1. 模仿Bander添加VacuumBake、BakeCooling和Measurement写入事件 2. 修复搬运交互的地址 3. 修复状态图Va...

mrDarker

2025-06-12 c4a65f54c7876395a07e4a0914035d707fac7ee2

 SourceCode/Bond/Servo/CMaster.cpp

@@ -375,6 +375,37 @@
            }


            // Measurement -> LoadPort
            CLoadPort* pEqLoadPort[] = { pLoadPort1, pLoadPort2, pLoadPort3, pLoadPort4 };
            CEquipment* pEqTar[] = { pVacuumBack, pFliper };
            if (primaryType == MaterialsType::G2) {
               pEqTar[0] = pFliper;
               pEqTar[1] = pVacuumBack;
            }
            for (int s = 0; s < 4; s++) {
               if (pEqLoadPort[s]->isEnable()
                  && pEqLoadPort[s]->getPortType() == PortType::Unloading
                  && pEqLoadPort[s]->getPortMode() == PortMode::ReadyToUnload) {
                  m_pActiveRobotTask = createTransferTask(pMeasurement, pEqLoadPort[s], primaryType, secondaryType);
                  if (m_pActiveRobotTask != nullptr) {
                     goto PORT_PUT;
                  }
               }
            }

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


            // BakeCooling ->Measurement
            m_pActiveRobotTask = createTransferTask_bakecooling_to_measurement(pBakeCooling, pMeasurement);
            if (m_pActiveRobotTask != nullptr) {
@@ -484,18 +515,12 @@

            // LoadPort -> Fliper(G2)
            // LoadPort -> VacuumBake(G1)
            CLoadPort* pEqSrc[] = { pLoadPort1, pLoadPort2, pLoadPort3, pLoadPort4 };
            CEquipment* pEqTar[] = { pVacuumBack, pFliper };
            if (primaryType == MaterialsType::G2) {
               pEqTar[0] = pFliper;
               pEqTar[1] = pVacuumBack;
            }
            for (int s = 0; s < 4; s++) {
               for (int t = 0; t < 2; t++) {
                  if (pEqSrc[s]->isEnable()
                     && pEqSrc[s]->getPortType() == PortType::Loading
                     && pEqSrc[s]->getPortMode() == PortMode::ReadyToLoad) {
                     m_pActiveRobotTask = createTransferTask(pEqSrc[s], pEqTar[t], primaryType, secondaryType);
                  if (pEqLoadPort[s]->isEnable()
                     && pEqLoadPort[s]->getPortType() == PortType::Loading
                     && pEqLoadPort[s]->getPortMode() == PortMode::ReadyToLoad) {
                     m_pActiveRobotTask = createTransferTask(pEqLoadPort[s], pEqTar[t], primaryType, secondaryType);
                     if (m_pActiveRobotTask != nullptr) {
                        goto PORT_GET;
                     }
@@ -514,11 +539,6 @@
               LOGI("创建新任务<%s>...", strDescription.c_str());
               continue;
            }


            // Measurement -> LoadPort



            unlock();

@@ -545,16 +565,24 @@

         // 读标志位
         for (auto item : m_listEquipment) {
            if (item->getID() == EQ_ID_Bonder1 ||
               item->getID() == EQ_ID_Bonder2) {
               const StationIdentifier& station = item->getStation();
               MemoryBlock& block = item->getReadBitBlock();
            //if (item->getID() == EQ_ID_Bonder1 ||
            //   item->getID() == EQ_ID_Bonder2) {
            //   const StationIdentifier& station = item->getStation();
            //   MemoryBlock& block = item->getReadBitBlock();

               int nRet = m_cclink.ReadData2(station, (DeviceType)block.type,
                  block.start, block.size, block.buffer);
               if (0 == nRet) {
                  item->onReceiveLBData(block.buffer, block.size);
               }
            //   int nRet = m_cclink.ReadData2(station, (DeviceType)block.type,
            //      block.start, block.size, block.buffer);
            //   if (0 == nRet) {
            //      item->onReceiveLBData(block.buffer, block.size);
            //   }
            //}
            const StationIdentifier& station = item->getStation();
            MemoryBlock& block = item->getReadBitBlock();

            int nRet = m_cclink.ReadData2(station, (DeviceType)block.type,
               block.start, block.size, block.buffer);
            if (0 == nRet) {
               item->onReceiveLBData(block.buffer, block.size);
            }
         }
      }
@@ -768,7 +796,7 @@
      pEquipment->setBaseAlarmId(BASE_ALARM_EFEM);
      pEquipment->setName("VacuumBake(G1)");
      pEquipment->setDescription("VacuumBake(G1).");
      pEquipment->setReadBitBlock(0x4000, 0x45ff);
      pEquipment->setReadBitBlock(0x5c00, 0x66ff);
      pEquipment->setStation(0, 255);
      addToEquipmentList(pEquipment);

@@ -879,7 +907,7 @@
      pEquipment->setBaseAlarmId(BASE_ALARM_EFEM);
      pEquipment->setName("BakeCooling");
      pEquipment->setDescription("BakeCooling.");
      pEquipment->setReadBitBlock(0x4000, 0x45ff);
      pEquipment->setReadBitBlock(0x5100, 0x5bff);
      pEquipment->setStation(0, 255);
      addToEquipmentList(pEquipment);

@@ -1187,6 +1215,7 @@
      if (pSrcSlot != nullptr && nullptr != pTarSlot) {
         pTask = new CRobotTask();
         pTask->setContext(pSrcSlot->getContext());
         pTask->setEFEM((CEFEM*)getEquipment(EQ_ID_EFEM));
         pTask->setRobotTransferParam(++taskSeqNo, 1, pSrcSlot->getPosition(),
            pTarSlot->getPosition(), pSrcSlot->getNo(), pTarSlot->getNo());
      }