From e8a27bb203fe2aff70390a5eca002d7438da9b0f Mon Sep 17 00:00:00 2001
From: mrDarker <mr.darker@163.com>
Date: 星期三, 22 十月 2025 14:24:34 +0800
Subject: [PATCH] Merge branch 'clh' into liuyang
---
SourceCode/Bond/Servo/CEFEM.h | 35 +++++++++++++++++++++++++++++++----
1 files changed, 31 insertions(+), 4 deletions(-)
diff --git a/SourceCode/Bond/Servo/CEFEM.h b/SourceCode/Bond/Servo/CEFEM.h
index 39b89d0..12603d3 100644
--- a/SourceCode/Bond/Servo/CEFEM.h
+++ b/SourceCode/Bond/Servo/CEFEM.h
@@ -4,6 +4,7 @@
#include "CAligner.h"
#include "CFliper.h"
#include "CArmTray.h"
+#include "Context.h"
namespace SERVO {
@@ -20,27 +21,53 @@
virtual void term();
virtual void initPins();
virtual void initSteps();
- virtual int onStepEvent(CStep* pStep, int code);
+ virtual void initSlots();
virtual void onTimer(UINT nTimerid);
virtual void serialize(CArchive& ar);
virtual void getAttributeVector(CAttributeVector& attrubutes);
virtual int recvIntent(CPin* pPin, CIntent* pIntent);
- virtual BOOL glassWillArrive(CGlass* pGlass);
virtual void onReceiveLBData(const char* pszData, size_t size);
- virtual int onFetchedOut(int port, const char* pszGlassId);
- virtual int onStore(int port, const char* pszGlassId);
+ virtual int onReceivedJob(int port, CJobDataS* pJobDataS);
+ 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 setContext(CContext* pContext);
void setPort(unsigned int index, CLoadPort* pPort);
void setAligner(CAligner* pAligner);
void setFliper(CFliper* pFliper);
void setArmTray(unsigned int index, CArmTray* pArmTray);
+ int robotCmd(ROBOT_CMD_PARAM& robotCmdParam, ONWRITED onWritedBlock = nullptr);
+ int robotCmds(ROBOT_CMD_PARAM* robotCmdParam, unsigned int count, ONWRITED onWritedBlock = nullptr);
+ RMDATA& getRobotMonitoringData();
+
+ // 快捷封装
+ 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);
+ void printDebugRobotState();
private:
CLoadPort* m_pPort[4];
CAligner* m_pAligner;
CFliper* m_pFliper;
CArmTray* m_pArmTray[2];
+ RMDATA m_robotData;
+ CContext* m_pActiveContext;
};
}
--
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