From 552b0d6e5d9f02c5f50e7407f0b274f4b926a043 Mon Sep 17 00:00:00 2001
From: LAPTOP-SNT8I5JK\Boounion <Chenluhua@qq.com>
Date: 星期四, 12 六月 2025 09:53:57 +0800
Subject: [PATCH] Merge branch 'clh'
---
SourceCode/Bond/Servo/CMaster.cpp | 99 ++++++++++++++++++++++++-------------------------
1 files changed, 49 insertions(+), 50 deletions(-)
diff --git a/SourceCode/Bond/Servo/CMaster.cpp b/SourceCode/Bond/Servo/CMaster.cpp
index 6a7437a..7b24735 100644
--- a/SourceCode/Bond/Servo/CMaster.cpp
+++ b/SourceCode/Bond/Servo/CMaster.cpp
@@ -290,6 +290,8 @@
CEFEM* pEFEM = (CEFEM*)getEquipment(EQ_ID_EFEM);
CLoadPort* pLoadPort1 = (CLoadPort*)getEquipment(EQ_ID_LOADPORT1);
CLoadPort* pLoadPort2 = (CLoadPort*)getEquipment(EQ_ID_LOADPORT2);
+ CLoadPort* pLoadPort3 = (CLoadPort*)getEquipment(EQ_ID_LOADPORT3);
+ CLoadPort* pLoadPort4 = (CLoadPort*)getEquipment(EQ_ID_LOADPORT4);
CFliper* pFliper = (CFliper*)getEquipment(EQ_ID_FLIPER);
CVacuumBake* pVacuumBack = (CVacuumBake*)getEquipment(EQ_ID_VACUUMBAKE);
CAligner* pAligner = (CAligner*)getEquipment(EQ_ID_ALIGNER);
@@ -301,6 +303,8 @@
ASSERT(pEFEM);
ASSERT(pLoadPort1);
ASSERT(pLoadPort2);
+ ASSERT(pLoadPort3);
+ ASSERT(pLoadPort4);
ASSERT(pFliper);
ASSERT(pVacuumBack);
ASSERT(pAligner);
@@ -368,6 +372,37 @@
|| (pBonder2->canPlaceGlassInSlot(0) && !pBonder2->canPlaceGlassInSlot(1))) {
primaryType = MaterialsType::G2;
secondaryType = MaterialsType::G1;
+ }
+
+
+ // Measurement -> LoadPort
+ CLoadPort* pEqLoadPort[] = { pLoadPort1, pLoadPort2, pLoadPort3, pLoadPort4 };
+ CEquipment* pEqTar[] = { pVacuumBack, pFliper };
+ if (primaryType == MaterialsType::G2) {
+ pEqTar[0] = pFliper;
+ pEqTar[1] = pVacuumBack;
+ }
+ for (int s = 0; s < 4; s++) {
+ if (pEqLoadPort[s]->isEnable()
+ && pEqLoadPort[s]->getPortType() == PortType::Unloading
+ && pEqLoadPort[s]->getPortMode() == PortMode::ReadyToUnload) {
+ m_pActiveRobotTask = createTransferTask(pMeasurement, pEqLoadPort[s], primaryType, secondaryType);
+ if (m_pActiveRobotTask != nullptr) {
+ goto PORT_PUT;
+ }
+ }
+ }
+
+ PORT_PUT:
+ if (m_pActiveRobotTask != nullptr) {
+ m_pActiveRobotTask->run();
+ std::string strDescription = m_pActiveRobotTask->getDescription();
+ unlock();
+ if (m_listener.onRobotTaskEvent != nullptr) {
+ m_listener.onRobotTaskEvent(this, m_pActiveRobotTask, ROBOT_EVENT_CREATE);
+ }
+ LOGI("创建新任务<%s>...", strDescription.c_str());
+ continue;
}
@@ -480,13 +515,20 @@
// LoadPort -> Fliper(G2)
// LoadPort -> VacuumBake(G1)
- CEquipment* pEqTar1 = pVacuumBack;
- CEquipment* pEqTar2 = pFliper;
- if (primaryType == MaterialsType::G2) {
- pEqTar1 = pFliper;
- pEqTar2 = pVacuumBack;
+ for (int s = 0; s < 4; s++) {
+ for (int t = 0; t < 2; t++) {
+ if (pEqLoadPort[s]->isEnable()
+ && pEqLoadPort[s]->getPortType() == PortType::Loading
+ && pEqLoadPort[s]->getPortMode() == PortMode::ReadyToLoad) {
+ m_pActiveRobotTask = createTransferTask(pEqLoadPort[s], pEqTar[t], primaryType, secondaryType);
+ if (m_pActiveRobotTask != nullptr) {
+ goto PORT_GET;
+ }
+ }
+ }
}
- m_pActiveRobotTask = createTransferTask(pLoadPort1, pEqTar1, primaryType, secondaryType);
+
+PORT_GET:
if (m_pActiveRobotTask != nullptr) {
m_pActiveRobotTask->run();
std::string strDescription = m_pActiveRobotTask->getDescription();
@@ -497,50 +539,6 @@
LOGI("创建新任务<%s>...", strDescription.c_str());
continue;
}
-
- m_pActiveRobotTask = createTransferTask(pLoadPort2, pEqTar1, primaryType, secondaryType);
- if (m_pActiveRobotTask != nullptr) {
- m_pActiveRobotTask->run();
- std::string strDescription = m_pActiveRobotTask->getDescription();
- unlock();
- if (m_listener.onRobotTaskEvent != nullptr) {
- m_listener.onRobotTaskEvent(this, m_pActiveRobotTask, ROBOT_EVENT_CREATE);
- }
- LOGI("创建新任务<%s>...", strDescription.c_str());
- continue;
- }
-
-
-
- // LoadPort -> VacuumBake(G1)
- m_pActiveRobotTask = createTransferTask(pLoadPort1, pEqTar2, primaryType, secondaryType);
- if (m_pActiveRobotTask != nullptr) {
- m_pActiveRobotTask->run();
- std::string strDescription = m_pActiveRobotTask->getDescription();
- unlock();
- if (m_listener.onRobotTaskEvent != nullptr) {
- m_listener.onRobotTaskEvent(this, m_pActiveRobotTask, ROBOT_EVENT_CREATE);
- }
- LOGI("创建新任务<%s>...", strDescription.c_str());
- continue;
- }
-
- m_pActiveRobotTask = createTransferTask(pLoadPort2, pEqTar2, primaryType, secondaryType);
- if (m_pActiveRobotTask != nullptr) {
- m_pActiveRobotTask->run();
- std::string strDescription = m_pActiveRobotTask->getDescription();
- unlock();
- if (m_listener.onRobotTaskEvent != nullptr) {
- m_listener.onRobotTaskEvent(this, m_pActiveRobotTask, ROBOT_EVENT_CREATE);
- }
- LOGI("创建新任务<%s>...", strDescription.c_str());
- continue;
- }
-
-
- // Measurement -> LoadPort
-
-
unlock();
@@ -1209,6 +1207,7 @@
if (pSrcSlot != nullptr && nullptr != pTarSlot) {
pTask = new CRobotTask();
pTask->setContext(pSrcSlot->getContext());
+ pTask->setEFEM((CEFEM*)getEquipment(EQ_ID_EFEM));
pTask->setRobotTransferParam(++taskSeqNo, 1, pSrcSlot->getPosition(),
pTarSlot->getPosition(), pSrcSlot->getNo(), pTarSlot->getNo());
}
--
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