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/CMaster.cpp | 117 ++++++++++++++++++++++++++++++++++++++++++++--------------
1 files changed, 89 insertions(+), 28 deletions(-)
diff --git a/SourceCode/Bond/Servo/CMaster.cpp b/SourceCode/Bond/Servo/CMaster.cpp
index 37fefe6..8d6bbef 100644
--- a/SourceCode/Bond/Servo/CMaster.cpp
+++ b/SourceCode/Bond/Servo/CMaster.cpp
@@ -284,7 +284,6 @@
// Bonder1和Bonder2需要的G2就过不来了
// 最基本的实现，可以G2和G2轮流搬送，但最好根据Bonder的需求来决定
MaterialsType primaryType, secondaryType;
- int armNo = 1; // 默认使用手臂2
// 各种机器
@@ -387,7 +386,7 @@
if (pEqLoadPort[s]->isEnable()
&& pEqLoadPort[s]->getPortType() == PortType::Unloading
&& pEqLoadPort[s]->getPortMode() == PortMode::ReadyToUnload) {
- m_pActiveRobotTask = createTransferTask(pMeasurement, pEqLoadPort[s], primaryType, secondaryType, armNo);
+ m_pActiveRobotTask = createTransferTask(pMeasurement, pEqLoadPort[s], primaryType, secondaryType);
if (m_pActiveRobotTask != nullptr) {
goto PORT_PUT;
}
@@ -396,7 +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) {
@@ -410,7 +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) {
@@ -425,7 +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) {
@@ -439,7 +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) {
@@ -451,7 +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) {
@@ -463,9 +462,9 @@
// Fliper(G2) -> Bonder
// VacuumBake(G1) -> Bonder
- m_pActiveRobotTask = createTransferTask(pFliper, pBonder1, primaryType, secondaryType, armNo);
+ 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) {
@@ -475,9 +474,9 @@
continue;
}
- m_pActiveRobotTask = createTransferTask(pFliper, pBonder2, primaryType, secondaryType, armNo);
+ 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) {
@@ -487,9 +486,9 @@
continue;
}
- m_pActiveRobotTask = createTransferTask(pVacuumBake, pBonder1, primaryType, secondaryType, armNo);
+ 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) {
@@ -499,9 +498,9 @@
continue;
}
- m_pActiveRobotTask = createTransferTask(pVacuumBake, pBonder2, primaryType, secondaryType, armNo);
+ 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) {
@@ -513,9 +512,9 @@
// Aligner -> Fliper(G2)
// Aligner -> VacuumBake(G1)
- m_pActiveRobotTask = createTransferTask(pAligner, pFliper, primaryType, secondaryType, armNo);
+ 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) {
@@ -525,9 +524,9 @@
continue;
}
- m_pActiveRobotTask = createTransferTask(pAligner, pVacuumBake, primaryType, secondaryType, armNo);
+ 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) {
@@ -543,7 +542,7 @@
if (pEqLoadPort[s]->isEnable()
&& pEqLoadPort[s]->getPortType() == PortType::Loading
&& pEqLoadPort[s]->getPortMode() == PortMode::ReadyToLoad) {
- m_pActiveRobotTask = createTransferTask(pEqLoadPort[s], pAligner, primaryType, secondaryType, armNo);
+ m_pActiveRobotTask = createTransferTask(pEqLoadPort[s], pAligner, primaryType, secondaryType);
if (m_pActiveRobotTask != nullptr) {
goto PORT_GET;
}
@@ -1162,11 +1161,14 @@
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));
- pTask->setRobotTransferParam(++taskSeqNo, armNo, pSrcSlot->getPosition(),
- pTarSlot->getPosition(), pSrcSlot->getNo(), pTarSlot->getNo());
+ taskSeqNo = pTask->setRobotTransferParam(taskSeqNo, armNo, srcPos,
+ tarPos, srcSlot, tarSlot);
}
@@ -1183,11 +1185,14 @@
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));
- pTask->setRobotTransferParam(++taskSeqNo, 1, pSrcSlot->getPosition(),
- pTarSlot->getPosition(), pSrcSlot->getNo(), pTarSlot->getNo());
+ taskSeqNo = pTask->setRobotTransferParam(taskSeqNo, 1, srcPos,
+ tarPos, srcSlot, tarSlot);
}
@@ -1205,11 +1210,14 @@
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));
- pTask->setRobotTransferParam(++taskSeqNo, 1, pSrcSlot->getPosition(),
- pTarSlot->getPosition(), pSrcSlot->getNo(), pTarSlot->getNo());
+ taskSeqNo = pTask->setRobotTransferParam(taskSeqNo, 1, srcPos,
+ tarPos, srcSlot, tarSlot);
}
@@ -1226,17 +1234,70 @@
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));
- pTask->setRobotTransferParam(++taskSeqNo, 1, pSrcSlot->getPosition(),
- pTarSlot->getPosition(), pSrcSlot->getNo(), pTarSlot->getNo());
+ taskSeqNo = pTask->setRobotTransferParam(taskSeqNo, 1, srcPos,
+ tarPos, srcSlot, tarSlot);
}
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()
{
lock();
--
Gitblit v1.9.3