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LAPTOP-SNT8I5JK\Boounion

2025-06-18 3e369afeb66a110fb6bd382f56bb70aa370fe154

 SourceCode/Bond/Servo/CRobotTask.cpp

@@ -117,26 +117,31 @@
      m_robotCmdParam[ACTION_TRANSFER].putPosition = static_cast<short>(toPos);
      m_robotCmdParam[ACTION_TRANSFER].putSlotNo = static_cast<short>(toSlot);

      // 转换一下源和目标站号
      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+2);
      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>(fromPos);
      m_robotCmdParam[ACTION_PICK].getSlotNo = static_cast<short>(fromSlot);
      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>(toPos);
      m_robotCmdParam[ACTION_PLACE].putSlotNo = static_cast<short>(toSlot);
      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 + 1);
      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>(fromPos);
      m_robotCmdParam[ACTION_RESTORE].putSlotNo = static_cast<short>(fromSlot);
      m_robotCmdParam[ACTION_RESTORE].putPosition = static_cast<short>(srcPos);
      m_robotCmdParam[ACTION_RESTORE].putSlotNo = static_cast<short>(srcSlot);

      return seq + 1;
   }
@@ -222,7 +227,7 @@
      ASSERT(m_pEFEM);
      m_state = ROBOT_TASK_STATE::Picking;

      m_pEFEM->robotSendMoveToGet(m_robotCmdParam->sequenceNo,
      m_pEFEM->robotSendGet(m_robotCmdParam->sequenceNo,
         m_robotCmdParam[ACTION_PICK].armNo,
         m_robotCmdParam[ACTION_PICK].getPosition,
         m_robotCmdParam[ACTION_PICK].getSlotNo,
@@ -339,4 +344,54 @@
   {
      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;
            tarSlot = 1;
         }
         break;
      case EQ_ID_Bonder2:
         if (1 <= srcSlot && srcSlot <= 2) {
            tarPos = 11 + srcSlot;
            tarSlot = 1;
         }
         break;
      case EQ_ID_VACUUMBAKE:
         if (1 <= srcSlot && srcSlot <= 2) {
            tarPos = 13 + srcSlot;
            tarSlot = 1;
         }
         break;
      case EQ_ID_BAKE_COOLING:
         if (1 <= srcSlot && srcSlot <= 4) {
            tarPos = 15 + srcSlot;
            tarSlot = 1;
         }
         break;
      case EQ_ID_MEASUREMENT:
         tarPos = 19;
         tarSlot = 1;
         break;
      default:
         tarPos = srcPos;
         tarSlot = srcSlot;
         break;
      }
   }
}