| | |
|---|
| | | LOGI(_T("RobotTask已下发到EFEM")); |
|---|
| | | } |
|---|
| | | else { |
|---|
| | | LOGI(_T("RobotTask已下发失败")); |
|---|
| | | LOGI(_T("RobotTask下发失败")); |
|---|
| | | } |
|---|
| | | |
|---|
| | | return 0; |
|---|
| | |
|---|
| | | |
|---|
| | | 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() |
|---|
| | |
|---|
| | | 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: |
|---|
