From 56fd8f57fcc763ae079ae752d82e41b38d7d9e5f Mon Sep 17 00:00:00 2001
From: mrDarker <mr.darker@163.com>
Date: 星期一, 16 六月 2025 10:50:16 +0800
Subject: [PATCH] Merge branch 'clh' into liuyang
---
SourceCode/Bond/Servo/CPagePortProperty.cpp | 2
SourceCode/Bond/Servo/CVacuumBake.cpp | 6
SourceCode/Bond/Servo/CFliper.cpp | 6
SourceCode/Bond/Servo/CLoadPort.h | 6
SourceCode/Bond/Servo/CRobotTask.cpp | 177 ++++++++++++++---
SourceCode/Bond/Servo/Configuration.cpp | 22 ++
SourceCode/Bond/Servo/CMaster.h | 6
SourceCode/Bond/Servo/Model.cpp | 13 +
SourceCode/Bond/Servo/CLoadPort.cpp | 57 ++++-
SourceCode/Bond/Servo/ServoDlg.cpp | 1
SourceCode/Bond/Servo/Configuration.h | 2
SourceCode/Bond/Servo/CRobotTask.h | 18 +
SourceCode/Bond/x64/Debug/EqsGraph.ini | 12
SourceCode/Bond/Servo/Model.h | 1
SourceCode/Bond/Servo/CMaster.cpp | 248 ++++++++++++++++++------
SourceCode/Bond/Servo/ServoCommo.h | 3
SourceCode/Bond/Servo/CBonder.cpp | 3
SourceCode/Bond/Servo/CRobotTaskDlg.cpp | 2
18 files changed, 451 insertions(+), 134 deletions(-)
diff --git a/SourceCode/Bond/Servo/CBonder.cpp b/SourceCode/Bond/Servo/CBonder.cpp
index 42a7a08..db7cf76 100644
--- a/SourceCode/Bond/Servo/CBonder.cpp
+++ b/SourceCode/Bond/Servo/CBonder.cpp
@@ -34,7 +34,8 @@
{
// 加入Pin初始化代码
LOGI("<CBonder>initPins");
- addPin(SERVO::PinType::INPUT, _T("In"));
+ addPin(SERVO::PinType::INPUT, _T("In1"));
+ addPin(SERVO::PinType::INPUT, _T("In2"));
addPin(SERVO::PinType::OUTPUT, _T("Out"));
}
diff --git a/SourceCode/Bond/Servo/CFliper.cpp b/SourceCode/Bond/Servo/CFliper.cpp
index 4065835..aed1fc6 100644
--- a/SourceCode/Bond/Servo/CFliper.cpp
+++ b/SourceCode/Bond/Servo/CFliper.cpp
@@ -33,9 +33,9 @@
{
// 加入Pin初始化代码
LOGI("<CFliper>initPins");
- addPin(SERVO::PinType::INPUT, _T("In1"));
- addPin(SERVO::PinType::INPUT, _T("In2"));
- addPin(SERVO::PinType::OUTPUT, _T("Out"));
+ addPin(SERVO::PinType::INPUT, _T("In"));
+ addPin(SERVO::PinType::OUTPUT, _T("Out1"));
+ addPin(SERVO::PinType::OUTPUT, _T("Out2"));
}
// 必须要实现的虚函数，在此初始化Slot信息
diff --git a/SourceCode/Bond/Servo/CLoadPort.cpp b/SourceCode/Bond/Servo/CLoadPort.cpp
index c1ed745..bafeca1 100644
--- a/SourceCode/Bond/Servo/CLoadPort.cpp
+++ b/SourceCode/Bond/Servo/CLoadPort.cpp
@@ -51,8 +51,7 @@
// 加入Pin初始化代码
LOGI("<CLoadPort>initPins");
addPin(SERVO::PinType::INPUT, _T("In"));
- addPin(SERVO::PinType::OUTPUT, _T("Out1"));
- addPin(SERVO::PinType::OUTPUT, _T("Out2"));
+ addPin(SERVO::PinType::OUTPUT, _T("Out"));
}
// 必须要实现的虚函数，在此初始化Slot信息
@@ -379,23 +378,23 @@
if (ar.IsStoring()) {
ar << m_nIndex;
- ar << (int)m_portType;
- ar << (int)m_portMode;
- ar << (int)m_cassetteType;
- ar << (int)m_transferMode;
- ar << m_bEnable;
- ar << m_bAutoChangeEnable;
+ //ar << (int)m_portType;
+ //ar << (int)m_portMode;
+ //ar << (int)m_cassetteType;
+ //ar << (int)m_transferMode;
+ //ar << m_bEnable;
+ //ar << m_bAutoChangeEnable;
m_portStatusReport.serialize(ar);
}
else {
int temp;
ar >> m_nIndex;
- ar >> temp; m_portType = (PortType)temp;
- ar >> temp; m_portMode = (PortMode)temp;
- ar >> temp; m_cassetteType = (CassetteType)temp;
- ar >> temp; m_transferMode = (TransferMode)temp;
- ar >> m_bEnable;
- ar >> m_bAutoChangeEnable;
+ //ar >> temp; m_portType = (PortType)temp;
+ //ar >> temp; m_portMode = (PortMode)temp;
+ //ar >> temp; m_cassetteType = (CassetteType)temp;
+ //ar >> temp; m_transferMode = (TransferMode)temp;
+ //ar >> m_bEnable;
+ //ar >> m_bAutoChangeEnable;
m_portStatusReport.serialize(ar);
}
}
@@ -1078,6 +1077,36 @@
return 0;
}
+ void CLoadPort::localEanblePort(BOOL bEnable)
+ {
+ m_bEnable = bEnable;
+ }
+
+ void CLoadPort::localSetPortType(PortType type)
+ {
+ m_portType = type;
+ }
+
+ void CLoadPort::localSetPortMode(PortMode mode)
+ {
+ m_portMode = mode;
+ }
+
+ void CLoadPort::localSetCessetteType(CassetteType type)
+ {
+ m_cassetteType = type;
+ }
+
+ void CLoadPort::localSetTransferMode(TransferMode mode)
+ {
+ m_transferMode = mode;
+ }
+
+ void CLoadPort::localAutoChangeEnable(BOOL bEnable)
+ {
+ m_bAutoChangeEnable = bEnable;
+ }
+
/*
* 生成测试用的玻璃列表
*/
diff --git a/SourceCode/Bond/Servo/CLoadPort.h b/SourceCode/Bond/Servo/CLoadPort.h
index 7bc8702..e0e42d0 100644
--- a/SourceCode/Bond/Servo/CLoadPort.h
+++ b/SourceCode/Bond/Servo/CLoadPort.h
@@ -31,6 +31,12 @@
int setCassetteType(CassetteType type, ONWRITED onWritedBlock = nullptr);
int setTransferMode(TransferMode mode, ONWRITED onWritedBlock = nullptr);
int eableAutoChange(BOOL bEnable, ONWRITED onWritedBlock = nullptr);
+ void localEanblePort(BOOL bEnable);
+ void localSetPortType(PortType type);
+ void localSetPortMode(PortMode mode);
+ void localSetCessetteType(CassetteType type);
+ void localSetTransferMode(TransferMode mode);
+ void localAutoChangeEnable(BOOL bEnable);
public:
void setIndex(unsigned int index);
diff --git a/SourceCode/Bond/Servo/CMaster.cpp b/SourceCode/Bond/Servo/CMaster.cpp
index d25da2b..b9ea92b 100644
--- a/SourceCode/Bond/Servo/CMaster.cpp
+++ b/SourceCode/Bond/Servo/CMaster.cpp
@@ -293,7 +293,7 @@
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);
+ CVacuumBake* pVacuumBake = (CVacuumBake*)getEquipment(EQ_ID_VACUUMBAKE);
CAligner* pAligner = (CAligner*)getEquipment(EQ_ID_ALIGNER);
CBonder* pBonder1 = (CBonder*)getEquipment(EQ_ID_Bonder1);
CBonder* pBonder2 = (CBonder*)getEquipment(EQ_ID_Bonder2);
@@ -306,7 +306,7 @@
ASSERT(pLoadPort3);
ASSERT(pLoadPort4);
ASSERT(pFliper);
- ASSERT(pVacuumBack);
+ ASSERT(pVacuumBake);
ASSERT(pAligner);
ASSERT(pBonder1);
ASSERT(pBonder2);
@@ -377,10 +377,10 @@
// Measurement -> LoadPort
CLoadPort* pEqLoadPort[] = { pLoadPort1, pLoadPort2, pLoadPort3, pLoadPort4 };
- CEquipment* pEqTar[] = { pVacuumBack, pFliper };
+ CEquipment* pEqTar[] = { pVacuumBake, pFliper };
if (primaryType == MaterialsType::G2) {
pEqTar[0] = pFliper;
- pEqTar[1] = pVacuumBack;
+ pEqTar[1] = pVacuumBake;
}
for (int s = 0; s < 4; s++) {
if (pEqLoadPort[s]->isEnable()
@@ -395,7 +395,7 @@
PORT_PUT:
if (m_pActiveRobotTask != nullptr) {
- m_pActiveRobotTask->run();
+ m_pActiveRobotTask->pick();
std::string strDescription = m_pActiveRobotTask->getDescription();
unlock();
if (m_listener.onRobotTaskEvent != nullptr) {
@@ -409,7 +409,7 @@
// BakeCooling ->Measurement
m_pActiveRobotTask = createTransferTask_bakecooling_to_measurement(pBakeCooling, pMeasurement);
if (m_pActiveRobotTask != nullptr) {
- m_pActiveRobotTask->run();
+ m_pActiveRobotTask->pick();
std::string strDescription = m_pActiveRobotTask->getDescription();
unlock();
if (m_listener.onRobotTaskEvent != nullptr) {
@@ -424,7 +424,7 @@
// Bake -> Cooling
m_pActiveRobotTask = createTransferTask_bake_to_cooling(pBakeCooling);
if (m_pActiveRobotTask != nullptr) {
- m_pActiveRobotTask->run();
+ m_pActiveRobotTask->pick();
std::string strDescription = m_pActiveRobotTask->getDescription();
unlock();
if (m_listener.onRobotTaskEvent != nullptr) {
@@ -438,7 +438,7 @@
// Bonder -> BakeCooling
m_pActiveRobotTask = createTransferTask_bonder_to_bakecooling(pBonder1, pBakeCooling);
if (m_pActiveRobotTask != nullptr) {
- m_pActiveRobotTask->run();
+ m_pActiveRobotTask->pick();
std::string strDescription = m_pActiveRobotTask->getDescription();
unlock();
if (m_listener.onRobotTaskEvent != nullptr) {
@@ -450,7 +450,7 @@
m_pActiveRobotTask = createTransferTask_bonder_to_bakecooling(pBonder2, pBakeCooling);
if (m_pActiveRobotTask != nullptr) {
- m_pActiveRobotTask->run();
+ m_pActiveRobotTask->pick();
std::string strDescription = m_pActiveRobotTask->getDescription();
unlock();
if (m_listener.onRobotTaskEvent != nullptr) {
@@ -460,10 +460,11 @@
continue;
}
- // Aligner -> Bonder
- m_pActiveRobotTask = createTransferTask(pAligner, pBonder1, primaryType, secondaryType);
+ // Fliper(G2) -> Bonder
+ // VacuumBake(G1) -> Bonder
+ m_pActiveRobotTask = createTransferTask(pFliper, pBonder1, primaryType, secondaryType, 2);
if (m_pActiveRobotTask != nullptr) {
- m_pActiveRobotTask->run();
+ m_pActiveRobotTask->pick();
std::string strDescription = m_pActiveRobotTask->getDescription();
unlock();
if (m_listener.onRobotTaskEvent != nullptr) {
@@ -473,9 +474,9 @@
continue;
}
- m_pActiveRobotTask = createTransferTask(pAligner, pBonder2, primaryType, secondaryType);
+ m_pActiveRobotTask = createTransferTask(pFliper, pBonder2, primaryType, secondaryType, 2);
if (m_pActiveRobotTask != nullptr) {
- m_pActiveRobotTask->run();
+ m_pActiveRobotTask->pick();
std::string strDescription = m_pActiveRobotTask->getDescription();
unlock();
if (m_listener.onRobotTaskEvent != nullptr) {
@@ -485,12 +486,9 @@
continue;
}
-
- // Fliper(G2) -> Aligner
- // VacuumBake(G1) -> Aligner
- m_pActiveRobotTask = createTransferTask(pFliper, pAligner, primaryType, secondaryType);
+ m_pActiveRobotTask = createTransferTask(pVacuumBake, pBonder1, primaryType, secondaryType);
if (m_pActiveRobotTask != nullptr) {
- m_pActiveRobotTask->run();
+ m_pActiveRobotTask->pick();
std::string strDescription = m_pActiveRobotTask->getDescription();
unlock();
if (m_listener.onRobotTaskEvent != nullptr) {
@@ -500,9 +498,35 @@
continue;
}
- m_pActiveRobotTask = createTransferTask(pVacuumBack, pAligner, primaryType, secondaryType);
+ m_pActiveRobotTask = createTransferTask(pVacuumBake, pBonder2, primaryType, secondaryType);
if (m_pActiveRobotTask != nullptr) {
- m_pActiveRobotTask->run();
+ m_pActiveRobotTask->pick();
+ 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;
+ }
+
+ // Aligner -> Fliper(G2)
+ // Aligner -> VacuumBake(G1)
+ m_pActiveRobotTask = createTransferTask(pAligner, pFliper, primaryType, secondaryType, 2);
+ if (m_pActiveRobotTask != nullptr) {
+ m_pActiveRobotTask->pick();
+ 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(pAligner, pVacuumBake, primaryType, secondaryType);
+ if (m_pActiveRobotTask != nullptr) {
+ m_pActiveRobotTask->pick();
std::string strDescription = m_pActiveRobotTask->getDescription();
unlock();
if (m_listener.onRobotTaskEvent != nullptr) {
@@ -513,24 +537,21 @@
}
- // LoadPort -> Fliper(G2)
- // LoadPort -> VacuumBake(G1)
+ // LoadPort -> Aligner
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;
- }
+ if (pEqLoadPort[s]->isEnable()
+ && pEqLoadPort[s]->getPortType() == PortType::Loading
+ && pEqLoadPort[s]->getPortMode() == PortMode::ReadyToLoad) {
+ m_pActiveRobotTask = createTransferTask(pEqLoadPort[s], pAligner, primaryType, secondaryType);
+ if (m_pActiveRobotTask != nullptr) {
+ goto PORT_GET;
}
}
}
PORT_GET:
if (m_pActiveRobotTask != nullptr) {
- m_pActiveRobotTask->run();
+ m_pActiveRobotTask->pick();
std::string strDescription = m_pActiveRobotTask->getDescription();
unlock();
if (m_listener.onRobotTaskEvent != nullptr) {
@@ -664,17 +685,24 @@
BOOL bOk = FALSE;
lock();
if (m_pActiveRobotTask != nullptr) {
- if (m_pActiveRobotTask->getTarPosition() == p->getID()) {
+ // 是否已经进入手臂(即取片完成),进入下一步，放片
+ if (m_pActiveRobotTask->isPicking() &&
+ ((m_pActiveRobotTask->getArmNo() == 1 && p->getID() == EQ_ID_ARM_TRAY1)
+ || (m_pActiveRobotTask->getArmNo() == 2 && p->getID() == EQ_ID_ARM_TRAY2))
+ ) {
+ slot = 1;
+ bOk = TRUE;
+ }
+
+ // 是否放片完成
+ else if (m_pActiveRobotTask->isPlacing() &&
+ m_pActiveRobotTask->getTarPosition() == p->getID()) {
CGlass* pGlass = p->getGlassFromSlot(m_pActiveRobotTask->getTarSlot());
if (pGlass == nullptr) {
bOk = TRUE;
slot = m_pActiveRobotTask->getTarSlot();
LOGI("<CMaster>onPreFethedOutJob, 已校验数据一致性.");
}
- }
- else if (p->getID() == EQ_ID_ARM_TRAY1 || p->getID() == EQ_ID_ARM_TRAY2) {
- slot = 1;
- bOk = TRUE;
}
}
unlock();
@@ -697,21 +725,30 @@
if (code == EDCC_FETCHOUT_JOB) {
lock();
if (m_pActiveRobotTask != nullptr && m_pActiveRobotTask->getSrcPosition() == p->getID()) {
- m_pActiveRobotTask->fetchOut();
LOGI("开始取片...");
}
unlock();
}
else if (code == EDCC_STORED_JOB) {
lock();
- if (m_pActiveRobotTask != nullptr && m_pActiveRobotTask->getTarPosition() == p->getID()) {
+ if (m_pActiveRobotTask != nullptr
+ && m_pActiveRobotTask->isPicking()
+ && ((m_pActiveRobotTask->getArmNo() == 1 && p->getID() == EQ_ID_ARM_TRAY1)
+ || (m_pActiveRobotTask->getArmNo() == 2 && p->getID() == EQ_ID_ARM_TRAY2))
+ ) {
+ LOGI("取片完成.");
+ m_pActiveRobotTask->fetchOut();
+ m_pActiveRobotTask->place();
+ }
+
+ else if (m_pActiveRobotTask != nullptr
+ && m_pActiveRobotTask->isPlacing()
+ && m_pActiveRobotTask->getTarPosition() == p->getID()) {
m_pActiveRobotTask->stored();
m_pActiveRobotTask->completed();
LOGI("放片完成...");
-
// 完成此条搬送任务，但要把数据和消息上抛应用层
unlock();
-
lock();
@@ -988,42 +1025,40 @@
CBakeCooling* pBakeCooling = (CBakeCooling*)getEquipment(EQ_ID_BAKE_COOLING);
CMeasurement* pMeasurement = (CMeasurement*)getEquipment(EQ_ID_MEASUREMENT);
- nRet = pLoadPort1->getPin("Out1")->connectPin(pFliper->getPin("In1"));
+ nRet = pLoadPort1->getPin("Out")->connectPin(pAligner->getPin("In1"));
if (nRet < 0) {
LOGE("连接LoadPort1-Fliper失败");
}
- nRet = pLoadPort2->getPin("Out1")->connectPin(pFliper->getPin("In2"));
+ nRet = pLoadPort2->getPin("Out")->connectPin(pAligner->getPin("In2"));
if (nRet < 0) {
LOGE("连接LoadPort1-Fliper失败");
}
- nRet = pLoadPort1->getPin("Out2")->connectPin(pVacuumBake->getPin("In1"));
+ nRet = pAligner->getPin("Out1")->connectPin(pFliper->getPin("In"));
if (nRet < 0) {
- LOGE("连接LoadPort1-VacuumBake失败");
+ LOGE("连接Aligner-Fliper失败");
}
- nRet = pLoadPort2->getPin("Out2")->connectPin(pVacuumBake->getPin("In2"));
+ nRet = pAligner->getPin("Out2")->connectPin(pVacuumBake->getPin("In"));
if (nRet < 0) {
- LOGE("连接LoadPort1-VacuumBake失败");
+ LOGE("连接Aligner-VacuumBake失败");
}
- nRet = pFliper->getPin("Out")->connectPin(pAligner->getPin("In1"));
+ nRet = pFliper->getPin("Out1")->connectPin(pBonder1->getPin("In1"));
if (nRet < 0) {
- LOGE("连接Fliper-Aligner失败");
+ LOGE("连接Fliper-Bonder1失败");
+ }
+ nRet = pFliper->getPin("Out2")->connectPin(pBonder2->getPin("In1"));
+ if (nRet < 0) {
+ LOGE("连接Fliper-Bonder2失败");
}
- nRet = pVacuumBake->getPin("Out")->connectPin(pAligner->getPin("In2"));
+ nRet = pVacuumBake->getPin("Out1")->connectPin(pBonder1->getPin("In2"));
if (nRet < 0) {
- LOGE("连接VacuumBake-Aligner失败");
+ LOGE("连接VacuumBake-Bonder1失败");
}
-
- nRet = pAligner->getPin("Out1")->connectPin(pBonder1->getPin("In"));
+ nRet = pVacuumBake->getPin("Out2")->connectPin(pBonder2->getPin("In2"));
if (nRet < 0) {
- LOGE("连接Aligner-Bondere1失败");
- }
-
- nRet = pAligner->getPin("Out2")->connectPin(pBonder2->getPin("In"));
- if (nRet < 0) {
- LOGE("连接Aligner-Bondere2失败");
+ LOGE("连接VacuumBake-Bonder2失败");
}
nRet = pBonder1->getPin("Out")->connectPin(pBakeCooling->getPin("In1"));
@@ -1136,7 +1171,8 @@
static int taskSeqNo = 0;
CRobotTask* CMaster::createTransferTask(CEquipment* pSrcEq, CEquipment* pTarEq,
- MaterialsType primaryType/* = MaterialsType::G1*/, MaterialsType secondaryType/* = MaterialsType::G2*/)
+ MaterialsType primaryType/* = MaterialsType::G1*/, MaterialsType secondaryType/* = MaterialsType::G2*/,
+ int armNo/* = 1*/)
{
CRobotTask* pTask = nullptr;
CSlot* pSrcSlot, * pTarSlot;
@@ -1149,11 +1185,14 @@
if (pSrcSlot != nullptr && nullptr != pTarSlot) {
+ int srcPos, srcSlot, tarPos, tarSlot;
+ transformPosAndSlot(pSrcSlot->getPosition(), pSrcSlot->getNo(), srcPos, srcSlot);
+ transformPosAndSlot(pTarSlot->getPosition(), pTarSlot->getNo(), tarPos, tarSlot);
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());
+ taskSeqNo = pTask->setRobotTransferParam(taskSeqNo, armNo, srcPos,
+ tarPos, srcSlot, tarSlot);
}
@@ -1170,11 +1209,14 @@
pSrcSlot = pSrcEq->getProcessedSlot(MaterialsType::G1);
if (pSrcSlot != nullptr && nullptr != pTarSlot) {
+ int srcPos, srcSlot, tarPos, tarSlot;
+ transformPosAndSlot(pSrcSlot->getPosition(), pSrcSlot->getNo(), srcPos, srcSlot);
+ transformPosAndSlot(pTarSlot->getPosition(), pTarSlot->getNo(), tarPos, tarSlot);
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());
+ taskSeqNo = pTask->setRobotTransferParam(taskSeqNo, 1, srcPos,
+ tarPos, srcSlot, tarSlot);
}
@@ -1192,11 +1234,14 @@
pSrcSlot = pSrcEq->getProcessedSlot2(MaterialsType::G1, slotsSrc);
if (pSrcSlot != nullptr && nullptr != pTarSlot) {
+ int srcPos, srcSlot, tarPos, tarSlot;
+ transformPosAndSlot(pSrcSlot->getPosition(), pSrcSlot->getNo(), srcPos, srcSlot);
+ transformPosAndSlot(pTarSlot->getPosition(), pTarSlot->getNo(), tarPos, tarSlot);
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());
+ taskSeqNo = pTask->setRobotTransferParam(taskSeqNo, 1, srcPos,
+ tarPos, srcSlot, tarSlot);
}
@@ -1213,15 +1258,68 @@
pSrcSlot = pSrcEq->getProcessedSlot2(MaterialsType::G1, slots);
if (pSrcSlot != nullptr && nullptr != pTarSlot) {
+ int srcPos, srcSlot, tarPos, tarSlot;
+ transformPosAndSlot(pSrcSlot->getPosition(), pSrcSlot->getNo(), srcPos, srcSlot);
+ transformPosAndSlot(pTarSlot->getPosition(), pTarSlot->getNo(), tarPos, tarSlot);
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());
+ taskSeqNo = pTask->setRobotTransferParam(taskSeqNo, 1, srcPos,
+ tarPos, srcSlot, tarSlot);
}
return pTask;
+ }
+
+ void CMaster::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:
+ 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;
+ tarSlot = 1;
+ }
+ break;
+ case EQ_ID_Bonder2:
+ if (1 <= srcSlot && srcSlot <= 2) {
+ tarPos = 11 + srcSlot;
+ tarSlot = 1;
+ }
+ break;
+ case EQ_ID_VACUUMBAKE:
+ if (1 <= srcSlot && srcSlot <= 2) {
+ tarPos = 13 + srcSlot;
+ tarSlot = 1;
+ }
+ break;
+ case EQ_ID_BAKE_COOLING:
+ if (1 <= srcSlot && srcSlot <= 4) {
+ tarPos = 15 + srcSlot;
+ tarSlot = 1;
+ }
+ break;
+ case EQ_ID_MEASUREMENT:
+ tarPos = 19;
+ tarSlot = 1;
+ break;
+ default:
+ tarPos = srcPos;
+ tarSlot = srcSlot;
+ break;
+ }
}
int CMaster::abortCurrentTask()
@@ -1248,4 +1346,18 @@
return 0;
}
+
+ void CMaster::setPortType(unsigned int index, BOOL enable, int type, int mode,
+ int cassetteType, int transferMode, BOOL autoChangeEnable)
+ {
+ ASSERT(index < 4);
+ int eqid[] = { EQ_ID_LOADPORT1, EQ_ID_LOADPORT2, EQ_ID_LOADPORT3, EQ_ID_LOADPORT4};
+ CLoadPort* pPort = (CLoadPort*)getEquipment(eqid[index]);
+ pPort->localEanblePort(enable);
+ pPort->localSetPortType((SERVO::PortType)type);
+ pPort->localSetPortMode((SERVO::PortMode)mode);
+ pPort->localSetCessetteType((SERVO::CassetteType)cassetteType);
+ pPort->localSetTransferMode((SERVO::TransferMode)transferMode);
+ pPort->localAutoChangeEnable(autoChangeEnable);
+ }
}
diff --git a/SourceCode/Bond/Servo/CMaster.h b/SourceCode/Bond/Servo/CMaster.h
index 8a879dd..6d2e380 100644
--- a/SourceCode/Bond/Servo/CMaster.h
+++ b/SourceCode/Bond/Servo/CMaster.h
@@ -64,6 +64,8 @@
CEquipment* getEquipment(int id);
void setCacheFilepath(const char* pszFilepath);
int abortCurrentTask();
+ void setPortType(unsigned int index, BOOL enable, int type, int mode,
+ int cassetteType, int transferMode, BOOL autoChangeEnable);
private:
inline void lock() { EnterCriticalSection(&m_criticalSection); }
@@ -86,10 +88,12 @@
void serialize(CArchive& ar);
void setState(MASTERSTATE state);
CRobotTask* createTransferTask(CEquipment* pSrcEq, CEquipment* pTarEq,
- MaterialsType primaryType = MaterialsType::G1, MaterialsType secondaryType = MaterialsType::G2);
+ MaterialsType primaryType = MaterialsType::G1, MaterialsType secondaryType = MaterialsType::G2,
+ int armNo = 1);
CRobotTask* createTransferTask_bonder_to_bakecooling(CEquipment* pSrcEq, CEquipment* pTarEq);
CRobotTask* createTransferTask_bake_to_cooling(CEquipment* pSrcEq);
CRobotTask* createTransferTask_bakecooling_to_measurement(CEquipment* pSrcEq, CEquipment* pTarEq);
+ void transformPosAndSlot(int srcPos, int srcSlot, int& tarPos, int& tarSlot);
private:
CRITICAL_SECTION m_criticalSection;
diff --git a/SourceCode/Bond/Servo/CPagePortProperty.cpp b/SourceCode/Bond/Servo/CPagePortProperty.cpp
index 2cdc999..92fc3a2 100644
--- a/SourceCode/Bond/Servo/CPagePortProperty.cpp
+++ b/SourceCode/Bond/Servo/CPagePortProperty.cpp
@@ -57,7 +57,7 @@
CComboBox* pComboBox;
std::string strTemp;
-
+ ((CButton*)GetDlgItem(IDC_CHECK_ENABLE))->SetCheck(m_pPort->isEnable() ? BST_CHECKED : BST_UNCHECKED);
pComboBox = (CComboBox*)GetDlgItem(IDC_COMBO_PORT_TYPE);
for (int i = 1; i <= 7; i++) {
pComboBox->InsertString(i - 1, SERVO::CLoadPort::getPortTypeDescription((SERVO::PortType)i, strTemp).c_str());
diff --git a/SourceCode/Bond/Servo/CRobotTask.cpp b/SourceCode/Bond/Servo/CRobotTask.cpp
index dc1b82e..4ac89d3 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 +104,47 @@
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);
+
+ m_robotCmdParam[ACTION_PICK] = {};
+ m_robotCmdParam[ACTION_PICK].sequenceNo = static_cast<short>(seq+2);
+ 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_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_RESTORE] = {};
+ m_robotCmdParam[ACTION_RESTORE].sequenceNo = static_cast<short>(seq + 1);
+ 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);
+
+ return seq + 1;
}
- 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 +167,30 @@
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::isPlacing()
+ {
+ return m_state == ROBOT_TASK_STATE::Placing;
+ }
+
+ bool CRobotTask::isRestoring()
+ {
+ return m_state == ROBOT_TASK_STATE::Restoring;
}
void CRobotTask::run()
@@ -153,17 +200,80 @@
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"));
}
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->robotSendMoveToGet(m_robotCmdParam->sequenceNo,
+ m_robotCmdParam[ACTION_PICK].armNo,
+ m_robotCmdParam[ACTION_PICK].getPosition,
+ m_robotCmdParam[ACTION_PICK].getSlotNo,
+ [&](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::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,
+ [&](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->robotSendMoveToPut(m_robotCmdParam->sequenceNo,
+ m_robotCmdParam[ACTION_RESTORE].armNo,
+ m_robotCmdParam[ACTION_RESTORE].putPosition,
+ m_robotCmdParam[ACTION_RESTORE].putSlotNo,
+ [&](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;
@@ -187,22 +297,22 @@
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 +320,9 @@
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");
diff --git a/SourceCode/Bond/Servo/CRobotTask.h b/SourceCode/Bond/Servo/CRobotTask.h
index 63edbeb..7e83046 100644
--- a/SourceCode/Bond/Servo/CRobotTask.h
+++ b/SourceCode/Bond/Servo/CRobotTask.h
@@ -4,6 +4,11 @@
#include "CEFEM.h"
+#define ACTION_PICK 0 /* 取 */
+#define ACTION_PLACE 1 /* 放 */
+#define ACTION_RESTORE 2 /* 回原点 */
+#define ACTION_TRANSFER 3 /* 搬运 */
+
namespace SERVO {
class CRobotTask
{
@@ -18,14 +23,21 @@
void setContext(CContext* pContext);
CContext* getContext();
void setEFEM(CEFEM* pEFEM);
- void setRobotTransferParam(int seq, int armNo, int fromPos, int toPos, int fromSlot, int toSlot);
- ROBOT_CMD_PARAM& getRobotCmdParam();
+ int setRobotTransferParam(int seq, int armNo, int fromPos, int toPos, int fromSlot, int toSlot);
+ ROBOT_CMD_PARAM& getRobotCmdParam(int index);
time_t getCreateTime();
time_t getFetchoutTime();
time_t getStoredTime();
time_t getFinishTime();
+ int getArmNo();
ROBOT_TASK_STATE getState();
+ bool isPicking();
+ bool isPlacing();
+ bool isRestoring();
void run();
+ void pick();
+ void place();
+ void restore();
void completed();
void error();
void abort();
@@ -51,7 +63,7 @@
time_t m_timeFetchOut; /* 取片时间*/
time_t m_timeStored; /* 放片时间 */
time_t m_timeFinish; /* 结束时间 */
- ROBOT_CMD_PARAM m_robotCmdParam; /* 参数 */
+ ROBOT_CMD_PARAM m_robotCmdParam[4]; /* 参数 */
CContext* m_pContext;
CEFEM* m_pEFEM;
};
diff --git a/SourceCode/Bond/Servo/CRobotTaskDlg.cpp b/SourceCode/Bond/Servo/CRobotTaskDlg.cpp
index cb39af5..ab90d5b 100644
--- a/SourceCode/Bond/Servo/CRobotTaskDlg.cpp
+++ b/SourceCode/Bond/Servo/CRobotTaskDlg.cpp
@@ -58,7 +58,7 @@
CEquipment* pSrcEq = theApp.m_model.getMaster().getEquipment(pRobotTask->getSrcPosition());
CEquipment* pDstEq = theApp.m_model.getMaster().getEquipment(pRobotTask->getTarPosition());
- ROBOT_CMD_PARAM& param = pRobotTask->getRobotCmdParam();
+ ROBOT_CMD_PARAM& param = pRobotTask->getRobotCmdParam(ACTION_TRANSFER);
auto format_time = [](time_t t) -> CString {
if (t == 0) {
diff --git a/SourceCode/Bond/Servo/CVacuumBake.cpp b/SourceCode/Bond/Servo/CVacuumBake.cpp
index ce26ece..b011df5 100644
--- a/SourceCode/Bond/Servo/CVacuumBake.cpp
+++ b/SourceCode/Bond/Servo/CVacuumBake.cpp
@@ -33,9 +33,9 @@
{
// 加入Pin初始化代码
LOGI("<CVacuumBake>initPins");
- addPin(SERVO::PinType::INPUT, _T("In1"));
- addPin(SERVO::PinType::INPUT, _T("In2"));
- addPin(SERVO::PinType::OUTPUT, _T("Out"));
+ addPin(SERVO::PinType::INPUT, _T("In"));
+ addPin(SERVO::PinType::OUTPUT, _T("Out1"));
+ addPin(SERVO::PinType::OUTPUT, _T("Out2"));
}
void CVacuumBake::initSteps()
diff --git a/SourceCode/Bond/Servo/Configuration.cpp b/SourceCode/Bond/Servo/Configuration.cpp
index b8529b6..d24527a 100644
--- a/SourceCode/Bond/Servo/Configuration.cpp
+++ b/SourceCode/Bond/Servo/Configuration.cpp
@@ -103,3 +103,25 @@
std::to_string(second).c_str(), m_strFilepath);
}
+BOOL CConfiguration::getPortParms(unsigned int index, BOOL& bEnable, int& type, int& mode,
+ int& cassetteType, int& transferMode, BOOL& bAutoChangeEnable)
+{
+ if (index >= 4) return FALSE;
+
+ static char* pszSection[] = {"Port1", "Port2", "Port3", "Port4"};
+ bEnable = GetPrivateProfileInt(pszSection[index], _T("Enable"), 0, m_strFilepath) == 1;
+ type = GetPrivateProfileInt(pszSection[index], _T("Type"), 0, m_strFilepath);
+ mode = GetPrivateProfileInt(pszSection[index], _T("Mode"), 0, m_strFilepath);
+ cassetteType = GetPrivateProfileInt(pszSection[index], _T("CassetteType"), 0, m_strFilepath);
+ transferMode = GetPrivateProfileInt(pszSection[index], _T("TransferMode"), 0, m_strFilepath);
+ bAutoChangeEnable = GetPrivateProfileInt(pszSection[index], _T("AutoChangeEnable"), 0, m_strFilepath) == 1;
+
+ // type, mode, cassetteType, transferMode 范围检查
+ type = max(1, min(type, 7));
+ mode = max(0, min(mode, 5));
+ cassetteType = max(1, min(cassetteType, 3));
+ transferMode = max(1, min(transferMode, 3));
+
+ return TRUE;
+}
+
diff --git a/SourceCode/Bond/Servo/Configuration.h b/SourceCode/Bond/Servo/Configuration.h
index 95d00e2..78fde46 100644
--- a/SourceCode/Bond/Servo/Configuration.h
+++ b/SourceCode/Bond/Servo/Configuration.h
@@ -20,6 +20,8 @@
void setLogcatIncludeRegex(BOOL bRegex);
BOOL isLogcatIncludeRegex();
int getCustomLogcatIncludeTexts(std::vector<std::string>& texts);
+ BOOL getPortParms(unsigned int index, BOOL& bEnable, int& type, int& mode,
+ int& cassetteType, int& transferMode, BOOL& bAutoChangeEnable);
public:
void setP2RemoteEqReconnectInterval(int second);
diff --git a/SourceCode/Bond/Servo/Model.cpp b/SourceCode/Bond/Servo/Model.cpp
index e39f62d..04cf046 100644
--- a/SourceCode/Bond/Servo/Model.cpp
+++ b/SourceCode/Bond/Servo/Model.cpp
@@ -40,6 +40,18 @@
m_strWorkDir = pszWorkDir;
}
+void CModel::loadPortParams()
+{
+ BOOL portEnable, autoChangeEnable;
+ int portType, portMode, cassetteType, transferMode;
+ for (int i = 0; i < 4; i++) {
+ m_configuration.getPortParms(i, portEnable, portType, portMode,
+ cassetteType, transferMode, autoChangeEnable);
+ m_master.setPortType(i, portEnable, portType, portMode, cassetteType,
+ transferMode, autoChangeEnable);
+ }
+}
+
int CModel::init()
{
CString strIniFile;
@@ -188,7 +200,6 @@
break;
case ROBOT_EVENT_FINISH:
LOGI("<CModel>onRobotTaskEvent: 任务完成(%s, ClassID=%s).", strDesc.c_str(), strClassID.c_str());
- pTask->completed();
break;
case ROBOT_EVENT_ERROR:
LOGE("<CModel>onRobotTaskEvent: 任务错误(%s, ClassID=%s).", strDesc.c_str(), strClassID.c_str());
diff --git a/SourceCode/Bond/Servo/Model.h b/SourceCode/Bond/Servo/Model.h
index a9e5369..d2c4e0c 100644
--- a/SourceCode/Bond/Servo/Model.h
+++ b/SourceCode/Bond/Servo/Model.h
@@ -14,6 +14,7 @@
IObservable* getObservable();
SERVO::CMaster& getMaster();
void setWorkDir(const char* pszWorkDir);
+ void loadPortParams();
int init();
int term();
diff --git a/SourceCode/Bond/Servo/ServoCommo.h b/SourceCode/Bond/Servo/ServoCommo.h
index e80ba90..6e70ac3 100644
--- a/SourceCode/Bond/Servo/ServoCommo.h
+++ b/SourceCode/Bond/Servo/ServoCommo.h
@@ -110,6 +110,9 @@
enum class ROBOT_TASK_STATE {
Ready = 0,
Running,
+ Picking,
+ Placing,
+ Restoring,
Error,
Abort,
Completed
diff --git a/SourceCode/Bond/Servo/ServoDlg.cpp b/SourceCode/Bond/Servo/ServoDlg.cpp
index b8c863c..5fd7af6 100644
--- a/SourceCode/Bond/Servo/ServoDlg.cpp
+++ b/SourceCode/Bond/Servo/ServoDlg.cpp
@@ -349,6 +349,7 @@
// 相当于延时调用master的初始化
theApp.m_model.m_master.init();
+ theApp.m_model.loadPortParams();
// 初始化master以后需要控件绑定数据
diff --git a/SourceCode/Bond/x64/Debug/EqsGraph.ini b/SourceCode/Bond/x64/Debug/EqsGraph.ini
index 3860bf9..3cafc72 100644
--- a/SourceCode/Bond/x64/Debug/EqsGraph.ini
+++ b/SourceCode/Bond/x64/Debug/EqsGraph.ini
@@ -23,8 +23,8 @@
Left=279
Top=297
[Aligner]
-Left=446
-Top=363
+Left=210
+Top=317
[VacuumBake]
Left=279
Top=437
@@ -41,11 +41,11 @@
Left=467
Top=167
[Fliper(G2)]
-Left=238
-Top=251
+Left=413
+Top=285
[VacuumBake(G1)]
-Left=238
-Top=386
+Left=413
+Top=437
[Measurement]
Left=1041
Top=363
--
Gitblit v1.9.3