From 6fc65c5cf54432d1044fbe9799aca76f7273798c Mon Sep 17 00:00:00 2001
From: LAPTOP-SNT8I5JK\Boounion <Chenluhua@qq.com>
Date: 星期五, 23 五月 2025 18:02:27 +0800
Subject: [PATCH] Merge branch 'clh'
---
SourceCode/Bond/Servo/CEFEM.cpp | 267 +++++++++++++++++++++++++++++++++++++++++------------
1 files changed, 205 insertions(+), 62 deletions(-)
diff --git a/SourceCode/Bond/Servo/CEFEM.cpp b/SourceCode/Bond/Servo/CEFEM.cpp
index 82ab452..05e7074 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();
@@ -234,18 +439,6 @@
}
{
- // 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;
- }
- */
-
// VCR Event Report
// 机器上报扫码结果，扫码器预计安装在巡边检机器上
CEqReadStep* pStep = new CEqReadStep(0x5fef, 15 * 2,
@@ -328,56 +521,6 @@
delete pStep;
}
}
-
- // CEqCassetteTranserStateStep
- ADD_EQ_PORT_STATUS_STEP(STEP_EQ_PORT1_EMPTY, 0xd8,
- STEP_ID_PORT1_EMPTY, 0x6050);
- ADD_EQ_PORT_STATUS_STEP(STEP_EQ_PORT1_LOAD_EADY, 0xe0,
- STEP_ID_PORT1_LOAD_READY, 0x6050);
- ADD_EQ_PORT_STATUS_STEP(STEP_EQ_PORT1_LOADED, 0xe8,
- STEP_ID_PORT1_LOADED, 0x6050);
- ADD_EQ_PORT_STATUS_STEP(STEP_EQ_PORT1_INUSE, 0xf0,
- STEP_ID_PORT1_INUSE, 0x6050);
- ADD_EQ_PORT_STATUS_STEP(STEP_EQ_PORT1_UNLOAD_EADY, 0xf8,
- STEP_ID_PORT1_UNLOAD_READY, 0x60f50);
- ADD_EQ_PORT_STATUS_STEP(STEP_EQ_PORT1_BLOCKED, 0x100,
- STEP_ID_PORT1_BLOCKED, 0x6050);
- ADD_EQ_PORT_STATUS_STEP(STEP_EQ_PORT2_EMPTY, 0xd9,
- STEP_ID_PORT2_EMPTY, 0x6070);
- ADD_EQ_PORT_STATUS_STEP(STEP_EQ_PORT2_LOAD_EADY, 0xe1,
- STEP_ID_PORT2_LOAD_READY, 0x6070);
- ADD_EQ_PORT_STATUS_STEP(STEP_EQ_PORT2_LOADED, 0xe9,
- STEP_ID_PORT2_LOADED, 0x6070);
- ADD_EQ_PORT_STATUS_STEP(STEP_EQ_PORT2_INUSE, 0xf1,
- STEP_ID_PORT2_INUSE, 0x6070);
- ADD_EQ_PORT_STATUS_STEP(STEP_EQ_PORT2_UNLOAD_EADY, 0xf9,
- STEP_ID_PORT2_UNLOAD_READY, 0x6070);
- ADD_EQ_PORT_STATUS_STEP(STEP_EQ_PORT2_BLOCKED, 0x101,
- STEP_ID_PORT2_BLOCKED, 0x6070);
- ADD_EQ_PORT_STATUS_STEP(STEP_EQ_PORT3_EMPTY, 0xda,
- STEP_ID_PORT3_EMPTY, 0x6090);
- ADD_EQ_PORT_STATUS_STEP(STEP_EQ_PORT3_LOAD_EADY, 0xe2,
- STEP_ID_PORT3_LOAD_READY, 0x6090);
- ADD_EQ_PORT_STATUS_STEP(STEP_EQ_PORT3_LOADED, 0xea,
- STEP_ID_PORT3_INUSE, 0x6090);
- ADD_EQ_PORT_STATUS_STEP(STEP_EQ_PORT3_INUSE, 0xf2,
- STEP_ID_PORT3_INUSE, 0x6090);
- ADD_EQ_PORT_STATUS_STEP(STEP_EQ_PORT3_UNLOAD_EADY, 0xfa,
- STEP_ID_PORT3_UNLOAD_READY, 0x6090);
- ADD_EQ_PORT_STATUS_STEP(STEP_EQ_PORT3_BLOCKED, 0x102,
- STEP_ID_PORT3_BLOCKED, 0x6090);
- ADD_EQ_PORT_STATUS_STEP(STEP_EQ_PORT4_EMPTY, 0xdb,
- STEP_ID_PORT4_EMPTY, 0x60b0);
- ADD_EQ_PORT_STATUS_STEP(STEP_EQ_PORT4_LOAD_EADY, 0xe3,
- STEP_ID_PORT4_LOAD_READY, 0x60b0);
- ADD_EQ_PORT_STATUS_STEP(STEP_EQ_PORT4_LOADED, 0xeb,
- STEP_ID_PORT4_LOADED, 0x60b0);
- ADD_EQ_PORT_STATUS_STEP(STEP_EQ_PORT4_INUSE, 0xf3,
- STEP_ID_PORT4_INUSE, 0x60b0);
- ADD_EQ_PORT_STATUS_STEP(STEP_EQ_PORT4_UNLOAD_EADY, 0xfb,
- STEP_ID_PORT4_UNLOAD_READY, 0x60b0);
- ADD_EQ_PORT_STATUS_STEP(STEP_EQ_PORT4_BLOCKED, 0x103,
- STEP_ID_PORT4_BLOCKED, 0x60b0);
{
// Received Job Report Upstream#1~9
--
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