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.h | 32 ++++++++++++++++----------------
1 files changed, 16 insertions(+), 16 deletions(-)
diff --git a/SourceCode/Bond/Servo/CEFEM.h b/SourceCode/Bond/Servo/CEFEM.h
index 5607ec3..997f22d 100644
--- a/SourceCode/Bond/Servo/CEFEM.h
+++ b/SourceCode/Bond/Servo/CEFEM.h
@@ -20,7 +20,6 @@
virtual void term();
virtual void initPins();
virtual void initSteps();
- virtual int onStepEvent(CStep* pStep, int code);
virtual void onTimer(UINT nTimerid);
virtual void serialize(CArchive& ar);
virtual void getAttributeVector(CAttributeVector& attrubutes);
@@ -31,6 +30,7 @@
virtual int onSentOutJob(int port, CJobDataS* pJobDataS);
virtual int onFetchedOutJob(int port, CJobDataB* pJobDataB);
virtual int onStoredJob(int port, CJobDataB* pJobDataB);
+ virtual int getIndexerOperationModeBaseValue();
public:
void setPort(unsigned int index, CLoadPort* pPort);
@@ -41,21 +41,21 @@
int robotCmds(ROBOT_CMD_PARAM* robotCmdParam, unsigned int count, ONWRITED onWritedBlock = nullptr);
// 快捷封装
- int SendHome(int seq);
- int SendTransfer(int seq, int armNo, int fromPos, int toPos, int fromSlot, int toSlot);
- int SendMoveToGet(int seq, int armNo, int pos, int slot);
- int SendMoveToPut(int seq, int armNo, int pos, int slot);
- int SendGet(int seq, int armNo, int pos, int slot);
- int SendPut(int seq, int armNo, int pos, int slot);
- int SendExchange(int seq, int armNo, int pos, int getSlot, int putSlot);
- int SendCommandClear(int seq);
- int SendBatchGet(int seq, int getPos, int getSlot);
- int SendBatchPut(int seq, int putPos, int putSlot);
- int SendMoveToGetAndHome(int seq, int armNo, int getPos, int getSlot);
- int SendMoveToPutAndHome(int seq, int armNo, int putPos, int putSlot);
- int SendTransferAndHome(int seq, int armNo, int fromPos, int toPos, int fromSlot, int toSlot);
- int SendGetAndPut(int seq, int armNo, int getPos, int getSlot, int putPos, int putSlot);
- int SendPutAndHome(int seq, int armNo, int putPos, int putSlot);
+ int robotSendHome(int seq, ONWRITED onWritedBlock = nullptr);
+ int robotSendTransfer(int seq, int armNo, int fromPos, int toPos, int fromSlot, int toSlot, ONWRITED onWritedBlock = nullptr);
+ int robotSendMoveToGet(int seq, int armNo, int pos, int slot, ONWRITED onWritedBlock = nullptr);
+ int robotSendMoveToPut(int seq, int armNo, int pos, int slot, ONWRITED onWritedBlock = nullptr);
+ int robotSendGet(int seq, int armNo, int pos, int slot, ONWRITED onWritedBlock = nullptr);
+ int robotSendPut(int seq, int armNo, int pos, int slot, ONWRITED onWritedBlock = nullptr);
+ int robotSendExchange(int seq, int armNo, int pos, int getSlot, int putSlot, ONWRITED onWritedBlock = nullptr);
+ int robotSendCommandClear(int seq, ONWRITED onWritedBlock = nullptr);
+ int robotSendBatchGet(int seq, int getPos, int getSlot, ONWRITED onWritedBlock = nullptr);
+ int robotSendBatchPut(int seq, int putPos, int putSlot, ONWRITED onWritedBlock = nullptr);
+ int robotSendMoveToGetAndHome(int seq, int armNo, int getPos, int getSlot, ONWRITED onWritedBlock = nullptr);
+ int robotSendMoveToPutAndHome(int seq, int armNo, int putPos, int putSlot, ONWRITED onWritedBlock = nullptr);
+ int robotSendTransferAndHome(int seq, int armNo, int fromPos, int toPos, int fromSlot, int toSlot, ONWRITED onWritedBlock = nullptr);
+ int robotSendGetAndPut(int seq, int armNo, int getPos, int getSlot, int putPos, int putSlot, ONWRITED onWritedBlock = nullptr);
+ int robotSendPutAndHome(int seq, int armNo, int putPos, int putSlot, ONWRITED onWritedBlock = nullptr);
private:
CLoadPort* m_pPort[4];
--
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