From fd1333fbf52e00ff8f0b0d51ec0d707a66cc9141 Mon Sep 17 00:00:00 2001
From: LAPTOP-SNT8I5JK\Boounion <Chenluhua@qq.com>
Date: 星期一, 16 六月 2025 11:20:16 +0800
Subject: [PATCH] 1.Robot状态和位置的监控，其中两个arm状态(是否有料)，也作为调度的依据。
---
SourceCode/Bond/Servo/CLoadPort.cpp | 57 +++++++++++++++++++++++++++++++++++++++++++--------------
1 files changed, 43 insertions(+), 14 deletions(-)
diff --git a/SourceCode/Bond/Servo/CLoadPort.cpp b/SourceCode/Bond/Servo/CLoadPort.cpp
index 6e19e45..9e51641 100644
--- a/SourceCode/Bond/Servo/CLoadPort.cpp
+++ b/SourceCode/Bond/Servo/CLoadPort.cpp
@@ -51,8 +51,7 @@
// 加入Pin初始化代码
LOGI("<CLoadPort>initPins");
addPin(SERVO::PinType::INPUT, _T("In"));
- addPin(SERVO::PinType::OUTPUT, _T("Out1"));
- addPin(SERVO::PinType::OUTPUT, _T("Out2"));
+ addPin(SERVO::PinType::OUTPUT, _T("Out"));
}
// 必须要实现的虚函数，在此初始化Slot信息
@@ -379,23 +378,23 @@
if (ar.IsStoring()) {
ar << m_nIndex;
- ar << (int)m_portType;
- ar << (int)m_portMode;
- ar << (int)m_cassetteType;
- ar << (int)m_transferMode;
- ar << m_bEnable;
- ar << m_bAutoChangeEnable;
+ //ar << (int)m_portType;
+ //ar << (int)m_portMode;
+ //ar << (int)m_cassetteType;
+ //ar << (int)m_transferMode;
+ //ar << m_bEnable;
+ //ar << m_bAutoChangeEnable;
m_portStatusReport.serialize(ar);
}
else {
int temp;
ar >> m_nIndex;
- ar >> temp; m_portType = (PortType)temp;
- ar >> temp; m_portMode = (PortMode)temp;
- ar >> temp; m_cassetteType = (CassetteType)temp;
- ar >> temp; m_transferMode = (TransferMode)temp;
- ar >> m_bEnable;
- ar >> m_bAutoChangeEnable;
+ //ar >> temp; m_portType = (PortType)temp;
+ //ar >> temp; m_portMode = (PortMode)temp;
+ //ar >> temp; m_cassetteType = (CassetteType)temp;
+ //ar >> temp; m_transferMode = (TransferMode)temp;
+ //ar >> m_bEnable;
+ //ar >> m_bAutoChangeEnable;
m_portStatusReport.serialize(ar);
}
}
@@ -1078,6 +1077,36 @@
return 0;
}
+ void CLoadPort::localEanblePort(BOOL bEnable)
+ {
+ m_bEnable = bEnable;
+ }
+
+ void CLoadPort::localSetPortType(PortType type)
+ {
+ m_portType = type;
+ }
+
+ void CLoadPort::localSetPortMode(PortMode mode)
+ {
+ m_portMode = mode;
+ }
+
+ void CLoadPort::localSetCessetteType(CassetteType type)
+ {
+ m_cassetteType = type;
+ }
+
+ void CLoadPort::localSetTransferMode(TransferMode mode)
+ {
+ m_transferMode = mode;
+ }
+
+ void CLoadPort::localAutoChangeEnable(BOOL bEnable)
+ {
+ m_bAutoChangeEnable = bEnable;
+ }
+
/*
* 生成测试用的玻璃列表
*/
--
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