From c3aa662297c2182de2e7a53d7bf63f4ab6b1adbd Mon Sep 17 00:00:00 2001
From: LAPTOP-SNT8I5JK\Boounion <Chenluhua@qq.com>
Date: 星期一, 15 九月 2025 17:29:22 +0800
Subject: [PATCH] 1.千传调度调整，修改为物料从哪个Port, 那个Slot搬出就最终终回哪个位置 ；
---
SourceCode/Bond/Servo/CMaster.cpp | 26 ++++++++++++++++----------
1 files changed, 16 insertions(+), 10 deletions(-)
diff --git a/SourceCode/Bond/Servo/CMaster.cpp b/SourceCode/Bond/Servo/CMaster.cpp
index 0925933..ab5214c 100644
--- a/SourceCode/Bond/Servo/CMaster.cpp
+++ b/SourceCode/Bond/Servo/CMaster.cpp
@@ -62,6 +62,8 @@
m_bBatch = false;
m_nContinuousTransferCount = 0;
m_nContinuousTransferStep = CTStep_Unknow;
+ m_nContinuousWorkingPort = 0;
+ m_nContinuousWorkingSlot = 0;
m_pControlJob = nullptr;
m_nTestFlag = 0;
InitializeCriticalSection(&m_criticalSection);
@@ -1064,15 +1066,17 @@
}
// Measurement -> LoadPort
- for (int s = 0; s < 4; s++) {
- PortType pt = pLoadPorts[s]->getPortType();
+ for (int p = 0; p < 4; p++) {
+ if (p != m_nContinuousWorkingPort) continue;
+ PortType pt = pLoadPorts[p]->getPortType();
if ((m_nContinuousTransferStep == CTStep_Unknow || m_nContinuousTransferStep == CTStep_BakeCooling_Measurement)
- && !rmd.armState[0] && pLoadPorts[s]->isEnable()
+ && !rmd.armState[0] && pLoadPorts[p]->isEnable()
&& (pt == PortType::Unloading || pt == PortType::Both)
- && pLoadPorts[s]->getPortStatus() == PORT_INUSE) {
+ && pLoadPorts[p]->getPortStatus() == PORT_INUSE) {
for (int slot = 0; slot < SLOT_MAX; slot++) {
+ if (slot != m_nContinuousWorkingSlot) continue;
m_pActiveRobotTask = createTransferTask_continuous_transfer(pMeasurement,
- 0, pLoadPorts[s], slot);
+ 0, pLoadPorts[p], slot);
if (m_pActiveRobotTask != nullptr) {
m_nContinuousTransferStep = CTStep_Measurement_LoadPort;
m_nContinuousTransferStep = CTStep_end;
@@ -1204,17 +1208,19 @@
}
// LoadPort -> Aligner
- for (int s = 0; s < 4; s++) {
- PortType pt = pLoadPorts[s]->getPortType();
+ for (int p = 0; p < 4; p++) {
+ PortType pt = pLoadPorts[p]->getPortType();
if ((m_nContinuousTransferStep == CTStep_Unknow || m_nContinuousTransferStep == CTStep_end)
- && !rmd.armState[0] && pLoadPorts[s]->isEnable()
+ && !rmd.armState[0] && pLoadPorts[p]->isEnable()
&& (pt == PortType::Loading || pt == PortType::Both)
- && pLoadPorts[s]->getPortStatus() == PORT_INUSE) {
+ && pLoadPorts[p]->getPortStatus() == PORT_INUSE) {
for (int slot = 0; slot < SLOT_MAX; slot++) {
- m_pActiveRobotTask = createTransferTask_continuous_transfer(pLoadPorts[s],
+ m_pActiveRobotTask = createTransferTask_continuous_transfer(pLoadPorts[p],
slot, pAligner, 0);
if (m_pActiveRobotTask != nullptr) {
m_nContinuousTransferStep = CTStep_LoadPort_Aligner;
+ m_nContinuousWorkingPort = p;
+ m_nContinuousWorkingSlot = slot;
LOGI("<ContinuousTransfer>千传测试，开始搬送任务(LoadPort -> Aligner)...");
pEFEM->setContext(m_pActiveRobotTask->getContext());
goto CT_PORT_GET;
--
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