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/CEquipment.h | 36 +++++++++++++++++++++++++++++++++++-
1 files changed, 35 insertions(+), 1 deletions(-)
diff --git a/SourceCode/Bond/Servo/CEquipment.h b/SourceCode/Bond/Servo/CEquipment.h
index 831a3df..8b4db97 100644
--- a/SourceCode/Bond/Servo/CEquipment.h
+++ b/SourceCode/Bond/Servo/CEquipment.h
@@ -38,6 +38,7 @@
#define BLOCK_BUFFER_MAX 1024
#define ALIVE_TIMEOUT 15
#define VCR_MAX 1
+#define ARM_ALL 99
typedef std::function<void(void* pEiuipment, BOOL bAlive)> ONALIVE;
typedef std::function<void(void* pEiuipment, int code)> ONDATACHANGED;
@@ -67,6 +68,37 @@
int count;
BOOL alive;
} ALIVE;
+
+ enum DISPATCHING_MODE {
+ EAS = 1,
+ Local = 2
+ };
+
+ enum RCMD {
+ Robot_home = 1,
+ Transfer,
+ Move,
+ Get,
+ Put,
+ One_Action_Exchange,
+ Two_Action_Exchange,
+ Command_Clear,
+ Batch_get,
+ Batch_put
+ };
+
+ // 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;
class CEquipment
{
@@ -128,6 +160,7 @@
virtual int onStoredJob(int port, CJobDataB* pJobDataB);
virtual int onProcessData(CProcessData* pProcessData);
void getGlassList(std::list<CGlass*>& list);
+ CGlass* getGlassFromList(const char* pszId);
CGlass* getFrontGlass();
BOOL removeClass(CGlass* pGlass);
bool isAlarmStep(SERVO::CStep* pStep);
@@ -145,7 +178,8 @@
int setCimMessage(const char* pszMessage, short id, short nTouchPanelNo);
int clearCimMessage(short id, short nTouchPanelNo);
int setDateTime(short year, short month, short day, short hour, short minute, short second);
-
+ int setDispatchingMode(DISPATCHING_MODE mode, ONWRITED onWritedBlock = nullptr);
+
// 请求主配方列表
// unitNo: 0:local; Others:unit No
int masterRecipeListRequest(short unitNo);
--
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