From fac102938562e13dd4e4e4914d0fde9b1cd05d8b Mon Sep 17 00:00:00 2001
From: LAPTOP-SNT8I5JK\Boounion <Chenluhua@qq.com>
Date: 星期一, 09 六月 2025 09:47:37 +0800
Subject: [PATCH] 1.CMaster调度线程中添加任务运行发送到EFEM;
---
SourceCode/Bond/Servo/CMaster.cpp | 17 +++++++++++++++++
1 files changed, 17 insertions(+), 0 deletions(-)
diff --git a/SourceCode/Bond/Servo/CMaster.cpp b/SourceCode/Bond/Servo/CMaster.cpp
index e65347c..6a7437a 100644
--- a/SourceCode/Bond/Servo/CMaster.cpp
+++ b/SourceCode/Bond/Servo/CMaster.cpp
@@ -287,6 +287,7 @@
// 各种机器
+ CEFEM* pEFEM = (CEFEM*)getEquipment(EQ_ID_EFEM);
CLoadPort* pLoadPort1 = (CLoadPort*)getEquipment(EQ_ID_LOADPORT1);
CLoadPort* pLoadPort2 = (CLoadPort*)getEquipment(EQ_ID_LOADPORT2);
CFliper* pFliper = (CFliper*)getEquipment(EQ_ID_FLIPER);
@@ -297,6 +298,7 @@
CBakeCooling* pBakeCooling = (CBakeCooling*)getEquipment(EQ_ID_BAKE_COOLING);
CMeasurement* pMeasurement = (CMeasurement*)getEquipment(EQ_ID_MEASUREMENT);
+ ASSERT(pEFEM);
ASSERT(pLoadPort1);
ASSERT(pLoadPort2);
ASSERT(pFliper);
@@ -372,6 +374,7 @@
// BakeCooling ->Measurement
m_pActiveRobotTask = createTransferTask_bakecooling_to_measurement(pBakeCooling, pMeasurement);
if (m_pActiveRobotTask != nullptr) {
+ m_pActiveRobotTask->run();
std::string strDescription = m_pActiveRobotTask->getDescription();
unlock();
if (m_listener.onRobotTaskEvent != nullptr) {
@@ -386,6 +389,7 @@
// Bake -> Cooling
m_pActiveRobotTask = createTransferTask_bake_to_cooling(pBakeCooling);
if (m_pActiveRobotTask != nullptr) {
+ m_pActiveRobotTask->run();
std::string strDescription = m_pActiveRobotTask->getDescription();
unlock();
if (m_listener.onRobotTaskEvent != nullptr) {
@@ -399,6 +403,7 @@
// Bonder -> BakeCooling
m_pActiveRobotTask = createTransferTask_bonder_to_bakecooling(pBonder1, pBakeCooling);
if (m_pActiveRobotTask != nullptr) {
+ m_pActiveRobotTask->run();
std::string strDescription = m_pActiveRobotTask->getDescription();
unlock();
if (m_listener.onRobotTaskEvent != nullptr) {
@@ -410,6 +415,7 @@
m_pActiveRobotTask = createTransferTask_bonder_to_bakecooling(pBonder2, pBakeCooling);
if (m_pActiveRobotTask != nullptr) {
+ m_pActiveRobotTask->run();
std::string strDescription = m_pActiveRobotTask->getDescription();
unlock();
if (m_listener.onRobotTaskEvent != nullptr) {
@@ -422,6 +428,7 @@
// Aligner -> Bonder
m_pActiveRobotTask = createTransferTask(pAligner, pBonder1, primaryType, secondaryType);
if (m_pActiveRobotTask != nullptr) {
+ m_pActiveRobotTask->run();
std::string strDescription = m_pActiveRobotTask->getDescription();
unlock();
if (m_listener.onRobotTaskEvent != nullptr) {
@@ -433,6 +440,7 @@
m_pActiveRobotTask = createTransferTask(pAligner, pBonder2, primaryType, secondaryType);
if (m_pActiveRobotTask != nullptr) {
+ m_pActiveRobotTask->run();
std::string strDescription = m_pActiveRobotTask->getDescription();
unlock();
if (m_listener.onRobotTaskEvent != nullptr) {
@@ -447,6 +455,7 @@
// VacuumBake(G1) -> Aligner
m_pActiveRobotTask = createTransferTask(pFliper, pAligner, primaryType, secondaryType);
if (m_pActiveRobotTask != nullptr) {
+ m_pActiveRobotTask->run();
std::string strDescription = m_pActiveRobotTask->getDescription();
unlock();
if (m_listener.onRobotTaskEvent != nullptr) {
@@ -458,6 +467,7 @@
m_pActiveRobotTask = createTransferTask(pVacuumBack, pAligner, primaryType, secondaryType);
if (m_pActiveRobotTask != nullptr) {
+ m_pActiveRobotTask->run();
std::string strDescription = m_pActiveRobotTask->getDescription();
unlock();
if (m_listener.onRobotTaskEvent != nullptr) {
@@ -478,6 +488,7 @@
}
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) {
@@ -489,6 +500,7 @@
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) {
@@ -503,6 +515,7 @@
// 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) {
@@ -514,6 +527,7 @@
m_pActiveRobotTask = createTransferTask(pLoadPort2, pEqTar2, primaryType, secondaryType);
if (m_pActiveRobotTask != nullptr) {
+ m_pActiveRobotTask->run();
std::string strDescription = m_pActiveRobotTask->getDescription();
unlock();
if (m_listener.onRobotTaskEvent != nullptr) {
@@ -1131,6 +1145,7 @@
if (pSrcSlot != nullptr && nullptr != pTarSlot) {
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());
}
@@ -1151,6 +1166,7 @@
if (pSrcSlot != nullptr && nullptr != pTarSlot) {
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());
}
@@ -1172,6 +1188,7 @@
if (pSrcSlot != nullptr && nullptr != pTarSlot) {
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());
}
--
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