From 58c44e7934c94f4a2327252fc017c19b9f802491 Mon Sep 17 00:00:00 2001
From: LAPTOP-SNT8I5JK\Boounion <Chenluhua@qq.com>
Date: 星期五, 06 六月 2025 10:40:02 +0800
Subject: [PATCH] 1.绑定关系的保存和还原； 2.BakeCooling内部搬运检测逻辑(Bake->Cooling)；
---
SourceCode/Bond/Servo/CPageGraph2.cpp | 10 +++++
SourceCode/Bond/Servo/CEquipment.cpp | 47 ++++++++++++++++++-----
SourceCode/Bond/Servo/CMaster.cpp | 51 ++++++++++++++++++++-----
SourceCode/Bond/Servo/CMaster.h | 4 +-
SourceCode/Bond/Servo/CEquipment.h | 1
5 files changed, 91 insertions(+), 22 deletions(-)
diff --git a/SourceCode/Bond/Servo/CEquipment.cpp b/SourceCode/Bond/Servo/CEquipment.cpp
index ff6f293..0aa06b1 100644
--- a/SourceCode/Bond/Servo/CEquipment.cpp
+++ b/SourceCode/Bond/Servo/CEquipment.cpp
@@ -335,22 +335,23 @@
}
// 梳理各玻璃之间的绑定关系
- /*
Lock();
- std::list<CGlass*> list = m_glassList;
- for (auto item : list) {
- std::string& strBuddyId = item->getBuddyId();
- if (!strBuddyId.empty()) {
- for (auto item2 : m_glassList) {
- if (strBuddyId.compare(item2->getID()) == 0) {
- item->setBuddy(item2);
- TRACE("绑定关系: %s <- %s\n", item->getID().c_str(), item2->getID().c_str());
+ for (int i = 0; i < SLOT_MAX; i++) {
+ CGlass* pGlass = (CGlass*)m_slot[i].getContext();
+ if (pGlass != nullptr) {
+ std::string& strBuddyId = pGlass->getBuddyId();
+ if (!strBuddyId.empty()) {
+ for (int j = 0; j < SLOT_MAX; j++) {
+ CGlass* pBudy = (CGlass*)m_slot[j].getContext();
+ if (pBudy != nullptr && strBuddyId.compare(pBudy->getID()) == 0) {
+ pGlass->setBuddy(pBudy);
+ TRACE("绑定关系: %s <- %s\n", pGlass->getID().c_str(), pBudy->getID().c_str());
+ }
}
}
}
}
Unlock();
- */
}
}
@@ -1163,6 +1164,32 @@
return nullptr;
}
+ CSlot* CEquipment::getProcessedSlot2(MaterialsType putSlotType, const std::vector<int>& candidates)
+ {
+ for (auto item : candidates) {
+ for (int i = 0; i < SLOT_MAX; i++) {
+ if (item == i + 1) {
+ if (!m_slot[i].isEnable()) continue;
+ if (m_slot[i].isLock()) continue;
+ CGlass* pGlass = (CGlass*)m_slot[i].getContext();
+ if (pGlass == nullptr) continue;
+ if (!m_bLinkSignal[0][SIGNAL_UPSTREAM_INLINE]
+ || m_bLinkSignal[0][SIGNAL_UPSTREAM_TROUBLE]
+ || !m_bLinkSignal[0][SIGNAL_INTERLOCK]
+ || !m_bLinkSignal[0][SIGNAL_SEND_ABLE]) continue;
+
+ MaterialsType glassType = pGlass->getType();
+ if (glassType == MaterialsType::G1 && putSlotType == MaterialsType::G2) continue;
+ if (glassType == MaterialsType::G2 && putSlotType == MaterialsType::G1) continue;
+
+ return &m_slot[i];
+ }
+ }
+ }
+
+ return nullptr;
+ }
+
CGlass* CEquipment::getGlassFromSlot(int slotNo)
{
CSlot* pSlot = nullptr;
diff --git a/SourceCode/Bond/Servo/CEquipment.h b/SourceCode/Bond/Servo/CEquipment.h
index cb1a615..ac4b84c 100644
--- a/SourceCode/Bond/Servo/CEquipment.h
+++ b/SourceCode/Bond/Servo/CEquipment.h
@@ -164,6 +164,7 @@
// 获取一个指定物料类型(G1,G2,G1&G2)的且已经加工处理的槽位
CSlot* getProcessedSlot(MaterialsType putSlotType);
+ CSlot* getProcessedSlot2(MaterialsType putSlotType, const std::vector<int>& candidates);
// 获取玻璃物料
CGlass* getGlassFromSlot(int slotNo);
diff --git a/SourceCode/Bond/Servo/CMaster.cpp b/SourceCode/Bond/Servo/CMaster.cpp
index 41b9205..a73e03c 100644
--- a/SourceCode/Bond/Servo/CMaster.cpp
+++ b/SourceCode/Bond/Servo/CMaster.cpp
@@ -367,8 +367,10 @@
}
- // Bonder -> BakeCooling
- m_pActiveRobotTask = createTransferTask_bonder_to_bakecooling(pBonder1, pBakeCooling, primaryType, secondaryType);
+
+ // BakeCooling内部
+ // Bake -> Cooling
+ m_pActiveRobotTask = createTransferTask_bake_to_cooling(pBakeCooling);
if (m_pActiveRobotTask != nullptr) {
std::string strDescription = m_pActiveRobotTask->getDescription();
unlock();
@@ -379,7 +381,20 @@
continue;
}
- m_pActiveRobotTask = createTransferTask_bonder_to_bakecooling(pBonder2, pBakeCooling, primaryType, secondaryType);
+
+ // Bonder -> BakeCooling
+ m_pActiveRobotTask = createTransferTask_bonder_to_bakecooling(pBonder1, pBakeCooling);
+ if (m_pActiveRobotTask != nullptr) {
+ 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_bonder_to_bakecooling(pBonder2, pBakeCooling);
if (m_pActiveRobotTask != nullptr) {
std::string strDescription = m_pActiveRobotTask->getDescription();
unlock();
@@ -525,6 +540,7 @@
break;
}
+ // 读标志位
for (auto item : m_listEquipment) {
if (item->getID() == EQ_ID_Bonder1 ||
item->getID() == EQ_ID_Bonder2) {
@@ -1112,21 +1128,36 @@
return pTask;
}
- CRobotTask* CMaster::createTransferTask_bonder_to_bakecooling(CEquipment* pSrcEq, CEquipment* pTarEq,
- MaterialsType primaryType/* = MaterialsType::G1*/, MaterialsType secondaryType/* = MaterialsType::G2*/)
+ CRobotTask* CMaster::createTransferTask_bonder_to_bakecooling(CEquipment* pSrcEq, CEquipment* pTarEq)
{
std::vector<int> slots = {1, 2};
CRobotTask* pTask = nullptr;
CSlot* pSrcSlot, * pTarSlot;
- pTarSlot = pTarEq->getAvailableSlotForGlass2(primaryType, slots);
- pSrcSlot = pSrcEq->getProcessedSlot(primaryType);
- if (pSrcSlot == nullptr || nullptr == pTarSlot) {
- pTarSlot = pTarEq->getAvailableSlotForGlass(secondaryType);
- pSrcSlot = pSrcEq->getProcessedSlot(secondaryType);
+ pTarSlot = pTarEq->getAvailableSlotForGlass2(MaterialsType::G1, slots);
+ pSrcSlot = pSrcEq->getProcessedSlot(MaterialsType::G1);
+
+ if (pSrcSlot != nullptr && nullptr != pTarSlot) {
+ pTask = new CRobotTask();
+ pTask->setContext(pSrcSlot->getContext());
+ pTask->setRobotTransferParam(++taskSeqNo, 1, pSrcSlot->getPosition(),
+ pTarSlot->getPosition(), pSrcSlot->getNo(), pTarSlot->getNo());
}
+ return pTask;
+ }
+
+ CRobotTask* CMaster::createTransferTask_bake_to_cooling(CEquipment* pSrcEq)
+ {
+ std::vector<int> slotsTar = { 3, 4 };
+ std::vector<int> slotsSrc = { 1, 2 };
+
+ CRobotTask* pTask = nullptr;
+ CSlot* pSrcSlot, * pTarSlot;
+ pTarSlot = pSrcEq->getAvailableSlotForGlass2(MaterialsType::G1, slotsTar);
+ pSrcSlot = pSrcEq->getProcessedSlot2(MaterialsType::G1, slotsSrc);
+
if (pSrcSlot != nullptr && nullptr != pTarSlot) {
pTask = new CRobotTask();
pTask->setContext(pSrcSlot->getContext());
diff --git a/SourceCode/Bond/Servo/CMaster.h b/SourceCode/Bond/Servo/CMaster.h
index 7eeffad..2be2371 100644
--- a/SourceCode/Bond/Servo/CMaster.h
+++ b/SourceCode/Bond/Servo/CMaster.h
@@ -86,8 +86,8 @@
void setState(MASTERSTATE state);
CRobotTask* createTransferTask(CEquipment* pSrcEq, CEquipment* pTarEq,
MaterialsType primaryType = MaterialsType::G1, MaterialsType secondaryType = MaterialsType::G2);
- CRobotTask* createTransferTask_bonder_to_bakecooling(CEquipment* pSrcEq, CEquipment* pTarEq,
- MaterialsType primaryType = MaterialsType::G1, MaterialsType secondaryType = MaterialsType::G2);
+ CRobotTask* createTransferTask_bonder_to_bakecooling(CEquipment* pSrcEq, CEquipment* pTarEq);
+ CRobotTask* createTransferTask_bake_to_cooling(CEquipment* pSrcEq);
private:
CRITICAL_SECTION m_criticalSection;
diff --git a/SourceCode/Bond/Servo/CPageGraph2.cpp b/SourceCode/Bond/Servo/CPageGraph2.cpp
index c929527..b16eae2 100644
--- a/SourceCode/Bond/Servo/CPageGraph2.cpp
+++ b/SourceCode/Bond/Servo/CPageGraph2.cpp
@@ -270,6 +270,16 @@
pEquipment->setLinkSignal(0, SIGNAL_INTERLOCK, TRUE);
pEquipment->setLinkSignal(0, SIGNAL_SEND_ABLE, TRUE);
}
+
+ if (pEquipment != nullptr && (pEquipment->getID() == EQ_ID_Bonder1
+ || pEquipment->getID() == EQ_ID_Bonder2)) {
+ SERVO::CGlass* pGlass = pEquipment->getAnyGlass();
+ if (pGlass != nullptr) {
+ SERVO::CProcessData pd;
+ pd.setGlassId(pGlass->getID().c_str());
+ pEquipment->onProcessData(&pd);
+ }
+ }
}
else if (nCmd == ID_EQSGRAPHITEM_TEST5) {
SERVO::CEquipment* pEquipment = (SERVO::CEquipment*)pItem->pData;
--
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