From a1bf060d50da3c27b54bcc349e8b53769b39ef89 Mon Sep 17 00:00:00 2001
From: LAPTOP-SNT8I5JK\Boounion <Chenluhua@qq.com>
Date: 星期二, 03 六月 2025 17:31:33 +0800
Subject: [PATCH] 1.增加Aligner --> Bonder1 | Bonder2的搬送检测逻辑； 2.优化搬送逻辑。搬送要分优先考虑的主类型和次要类型。一种情况，如果不分主次，一直搬G1, 等到Bonder1和Bonder2都放了G1, Aligner也放了G1, Bonder1和Bonder2需要的G2就过不来了（在Aligner阻塞了）。另外从生产效率上来说，也应该根据需求，尽快使其中一台Bonder的两片玻璃匹配以使其能尽快开始生产加工。
---
SourceCode/Bond/Servo/CMaster.h | 12 +++++++++++-
1 files changed, 11 insertions(+), 1 deletions(-)
diff --git a/SourceCode/Bond/Servo/CMaster.h b/SourceCode/Bond/Servo/CMaster.h
index be53515..621a773 100644
--- a/SourceCode/Bond/Servo/CMaster.h
+++ b/SourceCode/Bond/Servo/CMaster.h
@@ -12,6 +12,7 @@
#include "CArm.h"
#include "CArmTray.h"
#include "CCLinkIEControl.h"
+#include "CRobotTask.h"
namespace SERVO {
@@ -28,6 +29,7 @@
typedef std::function<void(void* pMaster, CEquipment* pEquipment, int state, int alarmId, int unitId, int level)> ONEQALARM;
typedef std::function<void(void* pMaster, CEquipment* pEquipment, CVcrEventReport* pReport)> ONEQVCREVENTREPORT;
typedef std::function<void(void* pMaster, CEquipment* pEquipment, int code)> ONEQDATACHANGED;
+ typedef std::function<void(void* pMaster, CRobotTask* pTask, int code)> ONROBOTTASKEVENT;
typedef struct _MasterListener
{
ONMASTERSTATECHANGED onMasterStateChanged;
@@ -36,17 +38,19 @@
ONEQALARM onEqAlarm;
ONEQVCREVENTREPORT onEqVcrEventReport;
ONEQDATACHANGED onEqDataChanged;
+ ONROBOTTASKEVENT onRobotTaskEvent;
} MasterListener;
class CMaster
{
public:
CMaster();
- ~CMaster();
+ virtual ~CMaster();
public:
void setListener(MasterListener listener);
+ CRobotTask* getActiveRobotTask();
int init();
int term();
int start();
@@ -80,6 +84,8 @@
int readCache();
void serialize(CArchive& ar);
void setState(MASTERSTATE state);
+ CRobotTask* createTransferTask(CEquipment* pSrcEq, CEquipment* pTarEq,
+ MaterialsType primaryType = MaterialsType::G1, MaterialsType secondaryType = MaterialsType::G2);
private:
CRITICAL_SECTION m_criticalSection;
@@ -105,6 +111,10 @@
ULONGLONG m_ullStartTime;
ULONGLONG m_ullRunTime;
MASTERSTATE m_state;
+
+ // 当前任务和已完成任务列表
+ CRobotTask* m_pActiveRobotTask;
+ std::list< CRobotTask* > m_listTask;
};
}
--
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