void CUldBtmConv::Cycle(void)
{
if(!m_fsm.IsInProgress(C_CONV_START, C_CONV_END))
return;
switch(m_fsm.GetStatus())
{
case C_CONV_START:
if(m_fsm.DelaymS(15000))
{
SetOut(oUldOutConvOn, FALSE);
g_err.Save(ER_ULD_BTM_CONV_JAM);
m_fsm.SetStatus(MC_STOP);
break;
}
SetOut(oUldOutConvOn, TRUE);
if(AOn(iUldOutMzArrival))
break;
m_fsm.SetStatus(C_CONV_END);
break;
case C_CONV_END:
if(!m_fsm.DelaymS(10000))
break;
SetOut(oUldOutConvOn, FALSE);
m_fsm.SetStatus(MC_STOP);
break;
}
}//--------------------------------------------------------------
bool Write(int address, const void *data, int length, bool noinc){
if (State != FSTATE_Running) return false;
bool result = SPI::Open();
if (result == true){
unsigned short header[2];
address &= 0x1FFF;
if (noinc == false){
address |= 0x6000;
}else{
address |= 0x4000;
}
header[0] = address;
header[1] = length;
SetOut(PIN_FPGA_nCS, OUT_LOW);
Barrier();
SPI::SetMode(SPI::MODE_16BIT);
SPI::SetupTxDMA(header, 2);
SPI::SetupTxDMA(data, length);
SPI::StartDMA();
SPI::WaitTxDMA();
SPI::StopDMA();
Barrier();
SetOut(PIN_FPGA_nCS, OUT_HIGH);
SPI::Close();
}
return result;
}
// 書き込み
bool Write(const void *data, unsigned int len, unsigned int &written){
// ポインタとサイズの確認
if (State != FSTATE_Config) return false;
written = len;
//xprintf("Conf:write(%d)\n", len);
if (GetIn(PIN_FPGA_DONE) == IN_LOW){
// コンフィギュレーションはまだ終わってない
// 送信
if (SPI::Open() == false) return false;
SetOut(PIN_FPGA_CONF, OUT_HIGH);
Barrier();
if (len & 1){
// 奇数
SPI::SetMode(SPI::MODE_8BIT);
SPI::SetupTxDMA(data, len);
}else{
// 偶数
SPI::SetMode(SPI::MODE_16BIT);
SPI::SetupTxDMA(data, len / 2);
}
SPI::StartDMA();
SPI::WaitTxDMA();
SPI::StopDMA();
Barrier();
SetOut(PIN_FPGA_CONF, OUT_LOW);
SPI::Close();
}
return true;
}
void CLampBuzzer::Seq(void)
{
g_nv.NDm(blinkOnOff) = m_tmBlink.Blink(TRUE, 500, 500);
BOOL bOnOff = g_nv.NDm(blinkOnOff);
int nCurState = GetState();
if(m_nOldState != nCurState)
{
m_tmBuzzer.Reset();
m_nOldState = nCurState;
m_bBuzzerOff = FALSE;
}
// Tower Lamp
if(LAMP_ON == m_pConfig->state[nCurState].nGreen)
SetOut(oTowerLampG, TRUE);
else if(LAMP_OFF == m_pConfig->state[nCurState].nGreen)
SetOut(oTowerLampG, FALSE);
else
SetOut(oTowerLampG, bOnOff);
if(LAMP_ON == m_pConfig->state[nCurState].nRed)
SetOut(oTowerLampR, TRUE);
else if(LAMP_OFF == m_pConfig->state[nCurState].nRed)
SetOut(oTowerLampR, FALSE);
else
SetOut(oTowerLampR, bOnOff);
if(LAMP_ON == m_pConfig->state[nCurState].nYellow)
SetOut(oTowerLampY, TRUE);
else if(LAMP_OFF == m_pConfig->state[nCurState].nYellow)
SetOut(oTowerLampY, FALSE);
else
SetOut(oTowerLampY, bOnOff);
//Buzzer On/Off
if(m_bBuzzerOff)
{
BuzzerOnOff(0);
}
else
{
int nBuzzerOnTime = (m_pConfig->nAllOffTime * 1000);
BOOL bTimeOff = !!m_pConfig->nAllOffUse;
if(bTimeOff && m_tmBuzzer.TimeOver(nBuzzerOnTime))
BuzzerOnOff(0);
else
BuzzerOnOff(m_pConfig->state[nCurState].nBuzzer);
}
}//--------------------------------------------------------------
void CPneumatic::Actuate(int nCmdDirection)
{
if(pmFWD == nCmdDirection)
SetOut(TRUE, FALSE);
else if(pmBWD == nCmdDirection)
SetOut(FALSE, TRUE);
else if(pmALL_OFF == nCmdDirection)
SetOut(FALSE, FALSE);
if(m_nCurDirection != nCmdDirection)
m_tmDelay.Reset();
m_nCurDirection = nCmdDirection;
}//------------------------------------------------------------------
void CUldBtmConv::Auto(void)
{
g_event.bCanEjectUldMz = FALSE;
if(m_fsm.IsRun() || g_nv.NDm(safetyBeam))
return;
if(mcSTOP == m_nRun)
return;
if(g_UldMz.m_fsm.IsInProgress(ULDMZ::C_UNLOADING_START, ULDMZ::C_UNLOADING_END))
return;
if(!AOn(iUldOutMzArrival) && !g_opr.bStop)
SetOut(oUldOutConvOn, FALSE);
if(!AOn(iUldOutMzArrival) && !IsOutOn(oUldOutConvOn))
{
g_event.bCanEjectUldMz = TRUE;
}
else if(AOn(iUldOutMzArrival))
{
m_fsm.SetStatus(C_CONV_START);
}
}//--------------------------------------------------------------
void InitPneumatic(void)
{
//Set I/O
g_pm[VAC_LD_PICKER].SetIO(iVacLdPicker, pmDUMMY_IO, oVacLdPicker, pmDUMMY_IO);
g_pm[VAC_ULD_PICKER].SetIO(iVacUldPicker, pmDUMMY_IO, oVacUldPicker, pmDUMMY_IO);
g_pm[VAC_FRONT_STAGE].SetIO(iVacFrontStage, pmDUMMY_IO, oVacFrontStage, pmDUMMY_IO);
g_pm[VAC_REAR_STAGE].SetIO(iVacRearStage, pmDUMMY_IO, oVacRearSrage, pmDUMMY_IO);
//g_pm[CYL_LD_MZ_CLAMP].SetIO(iLdMzClampUp, iLdMzClampDn, oLdMzClampUp, oLdMzClampDn);
g_pm[CYL_LD_MZ_CLAMP].SetIO(iLdMzClampUp, pmDUMMY_IO, oLdMzClampUp, oLdMzClampDn); // 95mm 60mm Mz 차이로 인해..
g_pm[CYL_INRAIL_OC].SetIO(iInRailOpen, iInRailClose, oInRailOpen, pmDUMMY_IO);
g_pm[CYL_INRAIL_OC_02].SetIO(iInRailOpen02, iInRailClose02, oInRailOpen, pmDUMMY_IO);
g_pm[CYL_INRAIL_GUIDE_UD].SetIO(iInRailGuideUp, iInRailGuideDn, oInRailGuideUp, pmDUMMY_IO);
g_pm[CYL_GRIPPER_OC].SetIO(iGripperDn, iGripperUp, oGripperDn, pmDUMMY_IO); // 추가
g_pm[CYL_LD_PICKER_UD].SetIO(iLdPickerUp, iLdPickerDn, oLdPickerUp, oLdPickerDn);
g_pm[CYL_OUTRAIL_OC].SetIO(iOutRailOpen, iOutRailClose, oOutRailOpen, pmDUMMY_IO);
g_pm[CYL_OUTRAIL_OC_02].SetIO(iOutRailOpen02, iOutRailClose02, oOutRailOpen, pmDUMMY_IO);
g_pm[CYL_OUTRAIL_GUIDE_UD].SetIO(iOutRailGuideUp, iOutRailGuideDn, oOutRailGuideUp, pmDUMMY_IO);
g_pm[CYL_OUTRAIL_PUSHER_FB].SetIO(iOutRailPusherFwd, iOutRailPusherBwd, oOutRailPusherFwd, pmDUMMY_IO);
g_pm[CYL_OUTRAIL_PUSHER_UD].SetIO(iOutRailPusherUp, iOutRailPusherDn, pmDUMMY_IO, oOutRailPusherDn);
g_pm[CYL_ULD_PICKER_UD].SetIO(iUldPickerUp, iUldPickerDn, oUldPickerUp, oUldPickerDn);
//g_pm[CYL_ULD_MZ_CLAMP].SetIO(iUldMzClampUp, iUldMzClampDn, oUldMzClampUp, oUldMzClampDn);
g_pm[CYL_ULD_MZ_CLAMP].SetIO(iUldMzClampUp, pmDUMMY_IO, oUldMzClampUp, oUldMzClampDn); // 95mm 60mm Mz 차이로 인해..
//Set Error
g_pm[VAC_LD_PICKER].SetErr(7000, ER_VAC_LD_PICKER, pmUNCERTAIN);
g_pm[VAC_ULD_PICKER].SetErr(7000, ER_VAC_ULD_PICKER, pmUNCERTAIN);
g_pm[VAC_FRONT_STAGE].SetErr(7000, ER_VAC_FRONT_STAGE, pmUNCERTAIN);
g_pm[VAC_REAR_STAGE].SetErr(7000, ER_VAC_REAR_STAGE, pmUNCERTAIN);
g_pm[CYL_LD_MZ_CLAMP].SetErr(7000, ER_CYL_LD_MZ_CLAMP, pmUNCERTAIN);
g_pm[CYL_INRAIL_OC].SetErr(7000, ER_CYL_INRAIL_OC, pmUNCERTAIN);
g_pm[CYL_INRAIL_OC_02].SetErr(7000, ER_CYL_INRAIL_OC, pmUNCERTAIN);
g_pm[CYL_INRAIL_GUIDE_UD].SetErr(7000, ER_CYL_INRAIL_GUIDE_UD, pmUNCERTAIN);
g_pm[CYL_GRIPPER_OC].SetErr(7000, ER_CYL_GRIPPER_OC, pmUNCERTAIN); // 추가
g_pm[CYL_LD_PICKER_UD].SetErr(7000, ER_CYL_LD_PICKER_UD, pmUNCERTAIN);
g_pm[CYL_OUTRAIL_OC].SetErr(7000, ER_CYL_OUTRAIL_OC, pmUNCERTAIN);
g_pm[CYL_OUTRAIL_OC_02].SetErr(7000, ER_CYL_OUTRAIL_OC, pmUNCERTAIN);
g_pm[CYL_OUTRAIL_GUIDE_UD].SetErr(7000, ER_CYL_OUTRAIL_GUIDE_UD, pmUNCERTAIN);
g_pm[CYL_OUTRAIL_PUSHER_FB].SetErr(7000, ER_CYL_OUTRAIL_PUSHER_FB, pmBWD);
g_pm[CYL_OUTRAIL_PUSHER_UD].SetErr(7000, ER_CYL_OUTRAIL_PUSHER_UD, pmUNCERTAIN);
g_pm[CYL_ULD_PICKER_UD].SetErr(7000, ER_CYL_ULD_PICKER_UD, pmUNCERTAIN);
g_pm[CYL_ULD_MZ_CLAMP].SetErr(7000, ER_CYL_ULD_MZ_CLAMP, pmUNCERTAIN);
//Pm Init Position
g_pm[CYL_LD_PICKER_UD].Actuate(pmUP);
g_pm[CYL_ULD_PICKER_UD].Actuate(pmUP);
g_pm[CYL_OUTRAIL_PUSHER_UD].Actuate(pmUP);
g_pm[CYL_OUTRAIL_PUSHER_FB].Actuate(pmBWD);
g_pm[CYL_INRAIL_GUIDE_UD].Actuate(pmDOWN);
g_pm[CYL_OUTRAIL_GUIDE_UD].Actuate(pmDOWN);
SetOut(oMainAirSol, TRUE);
}//------------------------------------------------------------------
// FPGAをリセット
void Reset(void){
portENTER_CRITICAL();
// パイプが使用中でなかったらリセット
//SetDir(PIN_FPGA_AUX0, DIR_IN); // M0ピンに繋がっているのでHi-Zにする
//SetDir(PIN_FPGA_AUX1, DIR_IN); // MOSIピンに繋がっているのでHi-Zにする
SetOut(PIN_FPGA_nPROG, OUT_LOW); // PROG_BをLow
SetDir(PIN_FPGA_nINIT, DIR_OUT); // INIT_BをLow
State = FSTATE_NoConf;
for(int cnt = 20; 0 < cnt; cnt--){ // ウェイト
NOP();
}
SetOut(PIN_FPGA_nPROG, OUT_HIGH); // PROG_BをHigh
portEXIT_CRITICAL();
}
// データを読み込む
bool Read(int address, void *data, int length, bool noinc){
if (State != FSTATE_Running) return false;
bool result = SPI::Open();
if (result == true){
unsigned short header[2];
address &= 0x1FFF;
if (noinc == false){
address |= 0xA000;
}else{
address |= 0x8000;
}
header[0] = address;
header[1] = length;
// DMA受信は不安定なので、データの受信はCPUが直接行う
SetOut(PIN_FPGA_nCS, OUT_LOW);
Barrier();
SPI::SetMode(SPI::MODE_16BIT);
AVR32_SPI.rdr;
AVR32_SPI.tdr = header[0];
while((AVR32_SPI.sr & AVR32_SPI_SR_RDRF_MASK) == 0);
AVR32_SPI.rdr;
AVR32_SPI.tdr = header[1];
while((AVR32_SPI.sr & AVR32_SPI_SR_RDRF_MASK) == 0);
AVR32_SPI.rdr;
while(0 < length){
AVR32_SPI.tdr = 0xFFFF;
while((AVR32_SPI.sr & AVR32_SPI_SR_RDRF_MASK) == 0);
*(short*)data = AVR32_SPI.rdr;
data = (short*)data + 1;
length--;
}
SetOut(PIN_FPGA_nCS, OUT_HIGH);
SPI::Close();
}
return result;
}
int main()
{
const char *name = "OS_HW1"; // Name of shared memory object to be passed to shm_open
int bufSize; // Bounded buffer size
int itemCnt; // Number of items to be consumed
int shm_fd; // Shared Memory File Descriptor
// Write code here to create a shared memory block and map it to gShmPtr
// Use the above name
// **Extremely Important: map the shared memory block for both reading and writing
// Use PROT_READ | PROT_WRITE
shm_fd = shm_open(name, O_RDWR , 0666);
gShmPtr = mmap(0,SHM_SIZE,PROT_READ | PROT_WRITE,MAP_SHARED,shm_fd,0);
// Write code here to read the four integers from the header of the shared memory block
// These are: bufSize, itemCnt, in, out
// Just call the functions provided below like this:
bufSize = GetBufSize();
itemCnt = GetItemCnt();
// Write code here to check that the consumer has read the right values:
printf("Consumer reading: bufSize = %d\n",bufSize);
printf("Consumer reading: itemCnt = %d\n",itemCnt);
printf("Consumer reading: in = %d\n",GetIn());
printf("Consumer reading: out = %d\n",GetOut());
// Write code here to consume all the items produced by the producer
// Use the functions provided below to get/set the values of shared variables in, out, bufSize
// Use the provided function ReadAtBufIndex() to read from the bounded buffer
// **Extremely Important: Remember to set the value of any shared variable you change locally
// Use the following print statement to report the consumption of an item:
// printf("Consuming Item %d with value %d at Index %d\n", i, val, out);
// where i is the item number, val is the item value, out is its index in the bounded buffer
int i;
for(i=0;i < GetItemCnt(); i++){
while(GetIn() == GetOut())
;
printf("Consuming Item %d with value %d at Index %d\n", i+1, ReadAtBufIndex(GetOut()), GetOut()); //i+1 to show human readable count
SetOut((GetOut()+1) % GetBufSize());
}
// remove the shared memory segment
if (shm_unlink(name) == -1) {
printf("Error removing %s\n",name);
exit(-1);
}
return 0;
}
void CLampBuzzer::BuzzerOnOff(int nBuzzNo)
{
SetOut(oBuzzer1, FALSE);
SetOut(oBuzzer2, FALSE);
SetOut(oBuzzer3, FALSE);
SetOut(oBuzzer4, FALSE);
if(1 == nBuzzNo)
SetOut(oBuzzer1, TRUE);
else if(2 == nBuzzNo)
SetOut(oBuzzer2, TRUE);
else if(3 == nBuzzNo)
SetOut(oBuzzer3, TRUE);
else if(4 == nBuzzNo)
SetOut(oBuzzer4, TRUE);
}//--------------------------------------------------------------
// データを書き込む
bool Write(int address, short data){
if (State != FSTATE_Running) return false;
bool result = SPI::Open();
if (result == true){
unsigned short packet[3];
packet[0] = 0x4000 | (address & 0x1FFF);
packet[1] = 1;
packet[2] = data;
SetOut(PIN_FPGA_nCS,OUT_LOW);
Barrier();
SPI::SetMode(SPI::MODE_16BIT);
SPI::SetupTxDMA(packet, 3);
SPI::StartDMA();
SPI::WaitTxDMA();
SPI::StopDMA();
Barrier();
SetOut(PIN_FPGA_nCS, OUT_HIGH);
SPI::Close();
}
return result;
}
BOOL Init(void)
{
// PGM 중복 실행 체크
HANDLE hEvent = ::OpenEventA(EVENT_ALL_ACCESS, FALSE, "KOSES_SEQUENCE");
if (NULL != hEvent)
{
::MessageBoxA(NULL, "Another sequence is running!!", "Error" , MB_OK);
return (FALSE);
}
else
{
CreateEventA(NULL, FALSE, FALSE, "KOSES_SEQUENCE");
}
// Init Shared memory(kamelas)
if(FALSE == g_mmi.Init())
{
::MessageBox(NULL, _T("Failed to Init Communication"), _T("Error") , MB_OK);
return (FALSE);
}
// NV DATA Init..
if(FALSE == g_nv.Init())
{
::MessageBoxA(NULL, "Failed to init nv file.", "Error", MB_OK);
return (FALSE);
}
CAjinLib AjinLib;
if(FALSE == AjinLib.Init())
{
::MessageBoxA(NULL, "Failed to init AjinLib.", "Error", MB_OK);
return (FALSE);
}
g_input.m_nModuleCnt = g_input.m_ioConfig.CreateInfo(AXT_SIO_RDI32);
if(g_input.m_nModuleCnt != IN_MODULE_CNT)
{
::MessageBoxA(NULL, "D/I Module Count Error!!!", "Error", MB_OK);
return (FALSE);
}
g_output.m_nModuleCnt = g_output.m_ioConfig.CreateInfo(AXT_SIO_RDO32);
if(g_output.m_nModuleCnt != OUT_MODULE_CNT)
{
::MessageBoxA(NULL, "D/O Module Count Error!!!", "Error", MB_OK);
return (FALSE);
}
pIOInst->m_pInAddr = &g_input.m_ch[0];
pIOInst->m_pOutAddr = &g_output.m_ch[0];
g_output.Read();
g_update.Input();
InitAxis();
InitPneumatic();
g_LdMz.Init();
g_InRail.Init();
g_LdPicker.Init();
STAGE::Init();
g_UldPicker.Init();
g_OutRail.Init();
g_UldMz.Init();
g_lampBuzzer.Init();
g_tenkeyOpr.Init();
g_opr.bStop = TRUE;
g_opr.bEmg = FALSE;
g_opr.bPaused = FALSE;
g_opr.bCardInit = FALSE;
g_opr.bCycleProgress = FALSE;
// Lamp 초기화
g_opr.bManual = FALSE;
g_opr.bAir = IsOutOn(oMainAirSol);
SetOut(oManualMkLamp, g_opr.bManual);
SetOut(oAirSwLamp, IsOutOn(oMainAirSol));
//timer 해상도 결정
timeBeginPeriod(1);
return (TRUE);
}//------------------------------------------------------------------
void COffRail::Auto(void)
{
g_event.bCanPushToOffRail = FALSE;
g_event.bCanOffRailToUldPicker = FALSE;
int nExistErr = IsExistErr();
if(mcSTOP == m_nRun)
return;
if(m_fsm.IsRun() || g_nv.NDm(safetyBeamLd))
return;
if(!m_pMtY->IsRdy())
return;
if(g_UldPicker.m_fsm.IsInProgress(ULDPICKER::C_PICKUP_START, ULDPICKER::C_PICKUP_END))
return;
if(g_OutRail.m_fsm.IsInProgress(OUTRAIL::C_PUSH_START, OUTRAIL::C_PUSH_END))
return;
if(g_OutRail.m_fsm.IsInProgress(OUTRAIL::C_QC_VI_START, OUTRAIL::C_QC_VI_END))
return;
if(EXIST_UNCERTAIN == nExistErr)
return;
if(EXIST_ERR == nExistErr)
{
m_pInfo->nExist = 2;
g_err.Save(ER_OFFRAIL_EXIST);
return;
}
if(0 == (int)g_nv.PkgData(outStripType))
{
SetOut(oOffRail_60mm, TRUE);
SetOut(oOffRail_775mm, FALSE);
}
else
{
SetOut(oOffRail_60mm, FALSE);
SetOut(oOffRail_775mm, TRUE);
}
int nState = GetState();
switch(nState)
{
case S_IDLE:
if(!m_pMtY->IsRdy(P_OFFRAIL_READY))
{
if(AOn(i4thRailStripChk3))
{
m_pInfo->nExist = 2;
g_err.Save(ER_OUT_RAIL_JAM);
break;
}
if(CanMove(P_OFFRAIL_READY))
{
m_pMtY->Move(P_OFFRAIL_READY);
}
}
break;
case S_RCV_FROM_OFFRAIL:
if(m_pMtY->IsRdy(P_OFFRAIL_WORK))
{
g_event.bCanPushToOffRail = TRUE;
}
else
{
if(AOn(i4thRailStripChk3))
{
m_pInfo->nExist = 2;
g_err.Save(ER_OUT_RAIL_JAM);
break;
}
if(CanMove(P_OFFRAIL_WORK))
{
m_pMtY->Move(P_OFFRAIL_WORK);
}
}
break;
case S_REQ_PICKER:
if(m_pMtY->IsRdy(P_OFFRAIL_READY))
{
g_event.bCanOffRailToUldPicker = TRUE;
}
else
{
if(AOn(i4thRailStripChk3))
{
m_pInfo->nExist = 2;
g_err.Save(ER_OUT_RAIL_JAM);
break;
}
if(CanMove(P_OFFRAIL_READY))
{
m_pMtY->Move(P_OFFRAIL_READY);
}
}
break;
}
}//--------------------------------------------------------------
// 制御用の変数を初期化
void Init(void){
SetOut(PIN_FPGA_nPROG, OUT_HIGH); // PROG_BをHigh
}
bool charshell::Handle()
{
if(!SetWrite())
{
return false;
}
*ostr<<"Begin time: ";
WriteTime();
if(!SetMode())
{
return false;
}
if(!SetKey())
{
return false;
}
if(!SetIn())
{
return false;
}
if(!SetOut())
{
return false;
}
if(!Setlog())
{
return false;
}
if(mode == "3" && !SetReout())
{
return false;
}
if(mode == "1")
{
filedes m_filedes(in, out, key, true);
m_filedes.Inicialize();
m_filedes.Process();
}
else if(mode == "2")
{
filedes m_filedes(in, out, key, false);
m_filedes.Inicialize();
m_filedes.Process();
}
else if(mode == "3")
{
filedes m_filedes(in, out, key, true);
m_filedes.Inicialize();
m_filedes.Process();
out->close();
delete out;
out = 0;
ifstream iftmp(outPath.c_str(), ios::binary);
filedes m_filedes2(&iftmp, reout, key, false);
m_filedes2.Inicialize();
m_filedes2.Process();
}
*ostr<<"End time: ";
WriteTime();
string tmp = ostr->str();
cout<<tmp;
*log<<tmp;
return false;
}
