1.ECID, DVID的查询和实现；

chenluhua1980

2026-01-13 155cb7fe0dcb564729c6aecdb65815f3f0ed24e2

 SourceCode/Bond/Servo/CRobotTask.cpp

@@ -123,7 +123,7 @@
      transformPosAndSlot(toPos, toSlot, tarPos, tarSlot);

      m_robotCmdParam[ACTION_PICK] = {};
      m_robotCmdParam[ACTION_PICK].sequenceNo = static_cast<short>(seq+2);
      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);
@@ -137,13 +137,13 @@
      m_robotCmdParam[ACTION_PLACE].putSlotNo = static_cast<short>(tarSlot);

      m_robotCmdParam[ACTION_RESTORE] = {};
      m_robotCmdParam[ACTION_RESTORE].sequenceNo = static_cast<short>(seq + 1);
      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 + 1;
      return seq + 3;
   }

   ROBOT_CMD_PARAM& CRobotTask::getRobotCmdParam(int index)
@@ -188,6 +188,11 @@
      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;
@@ -215,7 +220,7 @@
               LOGI(_T("RobotTask已下发到EFEM"));
            }
            else {
               LOGI(_T("RobotTask已下发失败"));
               LOGE(_T("RobotTask下发失败"));
            }

            return 0;
@@ -227,20 +232,22 @@
      ASSERT(m_pEFEM);
      m_state = ROBOT_TASK_STATE::Picking;

      m_pEFEM->robotSendMoveToGet(m_robotCmdParam->sequenceNo,
         m_robotCmdParam[ACTION_PICK].armNo,
         m_robotCmdParam[ACTION_PICK].getPosition,
         m_robotCmdParam[ACTION_PICK].getSlotNo,
      m_pEFEM->robotCmd(m_robotCmdParam[ACTION_PICK],
         [&](int code) -> int {
            if (code == WOK) {
               LOGI(_T("RobotTask/get已下发到EFEM"));
            }
            else {
               LOGI(_T("RobotTask/get已下发失败"));
               LOGE(_T("RobotTask/get已下发失败"));
            }

            return 0;
         });
   }

   void CRobotTask::picked()
   {
      m_state = ROBOT_TASK_STATE::Picked;
   }

   void CRobotTask::place()
@@ -248,16 +255,13 @@
      ASSERT(m_pEFEM);
      m_state = ROBOT_TASK_STATE::Placing;

      m_pEFEM->robotSendMoveToPut(m_robotCmdParam->sequenceNo,
         m_robotCmdParam[ACTION_PLACE].armNo,
         m_robotCmdParam[ACTION_PLACE].putPosition,
         m_robotCmdParam[ACTION_PLACE].putSlotNo,
      m_pEFEM->robotCmd(m_robotCmdParam[ACTION_PLACE],
         [&](int code) -> int {
            if (code == WOK) {
               LOGI(_T("RobotTask/put已下发到EFEM"));
            }
            else {
               LOGI(_T("RobotTask/put已下发失败"));
               LOGE(_T("RobotTask/put已下发失败"));
            }

            return 0;
@@ -269,25 +273,38 @@
      ASSERT(m_pEFEM);
      m_state = ROBOT_TASK_STATE::Restoring;

      m_pEFEM->robotSendMoveToPut(m_robotCmdParam->sequenceNo,
         m_robotCmdParam[ACTION_RESTORE].armNo,
         m_robotCmdParam[ACTION_RESTORE].putPosition,
         m_robotCmdParam[ACTION_RESTORE].putSlotNo,
      m_pEFEM->robotCmd(m_robotCmdParam[ACTION_RESTORE],
         [&](int code) -> int {
            if (code == WOK) {
               LOGI(_T("RobotTask/restore-put已下发到EFEM"));
            }
            else {
               LOGI(_T("RobotTask/restore-put已下发失败"));
               LOGE(_T("RobotTask/restore-put已下发失败"));
            }

            return 0;
         });
   }

   void CRobotTask::resend()
   {
      // 重新下发命令，无非是下发取料或下发放料的命令，根据当前状态来
      if (ROBOT_TASK_STATE::Picking == m_state  || ROBOT_TASK_STATE::Picked == m_state) {
         pick();
      }
      else if (ROBOT_TASK_STATE::Placing == m_state) {
         place();
      }
   }

   void CRobotTask::completed()
   {
      m_state = ROBOT_TASK_STATE::Completed;
   }

   void CRobotTask::restored()
   {
      m_state = ROBOT_TASK_STATE::Restored;
   }

   void CRobotTask::error()
@@ -353,6 +370,9 @@
      case EQ_ID_LOADPORT2:
      case EQ_ID_LOADPORT3:
      case EQ_ID_LOADPORT4:
         tarPos = srcPos;
         tarSlot = srcSlot;
         break;
      case EQ_ID_ARM_TRAY1:
      case EQ_ID_ARM_TRAY2:
      case EQ_ID_ALIGNER:
@@ -362,25 +382,25 @@
         break;
      case EQ_ID_Bonder1:
         if (1 <= srcSlot && srcSlot <= 2) {
            tarPos = 9 + srcSlot;
            tarPos = 9 + srcSlot - 1;
            tarSlot = 1;
         }
         break;
      case EQ_ID_Bonder2:
         if (1 <= srcSlot && srcSlot <= 2) {
            tarPos = 11 + srcSlot;
            tarPos = 11 + srcSlot - 1;
            tarSlot = 1;
         }
         break;
      case EQ_ID_VACUUMBAKE:
         if (1 <= srcSlot && srcSlot <= 2) {
            tarPos = 13 + srcSlot;
            tarPos = 13 + srcSlot - 1;
            tarSlot = 1;
         }
         break;
      case EQ_ID_BAKE_COOLING:
         if (1 <= srcSlot && srcSlot <= 4) {
            tarPos = 15 + srcSlot;
            tarPos = 15 + srcSlot - 1;
            tarSlot = 1;
         }
         break;