From 22122fe5fd927ccb8892cded1a2480d796e56ce9 Mon Sep 17 00:00:00 2001
From: LAPTOP-SNT8I5JK\Boounion <Chenluhua@qq.com>
Date: 星期二, 26 八月 2025 17:35:33 +0800
Subject: [PATCH] 1.修复加Job模式后，手臂号为0导致不能搬运的问题；
---
SourceCode/Bond/Servo/CMaster.cpp | 10 +++++++++-
1 files changed, 9 insertions(+), 1 deletions(-)
diff --git a/SourceCode/Bond/Servo/CMaster.cpp b/SourceCode/Bond/Servo/CMaster.cpp
index c304508..e6ed125 100644
--- a/SourceCode/Bond/Servo/CMaster.cpp
+++ b/SourceCode/Bond/Servo/CMaster.cpp
@@ -722,7 +722,7 @@
if (!rmd.armState[0] && pLoadPorts[s]->isEnable()
&& (pt == PortType::Loading || pt == PortType::Both)
&& pLoadPorts[s]->getPortStatus() == PORT_INUSE) {
- m_pActiveRobotTask = createTransferTask(pLoadPorts[s], pAligner, primaryType, secondaryType, m_bJobMode);
+ m_pActiveRobotTask = createTransferTask(pLoadPorts[s], pAligner, primaryType, secondaryType, 1, m_bJobMode);
if (m_pActiveRobotTask != nullptr) {
pEFEM->setContext(m_pActiveRobotTask->getContext());
goto PORT_GET;
@@ -773,6 +773,11 @@
auto pj = acquireNextProcessJob();
if (pj != nullptr) {
m_inProcesJobs.push_back(pj);
+
+ // 这里上报PJ Start事件
+ if (m_listener.onPjStart != nullptr) {
+ m_listener.onPjStart(this, pj);
+ }
}
}
if (m_inProcesJobs.empty()) {
@@ -1240,9 +1245,12 @@
BOOL bOk = FALSE;
lock();
if (m_pActiveRobotTask != nullptr) {
+ LOGI("<CMaster>onPreFethedOutJob 0001.");
if (m_pActiveRobotTask->getSrcPosition() == p->getID()) {
+ LOGI("<CMaster>onPreFethedOutJob 0002.");
CGlass* pGlass = p->getGlassFromSlot(m_pActiveRobotTask->getSrcSlot());
if (pGlass != nullptr) {
+ LOGI("<CMaster>onPreFethedOutJob 0003.");
CJobDataS* pJobDataS = pGlass->getJobDataS();
if (pJobDataS != nullptr
&& pJobDataS->getCassetteSequenceNo() == pJobDataB->getCassetteSequenceNo()
--
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