From 92c468d386d33f5e74916a7afd290e50ce0d5d6f Mon Sep 17 00:00:00 2001
From: LAPTOP-SNT8I5JK\Boounion <Chenluhua@qq.com>
Date: 星期四, 12 六月 2025 11:57:43 +0800
Subject: [PATCH] 1.修改连接图
---
SourceCode/Bond/Servo/CMaster.cpp | 52 ++++++++++++++++++++++++++--------------------------
1 files changed, 26 insertions(+), 26 deletions(-)
diff --git a/SourceCode/Bond/Servo/CMaster.cpp b/SourceCode/Bond/Servo/CMaster.cpp
index 7b24735..661f2de 100644
--- a/SourceCode/Bond/Servo/CMaster.cpp
+++ b/SourceCode/Bond/Servo/CMaster.cpp
@@ -284,6 +284,7 @@
// Bonder1和Bonder2需要的G2就过不来了
// 最基本的实现，可以G2和G2轮流搬送，但最好根据Bonder的需求来决定
MaterialsType primaryType, secondaryType;
+ int armNo = 1; // 默认使用手臂2
// 各种机器
@@ -386,7 +387,7 @@
if (pEqLoadPort[s]->isEnable()
&& pEqLoadPort[s]->getPortType() == PortType::Unloading
&& pEqLoadPort[s]->getPortMode() == PortMode::ReadyToUnload) {
- m_pActiveRobotTask = createTransferTask(pMeasurement, pEqLoadPort[s], primaryType, secondaryType);
+ m_pActiveRobotTask = createTransferTask(pMeasurement, pEqLoadPort[s], primaryType, secondaryType, armNo);
if (m_pActiveRobotTask != nullptr) {
goto PORT_PUT;
}
@@ -461,7 +462,7 @@
}
// Aligner -> Bonder
- m_pActiveRobotTask = createTransferTask(pAligner, pBonder1, primaryType, secondaryType);
+ m_pActiveRobotTask = createTransferTask(pAligner, pBonder1, primaryType, secondaryType, armNo);
if (m_pActiveRobotTask != nullptr) {
m_pActiveRobotTask->run();
std::string strDescription = m_pActiveRobotTask->getDescription();
@@ -473,7 +474,7 @@
continue;
}
- m_pActiveRobotTask = createTransferTask(pAligner, pBonder2, primaryType, secondaryType);
+ m_pActiveRobotTask = createTransferTask(pAligner, pBonder2, primaryType, secondaryType, armNo);
if (m_pActiveRobotTask != nullptr) {
m_pActiveRobotTask->run();
std::string strDescription = m_pActiveRobotTask->getDescription();
@@ -488,7 +489,7 @@
// Fliper(G2) -> Aligner
// VacuumBake(G1) -> Aligner
- m_pActiveRobotTask = createTransferTask(pFliper, pAligner, primaryType, secondaryType);
+ m_pActiveRobotTask = createTransferTask(pFliper, pAligner, primaryType, secondaryType, armNo);
if (m_pActiveRobotTask != nullptr) {
m_pActiveRobotTask->run();
std::string strDescription = m_pActiveRobotTask->getDescription();
@@ -500,7 +501,7 @@
continue;
}
- m_pActiveRobotTask = createTransferTask(pVacuumBack, pAligner, primaryType, secondaryType);
+ m_pActiveRobotTask = createTransferTask(pVacuumBack, pAligner, primaryType, secondaryType, armNo);
if (m_pActiveRobotTask != nullptr) {
m_pActiveRobotTask->run();
std::string strDescription = m_pActiveRobotTask->getDescription();
@@ -520,7 +521,7 @@
if (pEqLoadPort[s]->isEnable()
&& pEqLoadPort[s]->getPortType() == PortType::Loading
&& pEqLoadPort[s]->getPortMode() == PortMode::ReadyToLoad) {
- m_pActiveRobotTask = createTransferTask(pEqLoadPort[s], pEqTar[t], primaryType, secondaryType);
+ m_pActiveRobotTask = createTransferTask(pEqLoadPort[s], pEqTar[t], primaryType, secondaryType, armNo);
if (m_pActiveRobotTask != nullptr) {
goto PORT_GET;
}
@@ -980,42 +981,40 @@
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("Out1")->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("Out1")->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"));
@@ -1128,7 +1127,8 @@
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;
@@ -1144,7 +1144,7 @@
pTask = new CRobotTask();
pTask->setContext(pSrcSlot->getContext());
pTask->setEFEM((CEFEM*)getEquipment(EQ_ID_EFEM));
- pTask->setRobotTransferParam(++taskSeqNo, 1, pSrcSlot->getPosition(),
+ pTask->setRobotTransferParam(++taskSeqNo, armNo, pSrcSlot->getPosition(),
pTarSlot->getPosition(), pSrcSlot->getNo(), pTarSlot->getNo());
}
--
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