1.绑定关系的保存和还原； 2.BakeCooling内部搬运检测逻辑(Bake->Cooling)；

LAPTOP-SNT8I5JK\Boounion

2025-06-06 58c44e7934c94f4a2327252fc017c19b9f802491

1.绑定关系的保存和还原；
2.BakeCooling内部搬运检测逻辑(Bake->Cooling)；

 SourceCode/Bond/Servo/CEquipment.cpp

@@ -335,22 +335,23 @@
            }
            
            // 梳理各玻璃之间的绑定关系
            /*
            Lock();
            std::list<CGlass*> list = m_glassList;
            for (auto item : list) {
                std::string& strBuddyId = item->getBuddyId();
                if (!strBuddyId.empty()) {
                    for (auto item2 : m_glassList) {
                        if (strBuddyId.compare(item2->getID()) == 0) {
                            item->setBuddy(item2);
                            TRACE("绑定关系: %s <- %s\n", item->getID().c_str(), item2->getID().c_str());
            for (int i = 0; i < SLOT_MAX; i++) {
                CGlass* pGlass = (CGlass*)m_slot[i].getContext();
                if (pGlass != nullptr) {
                    std::string& strBuddyId = pGlass->getBuddyId();
                    if (!strBuddyId.empty()) {
                        for (int j = 0; j < SLOT_MAX; j++) {
                            CGlass* pBudy = (CGlass*)m_slot[j].getContext();
                            if (pBudy != nullptr && strBuddyId.compare(pBudy->getID()) == 0) {
                                pGlass->setBuddy(pBudy);
                                TRACE("绑定关系: %s <- %s\n", pGlass->getID().c_str(), pBudy->getID().c_str());
                            }
                        }
                    }
                }
            }
            Unlock();
            */
        }
    }

@@ -1163,6 +1164,32 @@
        return nullptr;
    }

    CSlot* CEquipment::getProcessedSlot2(MaterialsType putSlotType, const std::vector<int>& candidates)
    {
        for (auto item : candidates) {
            for (int i = 0; i < SLOT_MAX; i++) {
                if (item == i + 1) {
                    if (!m_slot[i].isEnable()) continue;
                    if (m_slot[i].isLock()) continue;
                    CGlass* pGlass = (CGlass*)m_slot[i].getContext();
                    if (pGlass == nullptr) continue;
                    if (!m_bLinkSignal[0][SIGNAL_UPSTREAM_INLINE]
                        || m_bLinkSignal[0][SIGNAL_UPSTREAM_TROUBLE]
                        || !m_bLinkSignal[0][SIGNAL_INTERLOCK]
                        || !m_bLinkSignal[0][SIGNAL_SEND_ABLE]) continue;

                    MaterialsType glassType = pGlass->getType();
                    if (glassType == MaterialsType::G1 && putSlotType == MaterialsType::G2) continue;
                    if (glassType == MaterialsType::G2 && putSlotType == MaterialsType::G1) continue;

                    return &m_slot[i];
                }
            }
        }

        return nullptr;
    }

    CGlass* CEquipment::getGlassFromSlot(int slotNo)
    {
        CSlot* pSlot = nullptr;

 SourceCode/Bond/Servo/CEquipment.h

@@ -164,6 +164,7 @@

        // 获取一个指定物料类型(G1,G2,G1&G2)的且已经加工处理的槽位
        CSlot* getProcessedSlot(MaterialsType putSlotType);
        CSlot* getProcessedSlot2(MaterialsType putSlotType, const std::vector<int>& candidates);

        // 获取玻璃物料
        CGlass* getGlassFromSlot(int slotNo);

 SourceCode/Bond/Servo/CMaster.cpp

@@ -367,8 +367,10 @@
                }


                // Bonder -> BakeCooling
                m_pActiveRobotTask = createTransferTask_bonder_to_bakecooling(pBonder1, pBakeCooling, primaryType, secondaryType);

                // BakeCooling内部
                // Bake -> Cooling
                m_pActiveRobotTask = createTransferTask_bake_to_cooling(pBakeCooling);
                if (m_pActiveRobotTask != nullptr) {
                    std::string strDescription = m_pActiveRobotTask->getDescription();
                    unlock();
@@ -379,7 +381,20 @@
                    continue;
                }

                m_pActiveRobotTask = createTransferTask_bonder_to_bakecooling(pBonder2, pBakeCooling, primaryType, secondaryType);

                // Bonder -> BakeCooling
                m_pActiveRobotTask = createTransferTask_bonder_to_bakecooling(pBonder1, pBakeCooling);
                if (m_pActiveRobotTask != nullptr) {
                    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;
                }

                m_pActiveRobotTask = createTransferTask_bonder_to_bakecooling(pBonder2, pBakeCooling);
                if (m_pActiveRobotTask != nullptr) {
                    std::string strDescription = m_pActiveRobotTask->getDescription();
                    unlock();
@@ -525,6 +540,7 @@
                break;
            }

            // 读标志位
            for (auto item : m_listEquipment) {
                if (item->getID() == EQ_ID_Bonder1 ||
                    item->getID() == EQ_ID_Bonder2) {
@@ -1112,21 +1128,36 @@
        return pTask;
    }

    CRobotTask* CMaster::createTransferTask_bonder_to_bakecooling(CEquipment* pSrcEq, CEquipment* pTarEq,
        MaterialsType primaryType/* = MaterialsType::G1*/, MaterialsType secondaryType/* = MaterialsType::G2*/)
    CRobotTask* CMaster::createTransferTask_bonder_to_bakecooling(CEquipment* pSrcEq, CEquipment* pTarEq)
    {
        std::vector<int> slots = {1, 2};

        CRobotTask* pTask = nullptr;
        CSlot* pSrcSlot, * pTarSlot;
        pTarSlot = pTarEq->getAvailableSlotForGlass2(primaryType, slots);
        pSrcSlot = pSrcEq->getProcessedSlot(primaryType);
        if (pSrcSlot == nullptr || nullptr == pTarSlot) {
            pTarSlot = pTarEq->getAvailableSlotForGlass(secondaryType);
            pSrcSlot = pSrcEq->getProcessedSlot(secondaryType);
        pTarSlot = pTarEq->getAvailableSlotForGlass2(MaterialsType::G1, slots);
        pSrcSlot = pSrcEq->getProcessedSlot(MaterialsType::G1);

        if (pSrcSlot != nullptr && nullptr != pTarSlot) {
            pTask = new CRobotTask();
            pTask->setContext(pSrcSlot->getContext());
            pTask->setRobotTransferParam(++taskSeqNo, 1, pSrcSlot->getPosition(),
                pTarSlot->getPosition(), pSrcSlot->getNo(), pTarSlot->getNo());
        }


        return pTask;
    }

    CRobotTask* CMaster::createTransferTask_bake_to_cooling(CEquipment* pSrcEq)
    {
        std::vector<int> slotsTar = { 3, 4 };
        std::vector<int> slotsSrc = { 1, 2 };

        CRobotTask* pTask = nullptr;
        CSlot* pSrcSlot, * pTarSlot;
        pTarSlot = pSrcEq->getAvailableSlotForGlass2(MaterialsType::G1, slotsTar);
        pSrcSlot = pSrcEq->getProcessedSlot2(MaterialsType::G1, slotsSrc);

        if (pSrcSlot != nullptr && nullptr != pTarSlot) {
            pTask = new CRobotTask();
            pTask->setContext(pSrcSlot->getContext());

 SourceCode/Bond/Servo/CMaster.h

@@ -86,8 +86,8 @@
        void setState(MASTERSTATE state);
        CRobotTask* createTransferTask(CEquipment* pSrcEq, CEquipment* pTarEq,
            MaterialsType primaryType = MaterialsType::G1, MaterialsType secondaryType = MaterialsType::G2);
        CRobotTask* createTransferTask_bonder_to_bakecooling(CEquipment* pSrcEq, CEquipment* pTarEq,
            MaterialsType primaryType = MaterialsType::G1, MaterialsType secondaryType = MaterialsType::G2);
        CRobotTask* createTransferTask_bonder_to_bakecooling(CEquipment* pSrcEq, CEquipment* pTarEq);
        CRobotTask* createTransferTask_bake_to_cooling(CEquipment* pSrcEq);

    private:
        CRITICAL_SECTION m_criticalSection;

 SourceCode/Bond/Servo/CPageGraph2.cpp

@@ -270,6 +270,16 @@
                pEquipment->setLinkSignal(0, SIGNAL_INTERLOCK, TRUE);
                pEquipment->setLinkSignal(0, SIGNAL_SEND_ABLE, TRUE);
            }

            if (pEquipment != nullptr && (pEquipment->getID() == EQ_ID_Bonder1
                || pEquipment->getID() == EQ_ID_Bonder2)) {
                SERVO::CGlass* pGlass = pEquipment->getAnyGlass();
                if (pGlass != nullptr) {
                    SERVO::CProcessData pd;
                    pd.setGlassId(pGlass->getID().c_str());
                    pEquipment->onProcessData(&pd);
                }
            }
        }
        else if (nCmd == ID_EQSGRAPHITEM_TEST5) {
            SERVO::CEquipment* pEquipment = (SERVO::CEquipment*)pItem->pData;