From 68b716b29389a08dd026ddbe51a9c91dfe52e68a Mon Sep 17 00:00:00 2001
From: mrDarker <mr.darker@163.com>
Date: 星期三, 21 五月 2025 16:14:31 +0800
Subject: [PATCH] 1. 补全Robot命令界面的激活状态 2. 添加快捷方式的命令调用
---
SourceCode/Bond/Servo/CEFEM.cpp | 205 +++++++++++++++++++++++++++++++++++++++++
SourceCode/Bond/Servo/CEFEM.h | 17 +++
SourceCode/Bond/Servo/CEquipment.h | 1
SourceCode/Bond/Servo/PageRobotCmd.cpp | 22 +++
4 files changed, 241 insertions(+), 4 deletions(-)
diff --git a/SourceCode/Bond/Servo/CEFEM.cpp b/SourceCode/Bond/Servo/CEFEM.cpp
index 3a277f3..b59945d 100644
--- a/SourceCode/Bond/Servo/CEFEM.cpp
+++ b/SourceCode/Bond/Servo/CEFEM.cpp
@@ -126,6 +126,211 @@
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()
{
CEquipment::init();
diff --git a/SourceCode/Bond/Servo/CEFEM.h b/SourceCode/Bond/Servo/CEFEM.h
index 4a53122..5607ec3 100644
--- a/SourceCode/Bond/Servo/CEFEM.h
+++ b/SourceCode/Bond/Servo/CEFEM.h
@@ -40,6 +40,23 @@
int robotCmd(ROBOT_CMD_PARAM& robotCmdParam, ONWRITED onWritedBlock = nullptr);
int robotCmds(ROBOT_CMD_PARAM* robotCmdParam, unsigned int count, ONWRITED onWritedBlock = nullptr);
+ // 快捷封装
+ int SendHome(int seq);
+ int SendTransfer(int seq, int armNo, int fromPos, int toPos, int fromSlot, int toSlot);
+ int SendMoveToGet(int seq, int armNo, int pos, int slot);
+ int SendMoveToPut(int seq, int armNo, int pos, int slot);
+ int SendGet(int seq, int armNo, int pos, int slot);
+ int SendPut(int seq, int armNo, int pos, int slot);
+ int SendExchange(int seq, int armNo, int pos, int getSlot, int putSlot);
+ int SendCommandClear(int seq);
+ int SendBatchGet(int seq, int getPos, int getSlot);
+ int SendBatchPut(int seq, int putPos, int putSlot);
+ int SendMoveToGetAndHome(int seq, int armNo, int getPos, int getSlot);
+ int SendMoveToPutAndHome(int seq, int armNo, int putPos, int putSlot);
+ int SendTransferAndHome(int seq, int armNo, int fromPos, int toPos, int fromSlot, int toSlot);
+ int SendGetAndPut(int seq, int armNo, int getPos, int getSlot, int putPos, int putSlot);
+ int SendPutAndHome(int seq, int armNo, int putPos, int putSlot);
+
private:
CLoadPort* m_pPort[4];
CAligner* m_pAligner;
diff --git a/SourceCode/Bond/Servo/CEquipment.h b/SourceCode/Bond/Servo/CEquipment.h
index 4e8f6db..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;
diff --git a/SourceCode/Bond/Servo/PageRobotCmd.cpp b/SourceCode/Bond/Servo/PageRobotCmd.cpp
index 52dcb29..001135a 100644
--- a/SourceCode/Bond/Servo/PageRobotCmd.cpp
+++ b/SourceCode/Bond/Servo/PageRobotCmd.cpp
@@ -32,6 +32,10 @@
{ SERVO::RCMD::Get, { true, true, false, true, false, false } },
{ SERVO::RCMD::Put, { true, false, true, false, true, false } },
{ SERVO::RCMD::One_Action_Exchange, { true, true, true, true, true, false } },
+ { SERVO::RCMD::Two_Action_Exchange, { true, true, true, true, true, false } },
+ { SERVO::RCMD::Command_Clear, { false, false, false, false, false, false } },
+ { SERVO::RCMD::Batch_get, { false, true, false, true, false, false } },
+ { SERVO::RCMD::Batch_put, { false, false, true, false, true, false } }
};
IMPLEMENT_DYNAMIC(CPageRobotCmd, CDialogEx)
@@ -103,14 +107,16 @@
}
const RCMDFieldMask& mask = it->second;
- if (mask.useArm) param.armNo = static_cast<short>(m_nArmNo);
+ if (mask.useArm) param.armNo = static_cast<short>(m_nArmNo + 1);
if (mask.useGetPos) param.getPosition = static_cast<short>(m_nGetPosition + 1);
if (mask.usePutPos) param.putPosition = static_cast<short>(m_nPutPosition + 1);
if (mask.useGetSlot) param.getSlotNo = static_cast<short>(m_nGetSlotNo + 1);
if (mask.usePutSlot) param.putSlotNo = static_cast<short>(m_nPutSlotNo + 1);
if (mask.useSubCmd) param.subCmd = static_cast<short>(m_nSubCmd + 1);
- if (param.rcmd == static_cast<short>(SERVO::RCMD::Move)) {
+ // 鐗规畩鍛戒护澶勭悊
+ const auto enRcmd = static_cast<SERVO::RCMD>(m_nRcmd + 1);
+ if (SERVO::RCMD::Move == enRcmd) {
if (m_nSubCmd == 0) {
param.putPosition = 0;
param.putSlotNo = 0;
@@ -119,6 +125,9 @@
param.getPosition = 0;
param.getSlotNo = 0;
}
+ }
+ else if (SERVO::RCMD::Batch_get == enRcmd || SERVO::RCMD::Batch_put == enRcmd) {
+ param.armNo = ARM_ALL;
}
return param;
@@ -220,9 +229,14 @@
void CPageRobotCmd::UpdateSlotList(CComboBox* pComboDevice, CComboBox* pComboSlot)
{
- if (pComboDevice == nullptr || pComboSlot == nullptr) return;
+ if (pComboDevice == nullptr || pComboSlot == nullptr) {
+ return;
+ }
+
int nSelIndex = pComboDevice->GetCurSel();
- if (nSelIndex < 0) return;
+ if (nSelIndex < 0) {
+ return;
+ }
CString strDeviceName;
pComboDevice->GetLBText(nSelIndex, strDeviceName);
--
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