From 91a2974fc7bce6e8bbd903992efae13709b0d186 Mon Sep 17 00:00:00 2001
From: LAPTOP-SNT8I5JK\Boounion <Chenluhua@qq.com>
Date: 星期二, 20 五月 2025 09:48:17 +0800
Subject: [PATCH] 1.修改替换CEqVcrEventStep为(CEqReadStep)
---
SourceCode/Bond/Servo/CEFEM.cpp | 188 ++++++++++++++++++++++++++++++++++++++++++----
1 files changed, 170 insertions(+), 18 deletions(-)
diff --git a/SourceCode/Bond/Servo/CEFEM.cpp b/SourceCode/Bond/Servo/CEFEM.cpp
index 32e9233..91772f7 100644
--- a/SourceCode/Bond/Servo/CEFEM.cpp
+++ b/SourceCode/Bond/Servo/CEFEM.cpp
@@ -1,5 +1,6 @@
#include "stdafx.h"
#include "CEFEM.h"
+#include "Log.h"
#define ADD_EQ_CASSETTE_TRANSFER_STATE_STEP(name,ws,index,psd) { \
@@ -56,6 +57,73 @@
if (index < 2) {
m_pArmTray[index] = pArmTray;
}
+ }
+
+ int CEFEM::robotCmd(ROBOT_CMD_PARAM& robotCmdParam, ONWRITED onWritedBlock/* = nullptr*/)
+ {
+ SERVO::CEqWriteStep* pStep = (SERVO::CEqWriteStep*)getStepWithName(STEP_EFEM_ROBOT_CMD);
+ if (pStep == nullptr) {
+ return -1;
+ }
+
+ LOGI("<CEFEM-%s>准备发送RobotCmd<%d>", m_strName.c_str(), (int)robotCmdParam.rcmd);
+ if (onWritedBlock != nullptr) {
+ pStep->writeDataEx((const char*)&robotCmdParam, ROBOT_CMD_PARAM_SIZE, onWritedBlock);
+ }
+ else {
+ pStep->writeDataEx((const char*)&robotCmdParam, ROBOT_CMD_PARAM_SIZE, [&](int code) -> int {
+ if (code == WOK) {
+ LOGI("<CEFEM-%s>发送RobotCmd成功.", m_strName.c_str());
+ }
+ else {
+ LOGI("<CEFEM-%s>发送RobotCmd失败，code:%d", m_strName.c_str(), code);
+ }
+
+ return 0;
+ });
+ }
+
+ return 0;
+ }
+
+ int CEFEM::robotCmds(ROBOT_CMD_PARAM* robotCmdParam, unsigned int count, ONWRITED onWritedBlock/* = nullptr*/)
+ {
+ SERVO::CEqWriteStep* pStep = (SERVO::CEqWriteStep*)getStepWithName(STEP_EFEM_ROBOT_CMD);
+ if (pStep == nullptr) {
+ return -1;
+ }
+
+
+ // 平铺到内存中，如果ROBOT_CMD_PARAM不是4的整数倍，只能一个一个复制
+ std::string strLog = "准备发送RobotCmds<";
+ char szBuffer[ROBOT_CMD_PARAM_SIZE * 4];
+ for (int i = 0; i < min(4, count); i++) {
+ memcpy(&szBuffer[i * ROBOT_CMD_PARAM_SIZE], (robotCmdParam + i), ROBOT_CMD_PARAM_SIZE);
+ strLog += std::to_string((robotCmdParam + i)->rcmd);
+ strLog += ",";
+ LOGI("%d", (robotCmdParam + 1)->rcmd);
+ }
+ strLog += ">.";
+ LOGI("<CEFEM-%s>%s", m_strName.c_str(), strLog.c_str());
+
+
+ if (onWritedBlock != nullptr) {
+ pStep->writeDataEx(szBuffer, ROBOT_CMD_PARAM_SIZE * min(4, count), onWritedBlock);
+ }
+ else {
+ pStep->writeDataEx(szBuffer, ROBOT_CMD_PARAM_SIZE * min(4, count), [&](int code) -> int {
+ if (code == WOK) {
+ LOGI("<CEquipment-%s>发送RobotCmdS成功.", m_strName.c_str());
+ }
+ else {
+ LOGI("<CEquipment-%s>发送RobotCmds失败，code:%d", m_strName.c_str(), code);
+ }
+
+ return 0;
+ });
+ }
+
+ return 0;
}
void CEFEM::init()
@@ -167,11 +235,29 @@
{
// 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,
+ [&](void* pFrom, int code, const char* pszData, size_t size) -> int {
+ if (code == ROK && pszData != nullptr && size > 0) {
+ decodeVCREventReport((CStep*)pFrom, pszData, size);
+ }
+ return -1;
+ });
+ pStep->setName(STEP_EQ_VCR1_EVENT_REPORT);
+ pStep->setProp("Port", (void*)1);
+ pStep->setWriteSignalDev(0x4a);
if (addStep(STEP_ID_VCR1_EVENT_REPORT, pStep) != 0) {
delete pStep;
}
@@ -364,6 +450,39 @@
}
}
}
+
+ {
+ // Dispatching Mode Change Command
+ CEqWriteStep* pStep = new CEqWriteStep();
+ pStep->setName(STEP_EQ_DISPATCHINT_MODE_CHANGE);
+ pStep->setWriteSignalDev(0x071);
+ pStep->setDataDev(0x5c6);
+ if (addStep(STEP_ID_DISPATCHING_MODE_CHANGE_REPLY, pStep) != 0) {
+ delete pStep;
+ }
+ }
+
+ {
+ // Robot CMD
+ CEqWriteStep* pStep = new CEqWriteStep();
+ pStep->setName(STEP_EFEM_ROBOT_CMD);
+ pStep->setWriteSignalDev(0x14D);
+ pStep->setDataDev(0x90a);
+ if (addStep(STEP_ID_ROBOT_CMD_REPLY, pStep) != 0) {
+ delete pStep;
+ }
+ }
+
+ {
+ // Indexer Operation Mode Change
+ CEqWriteStep* pStep = new CEqWriteStep();
+ pStep->setName(STEP_EFEM_IN_OP_MODE_CHANGE);
+ pStep->setWriteSignalDev(0x070);
+ pStep->setDataDev(0x023);
+ if (addStep(STEP_ID_IN_OP_CMD_REPLY, pStep) != 0) {
+ delete pStep;
+ }
+ }
}
int CEFEM::onStepEvent(CStep* pStep, int code)
@@ -426,63 +545,96 @@
}
}
- int CEFEM::onFetchedOut(int port, const char* pszGlassId)
+ 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);
+
+ 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);
+
+ return 0;
+ }
+
+ int CEFEM::onFetchedOutJob(int port, CJobDataB* pJobDataB)
{
if (port == 1) {
- return m_pPort[0]->fetchedOut(pszGlassId);
+ return m_pPort[0]->onFetchedOutJob(port, pJobDataB);
}
if (port == 2) {
- return m_pPort[1]->fetchedOut(pszGlassId);
+ return m_pPort[1]->onFetchedOutJob(port, pJobDataB);
}
if (port == 3) {
- return m_pPort[2]->fetchedOut(pszGlassId);
+ return m_pPort[2]->onFetchedOutJob(port, pJobDataB);
}
if (port == 4) {
- return m_pPort[3]->fetchedOut(pszGlassId);
+ return m_pPort[3]->onFetchedOutJob(port, pJobDataB);
}
if (port == 5) {
- return m_pArmTray[0]->fetchedOut(pszGlassId);
+ return m_pArmTray[0]->onFetchedOutJob(port, pJobDataB);
}
if (port == 6) {
- return m_pArmTray[1]->fetchedOut(pszGlassId);
+ return m_pArmTray[1]->onFetchedOutJob(port, pJobDataB);
}
if (port == 7) {
- return m_pAligner->fetchedOut(pszGlassId);
+ return m_pAligner->onFetchedOutJob(port, pJobDataB);
}
if (port == 8) {
- return m_pFliper->fetchedOut(pszGlassId);
+ return m_pFliper->onFetchedOutJob(port, pJobDataB);
}
return -1;
}
- int CEFEM::onStore(int port, const char* pszGlassId)
+ int CEFEM::onStoredJob(int port, CJobDataB* pJobDataB)
{
if (port == 1) {
- return m_pPort[0]->storedJob(pszGlassId);
+ return m_pPort[0]->onStoredJob(port, pJobDataB);
}
if (port == 2) {
- return m_pPort[1]->storedJob(pszGlassId);
+ return m_pPort[1]->onStoredJob(port, pJobDataB);
}
if (port == 3) {
- return m_pPort[2]->storedJob(pszGlassId);
+ return m_pPort[2]->onStoredJob(port, pJobDataB);
}
if (port == 4) {
- return m_pPort[3]->storedJob(pszGlassId);
+ return m_pPort[3]->onStoredJob(port, pJobDataB);
}
if (port == 5) {
- return m_pArmTray[0]->storedJob(pszGlassId);
+ return m_pArmTray[0]->onStoredJob(port, pJobDataB);
}
if (port == 6) {
- return m_pArmTray[1]->storedJob(pszGlassId);
+ return m_pArmTray[1]->onStoredJob(port, pJobDataB);
}
if (port == 7) {
- return m_pAligner->storedJob(pszGlassId);
+ return m_pAligner->onStoredJob(port, pJobDataB);
}
if (port == 8) {
- return m_pFliper->storedJob(pszGlassId);
+ return m_pFliper->onStoredJob(port, pJobDataB);
}
return -1;
}
+
+ int CEFEM::getIndexerOperationModeBaseValue()
+ {
+ return 10000;
+ }
}
--
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