P: E84 Parallel I/O handoff signaling

Public Access

The biggest single gap I called out in the GEM300 audit — closed.
E84 is the digital handshake between AMHS (Automated Material
Handling System) and the equipment for carrier load/unload.  Unlike
the rest of GEM300, this isn't SECS messaging; it's a fixed set of
ten parallel boolean wires that follow a strict sequencing protocol
(E84-0710 §6.3).

Adds:
  E84Signal enum     CS_0/CS_1/VALID/TR_REQ/BUSY/COMPT/L_REQ/U_REQ/
                     READY/ES
  E84SignalSet       10-bit bitmap with bool get/set
  E84State           Idle / CarrierPresent / ValidAsserted /
                     LoadReady / UnloadReady / Transferring /
                     Complete / EmergencyStop
  E84StateMachine    re-evaluates state on every signal change,
                     observable via set_state_change_handler

Joins EquipmentDataModel as `e84` (top-level — there's one per tool,
not per port).  ES (emergency stop) dominates regardless of other
signals; COMPT and BUSY override the VALID-handshake states.  Same
FSM drives real opto-isolated I/O lines (when wired through an
asio digital input adapter) and the back-to-back test simulation.

Six test cases cover the full load handshake trace (six transitions,
including the transient LoadReady-after-BUSY-drops state), the
unload variant via U_REQ, ES dominance + recovery, reset(), and
no-op suppression for idempotent signal writes.

Co-Authored-By: Claude Opus 4.7 <noreply@anthropic.com>

This commit is contained in:

Raphael Maenle

2026-06-08 09:17:17 +02:00

parent 564bd47132

commit 0e832d6ff7

5 changed files with 288 additions and 0 deletions

									
										CMakeLists.txt
									
		+2
		
												View File
												
				@@ -61,6 +61,7 @@ add_library(secsgem

				  src/gem/ept_state.cpp

				  src/gem/cem_objects.cpp

				  src/gem/module_state.cpp

				  src/gem/e84_state.cpp

				  src/gem/host_handler.cpp

				  src/config/loader.cpp

				  src/endpoint.cpp

				@@ -113,6 +114,7 @@ add_executable(secsgem_tests

				  tests/test_modules.cpp

				  tests/test_sml.cpp

				  tests/test_s9_fallback.cpp

				  tests/test_e84.cpp

				)

				target_link_libraries(secsgem_tests PRIVATE secsgem doctest::doctest)

				target_compile_definitions(secsgem_tests PRIVATE