
+ int armNo = 1);
CRobotTask* createTransferTask_bonder_to_bakecooling(CEquipment* pSrcEq, CEquipment* pTarEq);
CRobotTask* createTransferTask_bake_to_cooling(CEquipment* pSrcEq);
+ CRobotTask* createTransferTask_bakecooling_to_measurement(CEquipment* pSrcEq, CEquipment* pTarEq);
private:
CRITICAL_SECTION m_criticalSection;
@@ -117,6 +124,10 @@
// 当前任务和已完成任务列表
CRobotTask* m_pActiveRobotTask;
std::list< CRobotTask* > m_listTask;
+
+ // 错误代码
+ int m_nLastError;
+ std::string m_strLastError;
};
}
--
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