From 5cf5e464a5891c8eb62aafadfce0d204fdc79b02 Mon Sep 17 00:00:00 2001
From: mrDarker <mr.darker@163.com>
Date: 星期四, 22 五月 2025 13:50:02 +0800
Subject: [PATCH] 1. 添加机械臂快速测试界面
---
SourceCode/Bond/Servo/CEFEM.cpp | 736 ++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1 files changed, 728 insertions(+), 8 deletions(-)
diff --git a/SourceCode/Bond/Servo/CEFEM.cpp b/SourceCode/Bond/Servo/CEFEM.cpp
index b77ed4a..b59945d 100644
--- a/SourceCode/Bond/Servo/CEFEM.cpp
+++ b/SourceCode/Bond/Servo/CEFEM.cpp
@@ -1,11 +1,27 @@
#include "stdafx.h"
#include "CEFEM.h"
+#include "Log.h"
+
+#define ADD_EQ_CASSETTE_TRANSFER_STATE_STEP(name,ws,index,psd) { \
+ CEqCassetteTransferStateStep* pStep = new CEqCassetteTransferStateStep(); \
+ pStep->setName(name); \
+ pStep->setWriteSignalDev(ws); \
+ pStep->setPortStatusDev(psd); \
+ if (addStep(index, pStep) != 0) { \
+ delete pStep; \
+ } \
+}
namespace SERVO {
CEFEM::CEFEM() : CEquipment()
{
-
+ m_pPort[0] = nullptr;
+ m_pPort[1] = nullptr;
+ m_pPort[2] = nullptr;
+ m_pPort[3] = nullptr;
+ m_pAligner = nullptr;
+ m_pFliper = nullptr;
}
CEFEM::~CEFEM()
@@ -17,6 +33,302 @@
{
static char* pszName = "CEFEM";
return pszName;
+ }
+
+ void CEFEM::setPort(unsigned int index, CLoadPort* pPort)
+ {
+ if (index < 4) {
+ m_pPort[index] = pPort;
+ }
+ }
+
+ void CEFEM::setAligner(CAligner* pAligner)
+ {
+ m_pAligner = pAligner;
+ }
+
+ void CEFEM::setFliper(CFliper* pFliper)
+ {
+ m_pFliper = pFliper;
+ }
+
+ void CEFEM::setArmTray(unsigned int index, CArmTray* pArmTray)
+ {
+ if (index < 2) {
+ m_pArmTray[index] = pArmTray;
+ }
+ }
+
+ int CEFEM::robotCmd(ROBOT_CMD_PARAM& robotCmdParam, ONWRITED onWritedBlock/* = nullptr*/)
+ {
+ SERVO::CEqWriteStep* pStep = (SERVO::CEqWriteStep*)getStepWithName(STEP_EFEM_ROBOT_CMD);
+ if (pStep == nullptr) {
+ return -1;
+ }
+
+ LOGI("<CEFEM-%s>准备发送RobotCmd<%d>", m_strName.c_str(), (int)robotCmdParam.rcmd);
+ if (onWritedBlock != nullptr) {
+ pStep->writeDataEx((const char*)&robotCmdParam, ROBOT_CMD_PARAM_SIZE, onWritedBlock);
+ }
+ else {
+ pStep->writeDataEx((const char*)&robotCmdParam, ROBOT_CMD_PARAM_SIZE, [&](int code) -> int {
+ if (code == WOK) {
+ LOGI("<CEFEM-%s>发送RobotCmd成功.", m_strName.c_str());
+ }
+ else {
+ LOGI("<CEFEM-%s>发送RobotCmd失败，code:%d", m_strName.c_str(), code);
+ }
+
+ return 0;
+ });
+ }
+
+ return 0;
+ }
+
+ int CEFEM::robotCmds(ROBOT_CMD_PARAM* robotCmdParam, unsigned int count, ONWRITED onWritedBlock/* = nullptr*/)
+ {
+ SERVO::CEqWriteStep* pStep = (SERVO::CEqWriteStep*)getStepWithName(STEP_EFEM_ROBOT_CMD);
+ if (pStep == nullptr) {
+ return -1;
+ }
+
+
+ // 平铺到内存中，如果ROBOT_CMD_PARAM不是4的整数倍，只能一个一个复制
+ std::string strLog = "准备发送RobotCmds<";
+ char szBuffer[ROBOT_CMD_PARAM_SIZE * 4];
+ for (int i = 0; i < min(4, count); i++) {
+ memcpy(&szBuffer[i * ROBOT_CMD_PARAM_SIZE], (robotCmdParam + i), ROBOT_CMD_PARAM_SIZE);
+ strLog += std::to_string((robotCmdParam + i)->rcmd);
+ strLog += ",";
+ LOGI("%d", (robotCmdParam + 1)->rcmd);
+ }
+ strLog += ">.";
+ LOGI("<CEFEM-%s>%s", m_strName.c_str(), strLog.c_str());
+
+
+ if (onWritedBlock != nullptr) {
+ pStep->writeDataEx(szBuffer, ROBOT_CMD_PARAM_SIZE * min(4, count), onWritedBlock);
+ }
+ else {
+ pStep->writeDataEx(szBuffer, ROBOT_CMD_PARAM_SIZE * min(4, count), [&](int code) -> int {
+ if (code == WOK) {
+ LOGI("<CEquipment-%s>发送RobotCmdS成功.", m_strName.c_str());
+ }
+ else {
+ LOGI("<CEquipment-%s>发送RobotCmds失败，code:%d", m_strName.c_str(), code);
+ }
+
+ return 0;
+ });
+ }
+
+ return 0;
+ }
+
+ int CEFEM::SendHome(int seq)
+ {
+ SERVO::ROBOT_CMD_PARAM cmd = {};
+ cmd.sequenceNo = static_cast<short>(seq);
+ cmd.rcmd = static_cast<short>(SERVO::RCMD::Robot_home);
+ return robotCmd(cmd);
+ }
+
+ int CEFEM::SendTransfer(int seq, int armNo, int fromPos, int toPos, int fromSlot, int toSlot)
+ {
+ SERVO::ROBOT_CMD_PARAM cmd = {};
+ cmd.sequenceNo = static_cast<short>(seq);
+ cmd.rcmd = static_cast<short>(SERVO::RCMD::Transfer);
+ cmd.armNo = static_cast<short>(armNo);
+ cmd.getPosition = static_cast<short>(fromPos);
+ cmd.getSlotNo = static_cast<short>(fromSlot);
+ cmd.putPosition = static_cast<short>(toPos);
+ cmd.putSlotNo = static_cast<short>(toSlot);
+ return robotCmd(cmd);
+ }
+
+ int CEFEM::SendMoveToGet(int seq, int armNo, int pos, int slot)
+ {
+ SERVO::ROBOT_CMD_PARAM cmd = {};
+ cmd.sequenceNo = static_cast<short>(seq);
+ cmd.rcmd = static_cast<short>(SERVO::RCMD::Move);
+ cmd.armNo = static_cast<short>(armNo);
+ cmd.getPosition = static_cast<short>(pos);
+ cmd.getSlotNo = static_cast<short>(slot);
+ cmd.subCmd = 1;
+ return robotCmd(cmd);
+ }
+
+ int CEFEM::SendMoveToPut(int seq, int armNo, int pos, int slot)
+ {
+ SERVO::ROBOT_CMD_PARAM cmd = {};
+ cmd.sequenceNo = static_cast<short>(seq);
+ cmd.rcmd = static_cast<short>(SERVO::RCMD::Move);
+ cmd.armNo = static_cast<short>(armNo);
+ cmd.putPosition = static_cast<short>(pos);
+ cmd.putSlotNo = static_cast<short>(slot);
+ cmd.subCmd = 2;
+ return robotCmd(cmd);
+ }
+
+ int CEFEM::SendGet(int seq, int armNo, int pos, int slot)
+ {
+ SERVO::ROBOT_CMD_PARAM cmd = {};
+ cmd.sequenceNo = static_cast<short>(seq);
+ cmd.rcmd = static_cast<short>(SERVO::RCMD::Get);
+ cmd.armNo = static_cast<short>(armNo);
+ cmd.getPosition = static_cast<short>(pos);
+ cmd.getSlotNo = static_cast<short>(slot);
+ return robotCmd(cmd);
+ }
+
+ int CEFEM::SendPut(int seq, int armNo, int pos, int slot)
+ {
+ SERVO::ROBOT_CMD_PARAM cmd = {};
+ cmd.sequenceNo = static_cast<short>(seq);
+ cmd.rcmd = static_cast<short>(SERVO::RCMD::Put);
+ cmd.armNo = static_cast<short>(armNo);
+ cmd.putPosition = static_cast<short>(pos);
+ cmd.putSlotNo = static_cast<short>(slot);
+ return robotCmd(cmd);
+ }
+
+ int CEFEM::SendExchange(int seq, int armNo, int pos, int getSlot, int putSlot)
+ {
+ SERVO::ROBOT_CMD_PARAM cmd = {};
+ cmd.sequenceNo = static_cast<short>(seq);
+ cmd.rcmd = static_cast<short>(SERVO::RCMD::One_Action_Exchange);
+ cmd.armNo = static_cast<short>(armNo);
+ cmd.getPosition = static_cast<short>(pos);
+ cmd.putPosition = static_cast<short>(pos);
+ cmd.getSlotNo = static_cast<short>(getSlot);
+ cmd.putSlotNo = static_cast<short>(putSlot);
+ return robotCmd(cmd);
+ }
+
+ int CEFEM::SendCommandClear(int seq)
+ {
+ SERVO::ROBOT_CMD_PARAM cmd = {};
+ cmd.sequenceNo = static_cast<short>(seq);
+ cmd.rcmd = static_cast<short>(SERVO::RCMD::Command_Clear);
+ return robotCmd(cmd);
+ }
+
+ int CEFEM::SendBatchGet(int seq, int getPos, int getSlot)
+ {
+ SERVO::ROBOT_CMD_PARAM cmd = {};
+ cmd.sequenceNo = static_cast<short>(seq);
+ cmd.rcmd = static_cast<short>(SERVO::RCMD::Batch_get);
+ cmd.armNo = ARM_ALL;
+ cmd.getPosition = static_cast<short>(getPos);
+ cmd.getSlotNo = static_cast<short>(getSlot);
+ return robotCmd(cmd);
+ }
+
+ int CEFEM::SendBatchPut(int seq, int putPos, int putSlot)
+ {
+ SERVO::ROBOT_CMD_PARAM cmd = {};
+ cmd.sequenceNo = static_cast<short>(seq);
+ cmd.rcmd = static_cast<short>(SERVO::RCMD::Batch_put);
+ cmd.armNo = ARM_ALL;
+ cmd.putPosition = static_cast<short>(putPos);
+ cmd.putSlotNo = static_cast<short>(putSlot);
+ return robotCmd(cmd);
+ }
+
+ int CEFEM::SendMoveToGetAndHome(int seq, int armNo, int getPos, int getSlot)
+ {
+ SERVO::ROBOT_CMD_PARAM cmds[2] = {};
+
+ // Move to Get
+ cmds[0].sequenceNo = static_cast<short>(seq);
+ cmds[0].rcmd = static_cast<short>(SERVO::RCMD::Move);
+ cmds[0].armNo = static_cast<short>(armNo);
+ cmds[0].getPosition = static_cast<short>(getPos);
+ cmds[0].getSlotNo = static_cast<short>(getSlot);
+ cmds[0].subCmd = 1;
+
+ // Home
+ cmds[1].sequenceNo = static_cast<short>(seq + 1);
+ cmds[1].rcmd = static_cast<short>(SERVO::RCMD::Robot_home);
+
+ return robotCmds(cmds, 2);
+ }
+
+ int CEFEM::SendMoveToPutAndHome(int seq, int armNo, int putPos, int putSlot)
+ {
+ SERVO::ROBOT_CMD_PARAM cmds[2] = {};
+
+ // Move to Put
+ cmds[0].sequenceNo = static_cast<short>(seq);
+ cmds[0].rcmd = static_cast<short>(SERVO::RCMD::Move);
+ cmds[0].armNo = static_cast<short>(armNo);
+ cmds[0].putPosition = static_cast<short>(putPos);
+ cmds[0].putSlotNo = static_cast<short>(putSlot);
+ cmds[0].subCmd = 2;
+
+ // Home
+ cmds[1].sequenceNo = static_cast<short>(seq + 1);
+ cmds[1].rcmd = static_cast<short>(SERVO::RCMD::Robot_home);
+
+ return robotCmds(cmds, 2);
+ }
+
+ int CEFEM::SendTransferAndHome(int seq, int armNo, int fromPos, int toPos, int fromSlot, int toSlot)
+ {
+ SERVO::ROBOT_CMD_PARAM cmds[2] = {};
+
+ // Transfer
+ cmds[0].sequenceNo = static_cast<short>(seq);
+ cmds[0].rcmd = static_cast<short>(SERVO::RCMD::Transfer);
+ cmds[0].armNo = static_cast<short>(armNo);
+ cmds[0].getPosition = static_cast<short>(fromPos);
+ cmds[0].getSlotNo = static_cast<short>(fromSlot);
+ cmds[0].putPosition = static_cast<short>(toPos);
+ cmds[0].putSlotNo = static_cast<short>(toSlot);
+
+ // Home
+ cmds[1].sequenceNo = static_cast<short>(seq + 1);
+ cmds[1].rcmd = static_cast<short>(SERVO::RCMD::Robot_home);
+
+ return robotCmds(cmds, 2);
+ }
+
+ int CEFEM::SendGetAndPut(int seq, int armNo, int getPos, int getSlot, int putPos, int putSlot)
+ {
+ SERVO::ROBOT_CMD_PARAM cmds[2] = {};
+
+ cmds[0].sequenceNo = static_cast<short>(seq);
+ cmds[0].rcmd = static_cast<short>(SERVO::RCMD::Get);
+ cmds[0].armNo = static_cast<short>(armNo);
+ cmds[0].getPosition = static_cast<short>(getPos);
+ cmds[0].getSlotNo = static_cast<short>(getSlot);
+
+ cmds[1].sequenceNo = static_cast<short>(seq + 1);
+ cmds[1].rcmd = static_cast<short>(SERVO::RCMD::Put);
+ cmds[1].armNo = static_cast<short>(armNo);
+ cmds[1].putPosition = static_cast<short>(putPos);
+ cmds[1].putSlotNo = static_cast<short>(putSlot);
+
+ return robotCmds(cmds, 2);
+ }
+
+ int CEFEM::SendPutAndHome(int seq, int armNo, int putPos, int putSlot)
+ {
+ SERVO::ROBOT_CMD_PARAM cmds[2] = {};
+
+ // Put
+ cmds[0].sequenceNo = static_cast<short>(seq);
+ cmds[0].rcmd = static_cast<short>(SERVO::RCMD::Put);
+ cmds[0].armNo = static_cast<short>(armNo);
+ cmds[0].putPosition = static_cast<short>(putPos);
+ cmds[0].putSlotNo = static_cast<short>(putSlot);
+
+ // Home
+ cmds[1].sequenceNo = static_cast<short>(seq + 1);
+ cmds[1].rcmd = static_cast<short>(SERVO::RCMD::Robot_home);
+
+ return robotCmds(cmds, 2);
}
void CEFEM::init()
@@ -36,8 +348,324 @@
LOGI("<CEFEM>initPins");
}
+ void CEFEM::initSteps()
+ {
+ CEquipment::initSteps();
+
+
+ {
+ // Eq mode
+ CEqModeStep* pStep = new CEqModeStep();
+ pStep->setName(STEP_MODE);
+ pStep->setWriteSignalDev(0x50);
+ pStep->setModeDev(0x5d7d);
+ if (addStep(STEP_ID_EQMODE_CHANGED, pStep) != 0) {
+ delete pStep;
+ }
+ }
+
+ {
+ // Eq Status
+ CEqStatusStep* pStep = new CEqStatusStep();
+ pStep->setName(STEP_STATUS);
+ pStep->setWriteSignalDev(0x51);
+ pStep->setStatusDev(0x5d59);
+ if (addStep(STEP_ID_EQSTATUS_CHANGED, pStep) != 0) {
+ delete pStep;
+ }
+ }
+
+ {
+ // Eq Alarm
+ static char* pszName[] = { STEP_ALARM_BLOCK1, STEP_ALARM_BLOCK2, STEP_ALARM_BLOCK3, STEP_ALARM_BLOCK4, STEP_ALARM_BLOCK5 };
+ static int dev[] = { 0x5f0e , 0x5f3b, 0x5f68, 0x5f95, 0x5fc2 };
+ static int writeSignalDev[] = { 0x52, 0x53, 0x54, 0x55, 0x56 };
+ static int addr[] = { STEP_ID_EQALARM1, STEP_ID_EQALARM2, STEP_ID_EQALARM3, STEP_ID_EQALARM4, STEP_ID_EQALARM5 };
+
+ for (int i = 0; i < 5; i++) {
+ CEqAlarmStep* pStep = new CEqAlarmStep();
+ pStep->setName(pszName[i]);
+ pStep->setWriteSignalDev(writeSignalDev[i]);
+ pStep->setAlarmDev(dev[i]);
+ if (addStep(addr[i], pStep) != 0) {
+ delete pStep;
+ }
+ }
+
+ }
+
+ {
+ // eq process
+ CEqProcessStep* pStep = new CEqProcessStep();
+ pStep->setName(STEP_PROCESS);
+ pStep->setWriteSignalDev(0x57);
+ pStep->setProcessDev(0x6b55);
+ if (addStep(STEP_ID_PROCESS_DATA_REPORT, pStep) != 0) {
+ delete pStep;
+ }
+ }
+
+ {
+ // eq cim mode change
+ CEqCimModeChangeStep* pStep = new CEqCimModeChangeStep();
+ pStep->setName(STEP_CIM_MODE_CHANGE);
+ pStep->setWriteSignalDev(0x70);
+ pStep->setCimModeDev(0x15);
+ if (addStep(STEP_ID_CIMMODE_CHANGED_CMD_REPLY, pStep) != 0) {
+ delete pStep;
+ }
+ }
+
+ {
+ // eq cim message
+ CEqCimMessageCmdStep* pStep = new CEqCimMessageCmdStep();
+ pStep->setName(STEP_CIM_MESSAGE_CMD);
+ pStep->setWriteSignalDev(0x71);
+ pStep->setCimMessageDev(0x0);
+ if (addStep(STEP_ID_CIM_MSG_SET_CMD_REPLY, pStep) != 0) {
+ delete pStep;
+ }
+ }
+
+
+ {
+ // CIM Message Confirm
+ CEqReadIntStep* pStep = new CEqReadIntStep(__INT32, 0x5f80);
+ pStep->setName(STEP_EQ_CIM_MESSAGE_CONFIRM);
+ pStep->setWriteSignalDev(0x59);
+ if (addStep(STEP_ID_CIM_MSG_CONFIRM_REPORT, pStep) != 0) {
+ delete pStep;
+ }
+ }
+
+ {
+ // VCR1 Event Report
+ CEqVcrEventStep* pStep = new CEqVcrEventStep();
+ pStep->setName(STEP_EQ_VCR1_EVENT_REPORT);
+ pStep->setWriteSignalDev(0x4a);
+ pStep->setReturnDev(0x91e);
+ pStep->setVcrEventReportDev(0x5fef);
+ if (addStep(STEP_ID_VCR1_EVENT_REPORT, pStep) != 0) {
+ delete pStep;
+ }
+ }
+
+ {
+ // eq cim message clear
+ CEqCimMessageClearStep* pStep = new CEqCimMessageClearStep();
+ pStep->setName(STEP_CIM_MESSAGE_CLEAR);
+ pStep->setWriteSignalDev(0x72);
+ pStep->setClearCimMessageDev(0x13);
+ if (addStep(STEP_ID_CIM_MSG_CLEAR_CMD_REPLY, pStep) != 0) {
+ delete pStep;
+ }
+ }
+
+ {
+ // datetime set cmd
+ CEqDateTimeSetCmdStep* pStep = new CEqDateTimeSetCmdStep();
+ pStep->setName(STEP_DATETIME_SET_CMD);
+ pStep->setWriteSignalDev(0x73);
+ pStep->setDateTimeDev(0x16);
+ if (addStep(STEP_ID_DATETIME_SET_CMD_REPLY, pStep) != 0) {
+ delete pStep;
+ }
+ }
+
+ {
+ // vcr enable
+ CEqVCREnableStep* pStep = new CEqVCREnableStep();
+ pStep->setName(STEP_EQ_VCR_ENABLE);
+ pStep->setWriteSignalDev(0x74);
+ pStep->setEqVCRModeDev(0x1F);
+ if (addStep(STEP_ID_VCR_ENABLE_CMD_REPLY, pStep) != 0) {
+ delete pStep;
+ }
+ }
+
+ {
+ // eq mode change
+ CEqModeChangeStep* pStep = new CEqModeChangeStep();
+ pStep->setName(STEP_EQ_MODE_CHANGE);
+ pStep->setWriteSignalDev(0x75);
+ pStep->setEqModeDev(0x1E);
+ if (addStep(STEP_ID_EQMODE_CHANGE_CMD_REPLY, pStep) != 0) {
+ delete pStep;
+ }
+ }
+
+ {
+ // current recipe change
+ CEqCurrentRecipeChangeStep* pStep = new CEqCurrentRecipeChangeStep();
+ pStep->setName(STEP_EQ_RURRENT_RECIPE_CHANGE);
+ pStep->setWriteSignalDev(0x48);
+ pStep->setDataDev(0x6850);
+ if (addStep(STEP_ID_CURRENT_RECIPE_CHANGE_REPORT, pStep) != 0) {
+ delete pStep;
+ }
+ }
+
+ {
+ // 请求主配方列表的step
+ CEqWriteStep* pStep = new CEqWriteStep();
+ pStep->setName(STEP_EQ_MASTER_RECIPE_LIST_REQ);
+ pStep->setWriteSignalDev(0x66);
+ pStep->setDataDev(0x90a);
+ if (addStep(STEP_ID_MASTER_RECIPE_LIST_CMD_REPLY, pStep) != 0) {
+ delete pStep;
+ }
+ }
+
+ // CEqCassetteTranserStateStep
+ ADD_EQ_CASSETTE_TRANSFER_STATE_STEP(STEP_EQ_P1_CASSETTE_EMPTY, 0xd8,
+ STEP_ID_PORT1_CASSETTIE_EMPTY, 0x6050);
+ ADD_EQ_CASSETTE_TRANSFER_STATE_STEP(STEP_EQ_P1_CASSETTE_LOAD_EADY, 0xe0,
+ STEP_ID_PORT1_CASSETTIE_LOAD_READY, 0x6050);
+ ADD_EQ_CASSETTE_TRANSFER_STATE_STEP(STEP_EQ_P1_CASSETTE_LOADED, 0xe8,
+ STEP_ID_PORT1_CASSETTIE_LOADED, 0x6050);
+ ADD_EQ_CASSETTE_TRANSFER_STATE_STEP(STEP_EQ_P1_CASSETTE_INUSE, 0xf0,
+ STEP_ID_PORT1_CASSETTIE_INUSE, 0x6050);
+ ADD_EQ_CASSETTE_TRANSFER_STATE_STEP(STEP_EQ_P1_CASSETTE_UNLOAD_EADY, 0xf8,
+ STEP_ID_PORT1_CASSETTIE_UNLOAD_READY, 0x60f50);
+ ADD_EQ_CASSETTE_TRANSFER_STATE_STEP(STEP_EQ_P1_CASSETTE_BLOCKED, 0x100,
+ STEP_ID_PORT1_CASSETTIE_BLOCKED, 0x6050);
+ ADD_EQ_CASSETTE_TRANSFER_STATE_STEP(STEP_EQ_P2_CASSETTE_EMPTY, 0xd9,
+ STEP_ID_PORT2_CASSETTIE_EMPTY, 0x6070);
+ ADD_EQ_CASSETTE_TRANSFER_STATE_STEP(STEP_EQ_P2_CASSETTE_LOAD_EADY, 0xe1,
+ STEP_ID_PORT2_CASSETTIE_LOAD_READY, 0x6070);
+ ADD_EQ_CASSETTE_TRANSFER_STATE_STEP(STEP_EQ_P2_CASSETTE_LOADED, 0xe9,
+ STEP_ID_PORT2_CASSETTIE_LOADED, 0x6070);
+ ADD_EQ_CASSETTE_TRANSFER_STATE_STEP(STEP_EQ_P2_CASSETTE_INUSE, 0xf1,
+ STEP_ID_PORT2_CASSETTIE_INUSE, 0x6070);
+ ADD_EQ_CASSETTE_TRANSFER_STATE_STEP(STEP_EQ_P2_CASSETTE_UNLOAD_EADY, 0xf9,
+ STEP_ID_PORT2_CASSETTIE_UNLOAD_READY, 0x6070);
+ ADD_EQ_CASSETTE_TRANSFER_STATE_STEP(STEP_EQ_P2_CASSETTE_BLOCKED, 0x101,
+ STEP_ID_PORT2_CASSETTIE_BLOCKED, 0x6070);
+ ADD_EQ_CASSETTE_TRANSFER_STATE_STEP(STEP_EQ_P3_CASSETTE_EMPTY, 0xda,
+ STEP_ID_PORT3_CASSETTIE_EMPTY, 0x6090);
+ ADD_EQ_CASSETTE_TRANSFER_STATE_STEP(STEP_EQ_P3_CASSETTE_LOAD_EADY, 0xe2,
+ STEP_ID_PORT3_CASSETTIE_LOAD_READY, 0x6090);
+ ADD_EQ_CASSETTE_TRANSFER_STATE_STEP(STEP_EQ_P3_CASSETTE_LOADED, 0xea,
+ STEP_ID_PORT3_CASSETTIE_INUSE, 0x6090);
+ ADD_EQ_CASSETTE_TRANSFER_STATE_STEP(STEP_EQ_P3_CASSETTE_INUSE, 0xf2,
+ STEP_ID_PORT3_CASSETTIE_INUSE, 0x6090);
+ ADD_EQ_CASSETTE_TRANSFER_STATE_STEP(STEP_EQ_P3_CASSETTE_UNLOAD_EADY, 0xfa,
+ STEP_ID_PORT3_CASSETTIE_UNLOAD_READY, 0x6090);
+ ADD_EQ_CASSETTE_TRANSFER_STATE_STEP(STEP_EQ_P3_CASSETTE_BLOCKED, 0x102,
+ STEP_ID_PORT3_CASSETTIE_BLOCKED, 0x6090);
+ ADD_EQ_CASSETTE_TRANSFER_STATE_STEP(STEP_EQ_P4_CASSETTE_EMPTY, 0xdb,
+ STEP_ID_PORT4_CASSETTIE_EMPTY, 0x60b0);
+ ADD_EQ_CASSETTE_TRANSFER_STATE_STEP(STEP_EQ_P4_CASSETTE_LOAD_EADY, 0xe3,
+ STEP_ID_PORT4_CASSETTIE_LOAD_READY, 0x60b0);
+ ADD_EQ_CASSETTE_TRANSFER_STATE_STEP(STEP_EQ_P4_CASSETTE_LOADED, 0xeb,
+ STEP_ID_PORT4_CASSETTIE_LOADED, 0x60b0);
+ ADD_EQ_CASSETTE_TRANSFER_STATE_STEP(STEP_EQ_P4_CASSETTE_INUSE, 0xf3,
+ STEP_ID_PORT4_CASSETTIE_INUSE, 0x60b0);
+ ADD_EQ_CASSETTE_TRANSFER_STATE_STEP(STEP_EQ_P4_CASSETTE_UNLOAD_EADY, 0xfb,
+ STEP_ID_PORT4_CASSETTIE_UNLOAD_READY, 0x60b0);
+ ADD_EQ_CASSETTE_TRANSFER_STATE_STEP(STEP_EQ_P4_CASSETTE_BLOCKED, 0x103,
+ STEP_ID_PORT4_CASSETTIE_BLOCKED, 0x60b0);
+
+ {
+ // Received Job Report Upstream#1~9
+ char szBuffer[256];
+ for (int i = 0; i < 9; i++) {
+ CEqReadStep* pStep = new CEqReadStep(0x4c90 + 320 * i, 320 * 2,
+ [&](void* pFrom, int code, const char* pszData, size_t size) -> int {
+ if (code == ROK && pszData != nullptr && size > 0) {
+ int port = (int)(__int64)((CEqReadStep*)pFrom)->getProp("Port");
+ if (port > 0) {
+ decodeFetchedOutJobReport((CStep*)pFrom, port, pszData, size);
+ }
+ }
+ return -1;
+ });
+ sprintf_s(szBuffer, "%s%d", STEP_EQ_RECEIVED_JOBn, i + 1);
+ pStep->setName(szBuffer);
+ pStep->setProp("Upstream", (void*)(__int64)(i + 1));
+ pStep->setWriteSignalDev(0x0 + i);
+ if (addStep(STEP_ID_FETCHED_OUT_JOB_REPORT1 + i, pStep) != 0) {
+ delete pStep;
+ }
+ }
+ }
+
+ {
+ // Fetched Out Job Report #1~15
+ char szBuffer[256];
+ for (int i = 0; i < 15; i++) {
+ CEqReadStep* pStep = new CEqReadStep(0x5c31 + 18 * i, 18 * 2,
+ [&](void* pFrom, int code, const char* pszData, size_t size) -> int {
+ if (code == ROK && pszData != nullptr && size > 0) {
+ int port = (int)(__int64)((CEqReadStep*)pFrom)->getProp("Port");
+ if (port > 0) {
+ decodeFetchedOutJobReport((CStep*)pFrom, port, pszData, size);
+ }
+ }
+ return -1;
+ });
+ sprintf_s(szBuffer, "%s%d", STEP_EQ_FETCHED_OUT_JOBn, i+1);
+ pStep->setName(szBuffer);
+ pStep->setProp("Port", (void*)(__int64)(i + 1));
+ pStep->setWriteSignalDev(0x023 + i);
+ if (addStep(STEP_ID_FETCHED_OUT_JOB_REPORT1 + i, pStep) != 0) {
+ delete pStep;
+ }
+ }
+ }
+
+ {
+ // Store Job Report #1~15
+ char szBuffer[256];
+ for (int i = 0; i < 15; i++) {
+ CEqReadStep* pStep = new CEqReadStep(0x5b23 + 18 * i, 18 * 2,
+ [&](void* pFrom, int code, const char* pszData, size_t size) -> int {
+ if (code == ROK && pszData != nullptr && size > 0) {
+ int port = (int)(__int64)((CEqReadStep*)pFrom)->getProp("Port");
+ if (port > 0) {
+ decodeStoredJobReport((CStep*)pFrom, port, pszData, size);
+ }
+ }
+ return -1;
+ });
+ sprintf_s(szBuffer, "%s%d", STEP_EQ_STORED_JOBn, i + 1);
+ pStep->setName(szBuffer);
+ pStep->setProp("Port", (void*)(__int64)(i + 1));
+ pStep->setWriteSignalDev(0x014 + i);
+ if (addStep(STEP_ID_STORE_JOB_REPORT1 + i, pStep) != 0) {
+ delete pStep;
+ }
+ }
+ }
+
+ {
+ // Dispatching Mode Change Command
+ CEqWriteStep* pStep = new CEqWriteStep();
+ pStep->setName(STEP_EQ_DISPATCHINT_MODE_CHANGE);
+ pStep->setWriteSignalDev(0x071);
+ pStep->setDataDev(0x5c6);
+ if (addStep(STEP_ID_DISPATCHING_MODE_CHANGE_REPLY, pStep) != 0) {
+ delete pStep;
+ }
+ }
+
+ {
+ // Robot CMD
+ CEqWriteStep* pStep = new CEqWriteStep();
+ pStep->setName(STEP_EFEM_ROBOT_CMD);
+ pStep->setWriteSignalDev(0x14D);
+ pStep->setDataDev(0x90a);
+ if (addStep(STEP_ID_ROBOT_CMD_REPLY, pStep) != 0) {
+ delete pStep;
+ }
+ }
+ }
+
int CEFEM::onStepEvent(CStep* pStep, int code)
{
+ int nRet = CEquipment::onStepEvent(pStep, code);
+ if (nRet > 0) return nRet;
+
if (code == STEP_EVENT_READDATA) {
if (isCassetteTransferStateStep(pStep)) {
SERVO::CEqCassetteTransferStateStep* pEqCassetteStep = (SERVO::CEqCassetteTransferStateStep*)pStep;
@@ -45,13 +673,6 @@
if (id == STEP_ID_PORT1_CASSETTIE_EMPTY) {
}
-/*
- #define STEP_ID_PORT1_CASSETTIE_LOAD_READY 0x420
- #define STEP_ID_PORT1_CASSETTIE_LOADED 0x428
- #define STEP_ID_PORT1_CASSETTIE_INUSE 0x430
- #define STEP_ID_PORT1_CASSETTIE_UNLOAD_READY 0x438
- #define STEP_ID_PORT1_CASSETTIE_BLOCKED 0x440
-*/
}
}
@@ -88,4 +709,103 @@
return m_glassList.empty();
}
+
+ void CEFEM::onReceiveLBData(const char* pszData, size_t size)
+ {
+ __super::onReceiveLBData(pszData, size);
+
+ for (unsigned int i = 0; i < 4; i++) {
+ if (m_pPort[i] != nullptr) {
+ m_pPort[i]->onReceiveLBData(pszData, size);
+ }
+ }
+ }
+
+ int CEFEM::onReceivedJob(int port, CJobDataS* pJobDataS)
+ {
+ m_pPort[0]->onReceivedJob(port, pJobDataS);
+ m_pPort[1]->onReceivedJob(port, pJobDataS);
+ m_pPort[2]->onReceivedJob(port, pJobDataS);
+ m_pPort[3]->onReceivedJob(port, pJobDataS);
+ m_pArmTray[0]->onReceivedJob(port, pJobDataS);
+ m_pArmTray[1]->onReceivedJob(port, pJobDataS);
+ m_pAligner->onReceivedJob(port, pJobDataS);
+ m_pFliper->onReceivedJob(port, pJobDataS);
+
+ return 0;
+ }
+
+ int CEFEM::onSentOutJob(int port, CJobDataS* pJobDataS)
+ {
+ m_pPort[0]->onSentOutJob(port, pJobDataS);
+ m_pPort[1]->onSentOutJob(port, pJobDataS);
+ m_pPort[2]->onSentOutJob(port, pJobDataS);
+ m_pPort[3]->onSentOutJob(port, pJobDataS);
+ m_pArmTray[0]->onSentOutJob(port, pJobDataS);
+ m_pArmTray[1]->onSentOutJob(port, pJobDataS);
+ m_pAligner->onSentOutJob(port, pJobDataS);
+ m_pFliper->onSentOutJob(port, pJobDataS);
+
+ return 0;
+ }
+
+ int CEFEM::onFetchedOutJob(int port, CJobDataB* pJobDataB)
+ {
+ if (port == 1) {
+ return m_pPort[0]->onFetchedOutJob(port, pJobDataB);
+ }
+ if (port == 2) {
+ return m_pPort[1]->onFetchedOutJob(port, pJobDataB);
+ }
+ if (port == 3) {
+ return m_pPort[2]->onFetchedOutJob(port, pJobDataB);
+ }
+ if (port == 4) {
+ return m_pPort[3]->onFetchedOutJob(port, pJobDataB);
+ }
+ if (port == 5) {
+ return m_pArmTray[0]->onFetchedOutJob(port, pJobDataB);
+ }
+ if (port == 6) {
+ return m_pArmTray[1]->onFetchedOutJob(port, pJobDataB);
+ }
+ if (port == 7) {
+ return m_pAligner->onFetchedOutJob(port, pJobDataB);
+ }
+ if (port == 8) {
+ return m_pFliper->onFetchedOutJob(port, pJobDataB);
+ }
+
+ return -1;
+ }
+
+ int CEFEM::onStoredJob(int port, CJobDataB* pJobDataB)
+ {
+ if (port == 1) {
+ return m_pPort[0]->onStoredJob(port, pJobDataB);
+ }
+ if (port == 2) {
+ return m_pPort[1]->onStoredJob(port, pJobDataB);
+ }
+ if (port == 3) {
+ return m_pPort[2]->onStoredJob(port, pJobDataB);
+ }
+ if (port == 4) {
+ return m_pPort[3]->onStoredJob(port, pJobDataB);
+ }
+ if (port == 5) {
+ return m_pArmTray[0]->onStoredJob(port, pJobDataB);
+ }
+ if (port == 6) {
+ return m_pArmTray[1]->onStoredJob(port, pJobDataB);
+ }
+ if (port == 7) {
+ return m_pAligner->onStoredJob(port, pJobDataB);
+ }
+ if (port == 8) {
+ return m_pFliper->onStoredJob(port, pJobDataB);
+ }
+
+ return -1;
+ }
}
--
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