From 50a7ce646dfe6bd0e20c4a2243f845fe94f53e8b Mon Sep 17 00:00:00 2001
From: mrDarker <mr.darker@163.com>
Date: 星期一, 01 九月 2025 15:24:32 +0800
Subject: [PATCH] 1. 添加本地测试下发时每一个槽都可以设置物料类型
---
SourceCode/Bond/Servo/CRobotTask.cpp | 378 ++++++++++++++++++++++++++++++++++++++++++++++++++++-
1 files changed, 366 insertions(+), 12 deletions(-)
diff --git a/SourceCode/Bond/Servo/CRobotTask.cpp b/SourceCode/Bond/Servo/CRobotTask.cpp
index 26017c7..1c9f61d 100644
--- a/SourceCode/Bond/Servo/CRobotTask.cpp
+++ b/SourceCode/Bond/Servo/CRobotTask.cpp
@@ -1,18 +1,88 @@
#include "stdafx.h"
#include "CRobotTask.h"
#include "ToolUnits.h"
+#include "Log.h"
namespace SERVO {
CRobotTask::CRobotTask()
{
generateId(m_strId);
- m_timeCreate = CToolUnits::getTimestamp();
+ m_state = ROBOT_TASK_STATE::Ready;
+ m_timeCreate = CToolUnits::getUnixTimestamp();
+ m_timeFetchOut = 0;
+ m_timeStored = 0;
+ m_timeFinish = 0;
+ m_pContext = nullptr;
+ m_pEFEM = nullptr;
}
CRobotTask::~CRobotTask()
{
+ if (m_pContext != nullptr) {
+ m_pContext->release();
+ m_pContext = nullptr;
+ }
+ }
+ std::string CRobotTask::getDescription() const
+ {
+ std::string strOut = "CRobotTask<ID:";
+ strOut = strOut + std::to_string(m_robotCmdParam[ACTION_TRANSFER].sequenceNo);
+ strOut = strOut + ",Arm:";
+ strOut = strOut + std::to_string(m_robotCmdParam[ACTION_TRANSFER].armNo);
+ strOut = strOut + ",GetPossion:";
+ strOut = strOut + std::to_string(m_robotCmdParam[ACTION_TRANSFER].getPosition);
+ strOut = strOut + ",GetSlot:";
+ strOut = strOut + std::to_string(m_robotCmdParam[ACTION_TRANSFER].getSlotNo);
+ strOut = strOut + ",PutPossion:";
+ strOut = strOut + std::to_string(m_robotCmdParam[ACTION_TRANSFER].putPosition);
+ strOut = strOut + ",PutSlot:";
+ strOut = strOut + std::to_string(m_robotCmdParam[ACTION_TRANSFER].putSlotNo);
+ strOut = strOut + ">";
+
+ return strOut;
+ }
+
+ std::string CRobotTask::getSimpleDescription() const
+ {
+ std::string strOut = "CRobotTask<ID:";
+ strOut = strOut + std::to_string(m_robotCmdParam[ACTION_TRANSFER].sequenceNo);
+ strOut = strOut + ",Arm:";
+ strOut = strOut + std::to_string(m_robotCmdParam[ACTION_TRANSFER].armNo);
+ strOut = strOut + ",GetPossion:";
+ strOut = strOut + std::to_string(m_robotCmdParam[ACTION_TRANSFER].getPosition);
+ strOut = strOut + ",GetSlot:";
+ strOut = strOut + std::to_string(m_robotCmdParam[ACTION_TRANSFER].getSlotNo);
+ strOut = strOut + ",PutPossion:";
+ strOut = strOut + std::to_string(m_robotCmdParam[ACTION_TRANSFER].putPosition);
+ strOut = strOut + ",PutSlot:";
+ strOut = strOut + std::to_string(m_robotCmdParam[ACTION_TRANSFER].putSlotNo);
+ strOut = strOut + ">";
+
+ return strOut;
+ }
+
+ void CRobotTask::setContext(CContext* pContext)
+ {
+ if (m_pContext != nullptr) {
+ m_pContext->release();
+ }
+
+ m_pContext = pContext;
+ if (m_pContext != nullptr) {
+ m_pContext->addRef();
+ }
+ }
+
+ CContext* CRobotTask::getContext()
+ {
+ return m_pContext;
+ }
+
+ void CRobotTask::setEFEM(CEFEM* pEFEM)
+ {
+ m_pEFEM = pEFEM;
}
std::string& CRobotTask::generateId(std::string& out)
@@ -34,21 +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()
@@ -56,8 +157,261 @@
return m_timeCreate;
}
+ time_t CRobotTask::getFetchoutTime()
+ {
+ return m_timeFetchOut;
+ }
+
+ time_t CRobotTask::getStoredTime()
+ {
+ return m_timeStored;
+ }
+
time_t CRobotTask::getFinishTime()
{
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()
+ {
+ ASSERT(m_pEFEM);
+ m_state = ROBOT_TASK_STATE::Running;
+
+ static int seq = 0;
+ m_pEFEM->robotSendTransfer(++seq,
+ 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"));
+ }
+ else {
+ LOGI(_T("RobotTask已下发失败"));
+ }
+
+ return 0;
+ });
+ }
+
+ 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()
+ {
+ m_state = ROBOT_TASK_STATE::Error;
+ }
+
+ void CRobotTask::abort()
+ {
+ m_state = ROBOT_TASK_STATE::Abort;
+ }
+
+ int CRobotTask::getSrcPosition()
+ {
+ return m_robotCmdParam[ACTION_TRANSFER].getPosition;
+ }
+
+ int CRobotTask::getTarPosition()
+ {
+ return m_robotCmdParam[ACTION_TRANSFER].putPosition;
+ }
+
+ int CRobotTask::getSrcSlot()
+ {
+ return m_robotCmdParam[ACTION_TRANSFER].getSlotNo;
+ }
+
+ int CRobotTask::getTarSlot()
+ {
+ return m_robotCmdParam[ACTION_TRANSFER].putSlotNo;
+ }
+
+ CString CRobotTask::getStateString()
+ {
+ 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");
+ default: return _T("Unknown");
+ }
+ }
+
+ void CRobotTask::fetchOut()
+ {
+ m_timeFetchOut = CToolUnits::getUnixTimestamp();;
+ }
+
+ void CRobotTask::stored()
+ {
+ 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;
+ }
+ }
}
--
Gitblit v1.9.3