raphael
0e832d6ff7
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>
83 lines
3.2 KiB
C++
83 lines
3.2 KiB
C++
#pragma once
|
|
|
|
#include "secsgem/gem/store/alarms.hpp"
|
|
#include "secsgem/gem/store/carriers.hpp"
|
|
#include "secsgem/gem/store/cem_objects.hpp"
|
|
#include "secsgem/gem/store/clock.hpp"
|
|
#include "secsgem/gem/e84_state.hpp"
|
|
#include "secsgem/gem/ept_state.hpp"
|
|
#include "secsgem/gem/store/control_jobs.hpp"
|
|
#include "secsgem/gem/store/equipment_constants.hpp"
|
|
#include "secsgem/gem/store/event_reports.hpp"
|
|
#include "secsgem/gem/store/exceptions.hpp"
|
|
#include "secsgem/gem/store/host_commands.hpp"
|
|
#include "secsgem/gem/store/limits.hpp"
|
|
#include "secsgem/gem/store/modules.hpp"
|
|
#include "secsgem/gem/store/process_jobs.hpp"
|
|
#include "secsgem/gem/store/substrates.hpp"
|
|
#include "secsgem/gem/store/recipes.hpp"
|
|
#include "secsgem/gem/store/spool.hpp"
|
|
#include "secsgem/gem/store/status_variables.hpp"
|
|
#include "secsgem/gem/store/trace.hpp"
|
|
|
|
namespace secsgem::gem {
|
|
|
|
// Composite over the focused stores covering every GEM data category.
|
|
// Each store is independently testable and independently usable — the
|
|
// application can keep a reference to just `alarms` and ignore the rest
|
|
// if that's all it needs. Variable lookups span SVIDs and DVIDs through
|
|
// this composite (the host's view per E30 §6.11).
|
|
struct EquipmentDataModel {
|
|
StatusVariableStore svids;
|
|
DataVariableStore dvids;
|
|
EquipmentConstantStore ecids;
|
|
EventReportSubscriptions events;
|
|
AlarmRegistry alarms;
|
|
RecipeStore recipes;
|
|
Clock clock;
|
|
HostCommandRegistry commands;
|
|
SpoolStore spool;
|
|
LimitMonitorStore limits;
|
|
TraceStore traces;
|
|
ProcessJobStore process_jobs;
|
|
ControlJobStore control_jobs;
|
|
ExceptionStore exceptions;
|
|
CarrierStore carriers;
|
|
LoadPortStore load_ports;
|
|
SubstrateStore substrates;
|
|
EptStateMachine ept;
|
|
CemObjectStore cem;
|
|
ModuleStore modules;
|
|
E84StateMachine e84;
|
|
|
|
// Convenience: VID -> value lookup spanning SVIDs and DVIDs.
|
|
std::optional<s2::Item> vid_value(uint32_t vid) const {
|
|
if (auto v = svids.value(vid)) return v;
|
|
if (auto v = dvids.value(vid)) return v;
|
|
return std::nullopt;
|
|
}
|
|
bool vid_exists(uint32_t vid) const {
|
|
return svids.has(vid) || dvids.has(vid);
|
|
}
|
|
|
|
// Sugar that adapts the EventReportSubscriptions API to the host-supplied
|
|
// VID list shape (matches what parse_s2f33 / parse_s2f35 yield).
|
|
DefineReportAck define_reports(
|
|
const std::vector<std::pair<uint32_t, std::vector<uint32_t>>>& rows) {
|
|
return events.define_reports(rows, [this](uint32_t vid) { return vid_exists(vid); });
|
|
}
|
|
LinkEventAck link_event_reports(
|
|
const std::vector<std::pair<uint32_t, std::vector<uint32_t>>>& rows) {
|
|
return events.link_event_reports(rows);
|
|
}
|
|
EnableEventAck enable_events(bool enable, const std::vector<uint32_t>& ceids) {
|
|
return events.enable_events(enable, ceids);
|
|
}
|
|
bool is_event_enabled(uint32_t ceid) const { return events.is_enabled(ceid); }
|
|
std::vector<ReportData> compose_reports_for(uint32_t ceid) const {
|
|
return events.compose_for(ceid, [this](uint32_t vid) { return vid_value(vid); });
|
|
}
|
|
};
|
|
|
|
} // namespace secsgem::gem
|