From ae6ef5e9343aba44b7547ecc4afab935ebdf4806 Mon Sep 17 00:00:00 2001
From: mrDarker <mr.darker@163.com>
Date: 星期四, 19 六月 2025 09:13:09 +0800
Subject: [PATCH] Merge branch 'clh' into liuyang
---
SourceCode/Bond/Servo/CEquipment.cpp | 93 ++++++++++++++++++++++++++++++----------------
1 files changed, 61 insertions(+), 32 deletions(-)
diff --git a/SourceCode/Bond/Servo/CEquipment.cpp b/SourceCode/Bond/Servo/CEquipment.cpp
index 473afdb..ef24f61 100644
--- a/SourceCode/Bond/Servo/CEquipment.cpp
+++ b/SourceCode/Bond/Servo/CEquipment.cpp
@@ -39,6 +39,7 @@
m_pCclink = nullptr;
m_nBaseAlarmId = 0;
m_pArm = nullptr;
+ m_processState = PROCESS_STATE::Ready;
InitializeCriticalSection(&m_criticalSection);
}
@@ -142,6 +143,16 @@
pStep->setCcLink(m_pCclink);
m_mapStep[addr] = pStep;
return 0;
+ }
+
+ void CEquipment::setProcessState(PROCESS_STATE state)
+ {
+ m_processState = state;
+ onProcessStateChanged(m_processState);
+
+ if (m_listener.onProcessStateChanged != nullptr) {
+ m_listener.onProcessStateChanged(this, m_processState);
+ }
}
void CEquipment::init()
@@ -394,7 +405,9 @@
m_bLinkSignal[i][SIGNAL_SEND_ABLE] = isBitOn(pszData, size, index + 3);
index += 0x40;
}
-
+ if(m_bLinkSignal[0][SIGNAL_SEND_ABLE]) {
+ onSendAble();
+ }
// 其它信号及响应
index = 0x540;
@@ -795,6 +808,11 @@
pContext->release();
Unlock();
+
+ if (m_processState != PROCESS_STATE::Ready) {
+ setProcessState(PROCESS_STATE::Ready);
+ }
+
if (m_listener.onDataChanged != nullptr) {
m_listener.onDataChanged(this, EDCC_FETCHOUT_JOB);
}
@@ -821,22 +839,9 @@
pGlass->release(); // tempFetchOut需要调用一次release
Unlock();
-
- // 如果此玻璃已经贴合，贴合的玻璃也要从加入到列表中
- /*
- CGlass* pBuddy = pGlass->getBuddy();
- if (pBuddy != nullptr) {
- Lock();
- pBuddy->addPath(m_nID, 0);
- if (putSlot % 2 == 0) {
- m_slot[putSlot - 2].setContext(pBuddy);
- }
- else {
- m_slot[putSlot].setContext(pBuddy);
- }
- Unlock();
+ if (m_processState != PROCESS_STATE::Processing) {
+ setProcessState(PROCESS_STATE::Processing);
}
- */
if (m_listener.onDataChanged != nullptr) {
m_listener.onDataChanged(this, EDCC_STORED_JOB);
@@ -1007,30 +1012,34 @@
return 0;
}
- int CEquipment::indexerOperationModeChange(IDNEXER_OPERATION_MODE mode, ONWRITED onWritedBlock/* = nullptr*/)
+ int CEquipment::indexerOperationModeChange(IDNEXER_OPERATION_MODE mode, ONWRITEDRET onWritedRetBlock)
{
- SERVO::CEqWriteStep* pStep = (SERVO::CEqWriteStep*)getStepWithName(STEP_EFEM_IN_OP_MODE_CHANGE);
+ SERVO::CEqWriteStep* pStep = (SERVO::CEqWriteStep*)getStepWithName(STEP_EQ_IN_OP_MODE_CHANGE);
if (pStep == nullptr) {
return -1;
}
unsigned short operationMode = (unsigned short)((unsigned short)mode + getIndexerOperationModeBaseValue());
LOGI("<CEquipment-%s>准备设置indexerOperationMode<%d>", m_strName.c_str(), (int)mode);
- if (onWritedBlock != nullptr) {
- pStep->writeShort(operationMode, onWritedBlock);
- }
- else {
- pStep->writeShort(operationMode, [&, mode](int code) -> int {
- if (code == WOK) {
- LOGI("<CEquipment-%s>设置indexerOperationMode成功.", m_strName.c_str());
- }
- else {
- LOGI("<CEquipment-%s>设置indexerOperationMode失败，code:%d", m_strName.c_str(), code);
- }
+ pStep->writeShort(operationMode, [&, mode](int code) -> int {
+ int retCode = 0;
+ if (code == WOK) {
+ LOGI("<CEquipment-%s>设置indexerOperationMode成功.", m_strName.c_str());
+ const char* pszRetData = nullptr;
+ pStep->getReturnData(pszRetData);
+ ASSERT(pszRetData);
+ retCode = (unsigned int)CToolUnits::toInt16(pszRetData);
+ }
+ else {
+ LOGI("<CEquipment-%s>设置indexerOperationMode失败，code:%d", m_strName.c_str(), code);
+ }
- return 0;
- });
- }
+ if (onWritedRetBlock != nullptr) {
+ onWritedRetBlock(code, retCode);
+ }
+
+ return 0;
+ });
return 0;
}
@@ -1595,6 +1604,26 @@
return 0;
}
+ /*
+ * 当从CC-Link检测到设备Send Able为On时调用此函数
+ * 可能会多次重复调用(根据扫描频率), 注意防呆
+ */
+ int CEquipment::onSendAble()
+ {
+ LOGI("<CEquipment-%s>onSendAble.", m_strName.c_str());
+
+ if (m_processState != PROCESS_STATE::Complete) {
+ setProcessState(PROCESS_STATE::Complete);
+ }
+
+ return 0;
+ }
+
+ int CEquipment::onProcessStateChanged(PROCESS_STATE state)
+ {
+ return 0;
+ }
+
int CEquipment::getIndexerOperationModeBaseValue()
{
return 0;
--
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