From ceb64b6612309fe384e096dcdc8b5a5e0dfe6cce Mon Sep 17 00:00:00 2001
From: chenluhua1980 <Chenluhua@qq.com>
Date: 星期五, 30 一月 2026 15:08:47 +0800
Subject: [PATCH] 1.增加日志，监控Efem的请求JobData事件；
---
SourceCode/Bond/Servo/CRobotTask.cpp | 35 +++++++++++++++++++++++++++--------
1 files changed, 27 insertions(+), 8 deletions(-)
diff --git a/SourceCode/Bond/Servo/CRobotTask.cpp b/SourceCode/Bond/Servo/CRobotTask.cpp
index e67d6e7..f0e9596 100644
--- a/SourceCode/Bond/Servo/CRobotTask.cpp
+++ b/SourceCode/Bond/Servo/CRobotTask.cpp
@@ -220,7 +220,7 @@
LOGI(_T("RobotTask已下发到EFEM"));
}
else {
- LOGI(_T("RobotTask已下发失败"));
+ LOGE(_T("RobotTask下发失败"));
}
return 0;
@@ -238,7 +238,7 @@
LOGI(_T("RobotTask/get已下发到EFEM"));
}
else {
- LOGI(_T("RobotTask/get已下发失败"));
+ LOGE(_T("RobotTask/get已下发失败"));
}
return 0;
@@ -261,7 +261,7 @@
LOGI(_T("RobotTask/put已下发到EFEM"));
}
else {
- LOGI(_T("RobotTask/put已下发失败"));
+ LOGE(_T("RobotTask/put已下发失败"));
}
return 0;
@@ -279,16 +279,32 @@
LOGI(_T("RobotTask/restore-put已下发到EFEM"));
}
else {
- LOGI(_T("RobotTask/restore-put已下发失败"));
+ LOGE(_T("RobotTask/restore-put已下发失败"));
}
return 0;
});
}
+ void CRobotTask::resend()
+ {
+ // 重新下发命令，无非是下发取料或下发放料的命令，根据当前状态来
+ if (ROBOT_TASK_STATE::Picking == m_state || ROBOT_TASK_STATE::Picked == m_state) {
+ pick();
+ }
+ else if (ROBOT_TASK_STATE::Placing == m_state) {
+ place();
+ }
+ }
+
void CRobotTask::completed()
{
m_state = ROBOT_TASK_STATE::Completed;
+ }
+
+ void CRobotTask::restored()
+ {
+ m_state = ROBOT_TASK_STATE::Restored;
}
void CRobotTask::error()
@@ -354,6 +370,9 @@
case EQ_ID_LOADPORT2:
case EQ_ID_LOADPORT3:
case EQ_ID_LOADPORT4:
+ tarPos = srcPos;
+ tarSlot = srcSlot;
+ break;
case EQ_ID_ARM_TRAY1:
case EQ_ID_ARM_TRAY2:
case EQ_ID_ALIGNER:
@@ -363,25 +382,25 @@
break;
case EQ_ID_Bonder1:
if (1 <= srcSlot && srcSlot <= 2) {
- tarPos = 9 + srcSlot;
+ tarPos = 9 + srcSlot - 1;
tarSlot = 1;
}
break;
case EQ_ID_Bonder2:
if (1 <= srcSlot && srcSlot <= 2) {
- tarPos = 11 + srcSlot;
+ tarPos = 11 + srcSlot - 1;
tarSlot = 1;
}
break;
case EQ_ID_VACUUMBAKE:
if (1 <= srcSlot && srcSlot <= 2) {
- tarPos = 13 + srcSlot;
+ tarPos = 13 + srcSlot - 1;
tarSlot = 1;
}
break;
case EQ_ID_BAKE_COOLING:
if (1 <= srcSlot && srcSlot <= 4) {
- tarPos = 15 + srcSlot;
+ tarPos = 15 + srcSlot - 1;
tarSlot = 1;
}
break;
--
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