From da96e6da0b677c6a4e96308aaecd3d619a8e4db2 Mon Sep 17 00:00:00 2001
From: mrDarker <mr.darker@163.com>
Date: 星期四, 26 六月 2025 08:46:11 +0800
Subject: [PATCH] Merge branch 'clh' into liuyang
---
SourceCode/Bond/Servo/CMaster.cpp | 13 +++++++++----
1 files changed, 9 insertions(+), 4 deletions(-)
diff --git a/SourceCode/Bond/Servo/CMaster.cpp b/SourceCode/Bond/Servo/CMaster.cpp
index 76ec313..5023f98 100644
--- a/SourceCode/Bond/Servo/CMaster.cpp
+++ b/SourceCode/Bond/Servo/CMaster.cpp
@@ -509,6 +509,9 @@
}
if (m_pActiveRobotTask != nullptr) {
+ if (m_pActiveRobotTask->isPicked()) {
+ m_pActiveRobotTask->place();
+ }
unlock();
// 检测到当前有正在下午的任务，确保当前任务完成或中止后继续
// LOGI("检测到当前有正在下午的任务，确保当前任务完成或中止后继续...");
@@ -537,8 +540,10 @@
// Measurement -> LoadPort
- LOGI("Arm1 %s, Arm2 %s.", rmd.armState[0] ? _T("不可用") : _T("可用"),
- rmd.armState[1] ? _T("不可用") : _T("可用"));
+ if (rmd.armState[0] || rmd.armState[1]) {
+ LOGI("Arm1 %s, Arm2 %s.", rmd.armState[0] ? _T("不可用") : _T("可用"),
+ rmd.armState[1] ? _T("不可用") : _T("可用"));
+ }
CLoadPort* pEqLoadPort[] = { pLoadPort1, pLoadPort2, pLoadPort3, pLoadPort4 };
CEquipment* pEqTar[] = { pVacuumBake, pFliper };
if (primaryType == MaterialsType::G2) {
@@ -695,7 +700,7 @@
// Aligner -> Fliper(G2)
// Aligner -> VacuumBake(G1)
if (!rmd.armState[1]) {
- m_pActiveRobotTask = createTransferTask(pAligner, pFliper, primaryType, secondaryType, 2);
+ m_pActiveRobotTask = createTransferTask(pAligner, pFliper, primaryType, secondaryType);
if (m_pActiveRobotTask != nullptr) {
m_pActiveRobotTask->pick();
std::string strDescription = m_pActiveRobotTask->getDescription();
@@ -924,7 +929,7 @@
) {
LOGI("取片完成.");
m_pActiveRobotTask->fetchOut();
- m_pActiveRobotTask->place();
+ m_pActiveRobotTask->picked();
}
else if (m_pActiveRobotTask != nullptr
--
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