From 166fa1cb727d6fe6962bbd2b5c4a0c9da6088048 Mon Sep 17 00:00:00 2001
From: LAPTOP-SNT8I5JK\Boounion <Chenluhua@qq.com>
Date: 星期三, 30 七月 2025 14:50:03 +0800
Subject: [PATCH] 1.获取配方后自动刷新列表； 2.HsmsAction序列化和反序列化，将来用于缓存上报的数据；
---
SourceCode/Bond/Servo/CRobotTask.cpp | 22 ++++++++++++++++++----
1 files changed, 18 insertions(+), 4 deletions(-)
diff --git a/SourceCode/Bond/Servo/CRobotTask.cpp b/SourceCode/Bond/Servo/CRobotTask.cpp
index 582e63c..1c9f61d 100644
--- a/SourceCode/Bond/Servo/CRobotTask.cpp
+++ b/SourceCode/Bond/Servo/CRobotTask.cpp
@@ -286,6 +286,17 @@
});
}
+ 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()
{
m_state = ROBOT_TASK_STATE::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;
--
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