From def086f87d823478cdada1a6732e9fe4a54bd21d Mon Sep 17 00:00:00 2001
From: LAPTOP-SNT8I5JK\Boounion <Chenluhua@qq.com>
Date: 星期一, 09 六月 2025 11:07:21 +0800
Subject: [PATCH] 1.优化loadport到aligner/VacuumBakel逻辑，增加Port类型等条件判断。
---
SourceCode/Bond/Servo/CMaster.cpp | 60 +++++++++++++++++++-----------------------------------------
1 files changed, 19 insertions(+), 41 deletions(-)
diff --git a/SourceCode/Bond/Servo/CMaster.cpp b/SourceCode/Bond/Servo/CMaster.cpp
index 6a7437a..0a3b906 100644
--- a/SourceCode/Bond/Servo/CMaster.cpp
+++ b/SourceCode/Bond/Servo/CMaster.cpp
@@ -290,6 +290,8 @@
CEFEM* pEFEM = (CEFEM*)getEquipment(EQ_ID_EFEM);
CLoadPort* pLoadPort1 = (CLoadPort*)getEquipment(EQ_ID_LOADPORT1);
CLoadPort* pLoadPort2 = (CLoadPort*)getEquipment(EQ_ID_LOADPORT2);
+ CLoadPort* pLoadPort3 = (CLoadPort*)getEquipment(EQ_ID_LOADPORT3);
+ CLoadPort* pLoadPort4 = (CLoadPort*)getEquipment(EQ_ID_LOADPORT4);
CFliper* pFliper = (CFliper*)getEquipment(EQ_ID_FLIPER);
CVacuumBake* pVacuumBack = (CVacuumBake*)getEquipment(EQ_ID_VACUUMBAKE);
CAligner* pAligner = (CAligner*)getEquipment(EQ_ID_ALIGNER);
@@ -301,6 +303,8 @@
ASSERT(pEFEM);
ASSERT(pLoadPort1);
ASSERT(pLoadPort2);
+ ASSERT(pLoadPort3);
+ ASSERT(pLoadPort4);
ASSERT(pFliper);
ASSERT(pVacuumBack);
ASSERT(pAligner);
@@ -480,52 +484,26 @@
// LoadPort -> Fliper(G2)
// LoadPort -> VacuumBake(G1)
- CEquipment* pEqTar1 = pVacuumBack;
- CEquipment* pEqTar2 = pFliper;
+ CLoadPort* pEqSrc[] = { pLoadPort1, pLoadPort2, pLoadPort3, pLoadPort4 };
+ CEquipment* pEqTar[] = { pVacuumBack, pFliper };
if (primaryType == MaterialsType::G2) {
- pEqTar1 = pFliper;
- pEqTar2 = pVacuumBack;
+ pEqTar[0] = pFliper;
+ pEqTar[1] = pVacuumBack;
}
- m_pActiveRobotTask = createTransferTask(pLoadPort1, pEqTar1, primaryType, secondaryType);
- if (m_pActiveRobotTask != nullptr) {
- m_pActiveRobotTask->run();
- std::string strDescription = m_pActiveRobotTask->getDescription();
- unlock();
- if (m_listener.onRobotTaskEvent != nullptr) {
- m_listener.onRobotTaskEvent(this, m_pActiveRobotTask, ROBOT_EVENT_CREATE);
+ for (int s = 0; s < 4; s++) {
+ for (int t = 0; t < 2; t++) {
+ if (pEqSrc[s]->isEnable()
+ && pEqSrc[s]->getPortType() == PortType::Loading
+ && pEqSrc[s]->getPortMode() == PortMode::ReadyToLoad) {
+ m_pActiveRobotTask = createTransferTask(pEqSrc[s], pEqTar[t], primaryType, secondaryType);
+ if (m_pActiveRobotTask != nullptr) {
+ goto PORT_GET;
+ }
+ }
}
- LOGI("创建新任务<%s>...", strDescription.c_str());
- continue;
}
- m_pActiveRobotTask = createTransferTask(pLoadPort2, pEqTar1, primaryType, secondaryType);
- if (m_pActiveRobotTask != nullptr) {
- m_pActiveRobotTask->run();
- std::string strDescription = m_pActiveRobotTask->getDescription();
- unlock();
- if (m_listener.onRobotTaskEvent != nullptr) {
- m_listener.onRobotTaskEvent(this, m_pActiveRobotTask, ROBOT_EVENT_CREATE);
- }
- LOGI("创建新任务<%s>...", strDescription.c_str());
- continue;
- }
-
-
-
- // LoadPort -> VacuumBake(G1)
- m_pActiveRobotTask = createTransferTask(pLoadPort1, pEqTar2, primaryType, secondaryType);
- if (m_pActiveRobotTask != nullptr) {
- m_pActiveRobotTask->run();
- std::string strDescription = m_pActiveRobotTask->getDescription();
- unlock();
- if (m_listener.onRobotTaskEvent != nullptr) {
- m_listener.onRobotTaskEvent(this, m_pActiveRobotTask, ROBOT_EVENT_CREATE);
- }
- LOGI("创建新任务<%s>...", strDescription.c_str());
- continue;
- }
-
- m_pActiveRobotTask = createTransferTask(pLoadPort2, pEqTar2, primaryType, secondaryType);
+PORT_GET:
if (m_pActiveRobotTask != nullptr) {
m_pActiveRobotTask->run();
std::string strDescription = m_pActiveRobotTask->getDescription();
--
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