From 963e6bffaaf6a62a1f764c6633cf6accbb1608c9 Mon Sep 17 00:00:00 2001
From: LAPTOP-SNT8I5JK\Boounion <Chenluhua@qq.com>
Date: 星期二, 17 六月 2025 08:54:35 +0800
Subject: [PATCH] 1.两片玻璃贴合后一起搬运的逻辑问题再优化，同时修改Slot信息，贴合后的玻璃应该放置在同一Slot.
---
SourceCode/Bond/Servo/CArm.cpp | 18 ---
SourceCode/Bond/Servo/CGlass.cpp | 15 ++
SourceCode/Bond/Servo/CGlass.h | 1
SourceCode/Bond/Servo/CRobotTask.cpp | 67 ++++++++++++-
SourceCode/Bond/Servo/CMaster.h | 1
SourceCode/Bond/Servo/CMeasurement.cpp | 4
SourceCode/Bond/Servo/CRobotTask.h | 1
SourceCode/Bond/Servo/CEquipment.cpp | 43 +++++---
SourceCode/Bond/Servo/CArmTray.cpp | 4
SourceCode/Bond/Servo/CEFEM.cpp | 4
SourceCode/Bond/Servo/CMaster.cpp | 86 ++--------------
SourceCode/Bond/Servo/CBonder.h | 1
SourceCode/Bond/Servo/CBonder.cpp | 24 ++--
13 files changed, 131 insertions(+), 138 deletions(-)
diff --git a/SourceCode/Bond/Servo/CArm.cpp b/SourceCode/Bond/Servo/CArm.cpp
index cf6320e..7ca9be1 100644
--- a/SourceCode/Bond/Servo/CArm.cpp
+++ b/SourceCode/Bond/Servo/CArm.cpp
@@ -41,10 +41,6 @@
m_slot[0].setPosition(m_nID);
m_slot[0].setNo(1);
m_slot[0].setName("Slot 1(Temp)");
- m_slot[1].enable();
- m_slot[1].setPosition(m_nID);
- m_slot[1].setNo(2);
- m_slot[1].setName("Slot 2(Temp)");
}
void CArm::onTimer(UINT nTimerid)
@@ -70,22 +66,14 @@
int CArm::tempStore(CGlass* pGlass)
{
// 原：保证列表中只存储一个物料
- // 修改为：先清空之前的，再添加当前pGlass, 如果pGlass有buddy，也要加入列表中
+ // 修改为：先清空之前的，再添加当前pGlass
Lock();
CGlass* pPreviousGlass;
pPreviousGlass = (CGlass*)m_slot[0].getContext();
if (pPreviousGlass != nullptr) {
pPreviousGlass->release();
}
- pPreviousGlass = (CGlass*)m_slot[1].getContext();
- if (pPreviousGlass != nullptr) {
- pPreviousGlass->release();
- }
-
m_slot[0].setContext(pGlass);
- if (pGlass->getBuddy() != nullptr) {
- m_slot[1].setContext(pGlass->getBuddy());
- }
Unlock();
if (m_listener.onDataChanged != nullptr) {
@@ -106,10 +94,6 @@
pGlass = pPreviousGlass;
pGlass->addRef();
m_slot[0].setContext(nullptr);
- CGlass* pBuddy = pGlass->getBuddy();
- if (pBuddy != nullptr) {
- m_slot[1].setContext(nullptr);
- }
Unlock();
if (m_listener.onDataChanged != nullptr) {
diff --git a/SourceCode/Bond/Servo/CArmTray.cpp b/SourceCode/Bond/Servo/CArmTray.cpp
index 0a043b6..6e74681 100644
--- a/SourceCode/Bond/Servo/CArmTray.cpp
+++ b/SourceCode/Bond/Servo/CArmTray.cpp
@@ -41,10 +41,6 @@
m_slot[0].setPosition(m_nID);
m_slot[0].setNo(1);
m_slot[0].setName("Slot 1");
- m_slot[1].enable();
- m_slot[1].setPosition(m_nID);
- m_slot[1].setNo(2);
- m_slot[1].setName("Slot 2");
}
void CArmTray::onTimer(UINT nTimerid)
diff --git a/SourceCode/Bond/Servo/CBonder.cpp b/SourceCode/Bond/Servo/CBonder.cpp
index db7cf76..cbeabd5 100644
--- a/SourceCode/Bond/Servo/CBonder.cpp
+++ b/SourceCode/Bond/Servo/CBonder.cpp
@@ -416,6 +416,14 @@
return m_nIndex;
}
+ BOOL CBonder::hasBondClass()
+ {
+ CGlass* pGlass = (CGlass*)m_slot[1].getContext();
+ if (pGlass == nullptr) return FALSE;
+ CGlass* pBuddy = pGlass->getBuddy();
+ return pBuddy != nullptr;
+ }
+
int CBonder::onProcessData(CProcessData* pProcessData)
{
CEquipment::onProcessData(pProcessData);
@@ -423,33 +431,27 @@
// 检查数据，当前两片玻璃，一片为G1, 一片为G2, 且pProcessData中的id能匹配G1或G2
Lock();
- CGlass* pGlass1 = getGlassFromSlot(1);
- CGlass* pGlass2 = getGlassFromSlot(2);
+ CGlass* pGlass2 = getGlassFromSlot(1);
+ CGlass* pGlass1 = getGlassFromSlot(2);
if (pGlass1 == nullptr || pGlass2 == nullptr) {
LOGE("<CBonder-%s>onProcessData,错误!不满足两片玻璃且分别为G1与G2的条件，请检查数据是否正确!", m_strName.c_str());
Unlock();
return -1;
}
- if (pGlass1->getBuddy() != nullptr || pGlass2->getBuddy() != nullptr) {
+ if (pGlass1->getBuddy() != nullptr) {
LOGE("<CBonder-%s>onProcessData,错误!玻璃较早前已被绑定，请检查数据是否正确!", m_strName.c_str());
Unlock();
return -1;
}
- if (pGlass1->getBuddy() != nullptr || pGlass2->getBuddy() != nullptr) {
- LOGE("<CBonder-%s>onProcessData,错误!玻璃较早前已被贴合，请检查数据是否正确!", m_strName.c_str());
- Unlock();
- return -1;
- }
-
- if (pGlass1->getType() == pGlass2->getType()) {
+ if (pGlass1->getType() != MaterialsType::G1 || pGlass2->getType() != MaterialsType::G2) {
LOGE("<CBonder-%s>onProcessData,错误!两片玻璃未匹配，必须分别为G1和G2类型，请检查数据是否正确!", m_strName.c_str());
Unlock();
return -1;
}
pGlass1->setBuddy(pGlass2);
- pGlass2->setBuddy(pGlass1);
+ getSlot(0)->setContext(nullptr);
LOGE("<CBonder-%s>onProcessData,%s和%s已贴合!", m_strName.c_str(),
pGlass1->getID().c_str(), pGlass2->getID().c_str());
Unlock();
diff --git a/SourceCode/Bond/Servo/CBonder.h b/SourceCode/Bond/Servo/CBonder.h
index 28f557f..7771c57 100644
--- a/SourceCode/Bond/Servo/CBonder.h
+++ b/SourceCode/Bond/Servo/CBonder.h
@@ -27,6 +27,7 @@
public:
void setIndex(unsigned int index);
unsigned int getIndex();
+ BOOL hasBondClass();
private:
unsigned int m_nIndex;
diff --git a/SourceCode/Bond/Servo/CEFEM.cpp b/SourceCode/Bond/Servo/CEFEM.cpp
index 3474d3e..ff4581d 100644
--- a/SourceCode/Bond/Servo/CEFEM.cpp
+++ b/SourceCode/Bond/Servo/CEFEM.cpp
@@ -22,6 +22,10 @@
m_pPort[3] = nullptr;
m_pAligner = nullptr;
m_pFliper = nullptr;
+ m_robotData.status = ROBOT_STATUS::Idle;
+ m_robotData.position = ROBOT_POSITION::Port1;
+ m_robotData.armState[0] = FALSE;
+ m_robotData.armState[1] = FALSE;
}
CEFEM::~CEFEM()
diff --git a/SourceCode/Bond/Servo/CEquipment.cpp b/SourceCode/Bond/Servo/CEquipment.cpp
index db4ab5a..cdc0d73 100644
--- a/SourceCode/Bond/Servo/CEquipment.cpp
+++ b/SourceCode/Bond/Servo/CEquipment.cpp
@@ -255,13 +255,21 @@
if (!m_slot[i].isEnable()) continue;
CGlass* pGlass = (CGlass*)m_slot[i].getContext();
+ CGlass* pBuddy = nullptr;
if (pGlass == nullptr) {
attrubutes.addAttribute(new CAttribute(m_slot[i].getName().c_str(),
"", "", weight++));
}
else {
- attrubutes.addAttribute(new CAttribute(m_slot[i].getName().c_str(),
- pGlass->getID().c_str(), "", weight++));
+ pBuddy = pGlass->getBuddy();
+ if (pBuddy == nullptr) {
+ attrubutes.addAttribute(new CAttribute(m_slot[i].getName().c_str(),
+ pGlass->getID().c_str(), "", weight++));
+ }
+ else {
+ attrubutes.addAttribute(new CAttribute(m_slot[i].getName().c_str(),
+ (pGlass->getID() + " -> " + pBuddy->getID()).c_str(), "", weight++));
+ }
}
}
@@ -317,8 +325,13 @@
Lock();
for (int i = 0; i < SLOT_MAX; i++) {
m_slot[i].serialize(ar);
- if (m_slot[i].getContext() != nullptr) {
- ((CGlass*)m_slot[i].getContext())->serialize(ar);
+ CGlass* pGlass = (CGlass *)m_slot[i].getContext();
+ if (pGlass != nullptr) {
+ pGlass->serialize(ar);
+ CGlass* pBuddy = pGlass->getBuddy();
+ if (pBuddy != nullptr) {
+ pBuddy->serialize(ar);
+ }
}
}
Unlock();
@@ -330,10 +343,16 @@
CGlass* pGlass = theApp.m_model.m_glassPool.allocaGlass();
pGlass->serialize(ar);
m_slot[i].setContext(pGlass);
+ if (pGlass->getBuddy() != nullptr) {
+ CGlass* pBuddy = theApp.m_model.m_glassPool.allocaGlass();
+ pBuddy->serialize(ar);
+ pGlass->forceSetBuddy(pBuddy);
+ }
}
}
// 梳理各玻璃之间的绑定关系
+ /*
Lock();
for (int i = 0; i < SLOT_MAX; i++) {
CGlass* pGlass = (CGlass*)m_slot[i].getContext();
@@ -351,6 +370,7 @@
}
}
Unlock();
+ */
}
}
@@ -766,18 +786,6 @@
return -3;
}
- // 如果此玻璃已经贴合，贴合的玻璃也要从列表中移除
- CGlass* pBuddy = pContext->getBuddy();
- if (pBuddy != nullptr) {
- for (int i = 0; i < SLOT_MAX; i++) {
- CGlass* pGlass = (CGlass*)m_slot[i].getContext();
- if (pGlass != nullptr && compareJobDataB(pBuddy->getJobDataB(), pGlass->getJobDataB())) {
- m_slot[i].setContext(nullptr);
- break;
- }
- }
- }
-
((CArm*)m_pArm)->tempStore(pContext);
pContext->release();
@@ -811,6 +819,7 @@
// 如果此玻璃已经贴合，贴合的玻璃也要从加入到列表中
+ /*
CGlass* pBuddy = pGlass->getBuddy();
if (pBuddy != nullptr) {
Lock();
@@ -823,7 +832,7 @@
}
Unlock();
}
-
+ */
if (m_listener.onDataChanged != nullptr) {
m_listener.onDataChanged(this, EDCC_STORED_JOB);
diff --git a/SourceCode/Bond/Servo/CGlass.cpp b/SourceCode/Bond/Servo/CGlass.cpp
index e975351..dc47c5e 100644
--- a/SourceCode/Bond/Servo/CGlass.cpp
+++ b/SourceCode/Bond/Servo/CGlass.cpp
@@ -135,7 +135,7 @@
m_jobDataB.unserialize(temp, JOBDATAB_SIZE);
ar.Read(temp, JOBDATAS_SIZE);
m_jobDataS.unserialize(temp, JOBDATAS_SIZE);
- ar >> ullPath; // 这是m_pBuddy, 用不上
+ ar >> ullPath; m_pBuddy = (CGlass*)ullPath;
ReadString(ar, m_strBuddyId);
Unlock();
}
@@ -166,9 +166,16 @@
if (m_pBuddy != nullptr) return FALSE;
if (pGlass->getType() == this->getType()) return FALSE;
m_pBuddy = pGlass;
- if (m_type == MaterialsType::G1) {
- m_pBuddy->addRef();
- }
+ m_pBuddy->addRef();
+ m_strBuddyId = m_pBuddy->getID();
+
+ return TRUE;
+ }
+
+ BOOL CGlass::forceSetBuddy(CGlass* pGlass)
+ {
+ m_pBuddy = pGlass;
+ m_pBuddy->addRef();
m_strBuddyId = m_pBuddy->getID();
return TRUE;
diff --git a/SourceCode/Bond/Servo/CGlass.h b/SourceCode/Bond/Servo/CGlass.h
index d2f4197..3374f84 100644
--- a/SourceCode/Bond/Servo/CGlass.h
+++ b/SourceCode/Bond/Servo/CGlass.h
@@ -33,6 +33,7 @@
void setJobDataS(CJobDataS* pJobDataS);
CJobDataS* getJobDataS();
BOOL setBuddy(CGlass* pGlass);
+ BOOL forceSetBuddy(CGlass* pGlass);
CGlass* getBuddy();
std::string& getBuddyId();
void processEnd(unsigned int nEqId, unsigned int nUnit);
diff --git a/SourceCode/Bond/Servo/CMaster.cpp b/SourceCode/Bond/Servo/CMaster.cpp
index 79da60d..18d615c 100644
--- a/SourceCode/Bond/Servo/CMaster.cpp
+++ b/SourceCode/Bond/Servo/CMaster.cpp
@@ -477,7 +477,7 @@
// Fliper(G2) -> Bonder
// VacuumBake(G1) -> Bonder
- if (!rmd.armState[1]) {
+ if (!rmd.armState[1] && !pBonder1->hasBondClass()) {
m_pActiveRobotTask = createTransferTask(pFliper, pBonder1, primaryType, secondaryType, 2);
if (m_pActiveRobotTask != nullptr) {
m_pActiveRobotTask->pick();
@@ -491,7 +491,7 @@
}
}
- if (!rmd.armState[1]) {
+ if (!rmd.armState[1] && !pBonder2->hasBondClass()) {
m_pActiveRobotTask = createTransferTask(pFliper, pBonder2, primaryType, secondaryType, 2);
if (m_pActiveRobotTask != nullptr) {
m_pActiveRobotTask->pick();
@@ -505,7 +505,7 @@
}
}
- if (!rmd.armState[0]) {
+ if (!rmd.armState[0] && !pBonder1->hasBondClass()) {
m_pActiveRobotTask = createTransferTask(pVacuumBake, pBonder1, primaryType, secondaryType);
if (m_pActiveRobotTask != nullptr) {
m_pActiveRobotTask->pick();
@@ -519,7 +519,7 @@
}
}
- if (!rmd.armState[0]) {
+ if (!rmd.armState[0] && !pBonder2->hasBondClass()) {
m_pActiveRobotTask = createTransferTask(pVacuumBake, pBonder2, primaryType, secondaryType);
if (m_pActiveRobotTask != nullptr) {
m_pActiveRobotTask->pick();
@@ -1204,14 +1204,11 @@
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));
- taskSeqNo = pTask->setRobotTransferParam(taskSeqNo, armNo, srcPos,
- tarPos, srcSlot, tarSlot);
+ taskSeqNo = pTask->setRobotTransferParam(taskSeqNo, armNo, pSrcSlot->getPosition(),
+ pTarSlot->getPosition(), pSrcSlot->getNo(), pTarSlot->getNo());
}
@@ -1228,14 +1225,11 @@
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));
- taskSeqNo = pTask->setRobotTransferParam(taskSeqNo, 1, srcPos,
- tarPos, srcSlot, tarSlot);
+ taskSeqNo = pTask->setRobotTransferParam(taskSeqNo, 1, pSrcSlot->getPosition(),
+ pTarSlot->getPosition(), pSrcSlot->getNo(), pTarSlot->getNo());
}
@@ -1253,14 +1247,11 @@
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));
- taskSeqNo = pTask->setRobotTransferParam(taskSeqNo, 1, srcPos,
- tarPos, srcSlot, tarSlot);
+ taskSeqNo = pTask->setRobotTransferParam(taskSeqNo, 1, pSrcSlot->getPosition(),
+ pTarSlot->getPosition(), pSrcSlot->getNo(), pTarSlot->getNo());
}
@@ -1277,68 +1268,15 @@
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));
- taskSeqNo = pTask->setRobotTransferParam(taskSeqNo, 1, srcPos,
- tarPos, srcSlot, tarSlot);
+ taskSeqNo = pTask->setRobotTransferParam(taskSeqNo, 1, pSrcSlot->getPosition(),
+ pTarSlot->getPosition(), pSrcSlot->getNo(), pTarSlot->getNo());
}
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()
diff --git a/SourceCode/Bond/Servo/CMaster.h b/SourceCode/Bond/Servo/CMaster.h
index 6d2e380..2f8577d 100644
--- a/SourceCode/Bond/Servo/CMaster.h
+++ b/SourceCode/Bond/Servo/CMaster.h
@@ -93,7 +93,6 @@
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/CMeasurement.cpp b/SourceCode/Bond/Servo/CMeasurement.cpp
index 3531b18..4821891 100644
--- a/SourceCode/Bond/Servo/CMeasurement.cpp
+++ b/SourceCode/Bond/Servo/CMeasurement.cpp
@@ -45,10 +45,6 @@
m_slot[0].setPosition(m_nID);
m_slot[0].setNo(1);
m_slot[0].setName("Slot 1");
- m_slot[1].enable();
- m_slot[1].setPosition(m_nID);
- m_slot[1].setNo(2);
- m_slot[1].setName("Slot 2");
}
void CMeasurement::onTimer(UINT nTimerid)
diff --git a/SourceCode/Bond/Servo/CRobotTask.cpp b/SourceCode/Bond/Servo/CRobotTask.cpp
index 4ac89d3..ed82d43 100644
--- a/SourceCode/Bond/Servo/CRobotTask.cpp
+++ b/SourceCode/Bond/Servo/CRobotTask.cpp
@@ -117,26 +117,31 @@
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].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].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;
}
@@ -339,4 +344,54 @@
{
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:
+ 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;
+ }
+ }
}
diff --git a/SourceCode/Bond/Servo/CRobotTask.h b/SourceCode/Bond/Servo/CRobotTask.h
index 7e83046..990e106 100644
--- a/SourceCode/Bond/Servo/CRobotTask.h
+++ b/SourceCode/Bond/Servo/CRobotTask.h
@@ -55,6 +55,7 @@
private:
static std::string& generateId(std::string& out);
+ void transformPosAndSlot(int srcPos, int srcSlot, int& tarPos, int& tarSlot);
private:
ROBOT_TASK_STATE m_state; /* 任务状态 */
--
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