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/CMaster.cpp | 354 +++++++++++++++++++++++++++++++++++++++-------------------
1 files changed, 236 insertions(+), 118 deletions(-)
diff --git a/SourceCode/Bond/Servo/CMaster.cpp b/SourceCode/Bond/Servo/CMaster.cpp
index 37fefe6..79da60d 100644
--- a/SourceCode/Bond/Servo/CMaster.cpp
+++ b/SourceCode/Bond/Servo/CMaster.cpp
@@ -284,7 +284,6 @@
// Bonder1和Bonder2需要的G2就过不来了
// 最基本的实现，可以G2和G2轮流搬送，但最好根据Bonder的需求来决定
MaterialsType primaryType, secondaryType;
- int armNo = 1; // 默认使用手臂2
// 各种机器
@@ -344,10 +343,13 @@
// 调度逻辑处理
else if (m_state == MASTERSTATE::RUNNING) {
- unlock();
- // LOGI("调度处理中...");
+ // 检测判断robot状态
+ RMDATA& rmd = pEFEM->getRobotMonitoringData();
+ if (rmd.status != ROBOT_STATUS::Idle && rmd.status != ROBOT_STATUS::Run) {
+ unlock();
+ continue;
+ }
- lock();
if (m_pActiveRobotTask != nullptr) {
unlock();
// 检测到当前有正在下午的任务，确保当前任务完成或中止后继续
@@ -377,6 +379,8 @@
// Measurement -> LoadPort
+ LOGI("Arm1 %s, Arm2 %s.", rmd.armState[0] ? _T("不可用") : _T("可用"),
+ rmd.armState[1] ? _T("不可用") : _T("可用"));
CLoadPort* pEqLoadPort[] = { pLoadPort1, pLoadPort2, pLoadPort3, pLoadPort4 };
CEquipment* pEqTar[] = { pVacuumBake, pFliper };
if (primaryType == MaterialsType::G2) {
@@ -384,10 +388,10 @@
pEqTar[1] = pVacuumBake;
}
for (int s = 0; s < 4; s++) {
- if (pEqLoadPort[s]->isEnable()
+ if (!rmd.armState[0] && pEqLoadPort[s]->isEnable()
&& pEqLoadPort[s]->getPortType() == PortType::Unloading
&& pEqLoadPort[s]->getPortMode() == PortMode::ReadyToUnload) {
- m_pActiveRobotTask = createTransferTask(pMeasurement, pEqLoadPort[s], primaryType, secondaryType, armNo);
+ m_pActiveRobotTask = createTransferTask(pMeasurement, pEqLoadPort[s], primaryType, secondaryType);
if (m_pActiveRobotTask != nullptr) {
goto PORT_PUT;
}
@@ -396,7 +400,7 @@
PORT_PUT:
if (m_pActiveRobotTask != nullptr) {
- m_pActiveRobotTask->run();
+ m_pActiveRobotTask->pick();
std::string strDescription = m_pActiveRobotTask->getDescription();
unlock();
if (m_listener.onRobotTaskEvent != nullptr) {
@@ -408,142 +412,164 @@
// BakeCooling ->Measurement
- m_pActiveRobotTask = createTransferTask_bakecooling_to_measurement(pBakeCooling, pMeasurement);
- if (m_pActiveRobotTask != nullptr) {
- m_pActiveRobotTask->run();
- std::string strDescription = m_pActiveRobotTask->getDescription();
- unlock();
- if (m_listener.onRobotTaskEvent != nullptr) {
- m_listener.onRobotTaskEvent(this, m_pActiveRobotTask, ROBOT_EVENT_CREATE);
+ if (!rmd.armState[0]) {
+ m_pActiveRobotTask = createTransferTask_bakecooling_to_measurement(pBakeCooling, pMeasurement);
+ if (m_pActiveRobotTask != nullptr) {
+ m_pActiveRobotTask->pick();
+ std::string strDescription = m_pActiveRobotTask->getDescription();
+ unlock();
+ if (m_listener.onRobotTaskEvent != nullptr) {
+ m_listener.onRobotTaskEvent(this, m_pActiveRobotTask, ROBOT_EVENT_CREATE);
+ }
+ LOGI("创建新任务<%s>...", strDescription.c_str());
+ continue;
}
- LOGI("创建新任务<%s>...", strDescription.c_str());
- continue;
}
+
// BakeCooling内部
// Bake -> Cooling
- m_pActiveRobotTask = createTransferTask_bake_to_cooling(pBakeCooling);
- if (m_pActiveRobotTask != nullptr) {
- m_pActiveRobotTask->run();
- std::string strDescription = m_pActiveRobotTask->getDescription();
- unlock();
- if (m_listener.onRobotTaskEvent != nullptr) {
- m_listener.onRobotTaskEvent(this, m_pActiveRobotTask, ROBOT_EVENT_CREATE);
+ if (!rmd.armState[0]) {
+ m_pActiveRobotTask = createTransferTask_bake_to_cooling(pBakeCooling);
+ if (m_pActiveRobotTask != nullptr) {
+ m_pActiveRobotTask->pick();
+ std::string strDescription = m_pActiveRobotTask->getDescription();
+ unlock();
+ if (m_listener.onRobotTaskEvent != nullptr) {
+ m_listener.onRobotTaskEvent(this, m_pActiveRobotTask, ROBOT_EVENT_CREATE);
+ }
+ LOGI("创建新任务<%s>...", strDescription.c_str());
+ continue;
}
- LOGI("创建新任务<%s>...", strDescription.c_str());
- continue;
}
// Bonder -> BakeCooling
- m_pActiveRobotTask = createTransferTask_bonder_to_bakecooling(pBonder1, pBakeCooling);
- if (m_pActiveRobotTask != nullptr) {
- m_pActiveRobotTask->run();
- std::string strDescription = m_pActiveRobotTask->getDescription();
- unlock();
- if (m_listener.onRobotTaskEvent != nullptr) {
- m_listener.onRobotTaskEvent(this, m_pActiveRobotTask, ROBOT_EVENT_CREATE);
+ if (!rmd.armState[0]) {
+ m_pActiveRobotTask = createTransferTask_bonder_to_bakecooling(pBonder1, pBakeCooling);
+ if (m_pActiveRobotTask != nullptr) {
+ m_pActiveRobotTask->pick();
+ std::string strDescription = m_pActiveRobotTask->getDescription();
+ unlock();
+ if (m_listener.onRobotTaskEvent != nullptr) {
+ m_listener.onRobotTaskEvent(this, m_pActiveRobotTask, ROBOT_EVENT_CREATE);
+ }
+ LOGI("创建新任务<%s>...", strDescription.c_str());
+ continue;
}
- LOGI("创建新任务<%s>...", strDescription.c_str());
- continue;
}
- m_pActiveRobotTask = createTransferTask_bonder_to_bakecooling(pBonder2, pBakeCooling);
- if (m_pActiveRobotTask != nullptr) {
- m_pActiveRobotTask->run();
- std::string strDescription = m_pActiveRobotTask->getDescription();
- unlock();
- if (m_listener.onRobotTaskEvent != nullptr) {
- m_listener.onRobotTaskEvent(this, m_pActiveRobotTask, ROBOT_EVENT_CREATE);
+ if (!rmd.armState[0]) {
+ m_pActiveRobotTask = createTransferTask_bonder_to_bakecooling(pBonder2, pBakeCooling);
+ if (m_pActiveRobotTask != nullptr) {
+ m_pActiveRobotTask->pick();
+ std::string strDescription = m_pActiveRobotTask->getDescription();
+ unlock();
+ if (m_listener.onRobotTaskEvent != nullptr) {
+ m_listener.onRobotTaskEvent(this, m_pActiveRobotTask, ROBOT_EVENT_CREATE);
+ }
+ LOGI("创建新任务<%s>...", strDescription.c_str());
+ continue;
}
- LOGI("创建新任务<%s>...", strDescription.c_str());
- continue;
}
+
// Fliper(G2) -> Bonder
// VacuumBake(G1) -> Bonder
- m_pActiveRobotTask = createTransferTask(pFliper, pBonder1, primaryType, secondaryType, armNo);
- if (m_pActiveRobotTask != nullptr) {
- m_pActiveRobotTask->run();
- std::string strDescription = m_pActiveRobotTask->getDescription();
- unlock();
- if (m_listener.onRobotTaskEvent != nullptr) {
- m_listener.onRobotTaskEvent(this, m_pActiveRobotTask, ROBOT_EVENT_CREATE);
+ if (!rmd.armState[1]) {
+ m_pActiveRobotTask = createTransferTask(pFliper, pBonder1, primaryType, secondaryType, 2);
+ if (m_pActiveRobotTask != nullptr) {
+ m_pActiveRobotTask->pick();
+ std::string strDescription = m_pActiveRobotTask->getDescription();
+ unlock();
+ if (m_listener.onRobotTaskEvent != nullptr) {
+ m_listener.onRobotTaskEvent(this, m_pActiveRobotTask, ROBOT_EVENT_CREATE);
+ }
+ LOGI("创建新任务<%s>...", strDescription.c_str());
+ continue;
}
- LOGI("创建新任务<%s>...", strDescription.c_str());
- continue;
}
- m_pActiveRobotTask = createTransferTask(pFliper, pBonder2, primaryType, secondaryType, armNo);
- if (m_pActiveRobotTask != nullptr) {
- m_pActiveRobotTask->run();
- std::string strDescription = m_pActiveRobotTask->getDescription();
- unlock();
- if (m_listener.onRobotTaskEvent != nullptr) {
- m_listener.onRobotTaskEvent(this, m_pActiveRobotTask, ROBOT_EVENT_CREATE);
+ if (!rmd.armState[1]) {
+ m_pActiveRobotTask = createTransferTask(pFliper, pBonder2, primaryType, secondaryType, 2);
+ if (m_pActiveRobotTask != nullptr) {
+ m_pActiveRobotTask->pick();
+ std::string strDescription = m_pActiveRobotTask->getDescription();
+ unlock();
+ if (m_listener.onRobotTaskEvent != nullptr) {
+ m_listener.onRobotTaskEvent(this, m_pActiveRobotTask, ROBOT_EVENT_CREATE);
+ }
+ LOGI("创建新任务<%s>...", strDescription.c_str());
+ continue;
}
- LOGI("创建新任务<%s>...", strDescription.c_str());
- continue;
}
- m_pActiveRobotTask = createTransferTask(pVacuumBake, pBonder1, primaryType, secondaryType, armNo);
- if (m_pActiveRobotTask != nullptr) {
- m_pActiveRobotTask->run();
- std::string strDescription = m_pActiveRobotTask->getDescription();
- unlock();
- if (m_listener.onRobotTaskEvent != nullptr) {
- m_listener.onRobotTaskEvent(this, m_pActiveRobotTask, ROBOT_EVENT_CREATE);
+ if (!rmd.armState[0]) {
+ m_pActiveRobotTask = createTransferTask(pVacuumBake, pBonder1, primaryType, secondaryType);
+ if (m_pActiveRobotTask != nullptr) {
+ m_pActiveRobotTask->pick();
+ std::string strDescription = m_pActiveRobotTask->getDescription();
+ unlock();
+ if (m_listener.onRobotTaskEvent != nullptr) {
+ m_listener.onRobotTaskEvent(this, m_pActiveRobotTask, ROBOT_EVENT_CREATE);
+ }
+ LOGI("创建新任务<%s>...", strDescription.c_str());
+ continue;
}
- LOGI("创建新任务<%s>...", strDescription.c_str());
- continue;
}
- m_pActiveRobotTask = createTransferTask(pVacuumBake, pBonder2, primaryType, secondaryType, armNo);
- if (m_pActiveRobotTask != nullptr) {
- m_pActiveRobotTask->run();
- std::string strDescription = m_pActiveRobotTask->getDescription();
- unlock();
- if (m_listener.onRobotTaskEvent != nullptr) {
- m_listener.onRobotTaskEvent(this, m_pActiveRobotTask, ROBOT_EVENT_CREATE);
+ if (!rmd.armState[0]) {
+ m_pActiveRobotTask = createTransferTask(pVacuumBake, pBonder2, primaryType, secondaryType);
+ if (m_pActiveRobotTask != nullptr) {
+ m_pActiveRobotTask->pick();
+ std::string strDescription = m_pActiveRobotTask->getDescription();
+ unlock();
+ if (m_listener.onRobotTaskEvent != nullptr) {
+ m_listener.onRobotTaskEvent(this, m_pActiveRobotTask, ROBOT_EVENT_CREATE);
+ }
+ LOGI("创建新任务<%s>...", strDescription.c_str());
+ continue;
}
- LOGI("创建新任务<%s>...", strDescription.c_str());
- continue;
}
+
// Aligner -> Fliper(G2)
// Aligner -> VacuumBake(G1)
- m_pActiveRobotTask = createTransferTask(pAligner, pFliper, primaryType, secondaryType, armNo);
- if (m_pActiveRobotTask != nullptr) {
- m_pActiveRobotTask->run();
- std::string strDescription = m_pActiveRobotTask->getDescription();
- unlock();
- if (m_listener.onRobotTaskEvent != nullptr) {
- m_listener.onRobotTaskEvent(this, m_pActiveRobotTask, ROBOT_EVENT_CREATE);
+ if (!rmd.armState[1]) {
+ m_pActiveRobotTask = createTransferTask(pAligner, pFliper, primaryType, secondaryType, 2);
+ if (m_pActiveRobotTask != nullptr) {
+ m_pActiveRobotTask->pick();
+ std::string strDescription = m_pActiveRobotTask->getDescription();
+ unlock();
+ if (m_listener.onRobotTaskEvent != nullptr) {
+ m_listener.onRobotTaskEvent(this, m_pActiveRobotTask, ROBOT_EVENT_CREATE);
+ }
+ LOGI("创建新任务<%s>...", strDescription.c_str());
+ continue;
}
- LOGI("创建新任务<%s>...", strDescription.c_str());
- continue;
}
- m_pActiveRobotTask = createTransferTask(pAligner, pVacuumBake, primaryType, secondaryType, armNo);
- if (m_pActiveRobotTask != nullptr) {
- m_pActiveRobotTask->run();
- std::string strDescription = m_pActiveRobotTask->getDescription();
- unlock();
- if (m_listener.onRobotTaskEvent != nullptr) {
- m_listener.onRobotTaskEvent(this, m_pActiveRobotTask, ROBOT_EVENT_CREATE);
+ if (!rmd.armState[0]) {
+ m_pActiveRobotTask = createTransferTask(pAligner, pVacuumBake, primaryType, secondaryType);
+ if (m_pActiveRobotTask != nullptr) {
+ m_pActiveRobotTask->pick();
+ std::string strDescription = m_pActiveRobotTask->getDescription();
+ unlock();
+ if (m_listener.onRobotTaskEvent != nullptr) {
+ m_listener.onRobotTaskEvent(this, m_pActiveRobotTask, ROBOT_EVENT_CREATE);
+ }
+ LOGI("创建新任务<%s>...", strDescription.c_str());
+ continue;
}
- LOGI("创建新任务<%s>...", strDescription.c_str());
- continue;
}
-
// LoadPort -> Aligner
for (int s = 0; s < 4; s++) {
- if (pEqLoadPort[s]->isEnable()
+ if (!rmd.armState[0] && pEqLoadPort[s]->isEnable()
&& pEqLoadPort[s]->getPortType() == PortType::Loading
&& pEqLoadPort[s]->getPortMode() == PortMode::ReadyToLoad) {
- m_pActiveRobotTask = createTransferTask(pEqLoadPort[s], pAligner, primaryType, secondaryType, armNo);
+ m_pActiveRobotTask = createTransferTask(pEqLoadPort[s], pAligner, primaryType, secondaryType);
if (m_pActiveRobotTask != nullptr) {
goto PORT_GET;
}
@@ -552,7 +578,7 @@
PORT_GET:
if (m_pActiveRobotTask != nullptr) {
- m_pActiveRobotTask->run();
+ m_pActiveRobotTask->pick();
std::string strDescription = m_pActiveRobotTask->getDescription();
unlock();
if (m_listener.onRobotTaskEvent != nullptr) {
@@ -678,17 +704,24 @@
BOOL bOk = FALSE;
lock();
if (m_pActiveRobotTask != nullptr) {
- if (m_pActiveRobotTask->getTarPosition() == p->getID()) {
+ // 是否已经进入手臂(即取片完成),进入下一步，放片
+ if (m_pActiveRobotTask->isPicking() &&
+ ((m_pActiveRobotTask->getArmNo() == 1 && p->getID() == EQ_ID_ARM_TRAY1)
+ || (m_pActiveRobotTask->getArmNo() == 2 && p->getID() == EQ_ID_ARM_TRAY2))
+ ) {
+ slot = 1;
+ bOk = TRUE;
+ }
+
+ // 是否放片完成
+ else if (m_pActiveRobotTask->isPlacing() &&
+ m_pActiveRobotTask->getTarPosition() == p->getID()) {
CGlass* pGlass = p->getGlassFromSlot(m_pActiveRobotTask->getTarSlot());
if (pGlass == nullptr) {
bOk = TRUE;
slot = m_pActiveRobotTask->getTarSlot();
LOGI("<CMaster>onPreFethedOutJob, 已校验数据一致性.");
}
- }
- else if (p->getID() == EQ_ID_ARM_TRAY1 || p->getID() == EQ_ID_ARM_TRAY2) {
- slot = 1;
- bOk = TRUE;
}
}
unlock();
@@ -711,21 +744,30 @@
if (code == EDCC_FETCHOUT_JOB) {
lock();
if (m_pActiveRobotTask != nullptr && m_pActiveRobotTask->getSrcPosition() == p->getID()) {
- m_pActiveRobotTask->fetchOut();
LOGI("开始取片...");
}
unlock();
}
else if (code == EDCC_STORED_JOB) {
lock();
- if (m_pActiveRobotTask != nullptr && m_pActiveRobotTask->getTarPosition() == p->getID()) {
+ if (m_pActiveRobotTask != nullptr
+ && m_pActiveRobotTask->isPicking()
+ && ((m_pActiveRobotTask->getArmNo() == 1 && p->getID() == EQ_ID_ARM_TRAY1)
+ || (m_pActiveRobotTask->getArmNo() == 2 && p->getID() == EQ_ID_ARM_TRAY2))
+ ) {
+ LOGI("取片完成.");
+ m_pActiveRobotTask->fetchOut();
+ m_pActiveRobotTask->place();
+ }
+
+ else if (m_pActiveRobotTask != nullptr
+ && m_pActiveRobotTask->isPlacing()
+ && m_pActiveRobotTask->getTarPosition() == p->getID()) {
m_pActiveRobotTask->stored();
m_pActiveRobotTask->completed();
LOGI("放片完成...");
-
// 完成此条搬送任务，但要把数据和消息上抛应用层
unlock();
-
lock();
@@ -1162,11 +1204,14 @@
if (pSrcSlot != nullptr && nullptr != pTarSlot) {
+ int srcPos, srcSlot, tarPos, tarSlot;
+ transformPosAndSlot(pSrcSlot->getPosition(), pSrcSlot->getNo(), srcPos, srcSlot);
+ transformPosAndSlot(pTarSlot->getPosition(), pTarSlot->getNo(), tarPos, tarSlot);
pTask = new CRobotTask();
pTask->setContext(pSrcSlot->getContext());
pTask->setEFEM((CEFEM*)getEquipment(EQ_ID_EFEM));
- pTask->setRobotTransferParam(++taskSeqNo, armNo, pSrcSlot->getPosition(),
- pTarSlot->getPosition(), pSrcSlot->getNo(), pTarSlot->getNo());
+ taskSeqNo = pTask->setRobotTransferParam(taskSeqNo, armNo, srcPos,
+ tarPos, srcSlot, tarSlot);
}
@@ -1183,11 +1228,14 @@
pSrcSlot = pSrcEq->getProcessedSlot(MaterialsType::G1);
if (pSrcSlot != nullptr && nullptr != pTarSlot) {
+ int srcPos, srcSlot, tarPos, tarSlot;
+ transformPosAndSlot(pSrcSlot->getPosition(), pSrcSlot->getNo(), srcPos, srcSlot);
+ transformPosAndSlot(pTarSlot->getPosition(), pTarSlot->getNo(), tarPos, tarSlot);
pTask = new CRobotTask();
pTask->setContext(pSrcSlot->getContext());
pTask->setEFEM((CEFEM*)getEquipment(EQ_ID_EFEM));
- pTask->setRobotTransferParam(++taskSeqNo, 1, pSrcSlot->getPosition(),
- pTarSlot->getPosition(), pSrcSlot->getNo(), pTarSlot->getNo());
+ taskSeqNo = pTask->setRobotTransferParam(taskSeqNo, 1, srcPos,
+ tarPos, srcSlot, tarSlot);
}
@@ -1205,11 +1253,14 @@
pSrcSlot = pSrcEq->getProcessedSlot2(MaterialsType::G1, slotsSrc);
if (pSrcSlot != nullptr && nullptr != pTarSlot) {
+ int srcPos, srcSlot, tarPos, tarSlot;
+ transformPosAndSlot(pSrcSlot->getPosition(), pSrcSlot->getNo(), srcPos, srcSlot);
+ transformPosAndSlot(pTarSlot->getPosition(), pTarSlot->getNo(), tarPos, tarSlot);
pTask = new CRobotTask();
pTask->setContext(pSrcSlot->getContext());
pTask->setEFEM((CEFEM*)getEquipment(EQ_ID_EFEM));
- pTask->setRobotTransferParam(++taskSeqNo, 1, pSrcSlot->getPosition(),
- pTarSlot->getPosition(), pSrcSlot->getNo(), pTarSlot->getNo());
+ taskSeqNo = pTask->setRobotTransferParam(taskSeqNo, 1, srcPos,
+ tarPos, srcSlot, tarSlot);
}
@@ -1226,15 +1277,68 @@
pSrcSlot = pSrcEq->getProcessedSlot2(MaterialsType::G1, slots);
if (pSrcSlot != nullptr && nullptr != pTarSlot) {
+ int srcPos, srcSlot, tarPos, tarSlot;
+ transformPosAndSlot(pSrcSlot->getPosition(), pSrcSlot->getNo(), srcPos, srcSlot);
+ transformPosAndSlot(pTarSlot->getPosition(), pTarSlot->getNo(), tarPos, tarSlot);
pTask = new CRobotTask();
pTask->setContext(pSrcSlot->getContext());
pTask->setEFEM((CEFEM*)getEquipment(EQ_ID_EFEM));
- pTask->setRobotTransferParam(++taskSeqNo, 1, pSrcSlot->getPosition(),
- pTarSlot->getPosition(), pSrcSlot->getNo(), pTarSlot->getNo());
+ taskSeqNo = pTask->setRobotTransferParam(taskSeqNo, 1, srcPos,
+ tarPos, srcSlot, tarSlot);
}
return pTask;
+ }
+
+ void CMaster::transformPosAndSlot(int srcPos, int srcSlot, int& tarPos, int& tarSlot)
+ {
+ switch (srcPos)
+ {
+ case EQ_ID_LOADPORT1:
+ case EQ_ID_LOADPORT2:
+ case EQ_ID_LOADPORT3:
+ case EQ_ID_LOADPORT4:
+ case EQ_ID_ARM_TRAY1:
+ case EQ_ID_ARM_TRAY2:
+ case EQ_ID_ALIGNER:
+ case EQ_ID_FLIPER:
+ tarPos = srcPos;
+ tarSlot = 1;
+ break;
+ case EQ_ID_Bonder1:
+ if (1 <= srcSlot && srcSlot <= 2) {
+ tarPos = 9 + srcSlot;
+ tarSlot = 1;
+ }
+ break;
+ case EQ_ID_Bonder2:
+ if (1 <= srcSlot && srcSlot <= 2) {
+ tarPos = 11 + srcSlot;
+ tarSlot = 1;
+ }
+ break;
+ case EQ_ID_VACUUMBAKE:
+ if (1 <= srcSlot && srcSlot <= 2) {
+ tarPos = 13 + srcSlot;
+ tarSlot = 1;
+ }
+ break;
+ case EQ_ID_BAKE_COOLING:
+ if (1 <= srcSlot && srcSlot <= 4) {
+ tarPos = 15 + srcSlot;
+ tarSlot = 1;
+ }
+ break;
+ case EQ_ID_MEASUREMENT:
+ tarPos = 19;
+ tarSlot = 1;
+ break;
+ default:
+ tarPos = srcPos;
+ tarSlot = srcSlot;
+ break;
+ }
}
int CMaster::abortCurrentTask()
@@ -1261,4 +1365,18 @@
return 0;
}
+
+ void CMaster::setPortType(unsigned int index, BOOL enable, int type, int mode,
+ int cassetteType, int transferMode, BOOL autoChangeEnable)
+ {
+ ASSERT(index < 4);
+ int eqid[] = { EQ_ID_LOADPORT1, EQ_ID_LOADPORT2, EQ_ID_LOADPORT3, EQ_ID_LOADPORT4};
+ CLoadPort* pPort = (CLoadPort*)getEquipment(eqid[index]);
+ pPort->localEanblePort(enable);
+ pPort->localSetPortType((SERVO::PortType)type);
+ pPort->localSetPortMode((SERVO::PortMode)mode);
+ pPort->localSetCessetteType((SERVO::CassetteType)cassetteType);
+ pPort->localSetTransferMode((SERVO::TransferMode)transferMode);
+ pPort->localAutoChangeEnable(autoChangeEnable);
+ }
}
--
Gitblit v1.9.3