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/ServoCommo.h | 146 ++++++++++++++++++++++++++++++++++++++++++++++--
1 files changed, 139 insertions(+), 7 deletions(-)
diff --git a/SourceCode/Bond/Servo/ServoCommo.h b/SourceCode/Bond/Servo/ServoCommo.h
index 959a8a1..979aabc 100644
--- a/SourceCode/Bond/Servo/ServoCommo.h
+++ b/SourceCode/Bond/Servo/ServoCommo.h
@@ -2,7 +2,19 @@
namespace SERVO {
- enum PortType {
+#define BLOCK_BUFFER_MAX 1024
+#define ALIVE_TIMEOUT 15
+#define VCR_MAX 1
+#define PATH_MAX 8
+#define SIGNAL_MAX 8
+#define ARM_ALL 99
+
+ enum class RET {
+ OK = 1,
+ NG,
+ };
+
+ enum class PortType {
Loading = 1,
Unloading,
Both,
@@ -12,7 +24,7 @@
UnloadingPartial
};
- enum PortMode {
+ enum class PortMode {
OutOfService = 0,
TransferBlocked,
ReadyToLoad,
@@ -21,17 +33,137 @@
TransferReady
};
- enum MaterialsType {
- G1 = 0,
- G2 = 1,
- G1G2 = 2
+ enum class MaterialsType {
+ G1 = 1,
+ G2 = 2,
+ G1G2 = 3
};
typedef MaterialsType CassetteType;
- enum TransferMode {
+ enum class TransferMode {
MGVMode = 1,
AGVMode,
StockerInlineMode
};
+
+ // Memory Block 结构体定义
+ typedef struct _MemoryBlock {
+ unsigned int type;
+ unsigned int start;
+ unsigned int end;
+ unsigned int size;
+ char buffer[BLOCK_BUFFER_MAX];
+ } MemoryBlock;
+
+ // ALIVE
+ typedef struct _ALIVE {
+ BOOL flag;
+ int count;
+ BOOL alive;
+ } ALIVE;
+
+ enum class DISPATCHING_MODE {
+ EAS = 1,
+ Local = 2
+ };
+
+ enum class IDNEXER_OPERATION_MODE {
+ Normal = 1,
+ Clear_Out = 2,
+ Cold_Run = 2,
+ Start = 10,
+ Stop = 11,
+ Pause = 12,
+ Resume = 13,
+ Abort = 14,
+ Cancel = 15,
+ };
+
+ enum class VCR_Reply_Code {
+ OK = 1,
+ NG,
+ Job_Data_Request,
+ VCR_Mismatch
+ };
+
+ // Robot cmd param
+#define ROBOT_CMD_PARAM_SIZE 16 /* 防止以后修改ROBOT_CMD_PARAM为不是4的整数倍 */
+ typedef struct _ROBOT_CMD_PARAM {
+ short sequenceNo;
+ short rcmd;
+ short armNo;
+ short getPosition;
+ short putPosition;
+ short getSlotNo;
+ short putSlotNo;
+ short subCmd;
+ } ROBOT_CMD_PARAM;
+
+ enum class RCMD {
+ Robot_home = 1,
+ Transfer,
+ Move,
+ Get,
+ Put,
+ One_Action_Exchange,
+ Two_Action_Exchange,
+ Command_Clear,
+ Batch_get,
+ Batch_put
+ };
+
+ enum class ROBOT_TASK_STATE {
+ Ready = 0,
+ Running,
+ Picking,
+ Placing,
+ Restoring,
+ Error,
+ Abort,
+ Completed
+ };
+
+ enum class ROBOT_STATUS {
+ Setup = 0,
+ Idle,
+ Run,
+ Pause,
+ Stop,
+ Moving,
+ };
+
+ enum class ROBOT_POSITION {
+ Port1 = 0,
+ Port2,
+ Port3,
+ Port4,
+ Aligner,
+ Fliper,
+ Bonder1,
+ Bonder2,
+ Bake,
+ Cooling,
+ Measurement
+ };
+
+ /* Indexer Monitoring Status */
+ /* Robot Monitoring Data */
+ typedef struct _ROBOT_MONITORING_DATA {
+ ROBOT_STATUS status;
+ ROBOT_POSITION position;
+ BOOL armState[2];
+ } ROBOT_MONITORING_DATA, RMDATA;
+
+ /* 工艺(加工处理)状态 */
+ enum class PROCESS_STATE {
+ Ready = 0,
+ Processing,
+ Complete,
+ Error
+ };
+
+ /* EQ Data changed code */
+#define EDCC_FETCHOUT_JOB 1000 /* 取片 */
+#define EDCC_STORED_JOB 1001 /* 放片 */
}
--
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