主任务控制子任务通信流程

#define WM_TAKE_STOCK_CMD					172				//MAIN->TAKE 任务流程#define TAKE_STOCK_CMD_FIND_TRAY			1			// 找托盘
#define WM_TAKE_STOCK_CMD_EXC				173				//TAKE内部使用#define TAKE_STOCK_EXE_OK					0
#define WM_TAKE_STOCK_TASK_MSG				174				//MAIN->TAKE 发送消息#define TAKE_STOCK_MSG_CAL_TRAY				1#define TAKE_STOCK_MSG_CLOSE				2#define TAKE_STOCK_MSG_CHANGE_ENDPOS		3
#define WM_TAKE_STOCK_EXC_TOMAIN			175				//TAKE->MAIN任务报警异常#define TAKE_STOCK_EXC_ALARM				1
#define WM_TAKE_STOCK_TASK_API				176				//TAKE任务执行结果#define WM_TASK_STOCK_TASK_FIND_TRAY_OK		1		//找托盘成功#define WM_TASK_STOCK_TASK_CLOSE_OK			2		//任务中止关闭成功

//MIAN_TASK win_SubWalk_Pos_Main_Ctrl.c 
/*** @brief  窗口函数* @param  Type: 信息的类型* @param  Parameter: 数值型信息* @param  Info: 字符串型信息* @param  hSrcWin: 源窗口,消息的触发窗口* @param  hTagWin: 目标窗口,消息的目标窗口* @retval None* @note   具体处理接收到的信息（如按键输入等），每一个功能窗口都要有一个这样的函数*         这是一个内部函数，其他模块的窗口函数可以与它同名 */
static void WindowProc(WORD Type, WORD Parameter, BYTE *Info, WORD hSrcWin, WORD hTagWin)
{switch( Type )		// 根据信息类型，提取及处理相应的信息{					case WM_CLOSE:CloseWindow(MAIN_TASK);break;case WM_REDRAW:Initialize();OpenWindow(MAIN_TASK,&Window);break;case WM_REFRESH:{//...if(sTakeOut && sTakeOut_AlarmCode){win_SubWalk_Emergency_Stop(sTakeOut_AlarmCode);return;}}break;case WM_MOTOR_ENCODER_RESET_CMD:switch(Parameter){case MOTOR_ENCODER_RESET_OK://向TAKE_TASK发送指令  MAIN_TASK->TAKE_TASK(*ActiveWindowProc)(TAKE_TASK)(WM_TAKE_STOCK_CMD, TAKE_STOCK_CMD_FIND_TRAY, (u8*)&uExtMsg, SYS_WIN_SUBWALK_POS_MAIN_CTRL,0);break;case MOTOR_ENCODER_RESET_ERR:break;default:ASSERT(ERROR);break;}break;//接收TAKE_TASK返回  TAKE_TASK->MAIN_TASKcase WM_TAKE_STOCK_TASK_API: //盘点任务结果switch(Parameter){case WM_TASK_STOCK_TASK_FIND_TRAY_OK: //盘点任务成功; //do nothingbreak;	case WM_TASK_STOCK_TASK_CLOSE_OK: //盘点任务关闭break;default:ASSERT(ERROR);break;}break;//接收TAKE_TASK 报错返回 case WM_TAKE_STOCK_EXC_TOMAIN:switch(Parameter){case TAKE_STOCK_EXC_ALARM: if(Info!=NULL){sTakeOutWindowMsg = *(WINDOW_MSG*)Info; //变叉报警RT_LOG(RT_LOG_WCS,("盘点流程报警AlarmCode:0x%04X\n",sTakeOutWindowMsg.Parameter));//一定是处于激活状态，需要判断当前活动窗口是不是自身if(Window.Active){//当前窗口活动中 sTakeOut_AlarmCode = sTakeOutWindowMsg.Parameter;if(GetCurrentWindow(MAIN_TASK) == &Window){win_SubWalk_Emergency_Stop(sTakeOut_AlarmCode);return;}else{ //等待主任务流程恢复到当前窗口后在WM_REFRESH中执行异常处理流程，保证消息能正常处理;}}else{//当前窗口已关闭 - 不处理;}}break;	default:ASSERT(ERROR);break;}break;case WM_ALARM_CODE:CloseWindow(MAIN_TASK);(*ActiveWindowProc(MAIN_TASK))(WM_ALARM_CODE,Parameter,Info,hSrcWin,hTagWin);break;default:break;}
}

//TAKE_TASK win_TakeStock.c
/*** @brief  窗口函数* @param  Type: 信息的类型* @param  Parameter: 数值型信息* @param  Info: 字符串型信息* @param  hSrcWin: 源窗口,消息的触发窗口* @param  hTagWin: 目标窗口,消息的目标窗口* @retval None* @note   具体处理接收到的信息（如按键输入等），每一个功能窗口都要有一个这样的函数*         这是一个内部函数，其他模块的窗口函数可以与它同名 */
static void WindowProc(WORD Type, WORD Parameter, BYTE *Info, WORD hSrcWin, WORD hTagWin)
{int i;switch( Type )		// 根据信息类型，提取及处理相应的信息{					case WM_CLOSE:CloseWindow(TAKE_TASK);break;case WM_REDRAW:Initialize();OpenWindow(TAKE_TASK,&Window);break;case WM_REFRESH:if( Take_Command_Irq[0].Idle ){TakeStock_Start_One_Irq();}break;case WM_TAKE_STOCK_CMD_EXC: 	//TAKE_STOCK执行结果if( Take_Command_Irq[0].Idle ){Take_Command_Irq[0].Idle = 0;// 后续任务往前移位   发送命令for(i=0;i<(sizeof(Take_Command_Irq)/sizeof(Take_Command_Irq[0])-1);i++){	Take_Command_Irq[i] = Take_Command_Irq[i+1];}Take_Command_Irq[sizeof(Take_Command_Irq)/sizeof(Take_Command_Irq[0])-1].Idle = 0;if( Take_Command_Irq[0].Idle ){TakeStock_Start_One_Irq();}}break;case WM_TAKE_STOCK_TASK_API: //任务返回的结果if( Take_Command_Irq[0].Idle && sExtMsg.srcWindow!=NULL){(sExtMsg.srcWindow->WindowProc)(Type,Parameter,Info,hSrcWin,sUser.SrcWindows);}//发送给TAKE_TASK消息(*ActiveWindowProc)(TAKE_TASK)(WM_TAKE_STOCK_CMD_EXC, TAKE_STOCK_EXE_OK, 0, SYS_WIN_TAKE_STOCK, 0);break;case WM_TAKE_STOCK_CMD:	//收到一个发送请求TakeCommandEnQueue(Parameter,Info,hSrcWin,hTagWin);break;case WM_ALARM_CODE://发给主任务处理if( Take_Command_Irq[0].Idle && sExtMsg.srcWindow!=NULL){sTaskExcMsg.Type = Type;sTaskExcMsg.Parameter = Parameter;sTaskExcMsg.Info = Info;sTaskExcMsg.hSrcWin = hSrcWin;sTaskExcMsg.hTagWin = sUser.SrcWindows;(sExtMsg.srcWindow->WindowProc)(WM_TAKE_STOCK_EXC_TOMAIN,TAKE_STOCK_EXC_ALARM,(u8*)&sTaskExcMsg,SYS_WIN_TAKE_STOCK,0);}//发送给TAKE_TASK消息(*ActiveWindowProc)(TAKE_TASK)(WM_TAKE_STOCK_CMD_EXC, TAKE_STOCK_EXE_OK, 0, SYS_WIN_TAKE_STOCK, 0);break;default:break;}
}/*** @brief 执行Kinco电机TAKE_STOCK指令*/
static void TakeStock_Command(u16 uCommand, TAKESTOCK_USERDATA hUser)
{sExtMsg = Take_Command_Irq[0].Msgs;switch(uCommand){case TAKE_STOCK_CMD_FIND_TRAY:win_TakeStock_FindTray(sExtMsg.TakeOut.StartPos,sExtMsg.TakeOut.EndPos);break;default:ASSERT(ERROR);break;}
}/*** @brief 执行TAKE_STOCK命令*/
static void TakeStock_Start_One_Irq(void)
{sUser.SrcWindows = Take_Command_Irq[0].SrcWindows;TakeStock_Command(Take_Command_Irq[0].Command, sUser);
}

//TAKE_TASK win_TakeStock_FindTray.c/*** @brief  盘点任务找托盘* @param  None* @retval None* @note   窗口加载函数,在窗口集合注册当前窗口;*         如果要每次打开窗口时都进行初始化，则应在此加入初始化*/
void win_TakeStock_FindTray(u16 hStartPos,u16 hEndPos)
{if (Window.Active)return;if (RegisterWindow(TAKE_TASK,&Window)){MyRGV_Message.Take_Sys_Win = SYS_WIN_TAKE_STOCK_FIND_TRAY;Initialize();OpenWindow(TAKE_TASK,&Window);//...if(sAlarmCode){ LOG_ALARM_CODE(sAlarmCode);CloseWindow(TAKE_TASK);(*ActiveWindowProc)(TAKE_TASK)(WM_ALARM_CODE, sAlarmCode, 0, SYS_WIN_TAKE_STOCK_FIND_TRAY, 0);return;}}
}/*** @brief  窗口函数* @param  Type: 信息的类型* @param  Parameter: 数值型信息* @param  Info: 字符串型信息* @param  hSrcWin: 源窗口,消息的触发窗口* @param  hTagWin: 目标窗口,消息的目标窗口* @retval None* @note   具体处理接收到的信息（如按键输入等），每一个功能窗口都要有一个这样的函数*         这是一个内部函数，其他模块的窗口函数可以与它同名 */
static void WindowProc(WORD Type, WORD Parameter, BYTE *Info, WORD hSrcWin, WORD hTagWin)
{switch( Type )		// 根据信息类型，提取及处理相应的信息{					case WM_CLOSE:CloseWindow(TAKE_TASK);break;case WM_REDRAW:Initialize();OpenWindow(TAKE_TASK,&Window);break;case WM_REFRESH:{FindTraySpace();}break;case WM_TAKE_STOCK_TASK_MSG: //接收MAIN_TASK的消息switch(Parameter){case TAKE_STOCK_MSG_CAL_TRAY: //运动流程结束{//...CloseWindow(TAKE_TASK);(*ActiveWindowProc)(TAKE_TASK)(WM_TAKE_STOCK_TASK_API, WM_TASK_STOCK_TASK_FIND_TRAY_OK, 0, SYS_WIN_TAKE_STOCK_FIND_TRAY, 0);}break;case TAKE_STOCK_MSG_CHANGE_ENDPOS: //改变目标位置if(Info!=NULL){sEndPos = *(u16*)Info;}break;case TAKE_STOCK_MSG_CLOSE: //回收资源，在windowExit窗口调用CloseWindow(TAKE_TASK);(*ActiveWindowProc)(TAKE_TASK)(WM_TAKE_STOCK_TASK_API, WM_TASK_STOCK_TASK_CLOSE_OK, 0, SYS_WIN_TAKE_STOCK_FIND_TRAY, 0);break;default:ASSERT(ERROR);break;}break;case WM_TAKE_STOCK_CMD:	//收到一个发送请求TakeCommandEnQueue(Parameter,Info,hSrcWin,hTagWin);break;case WM_ALARM_CODE:CloseWindow(TAKE_TASK);(*ActiveWindowProc(TAKE_TASK))(WM_ALARM_CODE,Parameter,Info,hSrcWin,hTagWin);break;default:break;}
}