From 258d9d2d72bbf199cd86fd3e7bd824e1f117bab8 Mon Sep 17 00:00:00 2001
From: LAPTOP-SNT8I5JK\Boounion <Chenluhua@qq.com>
Date: 星期四, 29 五月 2025 17:49:46 +0800
Subject: [PATCH] 1.放片物流控制和模拟测试；
---
SourceCode/Bond/Servo/CMaster.cpp | 530 ++++++++++++++++++++++++++++++++++++++++++++++++++++++----
1 files changed, 489 insertions(+), 41 deletions(-)
diff --git a/SourceCode/Bond/Servo/CMaster.cpp b/SourceCode/Bond/Servo/CMaster.cpp
index 40f4705..d536f7c 100644
--- a/SourceCode/Bond/Servo/CMaster.cpp
+++ b/SourceCode/Bond/Servo/CMaster.cpp
@@ -6,6 +6,15 @@
namespace SERVO {
CMaster* g_pMaster = NULL;
+ unsigned __stdcall DispatchThreadFunction(LPVOID lpParam)
+ {
+ if (g_pMaster != NULL) {
+ return g_pMaster->DispatchProc();
+ }
+
+ return 0;
+ }
+
unsigned __stdcall ReadBitsThreadFunction(LPVOID lpParam)
{
if (g_pMaster != NULL) {
@@ -24,21 +33,26 @@
CMaster::CMaster()
{
- m_listener = {nullptr, nullptr, nullptr, nullptr};
+ m_listener = {};
m_bDataModify = FALSE;
m_hEventReadBitsThreadExit[0] = ::CreateEvent(NULL, TRUE, FALSE, NULL);
m_hEventReadBitsThreadExit[1] = ::CreateEvent(NULL, TRUE, FALSE, NULL);
m_hReadBitsThreadHandle = nullptr;
m_nReadBitsThreadAddr = 0;
+ m_hDispatchEvent = ::CreateEvent(NULL, TRUE, FALSE, NULL);
+ m_hEventDispatchThreadExit[0] = ::CreateEvent(NULL, TRUE, FALSE, NULL);
+ m_hEventDispatchThreadExit[1] = ::CreateEvent(NULL, TRUE, FALSE, NULL);
+ m_hDispatchThreadHandle = nullptr;
+ m_nDispatchThreadAddr = 0;
+ m_ullStartTime = 0;
+ m_ullRunTime = 0;
+ m_state = MASTERSTATE::READY;
+ m_pActiveRobotTask = nullptr;
+ InitializeCriticalSection(&m_criticalSection);
}
CMaster::~CMaster()
{
- for (auto item : m_listEquipment) {
- delete item;
- }
- m_listEquipment.clear();
-
if (m_hEventReadBitsThreadExit[0] != nullptr) {
::CloseHandle(m_hEventReadBitsThreadExit[0]);
m_hEventReadBitsThreadExit[0] = nullptr;
@@ -48,14 +62,33 @@
::CloseHandle(m_hEventReadBitsThreadExit[1]);
m_hEventReadBitsThreadExit[1] = nullptr;
}
+
+ if (m_hDispatchEvent != nullptr) {
+ ::CloseHandle(m_hDispatchEvent);
+ m_hDispatchEvent = nullptr;
+ }
+
+ if (m_hEventDispatchThreadExit[0] != nullptr) {
+ ::CloseHandle(m_hEventDispatchThreadExit[0]);
+ m_hEventDispatchThreadExit[0] = nullptr;
+ }
+
+ if (m_hEventDispatchThreadExit[1] != nullptr) {
+ ::CloseHandle(m_hEventDispatchThreadExit[1]);
+ m_hEventDispatchThreadExit[1] = nullptr;
+ }
+
+ DeleteCriticalSection(&m_criticalSection);
}
void CMaster::setListener(MasterListener listener)
{
- m_listener.onEqAlive = listener.onEqAlive;
- m_listener.onEqCimStateChanged = listener.onEqCimStateChanged;
- m_listener.onEqAlarm = listener.onEqAlarm;
- m_listener.onEqVcrEventReport = listener.onEqVcrEventReport;
+ m_listener = listener;
+ }
+
+ CRobotTask* CMaster::getActiveRobotTask()
+ {
+ return m_pActiveRobotTask;
}
int CMaster::init()
@@ -91,24 +124,67 @@
// 初始化添加各子设备
CLoadPort* pPort1, * pPort2, * pPort3, * pPort4;
+ CBonder* pBonder1, * pBonder2;
CEFEM* pEfem;
+ CArm* pArm;
+ CArmTray* pArmTray1, * pArmTray2;
+ CFliper* pFliper;
+ CVacuumBake* pVacuumBake;
+ CAligner* pAligner;
+ CBakeCooling* pBakeCooling;
+ CMeasurement* pMeasurement;
+
pPort1 = addLoadPort(0);
pPort2 = addLoadPort(1);
pPort3 = addLoadPort(2);
pPort4 = addLoadPort(3);
pEfem = addEFEM();
+ pArm = addArm();
+ pArmTray1 = addArmTray(0);
+ pArmTray2 = addArmTray(1);
+ pFliper = addFliper();
+ pVacuumBake = addVacuumBake();
+ pAligner = addAligner();
+ pBonder1 = addBonder(0);
+ pBonder2 = addBonder(1);
+ pBakeCooling = addBakeCooling();
+ pMeasurement = addMeasurement();
+
+ ASSERT(pEfem);
+ ASSERT(pFliper);
+ ASSERT(pVacuumBake);
+ ASSERT(pAligner);
+ ASSERT(pBonder1);
+ ASSERT(pBonder2);
+ ASSERT(pBakeCooling);
+ ASSERT(pMeasurement);
+
pEfem->setPort(0, pPort1);
pEfem->setPort(1, pPort1);
pEfem->setPort(2, pPort1);
pEfem->setPort(3, pPort1);
+ pEfem->setFliper(pFliper);
+ pEfem->setAligner(pAligner);
+ pEfem->setArmTray(0, pArmTray1);
+ pEfem->setArmTray(1, pArmTray2);
+ pPort1->setArm(pArm);
+ pPort2->setArm(pArm);
+ pPort3->setArm(pArm);
+ pPort4->setArm(pArm);
+ pArmTray1->setArm(pArm);
+ pArmTray2->setArm(pArm);
+ pFliper->setArm(pArm);
+ pVacuumBake->setArm(pArm);
+ pAligner->setArm(pArm);
+ pBonder1->setArm(pArm);
+ pBonder2->setArm(pArm);
+ pBakeCooling->setArm(pArm);
+ pMeasurement->setArm(pArm);
- addFliper();
- addVacuumBake();
- addAligner();
- addBonder(0);
- addBonder(1);
- addBakeCooling();
connectEquipments();
+
+
+
// 读缓存数据
@@ -120,6 +196,12 @@
SetTimer(NULL, 1, 250, (TIMERPROC)MasterTimerProc);
+ // 调度线程
+ m_hDispatchThreadHandle = (HANDLE)_beginthreadex(NULL, 0, SERVO::DispatchThreadFunction, this,
+ 0, &m_nDispatchThreadAddr);
+
+
+ // 监控bit线程
m_hReadBitsThreadHandle = (HANDLE)_beginthreadex(NULL, 0, SERVO::ReadBitsThreadFunction, this,
0, &m_nReadBitsThreadAddr);
@@ -131,7 +213,9 @@
int CMaster::term()
{
SetEvent(m_hEventReadBitsThreadExit[0]);
+ SetEvent(m_hEventDispatchThreadExit[0]);
::WaitForSingleObject(m_hEventReadBitsThreadExit[1], INFINITE);
+ ::WaitForSingleObject(m_hEventDispatchThreadExit[1], INFINITE);
LOGI("<Master>正在结束程序.");
for (auto item : m_listEquipment) {
@@ -139,8 +223,180 @@
}
saveCache();
+ lock();
+ if (m_pActiveRobotTask != nullptr) {
+ delete m_pActiveRobotTask;
+ m_pActiveRobotTask = nullptr;
+ }
+ unlock();
+
+ for (auto item : m_listEquipment) {
+ delete item;
+ }
+ m_listEquipment.clear();
+ return 0;
+ }
+
+ int CMaster::start()
+ {
+ if (m_state != MASTERSTATE::READY) {
+ return -1;
+ }
+
+ setState(MASTERSTATE::STARTING);
+ m_ullStartTime = GetTickCount64();
+
+ return 0;
+ }
+
+ int CMaster::stop()
+ {
+ // 运行时间为累加结果，本次停止时刷新；
+ if (m_state != MASTERSTATE::RUNNING) {
+ return -1;
+ }
+
+ m_ullRunTime += (GetTickCount64() - m_ullStartTime);
+ setState(MASTERSTATE::STOPPING);
+
+ return 0;
+ }
+
+ ULONGLONG CMaster::getRunTime()
+ {
+ if (m_state == MASTERSTATE::RUNNING)
+ return m_ullRunTime + (GetTickCount64() - m_ullStartTime);
+ else
+ return m_ullRunTime;
+ }
+
+ MASTERSTATE CMaster::getState()
+ {
+ return m_state;
+ }
+
+ unsigned CMaster::DispatchProc()
+ {
+ while (1) {
+ // 待退出信号或时间到
+ HANDLE hEvents[] = { m_hEventDispatchThreadExit[0], m_hDispatchEvent };
+ int nRet = WaitForMultipleObjects(2, hEvents, FALSE, 1000);
+ if (nRet == WAIT_OBJECT_0) {
+ break;
+ }
+
+
+ // 如果状态为STARTING，开始工作并切换到RUNNING状态
+ lock();
+ if (m_state == MASTERSTATE::STARTING) {
+ unlock();
+ Sleep(1000);
+ setState(MASTERSTATE::RUNNING);
+ continue;
+ }
+
+
+ // 处理完成当前事务后，切换到停止或就绪状态
+ else if (m_state == MASTERSTATE::STOPPING) {
+ unlock();
+ Sleep(1000);
+ setState(MASTERSTATE::READY);
+ continue;
+ }
+
+
+ // 调度逻辑处理
+ else if (m_state == MASTERSTATE::RUNNING) {
+ unlock();
+ LOGI("调度处理中...");
+
+ lock();
+ if (m_pActiveRobotTask != nullptr) {
+ unlock();
+ // 检测到当前有正在下午的任务，确保当前任务完成或中止后继续
+ LOGI("检测到当前有正在下午的任务，确保当前任务完成或中止后继续...");
+ continue;
+ }
+
+ // LoadPort -> Fliper(G2)
+ CLoadPort* pLoadPort1 = (CLoadPort*)getEquipment(EQ_ID_LOADPORT1);
+ CLoadPort* pLoadPort2 = (CLoadPort*)getEquipment(EQ_ID_LOADPORT2);
+ CFliper* pFliper = (CFliper*)getEquipment(EQ_ID_FLIPER);
+ CVacuumBake* pVacuumBack = (CVacuumBake*)getEquipment(EQ_ID_VACUUMBAKE);
+ ASSERT(pLoadPort1);
+ ASSERT(pLoadPort2);
+ ASSERT(pFliper);
+ ASSERT(pVacuumBack);
+
+ m_pActiveRobotTask = createTransferTask(pLoadPort1, pFliper);
+ if (m_pActiveRobotTask != nullptr) {
+ std::string strDescription = m_pActiveRobotTask->getDescription();
+ unlock();
+ LOGI("创建新任务<%s>...", strDescription.c_str());
+ continue;
+ }
+
+ m_pActiveRobotTask = createTransferTask(pLoadPort2, pFliper);
+ if (m_pActiveRobotTask != nullptr) {
+ std::string strDescription = m_pActiveRobotTask->getDescription();
+ unlock();
+ LOGI("创建新任务<%s>...", strDescription.c_str());
+ continue;
+ }
+
+
+
+ // LoadPort -> VacuumBake(G1)
+ m_pActiveRobotTask = createTransferTask(pLoadPort1, pVacuumBack);
+ if (m_pActiveRobotTask != nullptr) {
+ std::string strDescription = m_pActiveRobotTask->getDescription();
+ unlock();
+ LOGI("创建新任务1<%s>...", strDescription.c_str());
+ continue;
+ }
+
+ m_pActiveRobotTask = createTransferTask(pLoadPort2, pVacuumBack);
+ if (m_pActiveRobotTask != nullptr) {
+ std::string strDescription = m_pActiveRobotTask->getDescription();
+ unlock();
+ LOGI("创建新任务2<%s>...", strDescription.c_str());
+ continue;
+ }
+
+
+
+ // Fliper(G2) -> Aligner
+
+
+ // VacuumBake(G1) -> Aligner
+
+
+ // Aligner -> Bonder
+
+
+ // Bonder -> BakeCooling
+
+
+ // BakeCooling ->Measurement
+
+
+ // Measurement -> LoadPort
+
+
+
+ unlock();
+
+ }
+ unlock();
+ }
+
+ SetEvent(m_hEventDispatchThreadExit[1]);
+
+
+ // _endthreadex(0);
+ TRACE("CMaster::DispatchProc 线程退出\n");
return 0;
}
@@ -204,8 +460,103 @@
m_listener.onEqVcrEventReport(this, p, p2);
}
};
+ listener.onPreFethedOutJob = [&](void* pEquipment, CJobDataB* pJobDataB) -> BOOL {
+ CEquipment* p = (CEquipment*)pEquipment;
+
+
+ // 取片，更新当前搬送任务
+ BOOL bOk = FALSE;
+ lock();
+ if (m_pActiveRobotTask != nullptr) {
+ if (m_pActiveRobotTask->getSrcPosition() == p->getID()) {
+ CGlass* pGlass = p->getGlassFromSlot(m_pActiveRobotTask->getSrcSlot());
+ if (pGlass != nullptr) {
+ CJobDataB* pJobDataBSrc = pGlass->getJobDataB();
+ if (pJobDataBSrc != nullptr
+ && pJobDataBSrc->getCassetteSequenceNo() == pJobDataB->getCassetteSequenceNo()
+ && pJobDataBSrc->getJobSequenceNo() == pJobDataB->getJobSequenceNo()) {
+ bOk = TRUE;
+ LOGI("<CMaster>onPreFethedOutJob, 已校验数据一致性.");
+ }
+ }
+ }
+ else if (p->getID() == EQ_ID_ARM_TRAY1 || p->getID() == EQ_ID_ARM_TRAY2) {
+ bOk = TRUE;
+ }
+ }
+ unlock();
+
+ if (!bOk) {
+ LOGE("<CMaster>onPreFethedOutJob, 数据校验失败.");
+ }
+
+ return bOk;
+
+ };
+ listener.onPreStoredJob = [&](void* pEquipment, CJobDataB* pJobDataB, short& slot) -> BOOL {
+ CEquipment* p = (CEquipment*)pEquipment;
+
+
+ // 放片，更新当前搬送任务
+ BOOL bOk = FALSE;
+ lock();
+ if (m_pActiveRobotTask != nullptr) {
+ if (m_pActiveRobotTask->getTarPosition() == p->getID()) {
+ CGlass* pGlass = p->getGlassFromSlot(m_pActiveRobotTask->getTarSlot());
+ if (pGlass == nullptr) {
+ bOk = TRUE;
+ slot = m_pActiveRobotTask->getTarSlot();
+ LOGI("<CMaster>onPreFethedOutJob, 已校验数据一致性.");
+ }
+ }
+ else if (p->getID() == EQ_ID_ARM_TRAY1 || p->getID() == EQ_ID_ARM_TRAY2) {
+ slot = 1;
+ bOk = TRUE;
+ }
+ }
+ unlock();
+
+ if (!bOk) {
+ LOGE("<CMaster>onPreFethedOutJob, 数据校验失败.");
+ }
+
+ return bOk;
+
+ };
listener.onDataChanged = [&](void* pEquipment, int code) -> void {
m_bDataModify = TRUE;
+ CEquipment* p = (CEquipment*)pEquipment;
+ if (m_listener.onEqDataChanged != nullptr) {
+ m_listener.onEqDataChanged(this, p, 0);
+ }
+
+ // 取放片，更新当前搬送任务
+ if (code == EDCC_FETCHOUT_JOB) {
+ lock();
+ if (m_pActiveRobotTask != nullptr && m_pActiveRobotTask->getSrcPosition() == p->getID()) {
+ m_pActiveRobotTask->fetchOut();
+ LOGI("开始取片...");
+ }
+ unlock();
+ }
+ else if (code == EDCC_STORED_JOB) {
+ lock();
+ if (m_pActiveRobotTask != nullptr && m_pActiveRobotTask->getTarPosition() == p->getID()) {
+ m_pActiveRobotTask->stored();
+ m_pActiveRobotTask->completed();
+ LOGI("放片完成...");
+
+ // 完成此条搬送任务，但要把数据和消息上抛应用层
+ unlock();
+
+
+
+ lock();
+ delete m_pActiveRobotTask;
+ m_pActiveRobotTask = nullptr;
+ }
+ unlock();
+ }
};
pEquipment->setListener(listener);
@@ -255,13 +606,13 @@
return pEquipment;
}
- int CMaster::addFliper()
+ CFliper* CMaster::addFliper()
{
CFliper* pEquipment = new CFliper();
pEquipment->setID(EQ_ID_FLIPER);
pEquipment->setBaseAlarmId(BASE_ALARM_EFEM);
- pEquipment->setName("Fliper");
- pEquipment->setDescription("Fliper.");
+ pEquipment->setName("Fliper(G2)");
+ pEquipment->setDescription("Fliper(G2).");
pEquipment->setReadBitBlock(0x4000, 0x45ff);
pEquipment->setStation(0, 255);
addToEquipmentList(pEquipment);
@@ -269,16 +620,16 @@
pEquipment->init();
LOGE("已添加“Fliper”.");
- return 0;
+ return pEquipment;
}
- int CMaster::addVacuumBake()
+ CVacuumBake* CMaster::addVacuumBake()
{
CVacuumBake* pEquipment = new CVacuumBake();
pEquipment->setID(EQ_ID_VACUUMBAKE);
pEquipment->setBaseAlarmId(BASE_ALARM_EFEM);
- pEquipment->setName("VacuumBake");
- pEquipment->setDescription("VacuumBake.");
+ pEquipment->setName("VacuumBake(G1)");
+ pEquipment->setDescription("VacuumBake(G1).");
pEquipment->setReadBitBlock(0x4000, 0x45ff);
pEquipment->setStation(0, 255);
addToEquipmentList(pEquipment);
@@ -286,10 +637,11 @@
pEquipment->init();
LOGE("已添加“VacuumBake”.");
- return 0;
+
+ return pEquipment;
}
- int CMaster::addAligner()
+ CAligner* CMaster::addAligner()
{
CAligner* pEquipment = new CAligner();
pEquipment->setID(EQ_ID_ALIGNER);
@@ -303,7 +655,8 @@
pEquipment->init();
LOGE("已添加“Aligner”.");
- return 0;
+
+ return pEquipment;
}
CEFEM* CMaster::addEFEM()
@@ -324,11 +677,43 @@
return pEquipment;
}
+ CArm* CMaster::addArm()
+ {
+ CArm* pEquipment = new CArm();
+ pEquipment->setID(EQ_ID_ARM);
+ pEquipment->setBaseAlarmId(BASE_ALARM_EFEM);
+ pEquipment->setName("ARM");
+ pEquipment->setDescription("ARM.");
+ addToEquipmentList(pEquipment);
+
+
+ pEquipment->init();
+ LOGE("已添加“ARM”.");
+
+ return pEquipment;
+ }
+
+ CArmTray* CMaster::addArmTray(int index)
+ {
+ CArmTray* pEquipment = new CArmTray();
+ pEquipment->setID(index == 0 ? EQ_ID_ARM_TRAY1 : EQ_ID_ARM_TRAY2);
+ pEquipment->setBaseAlarmId(BASE_ALARM_EFEM);
+ pEquipment->setName(index == 0 ? "Arm Tray1" : "Arm Tray2");
+ pEquipment->setDescription(index == 0 ? "Arm Tray1." : "Arm Tray2.");
+ addToEquipmentList(pEquipment);
+
+
+ pEquipment->init();
+ LOGE("已添加“%s”.", pEquipment->getName().c_str());
+
+ return pEquipment;
+ }
+
/* 添加bonder1 或 bonder2
* index -- 0, bonder1
* index -- 1, bonder2
*/
- int CMaster::addBonder(int index)
+ CBonder* CMaster::addBonder(int index)
{
ASSERT(index == 0 || index == 1);
CBonder* pEquipment = new CBonder();
@@ -346,10 +731,10 @@
LOGE("已添加“%s”.", pEquipment->getName().c_str());
- return 0;
+ return pEquipment;
}
- int CMaster::addBakeCooling()
+ CBakeCooling* CMaster::addBakeCooling()
{
CBakeCooling* pEquipment = new CBakeCooling();
pEquipment->setID(EQ_ID_BAKE_COOLING);
@@ -360,10 +745,27 @@
pEquipment->setStation(0, 255);
addToEquipmentList(pEquipment);
-
pEquipment->init();
LOGE("已添加“Aligner”.");
- return 0;
+
+ return pEquipment;
+ }
+
+ CMeasurement* CMaster::addMeasurement()
+ {
+ CMeasurement* pEquipment = new CMeasurement();
+ pEquipment->setID(EQ_ID_MEASUREMENT);
+ pEquipment->setBaseAlarmId(BASE_ALARM_EFEM);
+ pEquipment->setName("Measurement");
+ pEquipment->setDescription("Measurement.");
+ pEquipment->setReadBitBlock(0x6700, 0x6e00);
+ pEquipment->setStation(0, 255);
+ addToEquipmentList(pEquipment);
+
+ pEquipment->init();
+ LOGE("已添加“Measurement”.");
+
+ return pEquipment;
}
void CMaster::onTimer(UINT nTimerid)
@@ -418,6 +820,7 @@
CBonder* pBonder1 = (CBonder*)getEquipment(EQ_ID_Bonder1);
CBonder* pBonder2 = (CBonder*)getEquipment(EQ_ID_Bonder2);
CBakeCooling* pBakeCooling = (CBakeCooling*)getEquipment(EQ_ID_BAKE_COOLING);
+ CMeasurement* pMeasurement = (CMeasurement*)getEquipment(EQ_ID_MEASUREMENT);
nRet = pLoadPort1->getPin("Out1")->connectPin(pFliper->getPin("In1"));
if (nRet < 0) {
@@ -467,12 +870,17 @@
LOGE("连接Bonder2-BakeCooling失败");
}
- nRet = pBakeCooling->getPin("Out1")->connectPin(pLoadPort3->getPin("In"));
+ nRet = pBakeCooling->getPin("Out")->connectPin(pMeasurement->getPin("In"));
if (nRet < 0) {
LOGE("连接BakeCooling-LoadPort3失败");
}
- nRet = pBakeCooling->getPin("Out2")->connectPin(pLoadPort4->getPin("In"));
+ nRet = pMeasurement->getPin("Out1")->connectPin(pLoadPort3->getPin("In"));
+ if (nRet < 0) {
+ LOGE("连接BakeCooling-LoadPort3失败");
+ }
+
+ nRet = pMeasurement->getPin("Out2")->connectPin(pLoadPort4->getPin("In"));
if (nRet < 0) {
LOGE("连接BakeCooling-LoadPort4失败");
}
@@ -524,15 +932,23 @@
int CMaster::readCache()
{
- CFile file;
- if (!file.Open(m_strFilepath.c_str(), CFile::modeRead)) {
- return -1;
- }
+ try {
+ CFile file;
+ if (!file.Open(m_strFilepath.c_str(), CFile::modeRead)) {
+ return -1;
+ }
- CArchive ar(&file, CArchive::load);
- serialize(ar);
- ar.Close();
- file.Close();
+ CArchive ar(&file, CArchive::load);
+ serialize(ar);
+ ar.Close();
+ file.Close();
+ }
+ catch (CFileException* e) {
+ TCHAR szErr[512];
+ e->GetErrorMessage(szErr, 512);
+ AfxMessageBox(szErr);
+ e->Delete();
+ }
return 0;
}
@@ -543,4 +959,36 @@
item->serialize(ar);
}
}
+
+ void CMaster::setState(MASTERSTATE state)
+ {
+ m_state = state;
+ if (m_listener.onMasterStateChanged != nullptr) {
+ m_listener.onMasterStateChanged(this, m_state);
+ }
+ }
+
+ static int taskSeqNo = 0;
+ CRobotTask* CMaster::createTransferTask(CEquipment* pSrcEq, CEquipment* pTarEq)
+ {
+ CRobotTask* pTask = nullptr;
+ CSlot* pSrcSlot, * pTarSlot;
+ pTarSlot = pTarEq->getAvailableSlotForGlass(MaterialsType::G1);
+ pSrcSlot = pSrcEq->getNonEmptySlot(MaterialsType::G1);
+ if (pSrcSlot == nullptr || nullptr == pTarSlot) {
+ pTarSlot = pTarEq->getAvailableSlotForGlass(MaterialsType::G2);
+ pSrcSlot = pSrcEq->getNonEmptySlot(MaterialsType::G2);
+ }
+
+
+ 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;
+ }
}
--
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