1.准备增加机器手臂的选择；

LAPTOP-SNT8I5JK\Boounion

2025-06-12 26c208594fba1cae3a71d2caa9ff744e3ece81de

1.准备增加机器手臂的选择；

 SourceCode/Bond/Servo/CMaster.cpp

@@ -284,6 +284,7 @@
        // 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;
        int armNo = 1;            // 默认使用手臂2


        // 各种机器
@@ -386,7 +387,7 @@
                    if (pEqLoadPort[s]->isEnable()
                        && pEqLoadPort[s]->getPortType() == PortType::Unloading
                        && pEqLoadPort[s]->getPortMode() == PortMode::ReadyToUnload) {
                        m_pActiveRobotTask = createTransferTask(pMeasurement, pEqLoadPort[s], primaryType, secondaryType);
                        m_pActiveRobotTask = createTransferTask(pMeasurement, pEqLoadPort[s], primaryType, secondaryType, armNo);
                        if (m_pActiveRobotTask != nullptr) {
                            goto PORT_PUT;
                        }
@@ -461,7 +462,7 @@
                }

                // Aligner -> Bonder
                m_pActiveRobotTask = createTransferTask(pAligner, pBonder1, primaryType, secondaryType);
                m_pActiveRobotTask = createTransferTask(pAligner, pBonder1, primaryType, secondaryType, armNo);
                if (m_pActiveRobotTask != nullptr) {
                    m_pActiveRobotTask->run();
                    std::string strDescription = m_pActiveRobotTask->getDescription();
@@ -473,7 +474,7 @@
                    continue;
                }

                m_pActiveRobotTask = createTransferTask(pAligner, pBonder2, primaryType, secondaryType);
                m_pActiveRobotTask = createTransferTask(pAligner, pBonder2, primaryType, secondaryType, armNo);
                if (m_pActiveRobotTask != nullptr) {
                    m_pActiveRobotTask->run();
                    std::string strDescription = m_pActiveRobotTask->getDescription();
@@ -488,7 +489,7 @@

                // Fliper(G2) -> Aligner
                // VacuumBake(G1) -> Aligner
                m_pActiveRobotTask = createTransferTask(pFliper, pAligner, primaryType, secondaryType);
                m_pActiveRobotTask = createTransferTask(pFliper, pAligner, primaryType, secondaryType, armNo);
                if (m_pActiveRobotTask != nullptr) {
                    m_pActiveRobotTask->run();
                    std::string strDescription = m_pActiveRobotTask->getDescription();
@@ -500,7 +501,7 @@
                    continue;
                }

                m_pActiveRobotTask = createTransferTask(pVacuumBack, pAligner, primaryType, secondaryType);
                m_pActiveRobotTask = createTransferTask(pVacuumBack, pAligner, primaryType, secondaryType, armNo);
                if (m_pActiveRobotTask != nullptr) {
                    m_pActiveRobotTask->run();
                    std::string strDescription = m_pActiveRobotTask->getDescription();
@@ -520,7 +521,7 @@
                        if (pEqLoadPort[s]->isEnable()
                            && pEqLoadPort[s]->getPortType() == PortType::Loading
                            && pEqLoadPort[s]->getPortMode() == PortMode::ReadyToLoad) {
                            m_pActiveRobotTask = createTransferTask(pEqLoadPort[s], pEqTar[t], primaryType, secondaryType);
                            m_pActiveRobotTask = createTransferTask(pEqLoadPort[s], pEqTar[t], primaryType, secondaryType, armNo);
                            if (m_pActiveRobotTask != nullptr) {
                                goto PORT_GET;
                            }
@@ -1128,7 +1129,8 @@

    static int taskSeqNo = 0;
    CRobotTask* CMaster::createTransferTask(CEquipment* pSrcEq, CEquipment* pTarEq,
        MaterialsType primaryType/* = MaterialsType::G1*/, MaterialsType secondaryType/* = MaterialsType::G2*/)
        MaterialsType primaryType/* = MaterialsType::G1*/, MaterialsType secondaryType/* = MaterialsType::G2*/,
        int armNo/* = 1*/)
    {
        CRobotTask* pTask = nullptr;
        CSlot* pSrcSlot, * pTarSlot;
@@ -1144,7 +1146,7 @@
            pTask = new CRobotTask();
            pTask->setContext(pSrcSlot->getContext());
            pTask->setEFEM((CEFEM*)getEquipment(EQ_ID_EFEM));
            pTask->setRobotTransferParam(++taskSeqNo, 1, pSrcSlot->getPosition(),
            pTask->setRobotTransferParam(++taskSeqNo, armNo, pSrcSlot->getPosition(),
                pTarSlot->getPosition(), pSrcSlot->getNo(), pTarSlot->getNo());
        }


 SourceCode/Bond/Servo/CMaster.h

@@ -86,7 +86,8 @@
        void serialize(CArchive& ar);
        void setState(MASTERSTATE state);
        CRobotTask* createTransferTask(CEquipment* pSrcEq, CEquipment* pTarEq,
            MaterialsType primaryType = MaterialsType::G1, MaterialsType secondaryType = MaterialsType::G2);
            MaterialsType primaryType = MaterialsType::G1, MaterialsType secondaryType = MaterialsType::G2,
            int armNo = 1);
        CRobotTask* createTransferTask_bonder_to_bakecooling(CEquipment* pSrcEq, CEquipment* pTarEq);
        CRobotTask* createTransferTask_bake_to_cooling(CEquipment* pSrcEq);
        CRobotTask* createTransferTask_bakecooling_to_measurement(CEquipment* pSrcEq, CEquipment* pTarEq);