From 6d71f1d8264b929ca71bf133246b894ed955c079 Mon Sep 17 00:00:00 2001
From: mrDarker <mr.darker@163.com>
Date: 星期四, 12 六月 2025 15:17:50 +0800
Subject: [PATCH] Merge branch 'master' into liuyang
---
SourceCode/Bond/Servo/CRobotCmdTestDlg.cpp | 103 +++++++++++++++++++++++++++++----------------------
1 files changed, 59 insertions(+), 44 deletions(-)
diff --git a/SourceCode/Bond/Servo/CRobotCmdTestDlg.cpp b/SourceCode/Bond/Servo/CRobotCmdTestDlg.cpp
index 0a41147..7859139 100644
--- a/SourceCode/Bond/Servo/CRobotCmdTestDlg.cpp
+++ b/SourceCode/Bond/Servo/CRobotCmdTestDlg.cpp
@@ -93,19 +93,25 @@
// 绀轰緥璁惧鍚嶇О鍒楄〃
CStringList eqNameList;
- eqNameList.AddTail(_T("PORT 1")); // 1 1 UNIT
- eqNameList.AddTail(_T("PORT 2")); // 2 1 UNIT
- eqNameList.AddTail(_T("PORT 3")); // 3 1 UNIT
- eqNameList.AddTail(_T("PORT 4")); // 4 1 UNIT
- eqNameList.AddTail(_T("RB1")); // 5 1 UNIT
- eqNameList.AddTail(_T("RB2")); // 6 1 UNIT
- eqNameList.AddTail(_T("ALIGN")); // 7 1 UNIT
- eqNameList.AddTail(_T("FLIP")); // 8 1 UNIT
- eqNameList.AddTail(_T("VAC BAKE")); // 9 2 UNIT
- eqNameList.AddTail(_T("BONDER1")); // 10 2 UNIT
- eqNameList.AddTail(_T("BONDER2")); // 11 2 UNIT
- eqNameList.AddTail(_T("POST BAKE(COOLING)")); // 12 4 UNIT
- eqNameList.AddTail(_T("MEASUREMENT")); // 13 1 UNIT
+ eqNameList.AddTail(_T("Port1"));
+ eqNameList.AddTail(_T("Port2"));
+ eqNameList.AddTail(_T("Port3"));
+ eqNameList.AddTail(_T("Port4"));
+ eqNameList.AddTail(_T("RB1"));
+ eqNameList.AddTail(_T("RB2"));
+ eqNameList.AddTail(_T("AL"));
+ eqNameList.AddTail(_T("FLIP"));
+ eqNameList.AddTail(_T("Bonder1-涓婁骇鍝�"));
+ eqNameList.AddTail(_T("Bonder1-涓嬩骇鍝�"));
+ eqNameList.AddTail(_T("Bonder2-涓婁骇鍝�"));
+ eqNameList.AddTail(_T("Bonder2-涓嬩骇鍝�"));
+ eqNameList.AddTail(_T("VacBakeA鑵�"));
+ eqNameList.AddTail(_T("VacBakeB鑵�"));
+ eqNameList.AddTail(_T("BakecCoolingA鐑樼儰"));
+ eqNameList.AddTail(_T("BakecCoolingA鍐峰嵈"));
+ eqNameList.AddTail(_T("BakecCoolingB鐑樼儰"));
+ eqNameList.AddTail(_T("BakecCoolingB鍐峰嵈"));
+ eqNameList.AddTail(_T("Measurement"));
for (POSITION pos = eqNameList.GetHeadPosition(); pos != NULL;) {
CString item = eqNameList.GetNext(pos);
@@ -127,64 +133,64 @@
// 蹇嵎鍛戒护鎵ц鏄犲皠琛�
m_mapCmdExec = {
- {_T("SendHome"), [this](int seq, int, int, int, int, int) {
- return m_pEFEM->SendHome(seq);
+ {_T("SendHome"), [this](int seq, int, int, int, int, int, SERVO::ONWRITED onWritedBlock) {
+ return m_pEFEM->robotSendHome(seq, onWritedBlock);
}},
- {_T("SendTransfer"), [this](int seq, int armNo, int getPos, int putPos, int getSlot, int putSlot) {
- return m_pEFEM->SendTransfer(seq, armNo, getPos, putPos, getSlot, putSlot);
+ {_T("SendTransfer"), [this](int seq, int armNo, int getPos, int putPos, int getSlot, int putSlot, SERVO::ONWRITED onWritedBlock) {
+ return m_pEFEM->robotSendTransfer(seq, armNo, getPos, putPos, getSlot, putSlot, onWritedBlock);
}},
- {_T("SendMoveToGet"), [this](int seq, int armNo, int pos, int, int slot, int) {
- return m_pEFEM->SendMoveToGet(seq, armNo, pos, slot);
+ {_T("SendMoveToGet"), [this](int seq, int armNo, int pos, int, int slot, int, SERVO::ONWRITED onWritedBlock) {
+ return m_pEFEM->robotSendMoveToGet(seq, armNo, pos, slot, onWritedBlock);
}},
- {_T("SendMoveToPut"), [this](int seq, int armNo, int, int pos, int, int slot) {
- return m_pEFEM->SendMoveToPut(seq, armNo, pos, slot);
+ {_T("SendMoveToPut"), [this](int seq, int armNo, int, int pos, int, int slot, SERVO::ONWRITED onWritedBlock) {
+ return m_pEFEM->robotSendMoveToPut(seq, armNo, pos, slot, onWritedBlock);
}},
- {_T("SendGet"), [this](int seq, int armNo, int pos, int, int slot, int) {
- return m_pEFEM->SendGet(seq, armNo, pos, slot);
+ {_T("SendGet"), [this](int seq, int armNo, int pos, int, int slot, int, SERVO::ONWRITED onWritedBlock) {
+ return m_pEFEM->robotSendGet(seq, armNo, pos, slot, onWritedBlock);
}},
- {_T("SendPut"), [this](int seq, int armNo, int, int pos, int, int slot) {
- return m_pEFEM->SendPut(seq, armNo, pos, slot);
+ {_T("SendPut"), [this](int seq, int armNo, int, int pos, int, int slot, SERVO::ONWRITED onWritedBlock) {
+ return m_pEFEM->robotSendPut(seq, armNo, pos, slot, onWritedBlock);
}},
- {_T("SendExchange"), [this](int seq, int armNo, int pos, int, int getSlot, int putSlot) {
- return m_pEFEM->SendExchange(seq, armNo, pos, getSlot, putSlot);
+ {_T("SendExchange"), [this](int seq, int armNo, int pos, int, int getSlot, int putSlot, SERVO::ONWRITED onWritedBlock) {
+ return m_pEFEM->robotSendExchange(seq, armNo, pos, getSlot, putSlot, onWritedBlock);
}},
- {_T("SendCommandClear"), [this](int seq, int, int, int, int, int) {
- return m_pEFEM->SendCommandClear(seq);
+ {_T("SendCommandClear"), [this](int seq, int, int, int, int, int, SERVO::ONWRITED onWritedBlock) {
+ return m_pEFEM->robotSendCommandClear(seq, onWritedBlock);
}},
- {_T("SendBatchGet"), [this](int seq, int armNo, int pos, int, int slot, int) {
- return m_pEFEM->SendBatchGet(seq, pos, slot);
+ {_T("SendBatchGet"), [this](int seq, int armNo, int pos, int, int slot, int, SERVO::ONWRITED onWritedBlock) {
+ return m_pEFEM->robotSendBatchGet(seq, pos, slot, onWritedBlock);
}},
- {_T("SendBatchPut"), [this](int seq, int armNo, int, int pos, int, int slot) {
- return m_pEFEM->SendBatchPut(seq, pos, slot);
+ {_T("SendBatchPut"), [this](int seq, int armNo, int, int pos, int, int slot, SERVO::ONWRITED onWritedBlock) {
+ return m_pEFEM->robotSendBatchPut(seq, pos, slot, onWritedBlock);
}},
- {_T("SendMoveToGetAndHome"), [this](int seq, int armNo, int pos, int, int slot, int) {
- return m_pEFEM->SendMoveToGetAndHome(seq, armNo, pos, slot);
+ {_T("SendMoveToGetAndHome"), [this](int seq, int armNo, int pos, int, int slot, int, SERVO::ONWRITED onWritedBlock) {
+ return m_pEFEM->robotSendMoveToGetAndHome(seq, armNo, pos, slot, onWritedBlock);
}},
- {_T("SendMoveToPutAndHome"), [this](int seq, int armNo, int, int pos, int, int slot) {
- return m_pEFEM->SendMoveToPutAndHome(seq, armNo, pos, slot);
+ {_T("SendMoveToPutAndHome"), [this](int seq, int armNo, int, int pos, int, int slot, SERVO::ONWRITED onWritedBlock) {
+ return m_pEFEM->robotSendMoveToPutAndHome(seq, armNo, pos, slot, onWritedBlock);
}},
- {_T("SendTransferAndHome"), [this](int seq, int armNo, int getPos, int putPos, int getSlot, int putSlot) {
- return m_pEFEM->SendTransferAndHome(seq, armNo, getPos, putPos, getSlot, putSlot);
+ {_T("SendTransferAndHome"), [this](int seq, int armNo, int getPos, int putPos, int getSlot, int putSlot, SERVO::ONWRITED onWritedBlock) {
+ return m_pEFEM->robotSendTransferAndHome(seq, armNo, getPos, putPos, getSlot, putSlot, onWritedBlock);
}},
- {_T("SendGetAndPut"), [this](int seq, int armNo, int getPos, int putPos, int getSlot, int putSlot) {
- return m_pEFEM->SendGetAndPut(seq, armNo, getPos, putPos, getSlot, putSlot);
+ {_T("SendGetAndPut"), [this](int seq, int armNo, int getPos, int putPos, int getSlot, int putSlot, SERVO::ONWRITED onWritedBlock) {
+ return m_pEFEM->robotSendGetAndPut(seq, armNo, getPos, putPos, getSlot, putSlot, onWritedBlock);
}},
- {_T("SendPutAndHome"), [this](int seq, int armNo, int, int pos, int, int slot) {
- return m_pEFEM->SendPutAndHome(seq, armNo, pos, slot);
+ {_T("SendPutAndHome"), [this](int seq, int armNo, int, int pos, int, int slot, SERVO::ONWRITED onWritedBlock) {
+ return m_pEFEM->robotSendPutAndHome(seq, armNo, pos, slot, onWritedBlock);
}}
};
@@ -333,7 +339,16 @@
// 鏌ユ壘鍑芥暟骞舵墽琛�
auto it = m_mapCmdExec.find(cmdName);
if (it != m_mapCmdExec.end() && nullptr != m_pEFEM) {
- int ret = it->second(1, armNo, getPos, getSlot, putPos, putSlot);
+ int ret = it->second(1, armNo, getPos, getSlot, putPos, putSlot, [&](int code) -> int {
+ if (code == WOK) {
+ AppendLogLineRichStyled(_T("宸叉敹鍒癛obot鍥炲簲锛�"), LOG_COLOR_SUCCESS);
+ }
+ else {
+ AppendLogLineRichStyled(_T("鏈敹鍒癛obot鍥炲簲锛�"), LOG_COLOR_ERROR);
+ }
+
+ return 0;
+ });
CString log;
if (ret == 0) {
--
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