1. JobDataS多了一次Last Glass Flag

mrDarker

2025-09-01 9370dd2497683084f8c0ae958f8be5dec34bd2f1

 SourceCode/Bond/Servo/CRobotTask.cpp

@@ -117,28 +117,33 @@
      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].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>(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].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>(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;
      return seq + 3;
   }

   ROBOT_CMD_PARAM& CRobotTask::getRobotCmdParam(int index)
@@ -183,6 +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;
@@ -222,10 +232,7 @@
      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"));
@@ -238,15 +245,17 @@
         });
   }

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

   void CRobotTask::place()
   {
      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"));
@@ -264,10 +273,7 @@
      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"));
@@ -280,9 +286,25 @@
         });
   }

   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()
@@ -339,4 +361,57 @@
   {
      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:
         tarPos = srcPos;
         tarSlot = srcSlot;
         break;
      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;
      }
   }
}