1.增加Aligner --> Bonder1 | Bonder2的搬送检测逻辑； 2.优化搬送逻辑。搬送要分优先考虑的主类型和次要类型。一种情况，如...

LAPTOP-SNT8I5JK\Boounion

2025-06-03 a1bf060d50da3c27b54bcc349e8b53769b39ef89

 SourceCode/Bond/Servo/CMaster.cpp

@@ -279,18 +279,29 @@

   unsigned CMaster::DispatchProc()
   {
      // 优先考虑的类型和次要类型
      // 一种情况，如果不分主次，一直搬G1, 等到Bonder1和Bonder2都放了G1, Aligner也放了G1,
      // Bonder1和Bonder2需要的G2就过不来了
      // 最基本的实现，可以G2和G2轮流搬送，但最好根据Bonder的需求来决定
      MaterialsType primaryType, secondaryType;


      // 各种机器
      CLoadPort* pLoadPort1 = (CLoadPort*)getEquipment(EQ_ID_LOADPORT1);
      CLoadPort* pLoadPort2 = (CLoadPort*)getEquipment(EQ_ID_LOADPORT2);
      CFliper* pFliper = (CFliper*)getEquipment(EQ_ID_FLIPER);
      CVacuumBake* pVacuumBack = (CVacuumBake*)getEquipment(EQ_ID_VACUUMBAKE);
      CAligner* pAligner = (CAligner*)getEquipment(EQ_ID_ALIGNER);
      CBonder* pBonder1 = (CBonder*)getEquipment(EQ_ID_Bonder1);
      CBonder* pBonder2 = (CBonder*)getEquipment(EQ_ID_Bonder2);

      ASSERT(pLoadPort1);
      ASSERT(pLoadPort2);
      ASSERT(pFliper);
      ASSERT(pVacuumBack);
      ASSERT(pAligner);
      ASSERT(pBonder1);
      ASSERT(pBonder2);

      while (1) {
         // 待退出信号或时间到
@@ -333,8 +344,30 @@
               continue;
            }

            // LoadPort -> Fliper(G2)
            m_pActiveRobotTask = createTransferTask(pLoadPort1, pFliper);

            // 此处检测优先类型和次要类型（G1或G2）
            // 如果其中一Bonder有单个玻璃，优先取它的配对类型，否则无所谓了
            primaryType = MaterialsType::G1;
            secondaryType = MaterialsType::G2;
            if ((!pBonder1->canPlaceGlassInSlot(0) && !pBonder1->canPlaceGlassInSlot(1))
               && (!pBonder2->canPlaceGlassInSlot(0) && !pBonder2->canPlaceGlassInSlot(1))) {
               // 如果G1和G2都满了，那就看Aligner, 如果Aligner有玻璃为G1, 则取G2
               CGlass* pGlass = pAligner->getGlassFromSlot(1);
               if (pGlass != nullptr && pGlass->getType() == MaterialsType::G1) {
                  primaryType = MaterialsType::G2;
                  secondaryType = MaterialsType::G1;
               }
            }
            else if ((pBonder1->canPlaceGlassInSlot(0) && !pBonder1->canPlaceGlassInSlot(1))
               || (pBonder2->canPlaceGlassInSlot(0) && !pBonder2->canPlaceGlassInSlot(1))) {
               primaryType = MaterialsType::G2;
               secondaryType = MaterialsType::G1;
            }



            // Aligner -> Bonder
            m_pActiveRobotTask = createTransferTask(pAligner, pBonder1, primaryType, secondaryType);
            if (m_pActiveRobotTask != nullptr) {
               std::string strDescription = m_pActiveRobotTask->getDescription();
               unlock();
@@ -345,32 +378,7 @@
               continue;
            }

            m_pActiveRobotTask = createTransferTask(pLoadPort2, pFliper);
            if (m_pActiveRobotTask != nullptr) {
               std::string strDescription = m_pActiveRobotTask->getDescription();
               unlock();
               if (m_listener.onRobotTaskEvent != nullptr) {
                  m_listener.onRobotTaskEvent(this, m_pActiveRobotTask, 0);
               }
               LOGI("创建新任务<%s>...", strDescription.c_str());
               continue;
            }



            // LoadPort -> VacuumBake(G1)
            m_pActiveRobotTask = createTransferTask(pLoadPort1, pVacuumBack);
            if (m_pActiveRobotTask != nullptr) {
               std::string strDescription = m_pActiveRobotTask->getDescription();
               unlock();
               if (m_listener.onRobotTaskEvent != nullptr) {
                  m_listener.onRobotTaskEvent(this, m_pActiveRobotTask, 0);
               }
               LOGI("创建新任务<%s>...", strDescription.c_str());
               continue;
            }

            m_pActiveRobotTask = createTransferTask(pLoadPort2, pVacuumBack);
            m_pActiveRobotTask = createTransferTask(pAligner, pBonder2, primaryType, secondaryType);
            if (m_pActiveRobotTask != nullptr) {
               std::string strDescription = m_pActiveRobotTask->getDescription();
               unlock();
@@ -384,7 +392,7 @@

            // Fliper(G2) -> Aligner
            // VacuumBake(G1) -> Aligner
            m_pActiveRobotTask = createTransferTask(pFliper, pAligner);
            m_pActiveRobotTask = createTransferTask(pFliper, pAligner, primaryType, secondaryType);
            if (m_pActiveRobotTask != nullptr) {
               std::string strDescription = m_pActiveRobotTask->getDescription();
               unlock();
@@ -395,7 +403,38 @@
               continue;
            }

            m_pActiveRobotTask = createTransferTask(pVacuumBack, pAligner);
            m_pActiveRobotTask = createTransferTask(pVacuumBack, pAligner, primaryType, secondaryType);
            if (m_pActiveRobotTask != nullptr) {
               std::string strDescription = m_pActiveRobotTask->getDescription();
               unlock();
               if (m_listener.onRobotTaskEvent != nullptr) {
                  m_listener.onRobotTaskEvent(this, m_pActiveRobotTask, 0);
               }
               LOGI("创建新任务<%s>...", strDescription.c_str());
               continue;
            }


            // LoadPort -> Fliper(G2)
            // LoadPort -> VacuumBake(G1)
            CEquipment* pEqTar1 = pVacuumBack;
            CEquipment* pEqTar2 = pFliper;
            if (primaryType == MaterialsType::G2) {
               pEqTar1 = pFliper;
               pEqTar2 = pVacuumBack;
            }
            m_pActiveRobotTask = createTransferTask(pLoadPort1, pEqTar1, primaryType, secondaryType);
            if (m_pActiveRobotTask != nullptr) {
               std::string strDescription = m_pActiveRobotTask->getDescription();
               unlock();
               if (m_listener.onRobotTaskEvent != nullptr) {
                  m_listener.onRobotTaskEvent(this, m_pActiveRobotTask, 0);
               }
               LOGI("创建新任务<%s>...", strDescription.c_str());
               continue;
            }

            m_pActiveRobotTask = createTransferTask(pLoadPort2, pEqTar1, primaryType, secondaryType);
            if (m_pActiveRobotTask != nullptr) {
               std::string strDescription = m_pActiveRobotTask->getDescription();
               unlock();
@@ -408,9 +447,28 @@



            // LoadPort -> VacuumBake(G1)
            m_pActiveRobotTask = createTransferTask(pLoadPort1, pEqTar2, primaryType, secondaryType);
            if (m_pActiveRobotTask != nullptr) {
               std::string strDescription = m_pActiveRobotTask->getDescription();
               unlock();
               if (m_listener.onRobotTaskEvent != nullptr) {
                  m_listener.onRobotTaskEvent(this, m_pActiveRobotTask, 0);
               }
               LOGI("创建新任务<%s>...", strDescription.c_str());
               continue;
            }


            // Aligner -> Bonder
            m_pActiveRobotTask = createTransferTask(pLoadPort2, pEqTar2, primaryType, secondaryType);
            if (m_pActiveRobotTask != nullptr) {
               std::string strDescription = m_pActiveRobotTask->getDescription();
               unlock();
               if (m_listener.onRobotTaskEvent != nullptr) {
                  m_listener.onRobotTaskEvent(this, m_pActiveRobotTask, 0);
               }
               LOGI("创建新任务<%s>...", strDescription.c_str());
               continue;
            }


            // Bonder -> BakeCooling
@@ -1010,15 +1068,16 @@
   }

   static int taskSeqNo = 0;
   CRobotTask* CMaster::createTransferTask(CEquipment* pSrcEq, CEquipment* pTarEq)
   CRobotTask* CMaster::createTransferTask(CEquipment* pSrcEq, CEquipment* pTarEq,
      MaterialsType primaryType/* = MaterialsType::G1*/, MaterialsType secondaryType/* = MaterialsType::G2*/)
   {
      CRobotTask* pTask = nullptr;
      CSlot* pSrcSlot, * pTarSlot;
      pTarSlot = pTarEq->getAvailableSlotForGlass(MaterialsType::G1);
      pSrcSlot = pSrcEq->getNonEmptySlot(MaterialsType::G1);
      pTarSlot = pTarEq->getAvailableSlotForGlass(primaryType);
      pSrcSlot = pSrcEq->getNonEmptySlot(primaryType);
      if (pSrcSlot == nullptr || nullptr == pTarSlot) {
         pTarSlot = pTarEq->getAvailableSlotForGlass(MaterialsType::G2);
         pSrcSlot = pSrcEq->getNonEmptySlot(MaterialsType::G2);
         pTarSlot = pTarEq->getAvailableSlotForGlass(secondaryType);
         pSrcSlot = pSrcEq->getNonEmptySlot(secondaryType);
      }