From 38f2ff1e5bc6c4434875e03b8cadc8f3f4e39bf6 Mon Sep 17 00:00:00 2001
From: LAPTOP-SNT8I5JK\Boounion <Chenluhua@qq.com>
Date: 星期三, 27 八月 2025 18:18:02 +0800
Subject: [PATCH] 1.修改调度逻辑，增加G0，第二类型，增加TestFlag, 用于必要时输出指定日志；
---
SourceCode/Bond/Servo/CRobotTask.cpp | 252 ++++++++++++++++++++++++++++++++++++++++++++------
1 files changed, 220 insertions(+), 32 deletions(-)
diff --git a/SourceCode/Bond/Servo/CRobotTask.cpp b/SourceCode/Bond/Servo/CRobotTask.cpp
index dc1b82e..1c9f61d 100644
--- a/SourceCode/Bond/Servo/CRobotTask.cpp
+++ b/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 +104,52 @@
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);
+
+ // 转换一下源和目标站号
+ int srcPos, srcSlot, tarPos, tarSlot;
+ transformPosAndSlot(fromPos, fromSlot, srcPos, srcSlot);
+ transformPosAndSlot(toPos, toSlot, tarPos, tarSlot);
+
+ m_robotCmdParam[ACTION_PICK] = {};
+ m_robotCmdParam[ACTION_PICK].sequenceNo = static_cast<short>(seq+1);
+ 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>(srcPos);
+ m_robotCmdParam[ACTION_PICK].getSlotNo = static_cast<short>(srcSlot);
+
+ 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>(tarPos);
+ m_robotCmdParam[ACTION_PLACE].putSlotNo = static_cast<short>(tarSlot);
+
+ m_robotCmdParam[ACTION_RESTORE] = {};
+ m_robotCmdParam[ACTION_RESTORE].sequenceNo = static_cast<short>(seq + 3);
+ 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>(srcPos);
+ m_robotCmdParam[ACTION_RESTORE].putSlotNo = static_cast<short>(srcSlot);
+
+ return seq + 3;
}
- 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()
@@ -141,9 +172,35 @@
return m_timeFinish;
}
+ int CRobotTask::getArmNo()
+ {
+ return m_robotCmdParam[ACTION_PICK].armNo;
+
+ }
+
ROBOT_TASK_STATE CRobotTask::getState()
{
return m_state;
+ }
+
+ bool CRobotTask::isPicking()
+ {
+ return m_state == ROBOT_TASK_STATE::Picking;
+ }
+
+ bool CRobotTask::isPicked()
+ {
+ return m_state == ROBOT_TASK_STATE::Picked;
+ }
+
+ bool CRobotTask::isPlacing()
+ {
+ return m_state == ROBOT_TASK_STATE::Placing;
+ }
+
+ bool CRobotTask::isRestoring()
+ {
+ return m_state == ROBOT_TASK_STATE::Restoring;
}
void CRobotTask::run()
@@ -153,11 +210,11 @@
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"));
@@ -170,9 +227,84 @@
});
}
+ void CRobotTask::pick()
+ {
+ ASSERT(m_pEFEM);
+ m_state = ROBOT_TASK_STATE::Picking;
+
+ m_pEFEM->robotCmd(m_robotCmdParam[ACTION_PICK],
+ [&](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::picked()
+ {
+ m_state = ROBOT_TASK_STATE::Picked;
+ }
+
+ void CRobotTask::place()
+ {
+ ASSERT(m_pEFEM);
+ m_state = ROBOT_TASK_STATE::Placing;
+
+ m_pEFEM->robotCmd(m_robotCmdParam[ACTION_PLACE],
+ [&](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->robotCmd(m_robotCmdParam[ACTION_RESTORE],
+ [&](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;
+ });
+ }
+
+ 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;
+ }
+
+ void CRobotTask::restored()
+ {
+ m_state = ROBOT_TASK_STATE::Restored;
}
void CRobotTask::error()
@@ -187,22 +319,22 @@
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()
@@ -210,6 +342,9 @@
switch (m_state) {
case ROBOT_TASK_STATE::Ready: return _T("Ready");
case ROBOT_TASK_STATE::Running: return _T("Running");
+ case ROBOT_TASK_STATE::Picking: return _T("Picking");
+ case ROBOT_TASK_STATE::Placing: return _T("Placing");
+ case ROBOT_TASK_STATE::Restoring: return _T("Restoring");
case ROBOT_TASK_STATE::Error: return _T("Error");
case ROBOT_TASK_STATE::Abort: return _T("Abort");
case ROBOT_TASK_STATE::Completed: return _T("Completed");
@@ -226,4 +361,57 @@
{
m_timeStored = CToolUnits::getUnixTimestamp();;
}
+
+ void CRobotTask::transformPosAndSlot(int srcPos, int srcSlot, int& tarPos, int& tarSlot)
+ {
+ switch (srcPos)
+ {
+ case EQ_ID_LOADPORT1:
+ 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:
+ case EQ_ID_FLIPER:
+ tarPos = srcPos;
+ tarSlot = 1;
+ break;
+ case EQ_ID_Bonder1:
+ if (1 <= srcSlot && srcSlot <= 2) {
+ tarPos = 9 + srcSlot - 1;
+ tarSlot = 1;
+ }
+ break;
+ case EQ_ID_Bonder2:
+ if (1 <= srcSlot && srcSlot <= 2) {
+ tarPos = 11 + srcSlot - 1;
+ tarSlot = 1;
+ }
+ break;
+ case EQ_ID_VACUUMBAKE:
+ if (1 <= srcSlot && srcSlot <= 2) {
+ tarPos = 13 + srcSlot - 1;
+ tarSlot = 1;
+ }
+ break;
+ case EQ_ID_BAKE_COOLING:
+ if (1 <= srcSlot && srcSlot <= 4) {
+ tarPos = 15 + srcSlot - 1;
+ tarSlot = 1;
+ }
+ break;
+ case EQ_ID_MEASUREMENT:
+ tarPos = 19;
+ tarSlot = 1;
+ break;
+ default:
+ tarPos = srcPos;
+ tarSlot = srcSlot;
+ break;
+ }
+ }
}
--
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