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LAPTOP-SNT8I5JK\Boounion

2025-09-11 eaf39ceeef11c5685ddbb840541460e5dc5fccaa

 SourceCode/Bond/Servo/CRobotTask.cpp

@@ -220,7 +220,7 @@
               LOGI(_T("RobotTask已下发到EFEM"));
            }
            else {
               LOGI(_T("RobotTask已下发失败"));
               LOGE(_T("RobotTask下发失败"));
            }

            return 0;
@@ -238,7 +238,7 @@
               LOGI(_T("RobotTask/get已下发到EFEM"));
            }
            else {
               LOGI(_T("RobotTask/get已下发失败"));
               LOGE(_T("RobotTask/get已下发失败"));
            }

            return 0;
@@ -261,7 +261,7 @@
               LOGI(_T("RobotTask/put已下发到EFEM"));
            }
            else {
               LOGI(_T("RobotTask/put已下发失败"));
               LOGE(_T("RobotTask/put已下发失败"));
            }

            return 0;
@@ -279,11 +279,22 @@
               LOGI(_T("RobotTask/restore-put已下发到EFEM"));
            }
            else {
               LOGI(_T("RobotTask/restore-put已下发失败"));
               LOGE(_T("RobotTask/restore-put已下发失败"));
            }

            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()
@@ -359,6 +370,9 @@
      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:
@@ -368,25 +382,25 @@
         break;
      case EQ_ID_Bonder1:
         if (1 <= srcSlot && srcSlot <= 2) {
            tarPos = 9 + srcSlot;
            tarPos = 9 + srcSlot - 1;
            tarSlot = 1;
         }
         break;
      case EQ_ID_Bonder2:
         if (1 <= srcSlot && srcSlot <= 2) {
            tarPos = 11 + srcSlot;
            tarPos = 11 + srcSlot - 1;
            tarSlot = 1;
         }
         break;
      case EQ_ID_VACUUMBAKE:
         if (1 <= srcSlot && srcSlot <= 2) {
            tarPos = 13 + srcSlot;
            tarPos = 13 + srcSlot - 1;
            tarSlot = 1;
         }
         break;
      case EQ_ID_BAKE_COOLING:
         if (1 <= srcSlot && srcSlot <= 4) {
            tarPos = 15 + srcSlot;
            tarPos = 15 + srcSlot - 1;
            tarSlot = 1;
         }
         break;