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>
123 lines
3.7 KiB
CMake
123 lines
3.7 KiB
CMake
cmake_minimum_required(VERSION 3.20)
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project(secsgem LANGUAGES CXX)
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set(CMAKE_CXX_STANDARD 20)
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set(CMAKE_CXX_STANDARD_REQUIRED ON)
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set(CMAKE_CXX_EXTENSIONS OFF)
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if(NOT CMAKE_BUILD_TYPE)
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set(CMAKE_BUILD_TYPE Release)
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endif()
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add_compile_options(-Wall -Wextra -Wpedantic)
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find_package(Threads REQUIRED)
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find_package(yaml-cpp REQUIRED)
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# --- Asio (standalone, header-only; from libasio-dev) ---------------------
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find_path(ASIO_INCLUDE_DIR asio.hpp)
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if(NOT ASIO_INCLUDE_DIR)
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message(FATAL_ERROR "asio.hpp not found. Install libasio-dev.")
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endif()
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add_library(asio INTERFACE)
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target_include_directories(asio INTERFACE ${ASIO_INCLUDE_DIR})
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target_compile_definitions(asio INTERFACE ASIO_STANDALONE ASIO_NO_DEPRECATED)
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target_link_libraries(asio INTERFACE Threads::Threads)
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# --- Core library ---------------------------------------------------------
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# --- Codegen: SECS-II message catalog -> messages.hpp ---------------------
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set(MESSAGES_HPP ${CMAKE_BINARY_DIR}/generated/secsgem/gem/messages.hpp)
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add_custom_command(
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OUTPUT ${MESSAGES_HPP}
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COMMAND ${CMAKE_COMMAND} -E make_directory ${CMAKE_BINARY_DIR}/generated/secsgem/gem
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COMMAND python3 ${CMAKE_SOURCE_DIR}/tools/gen_messages.py
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--catalog ${CMAKE_SOURCE_DIR}/data/messages.yaml
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--out ${MESSAGES_HPP}
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DEPENDS ${CMAKE_SOURCE_DIR}/tools/gen_messages.py
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${CMAKE_SOURCE_DIR}/data/messages.yaml
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COMMENT "Generating SECS-II messages.hpp from data/messages.yaml"
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VERBATIM
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)
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add_custom_target(generate_messages DEPENDS ${MESSAGES_HPP})
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add_library(secsgem
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src/secs2/codec.cpp
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src/secs2/sml.cpp
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src/hsms/header.cpp
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src/hsms/connection.cpp
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src/secsi/header.cpp
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src/secsi/block.cpp
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src/secsi/protocol.cpp
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src/secsi/tcp_transport.cpp
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src/gem/control_state.cpp
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src/gem/communication_state.cpp
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src/gem/process_job_state.cpp
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src/gem/control_job_state.cpp
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src/gem/exception_state.cpp
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src/gem/carrier_state.cpp
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src/gem/load_port_state.cpp
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src/gem/substrate_state.cpp
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src/gem/ept_state.cpp
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src/gem/cem_objects.cpp
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src/gem/module_state.cpp
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src/gem/e84_state.cpp
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src/gem/host_handler.cpp
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src/config/loader.cpp
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src/endpoint.cpp
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)
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add_dependencies(secsgem generate_messages)
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target_include_directories(secsgem PUBLIC
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include
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${CMAKE_BINARY_DIR}/generated
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)
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target_link_libraries(secsgem PUBLIC asio yaml-cpp)
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# --- Demo executables -----------------------------------------------------
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add_executable(secs_server apps/secs_server.cpp)
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target_link_libraries(secs_server PRIVATE secsgem)
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add_executable(secs_client apps/secs_client.cpp)
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target_link_libraries(secs_client PRIVATE secsgem)
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# --- Tests ----------------------------------------------------------------
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enable_testing()
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include(FetchContent)
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FetchContent_Declare(
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doctest
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GIT_REPOSITORY https://github.com/doctest/doctest.git
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GIT_TAG v2.4.11
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)
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FetchContent_MakeAvailable(doctest)
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add_executable(secsgem_tests
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tests/test_main.cpp
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tests/test_secs2.cpp
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tests/test_hsms.cpp
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tests/test_hsms_connection.cpp
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tests/test_secsi.cpp
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tests/test_secsi_tcp.cpp
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tests/test_host_handler.cpp
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tests/test_control_state.cpp
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tests/test_communication_state.cpp
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tests/test_data_model.cpp
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tests/test_messages.cpp
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tests/test_loader.cpp
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tests/test_process_jobs.cpp
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tests/test_control_jobs.cpp
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tests/test_exceptions.cpp
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tests/test_carrier_state.cpp
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tests/test_carriers.cpp
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tests/test_substrates.cpp
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tests/test_ept.cpp
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tests/test_cem_objects.cpp
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tests/test_modules.cpp
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tests/test_sml.cpp
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tests/test_s9_fallback.cpp
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tests/test_e84.cpp
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)
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target_link_libraries(secsgem_tests PRIVATE secsgem doctest::doctest)
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target_compile_definitions(secsgem_tests PRIVATE
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SECSGEM_DATA_DIR="${CMAKE_SOURCE_DIR}/data")
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add_test(NAME secsgem_tests COMMAND secsgem_tests)
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