#include "stdafx.h"
|
#include "CRobotTask.h"
|
#include "ToolUnits.h"
|
#include "Log.h"
|
|
|
namespace SERVO {
|
CRobotTask::CRobotTask()
|
{
|
generateId(m_strId);
|
m_state = ROBOT_TASK_STATE::Ready;
|
m_timeCreate = CToolUnits::getUnixTimestamp();
|
m_timeFetchOut = 0;
|
m_timeStored = 0;
|
m_timeFinish = 0;
|
m_pContext = nullptr;
|
m_pEFEM = nullptr;
|
}
|
|
CRobotTask::~CRobotTask()
|
{
|
if (m_pContext != nullptr) {
|
m_pContext->release();
|
m_pContext = nullptr;
|
}
|
}
|
|
std::string CRobotTask::getDescription() const
|
{
|
std::string strOut = "CRobotTask<ID:";
|
strOut = strOut + std::to_string(m_robotCmdParam[ACTION_TRANSFER].sequenceNo);
|
strOut = strOut + ",Arm:";
|
strOut = strOut + std::to_string(m_robotCmdParam[ACTION_TRANSFER].armNo);
|
strOut = strOut + ",GetPossion:";
|
strOut = strOut + std::to_string(m_robotCmdParam[ACTION_TRANSFER].getPosition);
|
strOut = strOut + ",GetSlot:";
|
strOut = strOut + std::to_string(m_robotCmdParam[ACTION_TRANSFER].getSlotNo);
|
strOut = strOut + ",PutPossion:";
|
strOut = strOut + std::to_string(m_robotCmdParam[ACTION_TRANSFER].putPosition);
|
strOut = strOut + ",PutSlot:";
|
strOut = strOut + std::to_string(m_robotCmdParam[ACTION_TRANSFER].putSlotNo);
|
strOut = strOut + ">";
|
|
return strOut;
|
}
|
|
std::string CRobotTask::getSimpleDescription() const
|
{
|
std::string strOut = "CRobotTask<ID:";
|
strOut = strOut + std::to_string(m_robotCmdParam[ACTION_TRANSFER].sequenceNo);
|
strOut = strOut + ",Arm:";
|
strOut = strOut + std::to_string(m_robotCmdParam[ACTION_TRANSFER].armNo);
|
strOut = strOut + ",GetPossion:";
|
strOut = strOut + std::to_string(m_robotCmdParam[ACTION_TRANSFER].getPosition);
|
strOut = strOut + ",GetSlot:";
|
strOut = strOut + std::to_string(m_robotCmdParam[ACTION_TRANSFER].getSlotNo);
|
strOut = strOut + ",PutPossion:";
|
strOut = strOut + std::to_string(m_robotCmdParam[ACTION_TRANSFER].putPosition);
|
strOut = strOut + ",PutSlot:";
|
strOut = strOut + std::to_string(m_robotCmdParam[ACTION_TRANSFER].putSlotNo);
|
strOut = strOut + ">";
|
|
return strOut;
|
}
|
|
void CRobotTask::setContext(CContext* pContext)
|
{
|
if (m_pContext != nullptr) {
|
m_pContext->release();
|
}
|
|
m_pContext = pContext;
|
if (m_pContext != nullptr) {
|
m_pContext->addRef();
|
}
|
}
|
|
CContext* CRobotTask::getContext()
|
{
|
return m_pContext;
|
}
|
|
void CRobotTask::setEFEM(CEFEM* pEFEM)
|
{
|
m_pEFEM = pEFEM;
|
}
|
|
std::string& CRobotTask::generateId(std::string& out)
|
{
|
char szBuffer[256];
|
CTime time = CTime::GetCurrentTime();
|
__int64 nTick = 0;
|
QueryPerformanceCounter((LARGE_INTEGER*)&nTick);
|
sprintf_s(szBuffer, 256, "%d%02d%02d%02d%02d%02d%010llu", time.GetYear(),
|
time.GetMonth(), time.GetDay(), time.GetHour(), time.GetMinute(), time.GetSecond(),
|
nTick % 10000000000);
|
out = szBuffer;
|
|
return out;
|
}
|
|
std::string& CRobotTask::getId()
|
{
|
return m_strId;
|
}
|
|
int CRobotTask::setRobotTransferParam(int seq, int armNo, int fromPos, int toPos, int fromSlot, int toSlot)
|
{
|
// ÕâÊÇÖ±½ÓʹÓðáÔËģʽµÄ²ÎÊý£¬
|
// Èç¹ûEFEM²»Ö§³Ö£¬»¹ÐèÒª²ð½âΪȡºÍ·ÅµÄ¶¯×÷¼°»Ø·ÅÔλÖõÄÆäËü3ÌײÎÊý
|
m_robotCmdParam[ACTION_TRANSFER] = {};
|
m_robotCmdParam[ACTION_TRANSFER].sequenceNo = static_cast<short>(seq+1);
|
m_robotCmdParam[ACTION_TRANSFER].rcmd = static_cast<short>(SERVO::RCMD::Transfer);
|
m_robotCmdParam[ACTION_TRANSFER].armNo = static_cast<short>(armNo);
|
m_robotCmdParam[ACTION_TRANSFER].getPosition = static_cast<short>(fromPos);
|
m_robotCmdParam[ACTION_TRANSFER].getSlotNo = static_cast<short>(fromSlot);
|
m_robotCmdParam[ACTION_TRANSFER].putPosition = static_cast<short>(toPos);
|
m_robotCmdParam[ACTION_TRANSFER].putSlotNo = static_cast<short>(toSlot);
|
|
// ת»»Ò»ÏÂÔ´ºÍÄ¿±êÕ¾ºÅ
|
int srcPos, srcSlot, tarPos, tarSlot;
|
transformPosAndSlot(fromPos, fromSlot, srcPos, srcSlot);
|
transformPosAndSlot(toPos, toSlot, tarPos, tarSlot);
|
|
m_robotCmdParam[ACTION_PICK] = {};
|
m_robotCmdParam[ACTION_PICK].sequenceNo = static_cast<short>(seq+1);
|
m_robotCmdParam[ACTION_PICK].rcmd = static_cast<short>(SERVO::RCMD::Get);
|
m_robotCmdParam[ACTION_PICK].armNo = static_cast<short>(armNo);
|
m_robotCmdParam[ACTION_PICK].getPosition = static_cast<short>(srcPos);
|
m_robotCmdParam[ACTION_PICK].getSlotNo = static_cast<short>(srcSlot);
|
|
m_robotCmdParam[ACTION_PLACE] = {};
|
m_robotCmdParam[ACTION_PLACE].sequenceNo = static_cast<short>(seq + 2);
|
m_robotCmdParam[ACTION_PLACE].rcmd = static_cast<short>(SERVO::RCMD::Put);
|
m_robotCmdParam[ACTION_PLACE].armNo = static_cast<short>(armNo);
|
m_robotCmdParam[ACTION_PLACE].putPosition = static_cast<short>(tarPos);
|
m_robotCmdParam[ACTION_PLACE].putSlotNo = static_cast<short>(tarSlot);
|
|
m_robotCmdParam[ACTION_RESTORE] = {};
|
m_robotCmdParam[ACTION_RESTORE].sequenceNo = static_cast<short>(seq + 3);
|
m_robotCmdParam[ACTION_RESTORE].rcmd = static_cast<short>(SERVO::RCMD::Put);
|
m_robotCmdParam[ACTION_RESTORE].armNo = static_cast<short>(armNo);
|
m_robotCmdParam[ACTION_RESTORE].putPosition = static_cast<short>(srcPos);
|
m_robotCmdParam[ACTION_RESTORE].putSlotNo = static_cast<short>(srcSlot);
|
|
return seq + 3;
|
}
|
|
ROBOT_CMD_PARAM& CRobotTask::getRobotCmdParam(int index)
|
{
|
ASSERT(ACTION_PICK <= index && index <= ACTION_TRANSFER);
|
return m_robotCmdParam[index];
|
}
|
|
time_t CRobotTask::getCreateTime()
|
{
|
return m_timeCreate;
|
}
|
|
time_t CRobotTask::getFetchoutTime()
|
{
|
return m_timeFetchOut;
|
}
|
|
time_t CRobotTask::getStoredTime()
|
{
|
return m_timeStored;
|
}
|
|
time_t CRobotTask::getFinishTime()
|
{
|
return m_timeFinish;
|
}
|
|
int CRobotTask::getArmNo()
|
{
|
return m_robotCmdParam[ACTION_PICK].armNo;
|
|
}
|
|
ROBOT_TASK_STATE CRobotTask::getState()
|
{
|
return m_state;
|
}
|
|
bool CRobotTask::isPicking()
|
{
|
return m_state == ROBOT_TASK_STATE::Picking;
|
}
|
|
bool CRobotTask::isPicked()
|
{
|
return m_state == ROBOT_TASK_STATE::Picked;
|
}
|
|
bool CRobotTask::isPlacing()
|
{
|
return m_state == ROBOT_TASK_STATE::Placing;
|
}
|
|
bool CRobotTask::isRestoring()
|
{
|
return m_state == ROBOT_TASK_STATE::Restoring;
|
}
|
|
void CRobotTask::run()
|
{
|
ASSERT(m_pEFEM);
|
m_state = ROBOT_TASK_STATE::Running;
|
|
static int seq = 0;
|
m_pEFEM->robotSendTransfer(++seq,
|
m_robotCmdParam[ACTION_TRANSFER].armNo,
|
m_robotCmdParam[ACTION_TRANSFER].getPosition,
|
m_robotCmdParam[ACTION_TRANSFER].putPosition,
|
m_robotCmdParam[ACTION_TRANSFER].getSlotNo,
|
m_robotCmdParam[ACTION_TRANSFER].putSlotNo,
|
[&](int code) -> int {
|
if (code == WOK) {
|
LOGI(_T("RobotTaskÒÑÏ·¢µ½EFEM"));
|
}
|
else {
|
LOGI(_T("RobotTaskÒÑÏ·¢Ê§°Ü"));
|
}
|
|
return 0;
|
});
|
}
|
|
void CRobotTask::pick()
|
{
|
ASSERT(m_pEFEM);
|
m_state = ROBOT_TASK_STATE::Picking;
|
|
m_pEFEM->robotCmd(m_robotCmdParam[ACTION_PICK],
|
[&](int code) -> int {
|
if (code == WOK) {
|
LOGI(_T("RobotTask/getÒÑÏ·¢µ½EFEM"));
|
}
|
else {
|
LOGI(_T("RobotTask/getÒÑÏ·¢Ê§°Ü"));
|
}
|
|
return 0;
|
});
|
}
|
|
void CRobotTask::picked()
|
{
|
m_state = ROBOT_TASK_STATE::Picked;
|
}
|
|
void CRobotTask::place()
|
{
|
ASSERT(m_pEFEM);
|
m_state = ROBOT_TASK_STATE::Placing;
|
|
m_pEFEM->robotCmd(m_robotCmdParam[ACTION_PLACE],
|
[&](int code) -> int {
|
if (code == WOK) {
|
LOGI(_T("RobotTask/putÒÑÏ·¢µ½EFEM"));
|
}
|
else {
|
LOGI(_T("RobotTask/putÒÑÏ·¢Ê§°Ü"));
|
}
|
|
return 0;
|
});
|
}
|
|
void CRobotTask::restore()
|
{
|
ASSERT(m_pEFEM);
|
m_state = ROBOT_TASK_STATE::Restoring;
|
|
m_pEFEM->robotCmd(m_robotCmdParam[ACTION_RESTORE],
|
[&](int code) -> int {
|
if (code == WOK) {
|
LOGI(_T("RobotTask/restore-putÒÑÏ·¢µ½EFEM"));
|
}
|
else {
|
LOGI(_T("RobotTask/restore-putÒÑÏ·¢Ê§°Ü"));
|
}
|
|
return 0;
|
});
|
}
|
|
void CRobotTask::completed()
|
{
|
m_state = ROBOT_TASK_STATE::Completed;
|
}
|
|
void CRobotTask::restored()
|
{
|
m_state = ROBOT_TASK_STATE::Restored;
|
}
|
|
void CRobotTask::error()
|
{
|
m_state = ROBOT_TASK_STATE::Error;
|
}
|
|
void CRobotTask::abort()
|
{
|
m_state = ROBOT_TASK_STATE::Abort;
|
}
|
|
int CRobotTask::getSrcPosition()
|
{
|
return m_robotCmdParam[ACTION_TRANSFER].getPosition;
|
}
|
|
int CRobotTask::getTarPosition()
|
{
|
return m_robotCmdParam[ACTION_TRANSFER].putPosition;
|
}
|
|
int CRobotTask::getSrcSlot()
|
{
|
return m_robotCmdParam[ACTION_TRANSFER].getSlotNo;
|
}
|
|
int CRobotTask::getTarSlot()
|
{
|
return m_robotCmdParam[ACTION_TRANSFER].putSlotNo;
|
}
|
|
CString CRobotTask::getStateString()
|
{
|
switch (m_state) {
|
case ROBOT_TASK_STATE::Ready: return _T("Ready");
|
case ROBOT_TASK_STATE::Running: return _T("Running");
|
case ROBOT_TASK_STATE::Picking: return _T("Picking");
|
case ROBOT_TASK_STATE::Placing: return _T("Placing");
|
case ROBOT_TASK_STATE::Restoring: return _T("Restoring");
|
case ROBOT_TASK_STATE::Error: return _T("Error");
|
case ROBOT_TASK_STATE::Abort: return _T("Abort");
|
case ROBOT_TASK_STATE::Completed: return _T("Completed");
|
default: return _T("Unknown");
|
}
|
}
|
|
void CRobotTask::fetchOut()
|
{
|
m_timeFetchOut = CToolUnits::getUnixTimestamp();;
|
}
|
|
void CRobotTask::stored()
|
{
|
m_timeStored = CToolUnits::getUnixTimestamp();;
|
}
|
|
void CRobotTask::transformPosAndSlot(int srcPos, int srcSlot, int& tarPos, int& tarSlot)
|
{
|
switch (srcPos)
|
{
|
case EQ_ID_LOADPORT1:
|
case EQ_ID_LOADPORT2:
|
case EQ_ID_LOADPORT3:
|
case EQ_ID_LOADPORT4:
|
case EQ_ID_ARM_TRAY1:
|
case EQ_ID_ARM_TRAY2:
|
case EQ_ID_ALIGNER:
|
case EQ_ID_FLIPER:
|
tarPos = srcPos;
|
tarSlot = 1;
|
break;
|
case EQ_ID_Bonder1:
|
if (1 <= srcSlot && srcSlot <= 2) {
|
tarPos = 9 + srcSlot - 1;
|
tarSlot = 1;
|
}
|
break;
|
case EQ_ID_Bonder2:
|
if (1 <= srcSlot && srcSlot <= 2) {
|
tarPos = 11 + srcSlot - 1;
|
tarSlot = 1;
|
}
|
break;
|
case EQ_ID_VACUUMBAKE:
|
if (1 <= srcSlot && srcSlot <= 2) {
|
tarPos = 13 + srcSlot - 1;
|
tarSlot = 1;
|
}
|
break;
|
case EQ_ID_BAKE_COOLING:
|
if (1 <= srcSlot && srcSlot <= 4) {
|
tarPos = 15 + srcSlot - 1;
|
tarSlot = 1;
|
}
|
break;
|
case EQ_ID_MEASUREMENT:
|
tarPos = 19;
|
tarSlot = 1;
|
break;
|
default:
|
tarPos = srcPos;
|
tarSlot = srcSlot;
|
break;
|
}
|
}
|
}
|
