From e42e8364112e97d89eeaecd13f043dff42179949 Mon Sep 17 00:00:00 2001
From: LAPTOP-SNT8I5JK\Boounion <Chenluhua@qq.com>
Date: 星期二, 27 五月 2025 17:19:02 +0800
Subject: [PATCH] 1.enum修改为enum class, 理顺CLoadPort各成员变量在调度中的判定作用；
---
SourceCode/Bond/Servo/CEFEM.cpp | 205 +++++++++++++++++++++++++++++++++++++++++++++++++++
1 files changed, 205 insertions(+), 0 deletions(-)
diff --git a/SourceCode/Bond/Servo/CEFEM.cpp b/SourceCode/Bond/Servo/CEFEM.cpp
index f94b373..3918098 100644
--- a/SourceCode/Bond/Servo/CEFEM.cpp
+++ b/SourceCode/Bond/Servo/CEFEM.cpp
@@ -126,6 +126,211 @@
return 0;
}
+ int CEFEM::robotSendHome(int seq, ONWRITED onWritedBlock/* = nullptr*/)
+ {
+ SERVO::ROBOT_CMD_PARAM cmd = {};
+ cmd.sequenceNo = static_cast<short>(seq);
+ cmd.rcmd = static_cast<short>(SERVO::RCMD::Robot_home);
+ return robotCmd(cmd, onWritedBlock);
+ }
+
+ int CEFEM::robotSendTransfer(int seq, int armNo, int fromPos, int toPos, int fromSlot, int toSlot, ONWRITED onWritedBlock/* = nullptr*/)
+ {
+ 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, onWritedBlock);
+ }
+
+ int CEFEM::robotSendMoveToGet(int seq, int armNo, int pos, int slot, ONWRITED onWritedBlock/* = nullptr*/)
+ {
+ 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, onWritedBlock);
+ }
+
+ int CEFEM::robotSendMoveToPut(int seq, int armNo, int pos, int slot, ONWRITED onWritedBlock/* = nullptr*/)
+ {
+ 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, onWritedBlock);
+ }
+
+ int CEFEM::robotSendGet(int seq, int armNo, int pos, int slot, ONWRITED onWritedBlock/* = nullptr*/)
+ {
+ 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, onWritedBlock);
+ }
+
+ int CEFEM::robotSendPut(int seq, int armNo, int pos, int slot, ONWRITED onWritedBlock/* = nullptr*/)
+ {
+ 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, onWritedBlock);
+ }
+
+ int CEFEM::robotSendExchange(int seq, int armNo, int pos, int getSlot, int putSlot, ONWRITED onWritedBlock/* = nullptr*/)
+ {
+ 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, onWritedBlock);
+ }
+
+ int CEFEM::robotSendCommandClear(int seq, ONWRITED onWritedBlock/* = nullptr*/)
+ {
+ SERVO::ROBOT_CMD_PARAM cmd = {};
+ cmd.sequenceNo = static_cast<short>(seq);
+ cmd.rcmd = static_cast<short>(SERVO::RCMD::Command_Clear);
+ return robotCmd(cmd, onWritedBlock);
+ }
+
+ int CEFEM::robotSendBatchGet(int seq, int getPos, int getSlot, ONWRITED onWritedBlock/* = nullptr*/)
+ {
+ 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, onWritedBlock);
+ }
+
+ int CEFEM::robotSendBatchPut(int seq, int putPos, int putSlot, ONWRITED onWritedBlock/* = nullptr*/)
+ {
+ 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, onWritedBlock);
+ }
+
+ int CEFEM::robotSendMoveToGetAndHome(int seq, int armNo, int getPos, int getSlot, ONWRITED onWritedBlock/* = nullptr*/)
+ {
+ 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, onWritedBlock);
+ }
+
+ int CEFEM::robotSendMoveToPutAndHome(int seq, int armNo, int putPos, int putSlot, ONWRITED onWritedBlock/* = nullptr*/)
+ {
+ 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, onWritedBlock);
+ }
+
+ int CEFEM::robotSendTransferAndHome(int seq, int armNo, int fromPos, int toPos, int fromSlot, int toSlot, ONWRITED onWritedBlock/* = nullptr*/)
+ {
+ 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, onWritedBlock);
+ }
+
+ int CEFEM::robotSendGetAndPut(int seq, int armNo, int getPos, int getSlot, int putPos, int putSlot, ONWRITED onWritedBlock/* = nullptr*/)
+ {
+ 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, onWritedBlock);
+ }
+
+ int CEFEM::robotSendPutAndHome(int seq, int armNo, int putPos, int putSlot, ONWRITED onWritedBlock/* = nullptr*/)
+ {
+ 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, onWritedBlock);
+ }
+
void CEFEM::init()
{
CEquipment::init();
--
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