From 6b80da0fe2a6053b39802a6701db6df0ab1fde24 Mon Sep 17 00:00:00 2001
From: mrDarker <mr.darker@163.com>
Date: 星期五, 05 九月 2025 17:27:35 +0800
Subject: [PATCH] 1. 添加设备配方参数显示界面
---
SourceCode/Bond/Servo/CEFEM.cpp | 394 +++++++++++++++++++++++++++++++++++++------------------
1 files changed, 264 insertions(+), 130 deletions(-)
diff --git a/SourceCode/Bond/Servo/CEFEM.cpp b/SourceCode/Bond/Servo/CEFEM.cpp
index 05e7074..39df4b4 100644
--- a/SourceCode/Bond/Servo/CEFEM.cpp
+++ b/SourceCode/Bond/Servo/CEFEM.cpp
@@ -22,17 +22,34 @@
m_pPort[3] = nullptr;
m_pAligner = nullptr;
m_pFliper = nullptr;
+ m_robotData.status = ROBOT_STATUS::Setup;
+ m_robotData.position = ROBOT_POSITION::Port1;
+ m_robotData.armState[0] = FALSE;
+ m_robotData.armState[1] = FALSE;
+ m_pActiveContext = nullptr;
}
CEFEM::~CEFEM()
{
-
+ if (m_pActiveContext != nullptr) {
+ m_pActiveContext->release();
+ m_pActiveContext = nullptr;
+ }
}
const char* CEFEM::getClassName()
{
static char* pszName = "CEFEM";
return pszName;
+ }
+
+ void CEFEM::setContext(CContext* pContext)
+ {
+ if (m_pActiveContext != nullptr) {
+ m_pActiveContext->release();
+ }
+ m_pActiveContext = pContext;
+ m_pActiveContext->addRef();
}
void CEFEM::setPort(unsigned int index, CLoadPort* pPort)
@@ -120,21 +137,21 @@
}
return 0;
- });
+ });
}
return 0;
}
- int CEFEM::SendHome(int seq)
+ int CEFEM::robotSendHome(int seq, ONWRITED onWritedBlock/* = nullptr*/)
{
SERVO::ROBOT_CMD_PARAM cmd = {};
cmd.sequenceNo = static_cast<short>(seq);
cmd.rcmd = static_cast<short>(SERVO::RCMD::Robot_home);
- return robotCmd(cmd);
+ return robotCmd(cmd, onWritedBlock);
}
- int CEFEM::SendTransfer(int seq, int armNo, int fromPos, int toPos, int fromSlot, int toSlot)
+ int CEFEM::robotSendTransfer(int seq, int armNo, int fromPos, int toPos, int fromSlot, int toSlot, ONWRITED onWritedBlock/* = nullptr*/)
{
SERVO::ROBOT_CMD_PARAM cmd = {};
cmd.sequenceNo = static_cast<short>(seq);
@@ -144,10 +161,10 @@
cmd.getSlotNo = static_cast<short>(fromSlot);
cmd.putPosition = static_cast<short>(toPos);
cmd.putSlotNo = static_cast<short>(toSlot);
- return robotCmd(cmd);
+ return robotCmd(cmd, onWritedBlock);
}
- int CEFEM::SendMoveToGet(int seq, int armNo, int pos, int slot)
+ int CEFEM::robotSendMoveToGet(int seq, int armNo, int pos, int slot, ONWRITED onWritedBlock/* = nullptr*/)
{
SERVO::ROBOT_CMD_PARAM cmd = {};
cmd.sequenceNo = static_cast<short>(seq);
@@ -156,10 +173,10 @@
cmd.getPosition = static_cast<short>(pos);
cmd.getSlotNo = static_cast<short>(slot);
cmd.subCmd = 1;
- return robotCmd(cmd);
+ return robotCmd(cmd, onWritedBlock);
}
- int CEFEM::SendMoveToPut(int seq, int armNo, int pos, int slot)
+ int CEFEM::robotSendMoveToPut(int seq, int armNo, int pos, int slot, ONWRITED onWritedBlock/* = nullptr*/)
{
SERVO::ROBOT_CMD_PARAM cmd = {};
cmd.sequenceNo = static_cast<short>(seq);
@@ -168,10 +185,10 @@
cmd.putPosition = static_cast<short>(pos);
cmd.putSlotNo = static_cast<short>(slot);
cmd.subCmd = 2;
- return robotCmd(cmd);
+ return robotCmd(cmd, onWritedBlock);
}
- int CEFEM::SendGet(int seq, int armNo, int pos, int slot)
+ int CEFEM::robotSendGet(int seq, int armNo, int pos, int slot, ONWRITED onWritedBlock/* = nullptr*/)
{
SERVO::ROBOT_CMD_PARAM cmd = {};
cmd.sequenceNo = static_cast<short>(seq);
@@ -179,10 +196,10 @@
cmd.armNo = static_cast<short>(armNo);
cmd.getPosition = static_cast<short>(pos);
cmd.getSlotNo = static_cast<short>(slot);
- return robotCmd(cmd);
+ return robotCmd(cmd, onWritedBlock);
}
- int CEFEM::SendPut(int seq, int armNo, int pos, int slot)
+ int CEFEM::robotSendPut(int seq, int armNo, int pos, int slot, ONWRITED onWritedBlock/* = nullptr*/)
{
SERVO::ROBOT_CMD_PARAM cmd = {};
cmd.sequenceNo = static_cast<short>(seq);
@@ -190,10 +207,10 @@
cmd.armNo = static_cast<short>(armNo);
cmd.putPosition = static_cast<short>(pos);
cmd.putSlotNo = static_cast<short>(slot);
- return robotCmd(cmd);
+ return robotCmd(cmd, onWritedBlock);
}
- int CEFEM::SendExchange(int seq, int armNo, int pos, int getSlot, int putSlot)
+ int CEFEM::robotSendExchange(int seq, int armNo, int pos, int getSlot, int putSlot, ONWRITED onWritedBlock/* = nullptr*/)
{
SERVO::ROBOT_CMD_PARAM cmd = {};
cmd.sequenceNo = static_cast<short>(seq);
@@ -203,18 +220,18 @@
cmd.putPosition = static_cast<short>(pos);
cmd.getSlotNo = static_cast<short>(getSlot);
cmd.putSlotNo = static_cast<short>(putSlot);
- return robotCmd(cmd);
+ return robotCmd(cmd, onWritedBlock);
}
- int CEFEM::SendCommandClear(int seq)
+ int CEFEM::robotSendCommandClear(int seq, ONWRITED onWritedBlock/* = nullptr*/)
{
SERVO::ROBOT_CMD_PARAM cmd = {};
cmd.sequenceNo = static_cast<short>(seq);
cmd.rcmd = static_cast<short>(SERVO::RCMD::Command_Clear);
- return robotCmd(cmd);
+ return robotCmd(cmd, onWritedBlock);
}
- int CEFEM::SendBatchGet(int seq, int getPos, int getSlot)
+ int CEFEM::robotSendBatchGet(int seq, int getPos, int getSlot, ONWRITED onWritedBlock/* = nullptr*/)
{
SERVO::ROBOT_CMD_PARAM cmd = {};
cmd.sequenceNo = static_cast<short>(seq);
@@ -222,10 +239,10 @@
cmd.armNo = ARM_ALL;
cmd.getPosition = static_cast<short>(getPos);
cmd.getSlotNo = static_cast<short>(getSlot);
- return robotCmd(cmd);
+ return robotCmd(cmd, onWritedBlock);
}
- int CEFEM::SendBatchPut(int seq, int putPos, int putSlot)
+ int CEFEM::robotSendBatchPut(int seq, int putPos, int putSlot, ONWRITED onWritedBlock/* = nullptr*/)
{
SERVO::ROBOT_CMD_PARAM cmd = {};
cmd.sequenceNo = static_cast<short>(seq);
@@ -233,10 +250,10 @@
cmd.armNo = ARM_ALL;
cmd.putPosition = static_cast<short>(putPos);
cmd.putSlotNo = static_cast<short>(putSlot);
- return robotCmd(cmd);
+ return robotCmd(cmd, onWritedBlock);
}
- int CEFEM::SendMoveToGetAndHome(int seq, int armNo, int getPos, int getSlot)
+ int CEFEM::robotSendMoveToGetAndHome(int seq, int armNo, int getPos, int getSlot, ONWRITED onWritedBlock/* = nullptr*/)
{
SERVO::ROBOT_CMD_PARAM cmds[2] = {};
@@ -252,10 +269,10 @@
cmds[1].sequenceNo = static_cast<short>(seq + 1);
cmds[1].rcmd = static_cast<short>(SERVO::RCMD::Robot_home);
- return robotCmds(cmds, 2);
+ return robotCmds(cmds, 2, onWritedBlock);
}
- int CEFEM::SendMoveToPutAndHome(int seq, int armNo, int putPos, int putSlot)
+ int CEFEM::robotSendMoveToPutAndHome(int seq, int armNo, int putPos, int putSlot, ONWRITED onWritedBlock/* = nullptr*/)
{
SERVO::ROBOT_CMD_PARAM cmds[2] = {};
@@ -271,10 +288,10 @@
cmds[1].sequenceNo = static_cast<short>(seq + 1);
cmds[1].rcmd = static_cast<short>(SERVO::RCMD::Robot_home);
- return robotCmds(cmds, 2);
+ return robotCmds(cmds, 2, onWritedBlock);
}
- int CEFEM::SendTransferAndHome(int seq, int armNo, int fromPos, int toPos, int fromSlot, int toSlot)
+ int CEFEM::robotSendTransferAndHome(int seq, int armNo, int fromPos, int toPos, int fromSlot, int toSlot, ONWRITED onWritedBlock/* = nullptr*/)
{
SERVO::ROBOT_CMD_PARAM cmds[2] = {};
@@ -291,10 +308,10 @@
cmds[1].sequenceNo = static_cast<short>(seq + 1);
cmds[1].rcmd = static_cast<short>(SERVO::RCMD::Robot_home);
- return robotCmds(cmds, 2);
+ return robotCmds(cmds, 2, onWritedBlock);
}
- int CEFEM::SendGetAndPut(int seq, int armNo, int getPos, int getSlot, int putPos, int putSlot)
+ int CEFEM::robotSendGetAndPut(int seq, int armNo, int getPos, int getSlot, int putPos, int putSlot, ONWRITED onWritedBlock/* = nullptr*/)
{
SERVO::ROBOT_CMD_PARAM cmds[2] = {};
@@ -310,10 +327,10 @@
cmds[1].putPosition = static_cast<short>(putPos);
cmds[1].putSlotNo = static_cast<short>(putSlot);
- return robotCmds(cmds, 2);
+ return robotCmds(cmds, 2, onWritedBlock);
}
- int CEFEM::SendPutAndHome(int seq, int armNo, int putPos, int putSlot)
+ int CEFEM::robotSendPutAndHome(int seq, int armNo, int putPos, int putSlot, ONWRITED onWritedBlock/* = nullptr*/)
{
SERVO::ROBOT_CMD_PARAM cmds[2] = {};
@@ -328,7 +345,12 @@
cmds[1].sequenceNo = static_cast<short>(seq + 1);
cmds[1].rcmd = static_cast<short>(SERVO::RCMD::Robot_home);
- return robotCmds(cmds, 2);
+ return robotCmds(cmds, 2, onWritedBlock);
+ }
+
+ RMDATA& CEFEM::getRobotMonitoringData()
+ {
+ return m_robotData;
}
void CEFEM::init()
@@ -357,7 +379,7 @@
// Eq mode
CEqModeStep* pStep = new CEqModeStep();
pStep->setName(STEP_MODE);
- pStep->setWriteSignalDev(0x50);
+ pStep->setWriteSignalDev(0x40);
pStep->setModeDev(0x5d7d);
if (addStep(STEP_ID_EQMODE_CHANGED, pStep) != 0) {
delete pStep;
@@ -368,7 +390,7 @@
// Eq Status
CEqStatusStep* pStep = new CEqStatusStep();
pStep->setName(STEP_STATUS);
- pStep->setWriteSignalDev(0x51);
+ pStep->setWriteSignalDev(0x41);
pStep->setStatusDev(0x5d59);
if (addStep(STEP_ID_EQSTATUS_CHANGED, pStep) != 0) {
delete pStep;
@@ -379,7 +401,7 @@
// 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 writeSignalDev[] = { 0x42, 0x43, 0x44, 0x45, 0x46 };
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++) {
@@ -398,7 +420,7 @@
// eq process
CEqProcessStep* pStep = new CEqProcessStep();
pStep->setName(STEP_PROCESS);
- pStep->setWriteSignalDev(0x57);
+ pStep->setWriteSignalDev(0x47);
pStep->setProcessDev(0x6b55);
if (addStep(STEP_ID_PROCESS_DATA_REPORT, pStep) != 0) {
delete pStep;
@@ -409,7 +431,7 @@
// eq cim mode change
CEqCimModeChangeStep* pStep = new CEqCimModeChangeStep();
pStep->setName(STEP_CIM_MODE_CHANGE);
- pStep->setWriteSignalDev(0x70);
+ pStep->setWriteSignalDev(0x60);
pStep->setCimModeDev(0x15);
if (addStep(STEP_ID_CIMMODE_CHANGED_CMD_REPLY, pStep) != 0) {
delete pStep;
@@ -420,7 +442,7 @@
// eq cim message
CEqCimMessageCmdStep* pStep = new CEqCimMessageCmdStep();
pStep->setName(STEP_CIM_MESSAGE_CMD);
- pStep->setWriteSignalDev(0x71);
+ pStep->setWriteSignalDev(0x61);
pStep->setCimMessageDev(0x0);
if (addStep(STEP_ID_CIM_MSG_SET_CMD_REPLY, pStep) != 0) {
delete pStep;
@@ -430,9 +452,9 @@
{
// CIM Message Confirm
- CEqReadIntStep* pStep = new CEqReadIntStep(__INT32, 0x5f80);
+ CEqReadIntStep* pStep = new CEqReadIntStep(__INT32, 0x5d80);
pStep->setName(STEP_EQ_CIM_MESSAGE_CONFIRM);
- pStep->setWriteSignalDev(0x59);
+ pStep->setWriteSignalDev(0x49);
if (addStep(STEP_ID_CIM_MSG_CONFIRM_REPORT, pStep) != 0) {
delete pStep;
}
@@ -451,6 +473,7 @@
pStep->setName(STEP_EQ_VCR1_EVENT_REPORT);
pStep->setProp("Port", (void*)1);
pStep->setWriteSignalDev(0x4a);
+ pStep->setReturnDev(0x91e);
if (addStep(STEP_ID_VCR1_EVENT_REPORT, pStep) != 0) {
delete pStep;
}
@@ -460,7 +483,7 @@
// eq cim message clear
CEqCimMessageClearStep* pStep = new CEqCimMessageClearStep();
pStep->setName(STEP_CIM_MESSAGE_CLEAR);
- pStep->setWriteSignalDev(0x72);
+ pStep->setWriteSignalDev(0x62);
pStep->setClearCimMessageDev(0x13);
if (addStep(STEP_ID_CIM_MSG_CLEAR_CMD_REPLY, pStep) != 0) {
delete pStep;
@@ -471,7 +494,7 @@
// datetime set cmd
CEqDateTimeSetCmdStep* pStep = new CEqDateTimeSetCmdStep();
pStep->setName(STEP_DATETIME_SET_CMD);
- pStep->setWriteSignalDev(0x73);
+ pStep->setWriteSignalDev(0x63);
pStep->setDateTimeDev(0x16);
if (addStep(STEP_ID_DATETIME_SET_CMD_REPLY, pStep) != 0) {
delete pStep;
@@ -482,7 +505,7 @@
// vcr enable
CEqVCREnableStep* pStep = new CEqVCREnableStep();
pStep->setName(STEP_EQ_VCR_ENABLE);
- pStep->setWriteSignalDev(0x74);
+ pStep->setWriteSignalDev(0x64);
pStep->setEqVCRModeDev(0x1F);
if (addStep(STEP_ID_VCR_ENABLE_CMD_REPLY, pStep) != 0) {
delete pStep;
@@ -493,7 +516,7 @@
// eq mode change
CEqModeChangeStep* pStep = new CEqModeChangeStep();
pStep->setName(STEP_EQ_MODE_CHANGE);
- pStep->setWriteSignalDev(0x75);
+ pStep->setWriteSignalDev(0x40);
pStep->setEqModeDev(0x1E);
if (addStep(STEP_ID_EQMODE_CHANGE_CMD_REPLY, pStep) != 0) {
delete pStep;
@@ -523,24 +546,69 @@
}
{
- // Received Job Report Upstream#1~9
+ // master recipe list report
+ CEqReadStep* pStep = new CEqReadStep(0x6955, 255 * 2,
+ [&](void* pFrom, int code, const char* pszData, size_t size) -> int {
+ CEqReadStep* pTmpStep = (CEqReadStep*)pFrom;
+ short ret = MRLRC_OK;
+ if (code == ROK && pszData != nullptr && size > 0) {
+ // 此处解释配方数据
+ ret = decodeRecipeListReport(pszData, size);
+ }
+ pTmpStep->setReturnCode(ret);
+ return -1;
+ });
+ pStep->setName(STEP_EQ_MASTER_RECIPE_LIST);
+ pStep->setWriteSignalDev(0x4b);
+ pStep->setReturnDev(0x91d);
+ if (addStep(STEP_ID_MASTER_RECIPE_LIST_REPORT, pStep) != 0) {
+ delete pStep;
+ }
+ }
+
+ // 使用CEqReadStep替换CEqJobEventStep
+ {
+ // Received Job Report Upstream #1~9
char szBuffer[256];
- for (int i = 0; i < 9; i++) {
+ for (int i = 0; i < 8; 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);
+ decodeReceivedJobReport((CStep*)pFrom, port, pszData, size);
}
}
return -1;
});
- sprintf_s(szBuffer, "%s%d", STEP_EQ_RECEIVED_JOBn, i + 1);
+ sprintf_s(szBuffer, "%s%d", STEP_EQ_RECEIVED_JOB_UPSn, i + 1);
pStep->setName(szBuffer);
- pStep->setProp("Upstream", (void*)(__int64)(i + 1));
+ pStep->setProp("Port", (void*)(__int64)(i + 1));
pStep->setWriteSignalDev(0x0 + i);
- if (addStep(STEP_ID_FETCHED_OUT_JOB_REPORT1 + i, pStep) != 0) {
+ if (addStep(STEP_ID_RECIVE_JOB_UPS1 + i, pStep) != 0) {
+ delete pStep;
+ }
+ }
+ }
+ {
+ // Sent Out Job Report Downstream #1~9
+ char szBuffer[256];
+ for (int i = 0; i < 8; i++) {
+ CEqReadStep* pStep = new CEqReadStep(0x4000 + 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) {
+ decodeSentOutJobReport((CStep*)pFrom, port, pszData, size);
+ }
+ }
+ return -1;
+ });
+ sprintf_s(szBuffer, "%s%d", STEP_EQ_SENT_OUT_JOB_DOWNSn, i + 1);
+ pStep->setName(szBuffer);
+ pStep->setProp("Port", (void*)(__int64)(i + 1));
+ pStep->setWriteSignalDev(0x00a + i);
+ if (addStep(STEP_ID_SENT_OUT_JOB_DOWNS1 + i, pStep) != 0) {
delete pStep;
}
}
@@ -549,7 +617,7 @@
{
// Fetched Out Job Report #1~15
char szBuffer[256];
- for (int i = 0; i < 15; i++) {
+ for (int i = 0; i < 8; 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) {
@@ -560,7 +628,7 @@
}
return -1;
});
- sprintf_s(szBuffer, "%s%d", STEP_EQ_FETCHED_OUT_JOBn, i+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);
@@ -571,9 +639,9 @@
}
{
- // Store Job Report #1~15
+ // Stored Job Report #1~15
char szBuffer[256];
- for (int i = 0; i < 15; i++) {
+ for (int i = 0; i < 8; 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) {
@@ -594,6 +662,7 @@
}
}
+
{
// Dispatching Mode Change Command
CEqWriteStep* pStep = new CEqWriteStep();
@@ -610,7 +679,7 @@
CEqWriteStep* pStep = new CEqWriteStep();
pStep->setName(STEP_EFEM_ROBOT_CMD);
pStep->setWriteSignalDev(0x14D);
- pStep->setDataDev(0x90a);
+ pStep->setDataDev(0x5c7);
if (addStep(STEP_ID_ROBOT_CMD_REPLY, pStep) != 0) {
delete pStep;
}
@@ -619,13 +688,73 @@
{
// Indexer Operation Mode Change
CEqWriteStep* pStep = new CEqWriteStep();
- pStep->setName(STEP_EFEM_IN_OP_MODE_CHANGE);
+ pStep->setName(STEP_EQ_IN_OP_MODE_CHANGE);
pStep->setWriteSignalDev(0x070);
pStep->setDataDev(0x023);
+ pStep->setRetDataDev(0x600e, 2);
if (addStep(STEP_ID_IN_OP_CMD_REPLY, pStep) != 0) {
delete pStep;
}
}
+
+ {
+ // FAC Data Report
+ CEqReadStep* pStep = new CEqReadStep(0x6301, 108 * 2,
+ [&](void* pFrom, int code, const char* pszData, size_t size) -> int {
+ if (code == ROK && pszData != nullptr && size > 0) {
+ decodeFacDataReport((CStep*)pFrom, pszData, size);
+ }
+ return -1;
+ });
+ pStep->setName(STEP_EQ_FAC_DATA_REPORT);
+ pStep->setProp("Port", (void*)1);
+ pStep->setWriteSignalDev(0x04d);
+ if (addStep(STEP_ID_FAC_DATA_REPORT, pStep) != 0) {
+ delete pStep;
+ }
+ }
+
+ {
+ // JOB Data Request
+ CEqReadStep* pStep = new CEqReadStep(0x0, 0,
+ [&](void* pFrom, int code, const char* pszData, size_t size) -> int {
+ if (code == ROK /* && pszData != nullptr && size > 0*/) {
+ // 由于EFEM没有发送参数到master, 我们只需要返回数据
+ // Cassette Sequence No和Job Sequence No根据上一次调试缓存而来
+ // decodeJobDataRequest((CStep*)pFrom, pszData, size);
+
+ // 获取数据后返回给EFEM
+ // Job DataS 320W
+ // ACK 1W
+ // Reserved 15W
+ short ack = (short)JobDataRequestAck::NG; // 不存在jobData
+ char szBuffer[1024] = { 0 };
+ if (m_pActiveContext != nullptr) {
+ CJobDataS* pJobDataS = ((CGlass*)m_pActiveContext)->getJobDataS();
+ if (pJobDataS != nullptr) {
+ pJobDataS->serialize(szBuffer, 1024);
+ ack = (short)JobDataRequestAck::OK;
+ }
+ }
+ memcpy(&szBuffer[320 * 2], &ack, sizeof(short));
+ ((CEqReadStep*)pFrom)->setReturnData(szBuffer, 336 * 2);
+ }
+ return -1;
+ });
+ pStep->setName(STEP_EFEM_PANEL_DATA_REQUEST);
+ pStep->setProp("Port", (void*)1);
+ pStep->setWriteSignalDev(0x35);
+ pStep->setReturnDev(0x5EA);
+ if (addStep(STEP_ID_JOB_DATA_REQUEST, pStep) != 0) {
+ delete pStep;
+ }
+ }
+ }
+
+ // 必须要实现的虚函数，在此初始化Slot信息
+ void CEFEM::initSlots()
+ {
+
}
void CEFEM::onTimer(UINT nTimerid)
@@ -648,117 +777,122 @@
return __super::recvIntent(pPin, pIntent);
}
- BOOL CEFEM::glassWillArrive(CGlass* pGlass)
- {
- BOOL bRet = __super::glassWillArrive(pGlass);
- if (!bRet) {
- return FALSE;
- }
-
- return m_glassList.empty();
- }
-
void CEFEM::onReceiveLBData(const char* pszData, size_t size)
{
__super::onReceiveLBData(pszData, size);
+
+ // 解释得到Robot状态
+ // 地址从(0x3500 - 0x3000)开始
+ int index = 0x500;
+ for (int i = 0; i < 6; i++) {
+ if (isBitOn(pszData, size, index + i)) {
+ m_robotData.status = (ROBOT_STATUS)i;
+ break;
+ }
+ }
+ index += 8;
+
+ for (int i = 0; i < 11; i++) {
+ if (isBitOn(pszData, size, index + i)) {
+ m_robotData.position = (ROBOT_POSITION)i;
+ break;
+ }
+ }
+ index += 16;
+ m_robotData.armState[0] = isBitOn(pszData, size, index);
+ m_robotData.armState[1] = isBitOn(pszData, size, index + 1);
+
for (unsigned int i = 0; i < 4; i++) {
if (m_pPort[i] != nullptr) {
m_pPort[i]->onReceiveLBData(pszData, size);
}
}
+ m_pAligner->onReceiveLBData(pszData, size);
+
+
+ // 更新信号到LoadPort, Robot, Aligner, Fliper
+ m_pPort[0]->setLinkSignalUpstreamBlock(0, &m_bLinkSignalToUpstream[0][0]);
+ m_pPort[1]->setLinkSignalUpstreamBlock(0, &m_bLinkSignalToUpstream[1][0]);
+ m_pPort[2]->setLinkSignalUpstreamBlock(0, &m_bLinkSignalToUpstream[2][0]);
+ m_pPort[3]->setLinkSignalUpstreamBlock(0, &m_bLinkSignalToUpstream[3][0]);
+ m_pArmTray[0]->setLinkSignalUpstreamBlock(0, &m_bLinkSignalToUpstream[4][0]);
+ m_pArmTray[1]->setLinkSignalUpstreamBlock(0, &m_bLinkSignalToUpstream[5][0]);
+ m_pAligner->setLinkSignalUpstreamBlock(0, &m_bLinkSignalToUpstream[6][0]);
+ m_pFliper->setLinkSignalUpstreamBlock(0, &m_bLinkSignalToUpstream[7][0]);
+
+ m_pPort[0]->setLinkSignalDownstreamBlock(0, &m_bLinkSignalToDownstream[0][0]);
+ m_pPort[1]->setLinkSignalDownstreamBlock(0, &m_bLinkSignalToDownstream[1][0]);
+ m_pPort[2]->setLinkSignalDownstreamBlock(0, &m_bLinkSignalToDownstream[2][0]);
+ m_pPort[3]->setLinkSignalDownstreamBlock(0, &m_bLinkSignalToDownstream[3][0]);
+ m_pArmTray[0]->setLinkSignalDownstreamBlock(0, &m_bLinkSignalToDownstream[4][0]);
+ m_pArmTray[1]->setLinkSignalDownstreamBlock(0, &m_bLinkSignalToDownstream[5][0]);
+ m_pAligner->setLinkSignalDownstreamBlock(0, &m_bLinkSignalToDownstream[6][0]);
+ m_pFliper->setLinkSignalDownstreamBlock(0, &m_bLinkSignalToDownstream[7][0]);
}
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);
+ // 转发到子单元设备
+ CEquipment* pEqs[] = { m_pPort[0], m_pPort[1], m_pPort[2], m_pPort[3], m_pArmTray[0], m_pArmTray[1],
+ m_pAligner, m_pFliper };
+ if (1 <= port && port <= 8) {
+ pEqs[port - 1]->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);
+ // 转发到子单元设备
+ CEquipment* pEqs[] = { m_pPort[0], m_pPort[1], m_pPort[2], m_pPort[3], m_pArmTray[0], m_pArmTray[1],
+ m_pAligner, m_pFliper };
+ if (1 <= port && port <= 8) {
+ pEqs[port - 1]->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);
+ // 转发到子单元设备
+ CEquipment* pEqs[] = { m_pPort[0], m_pPort[1], m_pPort[2], m_pPort[3], m_pArmTray[0], m_pArmTray[1],
+ m_pAligner, m_pFliper };
+ if (1 <= port && port <= 8) {
+ pEqs[port - 1]->onFetchedOutJob(port, pJobDataB);
}
- return -1;
+
+ return 0;
}
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);
+ // 转发到子单元设备
+ CEquipment* pEqs[] = { m_pPort[0], m_pPort[1], m_pPort[2], m_pPort[3], m_pArmTray[0], m_pArmTray[1],
+ m_pAligner, m_pFliper };
+ if (1 <= port && port <= 8) {
+ pEqs[port - 1]->onStoredJob(port, pJobDataB);
}
- return -1;
+
+ return 0;
}
int CEFEM::getIndexerOperationModeBaseValue()
{
return 10000;
}
+
+ void CEFEM::printDebugRobotState()
+ {
+ LOGI("<CEFEM>Robot status:%d, ARM1:%s, ARM2:%s",
+ m_robotData.status,
+ m_robotData.armState[0] ? _T("ON") : _T("OFF"),
+ m_robotData.armState[1] ? _T("ON") : _T("OFF"));
+ }
}
--
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