From 6b6297c6fc0aa5c059d35732c7ee22ebca93967f Mon Sep 17 00:00:00 2001
From: chenluhua1980 <Chenluhua@qq.com>
Date: 星期三, 14 一月 2026 15:43:40 +0800
Subject: [PATCH] 1.修复以下问题： ProceedWithCarrier 直接发 CCC_PROCESS_START：CModel::onCarrierAction 在 CompareMapsBeforeProceeding 关闭时，收到 ProceedWithCarrier 就调用 master.proceedWithCarrier（仅发送 Cassette Process Start，不校验 PJ/CJ 是否存在、SlotMap 是否验通过）。若 Host 流程异常（未下 PJ/CJ）或本地尚未准备好，会把设备推进加工态但无作业可跑。
---
SourceCode/Bond/Servo/ServoCommo.h | 30 ++++++++++++++++++++++++++++++
1 files changed, 30 insertions(+), 0 deletions(-)
diff --git a/SourceCode/Bond/Servo/ServoCommo.h b/SourceCode/Bond/Servo/ServoCommo.h
index 09ca1d0..8c4c7ea 100644
--- a/SourceCode/Bond/Servo/ServoCommo.h
+++ b/SourceCode/Bond/Servo/ServoCommo.h
@@ -19,6 +19,19 @@
} \
}
+#define CHECK_RUN_ACTIVE_ROBOT_TASK(art) { \
+ if (art != nullptr) { \
+ art->pick(); \
+ std::string strDescription = art->getDescription(); \
+ unlock(); \
+ if (m_listener.onRobotTaskEvent != nullptr) { \
+ m_listener.onRobotTaskEvent(this, art, ROBOT_EVENT_CREATE); \
+ } \
+ LOGI("创建新任务<%s>...", strDescription.c_str()); \
+ continue; \
+ } \
+}
+
namespace SERVO {
#define BLOCK_BUFFER_MAX 1024
#define ALIVE_TIMEOUT 15
@@ -60,6 +73,7 @@
};
enum class MaterialsType {
+ G0 = 0,
G1 = 1,
G2 = 2,
G1G2 = 3
@@ -209,5 +223,21 @@
/* EQ Data changed code */
#define EDCC_FETCHOUT_JOB 1000 /* 取片 */
#define EDCC_STORED_JOB 1001 /* 放片 */
+
+
+ /* Cassette Ctrl CMD */
+#define CCC_MAP_DOWNLOAD 1
+#define CCC_CLAMP 2
+#define CCC_UNCLAMP 3
+#define CCC_RECLAMP 4
+#define CCC_PROCESS_START 5
+#define CCC_PROCESS_START_BY_COUNT 6
+#define CCC_PROCESS_PAUSE 7
+#define CCC_PROCESS_RESUME 8
+#define CCC_PROCESS_ABORT 9
+#define CCC_PROCESS_CANCEL 10
+#define CCC_PROCESS_END 11
+#define CCC_ID_UPDATE 12
+#define CCC_MAP_UPDATE 13
}
--
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