From 437d3d047183eed3bbd8eb79e4b40c4a1e0427c9 Mon Sep 17 00:00:00 2001
From: chenluhua1980 <Chenluhua@qq.com>
Date: 星期四, 15 一月 2026 10:39:31 +0800
Subject: [PATCH] 1.修复： CEID 校验恒通过：ceidDefined 返回 true，PauseEvent ID 不做有效性检查。Host 若下发无效 CEID，将被接受但运行时无法触发暂停，风险难以察觉。 指定事件发生时暂停；
---
SourceCode/Bond/Servo/CRobotTask.cpp | 66 +++++++++++++++++++++-----------
1 files changed, 43 insertions(+), 23 deletions(-)
diff --git a/SourceCode/Bond/Servo/CRobotTask.cpp b/SourceCode/Bond/Servo/CRobotTask.cpp
index 5b4fbab..f0e9596 100644
--- a/SourceCode/Bond/Servo/CRobotTask.cpp
+++ b/SourceCode/Bond/Servo/CRobotTask.cpp
@@ -123,7 +123,7 @@
transformPosAndSlot(toPos, toSlot, tarPos, tarSlot);
m_robotCmdParam[ACTION_PICK] = {};
- m_robotCmdParam[ACTION_PICK].sequenceNo = static_cast<short>(seq+2);
+ 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);
@@ -137,13 +137,13 @@
m_robotCmdParam[ACTION_PLACE].putSlotNo = static_cast<short>(tarSlot);
m_robotCmdParam[ACTION_RESTORE] = {};
- m_robotCmdParam[ACTION_RESTORE].sequenceNo = static_cast<short>(seq + 1);
+ 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 + 1;
+ return seq + 3;
}
ROBOT_CMD_PARAM& CRobotTask::getRobotCmdParam(int index)
@@ -188,6 +188,11 @@
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;
@@ -215,7 +220,7 @@
LOGI(_T("RobotTask已下发到EFEM"));
}
else {
- LOGI(_T("RobotTask已下发失败"));
+ LOGE(_T("RobotTask下发失败"));
}
return 0;
@@ -227,20 +232,22 @@
ASSERT(m_pEFEM);
m_state = ROBOT_TASK_STATE::Picking;
- m_pEFEM->robotSendGet(m_robotCmdParam->sequenceNo,
- m_robotCmdParam[ACTION_PICK].armNo,
- m_robotCmdParam[ACTION_PICK].getPosition,
- m_robotCmdParam[ACTION_PICK].getSlotNo,
+ 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"));
+ LOGE(_T("RobotTask/get已下发失败"));
}
return 0;
});
+ }
+
+ void CRobotTask::picked()
+ {
+ m_state = ROBOT_TASK_STATE::Picked;
}
void CRobotTask::place()
@@ -248,16 +255,13 @@
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,
+ 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"));
+ LOGE(_T("RobotTask/put已下发失败"));
}
return 0;
@@ -269,25 +273,38 @@
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,
+ 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"));
+ LOGE(_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()
@@ -353,6 +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:
@@ -362,25 +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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