From 817d91396abc1cca6f1ef5abb1fd5fbfd3511268 Mon Sep 17 00:00:00 2001
From: mrDarker <mr.darker@163.com>
Date: 星期一, 16 六月 2025 10:47:07 +0800
Subject: [PATCH] 1. 通信地址修改 2. 修复设置Port时，只添加了Port1 3. 搬运测试界面优化
---
SourceCode/Bond/Servo/CRobotCmdTestDlg.cpp | 164 ++++++++++++++++++++++++++++++++++-------
SourceCode/Bond/Servo/CEFEM.cpp | 12 +-
SourceCode/Bond/Servo/CMaster.cpp | 6
SourceCode/Bond/Servo/CLoadPort.cpp | 10 +-
SourceCode/Bond/Servo/CRobotCmdTestDlg.h | 7 +
5 files changed, 156 insertions(+), 43 deletions(-)
diff --git a/SourceCode/Bond/Servo/CEFEM.cpp b/SourceCode/Bond/Servo/CEFEM.cpp
index 9732129..099e2cd 100644
--- a/SourceCode/Bond/Servo/CEFEM.cpp
+++ b/SourceCode/Bond/Servo/CEFEM.cpp
@@ -357,7 +357,7 @@
// 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 +368,7 @@
// 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 +379,7 @@
// 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 +398,7 @@
// 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;
@@ -430,7 +430,7 @@
{
// CIM Message Confirm
- CEqReadIntStep* pStep = new CEqReadIntStep(__INT32, 0x5f80);
+ CEqReadIntStep* pStep = new CEqReadIntStep(__INT32, 0x5d80);
pStep->setName(STEP_EQ_CIM_MESSAGE_CONFIRM);
pStep->setWriteSignalDev(0x49);
if (addStep(STEP_ID_CIM_MSG_CONFIRM_REPORT, pStep) != 0) {
@@ -493,7 +493,7 @@
// eq mode change
CEqModeChangeStep* pStep = new CEqModeChangeStep();
pStep->setName(STEP_EQ_MODE_CHANGE);
- pStep->setWriteSignalDev(0x65);
+ pStep->setWriteSignalDev(0x40);
pStep->setEqModeDev(0x1E);
if (addStep(STEP_ID_EQMODE_CHANGE_CMD_REPLY, pStep) != 0) {
delete pStep;
diff --git a/SourceCode/Bond/Servo/CLoadPort.cpp b/SourceCode/Bond/Servo/CLoadPort.cpp
index 6e19e45..c1ed745 100644
--- a/SourceCode/Bond/Servo/CLoadPort.cpp
+++ b/SourceCode/Bond/Servo/CLoadPort.cpp
@@ -111,7 +111,7 @@
// Type
static char* pszName[] = { STEP_EQ_PORT1_TYPE, STEP_EQ_PORT2_TYPE, STEP_EQ_PORT3_TYPE, STEP_EQ_PORT4_TYPE };
static int dev[] = { 0x6010 , 0x6020, 0x6030, 0x6040 };
- static int writeSignalDev[] = { 0xa0, 0xa1, 0xa2, 0xa3 };
+ static int writeSignalDev[] = { 0x90, 0x91, 0x92, 0x93 };
static int addr[] = { STEP_ID_PORT1_TYPE_CHANGE, STEP_ID_PORT2_TYPE_CHANGE, STEP_ID_PORT3_TYPE_CHANGE, STEP_ID_PORT4_TYPE_CHANGE };
CEqReadStep* pStep = new CEqReadStep(dev[m_nIndex], sizeof(short),
@@ -132,7 +132,7 @@
// Mode
static char* pszName[] = { STEP_EQ_PORT1_MODE, STEP_EQ_PORT2_MODE, STEP_EQ_PORT3_MODE, STEP_EQ_PORT4_MODE };
static int dev[] = { 0x6011, 0x6021, 0x6031, 0x6041 };
- static int writeSignalDev[] = { 0xa8, 0xa9, 0xaa, 0xab };
+ static int writeSignalDev[] = { 0x98, 0x99, 0x9a, 0x9b };
static int addr[] = { STEP_ID_PORT1_MODE_CHANGE, STEP_ID_PORT2_MODE_CHANGE, STEP_ID_PORT3_MODE_CHANGE, STEP_ID_PORT4_MODE_CHANGE };
CEqReadStep* pStep = new CEqReadStep(dev[m_nIndex], sizeof(short),
@@ -153,7 +153,7 @@
// Cassette type
static char* pszName[] = { STEP_EQ_PORT1_CASSETTE_TYPE, STEP_EQ_PORT2_CASSETTE_TYPE, STEP_EQ_PORT3_CASSETTE_TYPE, STEP_EQ_PORT4_CASSETTE_TYPE };
static int dev[] = { 0x6012, 0x6022, 0x6032, 0x6042 };
- static int writeSignalDev[] = { 0xb0, 0xb1, 0xb2, 0xb3 };
+ static int writeSignalDev[] = { 0xa0, 0xa1, 0xa2, 0xa3 };
static int addr[] = { STEP_ID_PORT1_CASSETTE_TYPE_CHANGE, STEP_ID_PORT2_CASSETTE_TYPE_CHANGE, STEP_ID_PORT3_CASSETTE_TYPE_CHANGE, STEP_ID_PORT4_CASSETTE_TYPE_CHANGE };
CEqReadStep* pStep = new CEqReadStep(dev[m_nIndex], sizeof(short),
@@ -174,7 +174,7 @@
// Transfer type
static char* pszName[] = { STEP_EQ_PORT1_TRANSFER_MODE, STEP_EQ_PORT2_TRANSFER_MODE, STEP_EQ_PORT3_TRANSFER_MODE, STEP_EQ_PORT4_TRANSFER_MODE };
static int dev[] = { 0x6014, 0x6024, 0x6034, 0x6044 };
- static int writeSignalDev[] = { 0xb8, 0xb9, 0xba, 0xbb };
+ static int writeSignalDev[] = { 0xa8, 0xa9, 0xaa, 0xab };
static int addr[] = { STEP_ID_PORT1_TRANSFER_MODE_CHANGE, STEP_ID_PORT2_TRANSFER_MODE_CHANGE, STEP_ID_PORT3_TRANSFER_MODE_CHANGE, STEP_ID_PORT4_TRANSFER_MODE_CHANGE };
CEqReadStep* pStep = new CEqReadStep(dev[m_nIndex], sizeof(short),
@@ -195,7 +195,7 @@
// Port enable
static char* pszName[] = { STEP_EQ_PORT1_ENABLE, STEP_EQ_PORT2_ENABLE, STEP_EQ_PORT3_ENABLE, STEP_EQ_PORT4_ENABLE };
static int dev[] = { 0x6015, 0x6025, 0x6035, 0x6045 };
- static int writeSignalDev[] = { 0xc0, 0xc1, 0xc2, 0xc3 };
+ static int writeSignalDev[] = { 0xb0, 0xb1, 0xb2, 0xb3 };
static int addr[] = { STEP_ID_PORT1_ENABLE_MODE_CHANGE, STEP_ID_PORT2_ENABLE_MODE_CHANGE, STEP_ID_PORT3_ENABLE_MODE_CHANGE, STEP_ID_PORT4_ENABLE_MODE_CHANGE };
CEqReadStep* pStep = new CEqReadStep(dev[m_nIndex], sizeof(short),
diff --git a/SourceCode/Bond/Servo/CMaster.cpp b/SourceCode/Bond/Servo/CMaster.cpp
index e5f2e60..d25da2b 100644
--- a/SourceCode/Bond/Servo/CMaster.cpp
+++ b/SourceCode/Bond/Servo/CMaster.cpp
@@ -160,9 +160,9 @@
ASSERT(pMeasurement);
pEfem->setPort(0, pPort1);
- pEfem->setPort(1, pPort1);
- pEfem->setPort(2, pPort1);
- pEfem->setPort(3, pPort1);
+ pEfem->setPort(1, pPort2);
+ pEfem->setPort(2, pPort3);
+ pEfem->setPort(3, pPort4);
pEfem->setFliper(pFliper);
pEfem->setAligner(pAligner);
pEfem->setArmTray(0, pArmTray1);
diff --git a/SourceCode/Bond/Servo/CRobotCmdTestDlg.cpp b/SourceCode/Bond/Servo/CRobotCmdTestDlg.cpp
index 7859139..5c92b59 100644
--- a/SourceCode/Bond/Servo/CRobotCmdTestDlg.cpp
+++ b/SourceCode/Bond/Servo/CRobotCmdTestDlg.cpp
@@ -32,6 +32,28 @@
{_T("SendPutAndHome"), {true, false, false, true, true }}
};
+std::map<CString, int> g_mapDeviceSlotCount = {
+ {_T("Port1"), 8},
+ {_T("Port2"), 8},
+ {_T("Port3"), 8},
+ {_T("Port4"), 8},
+ {_T("RB1"), 1},
+ {_T("RB2"), 1},
+ {_T("AL"), 1},
+ {_T("FLIP"), 1},
+ {_T("Bonder1-涓婁骇鍝�"), 1},
+ {_T("Bonder1-涓嬩骇鍝�"), 1},
+ {_T("Bonder2-涓婁骇鍝�"), 1},
+ {_T("Bonder2-涓嬩骇鍝�"), 1},
+ {_T("VacBakeA鑵�"), 1},
+ {_T("VacBakeB鑵�"), 1},
+ {_T("BakecCoolingA鐑樼儰"), 1},
+ {_T("BakecCoolingA鍐峰嵈"), 1},
+ {_T("BakecCoolingB鐑樼儰"), 1},
+ {_T("BakecCoolingB鍐峰嵈"), 1},
+ {_T("Measurement"), 1}
+};
+
// CRobotCmdTestDlg 瀵硅瘽妗�
IMPLEMENT_DYNAMIC(CRobotCmdTestDlg, CDialogEx)
@@ -64,8 +86,10 @@
}
BEGIN_MESSAGE_MAP(CRobotCmdTestDlg, CDialogEx)
- ON_CBN_SELCHANGE(IDC_COMBO_CMD_TYPE, &CRobotCmdTestDlg::OnCbnSelchangeComboCmdType)
ON_BN_CLICKED(IDC_BUTTON_EXECUTE, &CRobotCmdTestDlg::OnBnClickedButtonExecute)
+ ON_CBN_SELCHANGE(IDC_COMBO_CMD_TYPE, &CRobotCmdTestDlg::OnSelchangeComboCmdType)
+ ON_CBN_SELCHANGE(IDC_COMBO_GET_POS, &CRobotCmdTestDlg::OnSelchangeComboGetPos)
+ ON_CBN_SELCHANGE(IDC_COMBO_PUT_POS, &CRobotCmdTestDlg::OnSelchangeComboPutPos)
END_MESSAGE_MAP()
// CRobotCmdTestDlg 娑堟伅澶勭悊绋嬪簭
@@ -80,11 +104,6 @@
m_comboCmdType.AddString(pair.first);
}
m_comboCmdType.SetCurSel(0);
-
- // 鍒濆鍖栧懡浠よ緭鍏ユ帶浠�
- if (!g_mapQuickCmd.empty()) {
- UpdateCommandInputUI(g_mapQuickCmd.begin()->first);
- }
// 鍒濆鍖� Arm No锛�1锛欰rm#1锛�2锛欰rm#2锛�
m_comboArmNo.AddString(_T("1"));
@@ -121,15 +140,16 @@
m_comboGetPos.SetCurSel(0);
m_comboPutPos.SetCurSel(0);
- // 鍒濆鍖� Slot锛堥粯璁や粠 1 鍒� 25锛�
- for (int i = 1; i < 26; ++i) {
- CString str;
- str.Format(_T("%d"), i);
- m_comboGetSlot.AddString(str);
- m_comboPutSlot.AddString(str);
+ // 鍒濆鍖� Slot
+ m_comboGetPos.SetCurSel(0);
+ m_comboPutPos.SetCurSel(0);
+ UpdateSlotList(&m_comboGetPos, &m_comboGetSlot);
+ UpdateSlotList(&m_comboPutPos, &m_comboPutSlot);
+
+ // 鍒濆鍖栧懡浠よ緭鍏ユ帶浠�
+ if (!g_mapQuickCmd.empty()) {
+ UpdateCommandInputUI(g_mapQuickCmd.begin()->first);
}
- m_comboGetSlot.SetCurSel(0);
- m_comboPutSlot.SetCurSel(0);
// 蹇嵎鍛戒护鎵ц鏄犲皠琛�
m_mapCmdExec = {
@@ -210,11 +230,16 @@
}
const QuickCmdFieldMask& mask = it->second;
- GetDlgItem(IDC_COMBO_ARM_NO)->EnableWindow(mask.useArm);
- GetDlgItem(IDC_COMBO_GET_POS)->EnableWindow(mask.useGetPos);
- GetDlgItem(IDC_COMBO_GET_SLOT)->EnableWindow(mask.useGetSlot);
- GetDlgItem(IDC_COMBO_PUT_POS)->EnableWindow(mask.usePutPos);
- GetDlgItem(IDC_COMBO_PUT_SLOT)->EnableWindow(mask.usePutSlot);
+ m_comboArmNo.SetCurSel(0);
+ m_comboArmNo.EnableWindow(mask.useArm);
+ m_comboGetPos.SetCurSel(0);
+ m_comboGetPos.EnableWindow(mask.useGetPos);
+ m_comboGetSlot.SetCurSel(0);
+ m_comboGetSlot.EnableWindow(mask.useGetSlot);
+ m_comboPutPos.SetCurSel(0);
+ m_comboPutPos.EnableWindow(mask.usePutPos);
+ m_comboPutSlot.SetCurSel(0);
+ m_comboPutSlot.EnableWindow(mask.usePutSlot);
}
void CRobotCmdTestDlg::AppendLogLineBatchBegin()
@@ -302,19 +327,73 @@
m_editLog.SetSel(-1, 0);
}
-void CRobotCmdTestDlg::OnCbnSelchangeComboCmdType()
+void CRobotCmdTestDlg::UpdateSlotList(CComboBox* pComboDevice, CComboBox* pComboSlot)
{
- int nSel = m_comboCmdType.GetCurSel();
- if (nSel < 0) {
+ if (pComboDevice == nullptr || pComboSlot == nullptr) {
return;
}
- CString str;
- m_comboCmdType.GetLBText(nSel, str);
- UpdateCommandInputUI(str);
+ int nSelIndex = pComboDevice->GetCurSel();
+ if (nSelIndex < 0) {
+ return;
+ }
- str.Format(_T("鍒囨崲褰撳墠鍛戒护绫诲瀷锛�%s"), str);
- AppendLogLineRichStyled(str, LOG_COLOR_NORMAL);
+ CString strDeviceName;
+ pComboDevice->GetLBText(nSelIndex, strDeviceName);
+
+ int nMaxSlot = 1; // 榛樿妲戒綅鏁�
+ auto it = g_mapDeviceSlotCount.find(strDeviceName);
+ if (it != g_mapDeviceSlotCount.end()) {
+ nMaxSlot = it->second;
+ }
+ else {
+ CString strLog;
+ strLog.Format(_T("璁惧 %s 鏈畾涔夋Ы浣嶆暟锛屼娇鐢ㄩ粯璁ゅ�� 1"), strDeviceName.GetString());
+ AppendLogLineRichStyled(strLog, LOG_COLOR_WARNING);
+ }
+
+ // 娓呯┖骞舵坊鍔犳Ы鍙�
+ pComboSlot->ResetContent();
+ for (int i = 1; i <= nMaxSlot; ++i) {
+ CString str;
+ str.Format(_T("%d"), i);
+ pComboSlot->AddString(str);
+ }
+
+ pComboSlot->SetCurSel(0);
+ pComboSlot->EnableWindow(1 != nMaxSlot);
+}
+
+void CRobotCmdTestDlg::UpdateArmList(CComboBox* pComboDevice, CComboBox* pComboArm)
+{
+ if (pComboDevice == nullptr || pComboArm == nullptr) {
+ return;
+ }
+
+ int nSelIndex = pComboDevice->GetCurSel();
+ if (nSelIndex < 0) {
+ return;
+ }
+
+ CString strDeviceName;
+ pComboDevice->GetLBText(nSelIndex, strDeviceName);
+ if (IsDualArmSupported(strDeviceName)) {
+ pComboArm->EnableWindow(TRUE);
+ }
+ else {
+ pComboArm->EnableWindow(FALSE);
+ }
+
+ pComboArm->SetCurSel(0);
+}
+
+bool CRobotCmdTestDlg::IsDualArmSupported(const CString& strDeviceName)
+{
+ // 娉ㄦ剰鍖归厤瑙勫垯鏄惁鍖哄垎鈥�-涓婁骇鍝佲�濄�佲��-涓嬩骇鍝佲�濈瓑鍚庣紑
+ if (strDeviceName.Find(_T("FLIP")) >= 0) return true;
+ if (strDeviceName.Find(_T("Bonder1")) >= 0) return true;
+ if (strDeviceName.Find(_T("Bonder2")) >= 0) return true;
+ return false;
}
void CRobotCmdTestDlg::OnBnClickedButtonExecute()
@@ -339,7 +418,7 @@
// 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 code) -> int {
+ int ret = it->second(1, armNo, getPos, putPos, getSlot, putSlot, [&](int code) -> int {
if (code == WOK) {
AppendLogLineRichStyled(_T("宸叉敹鍒癛obot鍥炲簲锛�"), LOG_COLOR_SUCCESS);
}
@@ -366,3 +445,32 @@
AppendLogLineRichStyled(log, LOG_COLOR_ERROR);
}
}
+
+void CRobotCmdTestDlg::OnSelchangeComboCmdType()
+{
+ int nSel = m_comboCmdType.GetCurSel();
+ if (nSel < 0) {
+ return;
+ }
+
+ CString str;
+ m_comboCmdType.GetLBText(nSel, str);
+ UpdateCommandInputUI(str);
+
+ str.Format(_T("鍒囨崲褰撳墠鍛戒护绫诲瀷锛�%s"), str);
+ AppendLogLineRichStyled(str, LOG_COLOR_NORMAL);
+}
+
+void CRobotCmdTestDlg::OnSelchangeComboGetPos()
+{
+ // TODO: 鍦ㄦ娣诲姞鎺т欢閫氱煡澶勭悊绋嬪簭浠ｇ爜
+ UpdateSlotList(&m_comboGetPos, &m_comboGetSlot);
+ UpdateArmList(&m_comboGetPos, &m_comboArmNo);
+}
+
+void CRobotCmdTestDlg::OnSelchangeComboPutPos()
+{
+ // TODO: 鍦ㄦ娣诲姞鎺т欢閫氱煡澶勭悊绋嬪簭浠ｇ爜
+ UpdateSlotList(&m_comboPutPos, &m_comboPutSlot);
+ UpdateArmList(&m_comboPutPos, &m_comboArmNo);
+}
diff --git a/SourceCode/Bond/Servo/CRobotCmdTestDlg.h b/SourceCode/Bond/Servo/CRobotCmdTestDlg.h
index c605e58..0169495 100644
--- a/SourceCode/Bond/Servo/CRobotCmdTestDlg.h
+++ b/SourceCode/Bond/Servo/CRobotCmdTestDlg.h
@@ -35,8 +35,10 @@
protected:
virtual void DoDataExchange(CDataExchange* pDX); // DDX/DDV 鏀寔
virtual BOOL OnInitDialog();
- afx_msg void OnCbnSelchangeComboCmdType();
afx_msg void OnBnClickedButtonExecute();
+ afx_msg void OnSelchangeComboCmdType();
+ afx_msg void OnSelchangeComboGetPos();
+ afx_msg void OnSelchangeComboPutPos();
DECLARE_MESSAGE_MAP()
private:
@@ -46,6 +48,9 @@
void TrimRichEditLineLimit(int maxLines = 100);
void AppendLogLineRichStyled(const CString& content, COLORREF color = RGB(0, 0, 0));
void HighlightAllMatches(const CString& strSearch, COLORREF clrHighlight = RGB(255, 165, 0));
+ void UpdateSlotList(CComboBox* pComboDevice, CComboBox* pComboSlot);
+ void UpdateArmList(CComboBox* pComboDevice, CComboBox* pComboArm);
+ bool IsDualArmSupported(const CString& strDeviceName);
// 鎺т欢
CComboBox m_comboCmdType;
--
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