From da8ed9d0a7679c2687894ab2c568aee692ad3f79 Mon Sep 17 00:00:00 2001
From: LAPTOP-SNT8I5JK\Boounion <Chenluhua@qq.com>
Date: 星期五, 13 六月 2025 10:34:38 +0800
Subject: [PATCH] 1.搬送任务准备拆分为取和放，增加放回原处的功能；
---
SourceCode/Bond/Servo/CRobotTask.h | 14 ++
SourceCode/Bond/Servo/CRobotTask.cpp | 153 ++++++++++++++++++++++++++++++--------
SourceCode/Bond/Servo/CMaster.cpp | 30 +++---
SourceCode/Bond/Servo/ServoCommo.h | 3
SourceCode/Bond/Servo/CRobotTaskDlg.cpp | 2
5 files changed, 151 insertions(+), 51 deletions(-)
diff --git a/SourceCode/Bond/Servo/CMaster.cpp b/SourceCode/Bond/Servo/CMaster.cpp
index 9529f2b..8d6bbef 100644
--- a/SourceCode/Bond/Servo/CMaster.cpp
+++ b/SourceCode/Bond/Servo/CMaster.cpp
@@ -395,7 +395,7 @@
PORT_PUT:
if (m_pActiveRobotTask != nullptr) {
- m_pActiveRobotTask->run();
+ m_pActiveRobotTask->pick();
std::string strDescription = m_pActiveRobotTask->getDescription();
unlock();
if (m_listener.onRobotTaskEvent != nullptr) {
@@ -409,7 +409,7 @@
// BakeCooling ->Measurement
m_pActiveRobotTask = createTransferTask_bakecooling_to_measurement(pBakeCooling, pMeasurement);
if (m_pActiveRobotTask != nullptr) {
- m_pActiveRobotTask->run();
+ m_pActiveRobotTask->pick();
std::string strDescription = m_pActiveRobotTask->getDescription();
unlock();
if (m_listener.onRobotTaskEvent != nullptr) {
@@ -424,7 +424,7 @@
// Bake -> Cooling
m_pActiveRobotTask = createTransferTask_bake_to_cooling(pBakeCooling);
if (m_pActiveRobotTask != nullptr) {
- m_pActiveRobotTask->run();
+ m_pActiveRobotTask->pick();
std::string strDescription = m_pActiveRobotTask->getDescription();
unlock();
if (m_listener.onRobotTaskEvent != nullptr) {
@@ -438,7 +438,7 @@
// Bonder -> BakeCooling
m_pActiveRobotTask = createTransferTask_bonder_to_bakecooling(pBonder1, pBakeCooling);
if (m_pActiveRobotTask != nullptr) {
- m_pActiveRobotTask->run();
+ m_pActiveRobotTask->pick();
std::string strDescription = m_pActiveRobotTask->getDescription();
unlock();
if (m_listener.onRobotTaskEvent != nullptr) {
@@ -450,7 +450,7 @@
m_pActiveRobotTask = createTransferTask_bonder_to_bakecooling(pBonder2, pBakeCooling);
if (m_pActiveRobotTask != nullptr) {
- m_pActiveRobotTask->run();
+ m_pActiveRobotTask->pick();
std::string strDescription = m_pActiveRobotTask->getDescription();
unlock();
if (m_listener.onRobotTaskEvent != nullptr) {
@@ -464,7 +464,7 @@
// VacuumBake(G1) -> Bonder
m_pActiveRobotTask = createTransferTask(pFliper, pBonder1, primaryType, secondaryType, 2);
if (m_pActiveRobotTask != nullptr) {
- m_pActiveRobotTask->run();
+ m_pActiveRobotTask->pick();
std::string strDescription = m_pActiveRobotTask->getDescription();
unlock();
if (m_listener.onRobotTaskEvent != nullptr) {
@@ -476,7 +476,7 @@
m_pActiveRobotTask = createTransferTask(pFliper, pBonder2, primaryType, secondaryType, 2);
if (m_pActiveRobotTask != nullptr) {
- m_pActiveRobotTask->run();
+ m_pActiveRobotTask->pick();
std::string strDescription = m_pActiveRobotTask->getDescription();
unlock();
if (m_listener.onRobotTaskEvent != nullptr) {
@@ -488,7 +488,7 @@
m_pActiveRobotTask = createTransferTask(pVacuumBake, pBonder1, primaryType, secondaryType);
if (m_pActiveRobotTask != nullptr) {
- m_pActiveRobotTask->run();
+ m_pActiveRobotTask->pick();
std::string strDescription = m_pActiveRobotTask->getDescription();
unlock();
if (m_listener.onRobotTaskEvent != nullptr) {
@@ -500,7 +500,7 @@
m_pActiveRobotTask = createTransferTask(pVacuumBake, pBonder2, primaryType, secondaryType);
if (m_pActiveRobotTask != nullptr) {
- m_pActiveRobotTask->run();
+ m_pActiveRobotTask->pick();
std::string strDescription = m_pActiveRobotTask->getDescription();
unlock();
if (m_listener.onRobotTaskEvent != nullptr) {
@@ -514,7 +514,7 @@
// Aligner -> VacuumBake(G1)
m_pActiveRobotTask = createTransferTask(pAligner, pFliper, primaryType, secondaryType, 2);
if (m_pActiveRobotTask != nullptr) {
- m_pActiveRobotTask->run();
+ m_pActiveRobotTask->pick();
std::string strDescription = m_pActiveRobotTask->getDescription();
unlock();
if (m_listener.onRobotTaskEvent != nullptr) {
@@ -526,7 +526,7 @@
m_pActiveRobotTask = createTransferTask(pAligner, pVacuumBake, primaryType, secondaryType);
if (m_pActiveRobotTask != nullptr) {
- m_pActiveRobotTask->run();
+ m_pActiveRobotTask->pick();
std::string strDescription = m_pActiveRobotTask->getDescription();
unlock();
if (m_listener.onRobotTaskEvent != nullptr) {
@@ -1167,7 +1167,7 @@
pTask = new CRobotTask();
pTask->setContext(pSrcSlot->getContext());
pTask->setEFEM((CEFEM*)getEquipment(EQ_ID_EFEM));
- pTask->setRobotTransferParam(++taskSeqNo, armNo, srcPos,
+ taskSeqNo = pTask->setRobotTransferParam(taskSeqNo, armNo, srcPos,
tarPos, srcSlot, tarSlot);
}
@@ -1191,7 +1191,7 @@
pTask = new CRobotTask();
pTask->setContext(pSrcSlot->getContext());
pTask->setEFEM((CEFEM*)getEquipment(EQ_ID_EFEM));
- pTask->setRobotTransferParam(++taskSeqNo, 1, srcPos,
+ taskSeqNo = pTask->setRobotTransferParam(taskSeqNo, 1, srcPos,
tarPos, srcSlot, tarSlot);
}
@@ -1216,7 +1216,7 @@
pTask = new CRobotTask();
pTask->setContext(pSrcSlot->getContext());
pTask->setEFEM((CEFEM*)getEquipment(EQ_ID_EFEM));
- pTask->setRobotTransferParam(++taskSeqNo, 1, srcPos,
+ taskSeqNo = pTask->setRobotTransferParam(taskSeqNo, 1, srcPos,
tarPos, srcSlot, tarSlot);
}
@@ -1240,7 +1240,7 @@
pTask = new CRobotTask();
pTask->setContext(pSrcSlot->getContext());
pTask->setEFEM((CEFEM*)getEquipment(EQ_ID_EFEM));
- pTask->setRobotTransferParam(++taskSeqNo, 1, srcPos,
+ taskSeqNo = pTask->setRobotTransferParam(taskSeqNo, 1, srcPos,
tarPos, srcSlot, tarSlot);
}
diff --git a/SourceCode/Bond/Servo/CRobotTask.cpp b/SourceCode/Bond/Servo/CRobotTask.cpp
index dc1b82e..9c5596d 100644
--- a/SourceCode/Bond/Servo/CRobotTask.cpp
+++ b/SourceCode/Bond/Servo/CRobotTask.cpp
@@ -28,17 +28,17 @@
std::string CRobotTask::getDescription() const
{
std::string strOut = "CRobotTask<ID:";
- strOut = strOut + std::to_string(m_robotCmdParam.sequenceNo);
+ strOut = strOut + std::to_string(m_robotCmdParam[ACTION_TRANSFER].sequenceNo);
strOut = strOut + ",Arm:";
- strOut = strOut + std::to_string(m_robotCmdParam.armNo);
+ strOut = strOut + std::to_string(m_robotCmdParam[ACTION_TRANSFER].armNo);
strOut = strOut + ",GetPossion:";
- strOut = strOut + std::to_string(m_robotCmdParam.getPosition);
+ strOut = strOut + std::to_string(m_robotCmdParam[ACTION_TRANSFER].getPosition);
strOut = strOut + ",GetSlot:";
- strOut = strOut + std::to_string(m_robotCmdParam.getSlotNo);
+ strOut = strOut + std::to_string(m_robotCmdParam[ACTION_TRANSFER].getSlotNo);
strOut = strOut + ",PutPossion:";
- strOut = strOut + std::to_string(m_robotCmdParam.putPosition);
+ strOut = strOut + std::to_string(m_robotCmdParam[ACTION_TRANSFER].putPosition);
strOut = strOut + ",PutSlot:";
- strOut = strOut + std::to_string(m_robotCmdParam.putSlotNo);
+ strOut = strOut + std::to_string(m_robotCmdParam[ACTION_TRANSFER].putSlotNo);
strOut = strOut + ">";
return strOut;
@@ -47,17 +47,17 @@
std::string CRobotTask::getSimpleDescription() const
{
std::string strOut = "CRobotTask<ID:";
- strOut = strOut + std::to_string(m_robotCmdParam.sequenceNo);
+ strOut = strOut + std::to_string(m_robotCmdParam[ACTION_TRANSFER].sequenceNo);
strOut = strOut + ",Arm:";
- strOut = strOut + std::to_string(m_robotCmdParam.armNo);
+ strOut = strOut + std::to_string(m_robotCmdParam[ACTION_TRANSFER].armNo);
strOut = strOut + ",GetPossion:";
- strOut = strOut + std::to_string(m_robotCmdParam.getPosition);
+ strOut = strOut + std::to_string(m_robotCmdParam[ACTION_TRANSFER].getPosition);
strOut = strOut + ",GetSlot:";
- strOut = strOut + std::to_string(m_robotCmdParam.getSlotNo);
+ strOut = strOut + std::to_string(m_robotCmdParam[ACTION_TRANSFER].getSlotNo);
strOut = strOut + ",PutPossion:";
- strOut = strOut + std::to_string(m_robotCmdParam.putPosition);
+ strOut = strOut + std::to_string(m_robotCmdParam[ACTION_TRANSFER].putPosition);
strOut = strOut + ",PutSlot:";
- strOut = strOut + std::to_string(m_robotCmdParam.putSlotNo);
+ strOut = strOut + std::to_string(m_robotCmdParam[ACTION_TRANSFER].putSlotNo);
strOut = strOut + ">";
return strOut;
@@ -104,21 +104,47 @@
return m_strId;
}
- void CRobotTask::setRobotTransferParam(int seq, int armNo, int fromPos, int toPos, int fromSlot, int toSlot)
+ int CRobotTask::setRobotTransferParam(int seq, int armNo, int fromPos, int toPos, int fromSlot, int toSlot)
{
- m_robotCmdParam = {};
- m_robotCmdParam.sequenceNo = static_cast<short>(seq);
- m_robotCmdParam.rcmd = static_cast<short>(SERVO::RCMD::Transfer);
- m_robotCmdParam.armNo = static_cast<short>(armNo);
- m_robotCmdParam.getPosition = static_cast<short>(fromPos);
- m_robotCmdParam.getSlotNo = static_cast<short>(fromSlot);
- m_robotCmdParam.putPosition = static_cast<short>(toPos);
- m_robotCmdParam.putSlotNo = static_cast<short>(toSlot);
+ // 这是直接使用搬运模式的参数，
+ // 如果EFEM不支持，还需要拆解为取和放的动作及回放原位置的其它3套参数
+ m_robotCmdParam[ACTION_TRANSFER] = {};
+ m_robotCmdParam[ACTION_TRANSFER].sequenceNo = static_cast<short>(seq+1);
+ m_robotCmdParam[ACTION_TRANSFER].rcmd = static_cast<short>(SERVO::RCMD::Transfer);
+ m_robotCmdParam[ACTION_TRANSFER].armNo = static_cast<short>(armNo);
+ m_robotCmdParam[ACTION_TRANSFER].getPosition = static_cast<short>(fromPos);
+ m_robotCmdParam[ACTION_TRANSFER].getSlotNo = static_cast<short>(fromSlot);
+ m_robotCmdParam[ACTION_TRANSFER].putPosition = static_cast<short>(toPos);
+ m_robotCmdParam[ACTION_TRANSFER].putSlotNo = static_cast<short>(toSlot);
+
+ 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_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_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);
+
+ return seq + 1;
}
- ROBOT_CMD_PARAM& CRobotTask::getRobotCmdParam()
+ ROBOT_CMD_PARAM& CRobotTask::getRobotCmdParam(int index)
{
- return m_robotCmdParam;
+ ASSERT(ACTION_PICK <= index && index <= ACTION_TRANSFER);
+ return m_robotCmdParam[index];
}
time_t CRobotTask::getCreateTime()
@@ -153,17 +179,80 @@
static int seq = 0;
m_pEFEM->robotSendTransfer(++seq,
- m_robotCmdParam.armNo,
- m_robotCmdParam.getPosition,
- m_robotCmdParam.putPosition,
- m_robotCmdParam.getSlotNo,
- m_robotCmdParam.putSlotNo,
+ m_robotCmdParam[ACTION_TRANSFER].armNo,
+ m_robotCmdParam[ACTION_TRANSFER].getPosition,
+ m_robotCmdParam[ACTION_TRANSFER].putPosition,
+ m_robotCmdParam[ACTION_TRANSFER].getSlotNo,
+ m_robotCmdParam[ACTION_TRANSFER].putSlotNo,
[&](int code) -> int {
if (code == WOK) {
LOGI(_T("RobotTask已下发到EFEM"));
}
else {
LOGI(_T("RobotTask已下发失败"));
+ }
+
+ return 0;
+ });
+ }
+
+ void CRobotTask::pick()
+ {
+ ASSERT(m_pEFEM);
+ m_state = ROBOT_TASK_STATE::Picking;
+
+ m_pEFEM->robotSendMoveToGet(m_robotCmdParam->sequenceNo,
+ m_robotCmdParam[ACTION_PICK].armNo,
+ m_robotCmdParam[ACTION_PICK].getPosition,
+ m_robotCmdParam[ACTION_PICK].getSlotNo,
+ [&](int code) -> int {
+ if (code == WOK) {
+ LOGI(_T("RobotTask/get已下发到EFEM"));
+ }
+ else {
+ LOGI(_T("RobotTask/get已下发失败"));
+ }
+
+ return 0;
+ });
+ }
+
+ void CRobotTask::place()
+ {
+ ASSERT(m_pEFEM);
+ m_state = ROBOT_TASK_STATE::Placing;
+
+ m_pEFEM->robotSendMoveToPut(m_robotCmdParam->sequenceNo,
+ m_robotCmdParam[ACTION_PLACE].armNo,
+ m_robotCmdParam[ACTION_PLACE].putPosition,
+ m_robotCmdParam[ACTION_PLACE].putSlotNo,
+ [&](int code) -> int {
+ if (code == WOK) {
+ LOGI(_T("RobotTask/put已下发到EFEM"));
+ }
+ else {
+ LOGI(_T("RobotTask/put已下发失败"));
+ }
+
+ return 0;
+ });
+ }
+
+ void CRobotTask::restore()
+ {
+ ASSERT(m_pEFEM);
+ m_state = ROBOT_TASK_STATE::Restoring;
+
+ m_pEFEM->robotSendMoveToPut(m_robotCmdParam->sequenceNo,
+ m_robotCmdParam[ACTION_RESTORE].armNo,
+ m_robotCmdParam[ACTION_RESTORE].putPosition,
+ m_robotCmdParam[ACTION_RESTORE].putSlotNo,
+ [&](int code) -> int {
+ if (code == WOK) {
+ LOGI(_T("RobotTask/restore-put已下发到EFEM"));
+ }
+ else {
+ LOGI(_T("RobotTask/restore-put已下发失败"));
}
return 0;
@@ -187,22 +276,22 @@
int CRobotTask::getSrcPosition()
{
- return m_robotCmdParam.getPosition;
+ return m_robotCmdParam[ACTION_TRANSFER].getPosition;
}
int CRobotTask::getTarPosition()
{
- return m_robotCmdParam.putPosition;
+ return m_robotCmdParam[ACTION_TRANSFER].putPosition;
}
int CRobotTask::getSrcSlot()
{
- return m_robotCmdParam.getSlotNo;
+ return m_robotCmdParam[ACTION_TRANSFER].getSlotNo;
}
int CRobotTask::getTarSlot()
{
- return m_robotCmdParam.putSlotNo;
+ return m_robotCmdParam[ACTION_TRANSFER].putSlotNo;
}
CString CRobotTask::getStateString()
diff --git a/SourceCode/Bond/Servo/CRobotTask.h b/SourceCode/Bond/Servo/CRobotTask.h
index 63edbeb..4c897cd 100644
--- a/SourceCode/Bond/Servo/CRobotTask.h
+++ b/SourceCode/Bond/Servo/CRobotTask.h
@@ -4,6 +4,11 @@
#include "CEFEM.h"
+#define ACTION_PICK 0 /* 取 */
+#define ACTION_PLACE 1 /* 放 */
+#define ACTION_RESTORE 2 /* 回原点 */
+#define ACTION_TRANSFER 3 /* 搬运 */
+
namespace SERVO {
class CRobotTask
{
@@ -18,14 +23,17 @@
void setContext(CContext* pContext);
CContext* getContext();
void setEFEM(CEFEM* pEFEM);
- void setRobotTransferParam(int seq, int armNo, int fromPos, int toPos, int fromSlot, int toSlot);
- ROBOT_CMD_PARAM& getRobotCmdParam();
+ int setRobotTransferParam(int seq, int armNo, int fromPos, int toPos, int fromSlot, int toSlot);
+ ROBOT_CMD_PARAM& getRobotCmdParam(int index);
time_t getCreateTime();
time_t getFetchoutTime();
time_t getStoredTime();
time_t getFinishTime();
ROBOT_TASK_STATE getState();
void run();
+ void pick();
+ void place();
+ void restore();
void completed();
void error();
void abort();
@@ -51,7 +59,7 @@
time_t m_timeFetchOut; /* 取片时间*/
time_t m_timeStored; /* 放片时间 */
time_t m_timeFinish; /* 结束时间 */
- ROBOT_CMD_PARAM m_robotCmdParam; /* 参数 */
+ ROBOT_CMD_PARAM m_robotCmdParam[3]; /* 参数 */
CContext* m_pContext;
CEFEM* m_pEFEM;
};
diff --git a/SourceCode/Bond/Servo/CRobotTaskDlg.cpp b/SourceCode/Bond/Servo/CRobotTaskDlg.cpp
index cb39af5..ab90d5b 100644
--- a/SourceCode/Bond/Servo/CRobotTaskDlg.cpp
+++ b/SourceCode/Bond/Servo/CRobotTaskDlg.cpp
@@ -58,7 +58,7 @@
CEquipment* pSrcEq = theApp.m_model.getMaster().getEquipment(pRobotTask->getSrcPosition());
CEquipment* pDstEq = theApp.m_model.getMaster().getEquipment(pRobotTask->getTarPosition());
- ROBOT_CMD_PARAM& param = pRobotTask->getRobotCmdParam();
+ ROBOT_CMD_PARAM& param = pRobotTask->getRobotCmdParam(ACTION_TRANSFER);
auto format_time = [](time_t t) -> CString {
if (t == 0) {
diff --git a/SourceCode/Bond/Servo/ServoCommo.h b/SourceCode/Bond/Servo/ServoCommo.h
index e80ba90..6e70ac3 100644
--- a/SourceCode/Bond/Servo/ServoCommo.h
+++ b/SourceCode/Bond/Servo/ServoCommo.h
@@ -110,6 +110,9 @@
enum class ROBOT_TASK_STATE {
Ready = 0,
Running,
+ Picking,
+ Placing,
+ Restoring,
Error,
Abort,
Completed
--
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