1.搬送任务准备拆分为取和放，增加放回原处的功能；

LAPTOP-SNT8I5JK\Boounion

2025-06-13 da8ed9d0a7679c2687894ab2c568aee692ad3f79

1.搬送任务准备拆分为取和放，增加放回原处的功能；

 SourceCode/Bond/Servo/CMaster.cpp

@@ -395,7 +395,7 @@

            PORT_PUT:
                if (m_pActiveRobotTask != nullptr) {
                    m_pActiveRobotTask->run();
                    m_pActiveRobotTask->pick();
                    std::string strDescription = m_pActiveRobotTask->getDescription();
                    unlock();
                    if (m_listener.onRobotTaskEvent != nullptr) {
@@ -409,7 +409,7 @@
                // BakeCooling ->Measurement
                m_pActiveRobotTask = createTransferTask_bakecooling_to_measurement(pBakeCooling, pMeasurement);
                if (m_pActiveRobotTask != nullptr) {
                    m_pActiveRobotTask->run();
                    m_pActiveRobotTask->pick();
                    std::string strDescription = m_pActiveRobotTask->getDescription();
                    unlock();
                    if (m_listener.onRobotTaskEvent != nullptr) {
@@ -424,7 +424,7 @@
                // Bake -> Cooling
                m_pActiveRobotTask = createTransferTask_bake_to_cooling(pBakeCooling);
                if (m_pActiveRobotTask != nullptr) {
                    m_pActiveRobotTask->run();
                    m_pActiveRobotTask->pick();
                    std::string strDescription = m_pActiveRobotTask->getDescription();
                    unlock();
                    if (m_listener.onRobotTaskEvent != nullptr) {
@@ -438,7 +438,7 @@
                // Bonder -> BakeCooling
                m_pActiveRobotTask = createTransferTask_bonder_to_bakecooling(pBonder1, pBakeCooling);
                if (m_pActiveRobotTask != nullptr) {
                    m_pActiveRobotTask->run();
                    m_pActiveRobotTask->pick();
                    std::string strDescription = m_pActiveRobotTask->getDescription();
                    unlock();
                    if (m_listener.onRobotTaskEvent != nullptr) {
@@ -450,7 +450,7 @@

                m_pActiveRobotTask = createTransferTask_bonder_to_bakecooling(pBonder2, pBakeCooling);
                if (m_pActiveRobotTask != nullptr) {
                    m_pActiveRobotTask->run();
                    m_pActiveRobotTask->pick();
                    std::string strDescription = m_pActiveRobotTask->getDescription();
                    unlock();
                    if (m_listener.onRobotTaskEvent != nullptr) {
@@ -464,7 +464,7 @@
                // VacuumBake(G1) -> Bonder
                m_pActiveRobotTask = createTransferTask(pFliper, pBonder1, primaryType, secondaryType, 2);
                if (m_pActiveRobotTask != nullptr) {
                    m_pActiveRobotTask->run();
                    m_pActiveRobotTask->pick();
                    std::string strDescription = m_pActiveRobotTask->getDescription();
                    unlock();
                    if (m_listener.onRobotTaskEvent != nullptr) {
@@ -476,7 +476,7 @@

                m_pActiveRobotTask = createTransferTask(pFliper, pBonder2, primaryType, secondaryType, 2);
                if (m_pActiveRobotTask != nullptr) {
                    m_pActiveRobotTask->run();
                    m_pActiveRobotTask->pick();
                    std::string strDescription = m_pActiveRobotTask->getDescription();
                    unlock();
                    if (m_listener.onRobotTaskEvent != nullptr) {
@@ -488,7 +488,7 @@

                m_pActiveRobotTask = createTransferTask(pVacuumBake, pBonder1, primaryType, secondaryType);
                if (m_pActiveRobotTask != nullptr) {
                    m_pActiveRobotTask->run();
                    m_pActiveRobotTask->pick();
                    std::string strDescription = m_pActiveRobotTask->getDescription();
                    unlock();
                    if (m_listener.onRobotTaskEvent != nullptr) {
@@ -500,7 +500,7 @@

                m_pActiveRobotTask = createTransferTask(pVacuumBake, pBonder2, primaryType, secondaryType);
                if (m_pActiveRobotTask != nullptr) {
                    m_pActiveRobotTask->run();
                    m_pActiveRobotTask->pick();
                    std::string strDescription = m_pActiveRobotTask->getDescription();
                    unlock();
                    if (m_listener.onRobotTaskEvent != nullptr) {
@@ -514,7 +514,7 @@
                // Aligner -> VacuumBake(G1)
                m_pActiveRobotTask = createTransferTask(pAligner, pFliper, primaryType, secondaryType, 2);
                if (m_pActiveRobotTask != nullptr) {
                    m_pActiveRobotTask->run();
                    m_pActiveRobotTask->pick();
                    std::string strDescription = m_pActiveRobotTask->getDescription();
                    unlock();
                    if (m_listener.onRobotTaskEvent != nullptr) {
@@ -526,7 +526,7 @@

                m_pActiveRobotTask = createTransferTask(pAligner, pVacuumBake, primaryType, secondaryType);
                if (m_pActiveRobotTask != nullptr) {
                    m_pActiveRobotTask->run();
                    m_pActiveRobotTask->pick();
                    std::string strDescription = m_pActiveRobotTask->getDescription();
                    unlock();
                    if (m_listener.onRobotTaskEvent != nullptr) {
@@ -1167,7 +1167,7 @@
            pTask = new CRobotTask();
            pTask->setContext(pSrcSlot->getContext());
            pTask->setEFEM((CEFEM*)getEquipment(EQ_ID_EFEM));
            pTask->setRobotTransferParam(++taskSeqNo, armNo, srcPos,
            taskSeqNo = pTask->setRobotTransferParam(taskSeqNo, armNo, srcPos,
                tarPos, srcSlot, tarSlot);
        }

@@ -1191,7 +1191,7 @@
            pTask = new CRobotTask();
            pTask->setContext(pSrcSlot->getContext());
            pTask->setEFEM((CEFEM*)getEquipment(EQ_ID_EFEM));
            pTask->setRobotTransferParam(++taskSeqNo, 1, srcPos,
            taskSeqNo = pTask->setRobotTransferParam(taskSeqNo, 1, srcPos,
                tarPos, srcSlot, tarSlot);
        }

@@ -1216,7 +1216,7 @@
            pTask = new CRobotTask();
            pTask->setContext(pSrcSlot->getContext());
            pTask->setEFEM((CEFEM*)getEquipment(EQ_ID_EFEM));
            pTask->setRobotTransferParam(++taskSeqNo, 1, srcPos,
            taskSeqNo = pTask->setRobotTransferParam(taskSeqNo, 1, srcPos,
                tarPos, srcSlot, tarSlot);
        }

@@ -1240,7 +1240,7 @@
            pTask = new CRobotTask();
            pTask->setContext(pSrcSlot->getContext());
            pTask->setEFEM((CEFEM*)getEquipment(EQ_ID_EFEM));
            pTask->setRobotTransferParam(++taskSeqNo, 1, srcPos,
            taskSeqNo = pTask->setRobotTransferParam(taskSeqNo, 1, srcPos,
                tarPos, srcSlot, tarSlot);
        }


 SourceCode/Bond/Servo/CRobotTask.cpp

@@ -28,17 +28,17 @@
    std::string CRobotTask::getDescription() const
    {
        std::string strOut = "CRobotTask<ID:";
        strOut = strOut + std::to_string(m_robotCmdParam.sequenceNo);
        strOut = strOut + std::to_string(m_robotCmdParam[ACTION_TRANSFER].sequenceNo);
        strOut = strOut + ",Arm:";
        strOut = strOut + std::to_string(m_robotCmdParam.armNo);
        strOut = strOut + std::to_string(m_robotCmdParam[ACTION_TRANSFER].armNo);
        strOut = strOut + ",GetPossion:";
        strOut = strOut + std::to_string(m_robotCmdParam.getPosition);
        strOut = strOut + std::to_string(m_robotCmdParam[ACTION_TRANSFER].getPosition);
        strOut = strOut + ",GetSlot:";
        strOut = strOut + std::to_string(m_robotCmdParam.getSlotNo);
        strOut = strOut + std::to_string(m_robotCmdParam[ACTION_TRANSFER].getSlotNo);
        strOut = strOut + ",PutPossion:";
        strOut = strOut + std::to_string(m_robotCmdParam.putPosition);
        strOut = strOut + std::to_string(m_robotCmdParam[ACTION_TRANSFER].putPosition);
        strOut = strOut + ",PutSlot:";
        strOut = strOut + std::to_string(m_robotCmdParam.putSlotNo);
        strOut = strOut + std::to_string(m_robotCmdParam[ACTION_TRANSFER].putSlotNo);
        strOut = strOut + ">";

        return strOut;
@@ -47,17 +47,17 @@
    std::string CRobotTask::getSimpleDescription() const
    {
        std::string strOut = "CRobotTask<ID:";
        strOut = strOut + std::to_string(m_robotCmdParam.sequenceNo);
        strOut = strOut + std::to_string(m_robotCmdParam[ACTION_TRANSFER].sequenceNo);
        strOut = strOut + ",Arm:";
        strOut = strOut + std::to_string(m_robotCmdParam.armNo);
        strOut = strOut + std::to_string(m_robotCmdParam[ACTION_TRANSFER].armNo);
        strOut = strOut + ",GetPossion:";
        strOut = strOut + std::to_string(m_robotCmdParam.getPosition);
        strOut = strOut + std::to_string(m_robotCmdParam[ACTION_TRANSFER].getPosition);
        strOut = strOut + ",GetSlot:";
        strOut = strOut + std::to_string(m_robotCmdParam.getSlotNo);
        strOut = strOut + std::to_string(m_robotCmdParam[ACTION_TRANSFER].getSlotNo);
        strOut = strOut + ",PutPossion:";
        strOut = strOut + std::to_string(m_robotCmdParam.putPosition);
        strOut = strOut + std::to_string(m_robotCmdParam[ACTION_TRANSFER].putPosition);
        strOut = strOut + ",PutSlot:";
        strOut = strOut + std::to_string(m_robotCmdParam.putSlotNo);
        strOut = strOut + std::to_string(m_robotCmdParam[ACTION_TRANSFER].putSlotNo);
        strOut = strOut + ">";

        return strOut;
@@ -104,21 +104,47 @@
        return m_strId;
    }

    void CRobotTask::setRobotTransferParam(int seq, int armNo, int fromPos, int toPos, int fromSlot, int toSlot)
    int CRobotTask::setRobotTransferParam(int seq, int armNo, int fromPos, int toPos, int fromSlot, int toSlot)
    {
        m_robotCmdParam = {};
        m_robotCmdParam.sequenceNo = static_cast<short>(seq);
        m_robotCmdParam.rcmd = static_cast<short>(SERVO::RCMD::Transfer);
        m_robotCmdParam.armNo = static_cast<short>(armNo);
        m_robotCmdParam.getPosition = static_cast<short>(fromPos);
        m_robotCmdParam.getSlotNo = static_cast<short>(fromSlot);
        m_robotCmdParam.putPosition = static_cast<short>(toPos);
        m_robotCmdParam.putSlotNo = static_cast<short>(toSlot);
        // 这是直接使用搬运模式的参数，
        // 如果EFEM不支持，还需要拆解为取和放的动作及回放原位置的其它3套参数
        m_robotCmdParam[ACTION_TRANSFER] = {};
        m_robotCmdParam[ACTION_TRANSFER].sequenceNo = static_cast<short>(seq+1);
        m_robotCmdParam[ACTION_TRANSFER].rcmd = static_cast<short>(SERVO::RCMD::Transfer);
        m_robotCmdParam[ACTION_TRANSFER].armNo = static_cast<short>(armNo);
        m_robotCmdParam[ACTION_TRANSFER].getPosition = static_cast<short>(fromPos);
        m_robotCmdParam[ACTION_TRANSFER].getSlotNo = static_cast<short>(fromSlot);
        m_robotCmdParam[ACTION_TRANSFER].putPosition = static_cast<short>(toPos);
        m_robotCmdParam[ACTION_TRANSFER].putSlotNo = static_cast<short>(toSlot);

        m_robotCmdParam[ACTION_PICK] = {};
        m_robotCmdParam[ACTION_PICK].sequenceNo = static_cast<short>(seq+2);
        m_robotCmdParam[ACTION_PICK].rcmd = static_cast<short>(SERVO::RCMD::Get);
        m_robotCmdParam[ACTION_PICK].armNo = static_cast<short>(armNo);
        m_robotCmdParam[ACTION_PICK].getPosition = static_cast<short>(fromPos);
        m_robotCmdParam[ACTION_PICK].getSlotNo = static_cast<short>(fromSlot);

        m_robotCmdParam[ACTION_PLACE] = {};
        m_robotCmdParam[ACTION_PLACE].sequenceNo = static_cast<short>(seq + 2);
        m_robotCmdParam[ACTION_PLACE].rcmd = static_cast<short>(SERVO::RCMD::Put);
        m_robotCmdParam[ACTION_PLACE].armNo = static_cast<short>(armNo);
        m_robotCmdParam[ACTION_PLACE].putPosition = static_cast<short>(toPos);
        m_robotCmdParam[ACTION_PLACE].putSlotNo = static_cast<short>(toSlot);

        m_robotCmdParam[ACTION_RESTORE] = {};
        m_robotCmdParam[ACTION_RESTORE].sequenceNo = static_cast<short>(seq + 1);
        m_robotCmdParam[ACTION_RESTORE].rcmd = static_cast<short>(SERVO::RCMD::Put);
        m_robotCmdParam[ACTION_RESTORE].armNo = static_cast<short>(armNo);
        m_robotCmdParam[ACTION_RESTORE].putPosition = static_cast<short>(fromPos);
        m_robotCmdParam[ACTION_RESTORE].putSlotNo = static_cast<short>(fromSlot);

        return seq + 1;
    }

    ROBOT_CMD_PARAM& CRobotTask::getRobotCmdParam()
    ROBOT_CMD_PARAM& CRobotTask::getRobotCmdParam(int index)
    {
        return m_robotCmdParam;
        ASSERT(ACTION_PICK <= index && index <= ACTION_TRANSFER);
        return m_robotCmdParam[index];
    }

    time_t CRobotTask::getCreateTime()
@@ -153,17 +179,80 @@

        static int seq = 0;
        m_pEFEM->robotSendTransfer(++seq,
            m_robotCmdParam.armNo,
            m_robotCmdParam.getPosition, 
            m_robotCmdParam.putPosition,
            m_robotCmdParam.getSlotNo,
            m_robotCmdParam.putSlotNo, 
            m_robotCmdParam[ACTION_TRANSFER].armNo,
            m_robotCmdParam[ACTION_TRANSFER].getPosition,
            m_robotCmdParam[ACTION_TRANSFER].putPosition,
            m_robotCmdParam[ACTION_TRANSFER].getSlotNo,
            m_robotCmdParam[ACTION_TRANSFER].putSlotNo,
            [&](int code) -> int {
                if (code == WOK) {
                    LOGI(_T("RobotTask已下发到EFEM"));
                }
                else {
                    LOGI(_T("RobotTask已下发失败"));
                }

                return 0;
            });
    }

    void CRobotTask::pick()
    {
        ASSERT(m_pEFEM);
        m_state = ROBOT_TASK_STATE::Picking;

        m_pEFEM->robotSendMoveToGet(m_robotCmdParam->sequenceNo,
            m_robotCmdParam[ACTION_PICK].armNo,
            m_robotCmdParam[ACTION_PICK].getPosition,
            m_robotCmdParam[ACTION_PICK].getSlotNo,
            [&](int code) -> int {
                if (code == WOK) {
                    LOGI(_T("RobotTask/get已下发到EFEM"));
                }
                else {
                    LOGI(_T("RobotTask/get已下发失败"));
                }

                return 0;
            });
    }

    void CRobotTask::place()
    {
        ASSERT(m_pEFEM);
        m_state = ROBOT_TASK_STATE::Placing;

        m_pEFEM->robotSendMoveToPut(m_robotCmdParam->sequenceNo,
            m_robotCmdParam[ACTION_PLACE].armNo,
            m_robotCmdParam[ACTION_PLACE].putPosition,
            m_robotCmdParam[ACTION_PLACE].putSlotNo,
            [&](int code) -> int {
                if (code == WOK) {
                    LOGI(_T("RobotTask/put已下发到EFEM"));
                }
                else {
                    LOGI(_T("RobotTask/put已下发失败"));
                }

                return 0;
            });
    }

    void CRobotTask::restore()
    {
        ASSERT(m_pEFEM);
        m_state = ROBOT_TASK_STATE::Restoring;

        m_pEFEM->robotSendMoveToPut(m_robotCmdParam->sequenceNo,
            m_robotCmdParam[ACTION_RESTORE].armNo,
            m_robotCmdParam[ACTION_RESTORE].putPosition,
            m_robotCmdParam[ACTION_RESTORE].putSlotNo,
            [&](int code) -> int {
                if (code == WOK) {
                    LOGI(_T("RobotTask/restore-put已下发到EFEM"));
                }
                else {
                    LOGI(_T("RobotTask/restore-put已下发失败"));
                }

                return 0;
@@ -187,22 +276,22 @@

    int CRobotTask::getSrcPosition()
    {
        return m_robotCmdParam.getPosition;
        return m_robotCmdParam[ACTION_TRANSFER].getPosition;
    }

    int CRobotTask::getTarPosition()
    {
        return m_robotCmdParam.putPosition;
        return m_robotCmdParam[ACTION_TRANSFER].putPosition;
    }

    int CRobotTask::getSrcSlot()
    {
        return m_robotCmdParam.getSlotNo;
        return m_robotCmdParam[ACTION_TRANSFER].getSlotNo;
    }

    int CRobotTask::getTarSlot()
    {
        return m_robotCmdParam.putSlotNo;
        return m_robotCmdParam[ACTION_TRANSFER].putSlotNo;
    }

    CString CRobotTask::getStateString()

 SourceCode/Bond/Servo/CRobotTask.h

@@ -4,6 +4,11 @@
#include "CEFEM.h"


#define ACTION_PICK            0            /* ȡ */
#define ACTION_PLACE        1            /* 放 */
#define ACTION_RESTORE        2            /* 回原点 */
#define ACTION_TRANSFER        3            /* 搬运 */

namespace SERVO {
    class CRobotTask
    {
@@ -18,14 +23,17 @@
        void setContext(CContext* pContext);
        CContext* getContext();
        void setEFEM(CEFEM* pEFEM);
        void setRobotTransferParam(int seq, int armNo, int fromPos, int toPos, int fromSlot, int toSlot);
        ROBOT_CMD_PARAM& getRobotCmdParam();
        int setRobotTransferParam(int seq, int armNo, int fromPos, int toPos, int fromSlot, int toSlot);
        ROBOT_CMD_PARAM& getRobotCmdParam(int index);
        time_t getCreateTime();
        time_t getFetchoutTime();
        time_t getStoredTime();
        time_t getFinishTime();
        ROBOT_TASK_STATE getState();
        void run();
        void pick();
        void place();
        void restore();
        void completed();
        void error();
        void abort();
@@ -51,7 +59,7 @@
        time_t m_timeFetchOut;                        /* 取片时间*/
        time_t m_timeStored;                        /* 放片时间 */
        time_t m_timeFinish;                        /* 结束时间 */
        ROBOT_CMD_PARAM m_robotCmdParam;            /* 参数 */
        ROBOT_CMD_PARAM m_robotCmdParam[3];            /* 参数 */
        CContext* m_pContext;
        CEFEM* m_pEFEM;
    };

 SourceCode/Bond/Servo/CRobotTaskDlg.cpp

@@ -58,7 +58,7 @@
        CEquipment* pSrcEq = theApp.m_model.getMaster().getEquipment(pRobotTask->getSrcPosition());
        CEquipment* pDstEq = theApp.m_model.getMaster().getEquipment(pRobotTask->getTarPosition());

        ROBOT_CMD_PARAM& param = pRobotTask->getRobotCmdParam();
        ROBOT_CMD_PARAM& param = pRobotTask->getRobotCmdParam(ACTION_TRANSFER);

        auto format_time = [](time_t t) -> CString {
            if (t == 0) {

 SourceCode/Bond/Servo/ServoCommo.h

@@ -110,6 +110,9 @@
    enum class ROBOT_TASK_STATE {
        Ready = 0,
        Running,
        Picking,
        Placing,
        Restoring,
        Error,
        Abort,
        Completed