1.在stroedJob和Fetchout Job中增加Port的校验； 2.在物料调度中增加检测物料是否已经处理完成的校验；

LAPTOP-SNT8I5JK\Boounion

2025-06-28 2ee440d9e85eccd73d2c3d4cbfe42cb8c1c25ec0

 SourceCode/Bond/Servo/CEFEM.cpp

@@ -728,7 +728,6 @@
                     CJobDataS* pJobDataS = ((CGlass*)m_pActiveContext)->getJobDataS();
                     if (pJobDataS != nullptr) {
                        pJobDataS->serialize(szBuffer, 1024);
                        pJobDataS->serialize(szBuffer, 1024);
                        ack = (short)JobDataRequestAck::OK;
                     }
                  }
@@ -806,14 +805,23 @@
      }

      // 更新信号到LoadPort, Robot, Aligner, Fliper
      m_pPort[0]->setLinkSignalBlock(0, &m_bLinkSignal[0][0]);
      m_pPort[1]->setLinkSignalBlock(0, &m_bLinkSignal[1][0]);
      m_pPort[2]->setLinkSignalBlock(0, &m_bLinkSignal[2][0]);
      m_pPort[3]->setLinkSignalBlock(0, &m_bLinkSignal[3][0]);
      m_pArmTray[0]->setLinkSignalBlock(0, &m_bLinkSignal[4][0]);
      m_pArmTray[1]->setLinkSignalBlock(0, &m_bLinkSignal[5][0]);
      m_pAligner->setLinkSignalBlock(0, &m_bLinkSignal[6][0]);
      m_pFliper->setLinkSignalBlock(0, &m_bLinkSignal[7][0]);
      m_pPort[0]->setLinkSignalUpstreamBlock(0, &m_bLinkSignalToUpstream[0][0]);
      m_pPort[1]->setLinkSignalUpstreamBlock(0, &m_bLinkSignalToUpstream[1][0]);
      m_pPort[2]->setLinkSignalUpstreamBlock(0, &m_bLinkSignalToUpstream[2][0]);
      m_pPort[3]->setLinkSignalUpstreamBlock(0, &m_bLinkSignalToUpstream[3][0]);
      m_pArmTray[0]->setLinkSignalUpstreamBlock(0, &m_bLinkSignalToUpstream[4][0]);
      m_pArmTray[1]->setLinkSignalUpstreamBlock(0, &m_bLinkSignalToUpstream[5][0]);
      m_pAligner->setLinkSignalUpstreamBlock(0, &m_bLinkSignalToUpstream[6][0]);
      m_pFliper->setLinkSignalUpstreamBlock(0, &m_bLinkSignalToUpstream[7][0]);

      m_pPort[0]->setLinkSignalDownstreamBlock(0, &m_bLinkSignalToDownstream[0][0]);
      m_pPort[1]->setLinkSignalDownstreamBlock(0, &m_bLinkSignalToDownstream[1][0]);
      m_pPort[2]->setLinkSignalDownstreamBlock(0, &m_bLinkSignalToDownstream[2][0]);
      m_pPort[3]->setLinkSignalDownstreamBlock(0, &m_bLinkSignalToDownstream[3][0]);
      m_pArmTray[0]->setLinkSignalDownstreamBlock(0, &m_bLinkSignalToDownstream[4][0]);
      m_pArmTray[1]->setLinkSignalDownstreamBlock(0, &m_bLinkSignalToDownstream[5][0]);
      m_pAligner->setLinkSignalDownstreamBlock(0, &m_bLinkSignalToDownstream[6][0]);
      m_pFliper->setLinkSignalDownstreamBlock(0, &m_bLinkSignalToDownstream[7][0]);
   }

   int CEFEM::onReceivedJob(int port, CJobDataS* pJobDataS)
@@ -872,4 +880,12 @@
   {
      return 10000;
   }

   void CEFEM::printDebugRobotState()
   {
      LOGI("<CEFEM>Robot status:%d, ARM1:%s, ARM2:%s",
         m_robotData.status,
         m_robotData.armState[1] ? _T("ON") : _T("OFF"),
         m_robotData.armState[2] ? _T("ON") : _T("OFF"));
   }
}