From 55dea22443cf5be586cab68a0cff1d8fb7de9a9e Mon Sep 17 00:00:00 2001
From: LAPTOP-SNT8I5JK\Boounion <Chenluhua@qq.com>
Date: 星期五, 05 九月 2025 09:20:43 +0800
Subject: [PATCH] 1.修复加工好的玻璃放回原处仍被取走的问题。
---
SourceCode/Bond/Servo/CRobotTask.cpp | 119 ++++++++++++++++++++++++++++++++++++++++++++++++-----------
1 files changed, 97 insertions(+), 22 deletions(-)
diff --git a/SourceCode/Bond/Servo/CRobotTask.cpp b/SourceCode/Bond/Servo/CRobotTask.cpp
index 4ac89d3..1b4a1aa 100644
--- a/SourceCode/Bond/Servo/CRobotTask.cpp
+++ b/SourceCode/Bond/Servo/CRobotTask.cpp
@@ -117,28 +117,33 @@
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+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>(fromPos);
- m_robotCmdParam[ACTION_PICK].getSlotNo = static_cast<short>(fromSlot);
+ 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>(toPos);
- m_robotCmdParam[ACTION_PLACE].putSlotNo = static_cast<short>(toSlot);
+ 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 + 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>(fromPos);
- m_robotCmdParam[ACTION_RESTORE].putSlotNo = static_cast<short>(fromSlot);
+ 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)
@@ -183,6 +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;
@@ -210,7 +220,7 @@
LOGI(_T("RobotTask已下发到EFEM"));
}
else {
- LOGI(_T("RobotTask已下发失败"));
+ LOGI(_T("RobotTask下发失败"));
}
return 0;
@@ -222,10 +232,7 @@
ASSERT(m_pEFEM);
m_state = ROBOT_TASK_STATE::Picking;
- m_pEFEM->robotSendMoveToGet(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"));
@@ -238,15 +245,17 @@
});
}
+ void CRobotTask::picked()
+ {
+ m_state = ROBOT_TASK_STATE::Picked;
+ }
+
void CRobotTask::place()
{
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"));
@@ -264,10 +273,7 @@
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"));
@@ -280,9 +286,25 @@
});
}
+ 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()
@@ -339,4 +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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