From faca2eaec1428f979ca99ce07d7cfe547db96c38 Mon Sep 17 00:00:00 2001
From: LAPTOP-SNT8I5JK\Boounion <Chenluhua@qq.com>
Date: 星期五, 06 六月 2025 11:20:34 +0800
Subject: [PATCH] 1.BakeCooling ->Measurement搬送逻辑；
---
SourceCode/Bond/Servo/CMaster.cpp | 93 +++++++++++++++++++++++++++++++++++++++-------
1 files changed, 78 insertions(+), 15 deletions(-)
diff --git a/SourceCode/Bond/Servo/CMaster.cpp b/SourceCode/Bond/Servo/CMaster.cpp
index 41b9205..bc2a884 100644
--- a/SourceCode/Bond/Servo/CMaster.cpp
+++ b/SourceCode/Bond/Servo/CMaster.cpp
@@ -295,6 +295,7 @@
CBonder* pBonder1 = (CBonder*)getEquipment(EQ_ID_Bonder1);
CBonder* pBonder2 = (CBonder*)getEquipment(EQ_ID_Bonder2);
CBakeCooling* pBakeCooling = (CBakeCooling*)getEquipment(EQ_ID_BAKE_COOLING);
+ CMeasurement* pMeasurement = (CMeasurement*)getEquipment(EQ_ID_MEASUREMENT);
ASSERT(pLoadPort1);
ASSERT(pLoadPort2);
@@ -304,6 +305,7 @@
ASSERT(pBonder1);
ASSERT(pBonder2);
ASSERT(pBakeCooling);
+ ASSERT(pMeasurement);
while (1) {
// 待退出信号或时间到
@@ -367,8 +369,8 @@
}
- // Bonder -> BakeCooling
- m_pActiveRobotTask = createTransferTask_bonder_to_bakecooling(pBonder1, pBakeCooling, primaryType, secondaryType);
+ // BakeCooling ->Measurement
+ m_pActiveRobotTask = createTransferTask_bakecooling_to_measurement(pBakeCooling, pMeasurement);
if (m_pActiveRobotTask != nullptr) {
std::string strDescription = m_pActiveRobotTask->getDescription();
unlock();
@@ -379,7 +381,34 @@
continue;
}
- m_pActiveRobotTask = createTransferTask_bonder_to_bakecooling(pBonder2, pBakeCooling, primaryType, secondaryType);
+
+ // BakeCooling内部
+ // Bake -> Cooling
+ m_pActiveRobotTask = createTransferTask_bake_to_cooling(pBakeCooling);
+ if (m_pActiveRobotTask != nullptr) {
+ 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;
+ }
+
+
+ // Bonder -> BakeCooling
+ m_pActiveRobotTask = createTransferTask_bonder_to_bakecooling(pBonder1, pBakeCooling);
+ if (m_pActiveRobotTask != nullptr) {
+ 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_bonder_to_bakecooling(pBonder2, pBakeCooling);
if (m_pActiveRobotTask != nullptr) {
std::string strDescription = m_pActiveRobotTask->getDescription();
unlock();
@@ -495,9 +524,6 @@
}
- // BakeCooling ->Measurement
-
-
// Measurement -> LoadPort
@@ -525,6 +551,7 @@
break;
}
+ // 读标志位
for (auto item : m_listEquipment) {
if (item->getID() == EQ_ID_Bonder1 ||
item->getID() == EQ_ID_Bonder2) {
@@ -1112,20 +1139,14 @@
return pTask;
}
- CRobotTask* CMaster::createTransferTask_bonder_to_bakecooling(CEquipment* pSrcEq, CEquipment* pTarEq,
- MaterialsType primaryType/* = MaterialsType::G1*/, MaterialsType secondaryType/* = MaterialsType::G2*/)
+ CRobotTask* CMaster::createTransferTask_bonder_to_bakecooling(CEquipment* pSrcEq, CEquipment* pTarEq)
{
std::vector<int> slots = {1, 2};
CRobotTask* pTask = nullptr;
CSlot* pSrcSlot, * pTarSlot;
- pTarSlot = pTarEq->getAvailableSlotForGlass2(primaryType, slots);
- pSrcSlot = pSrcEq->getProcessedSlot(primaryType);
- if (pSrcSlot == nullptr || nullptr == pTarSlot) {
- pTarSlot = pTarEq->getAvailableSlotForGlass(secondaryType);
- pSrcSlot = pSrcEq->getProcessedSlot(secondaryType);
- }
-
+ pTarSlot = pTarEq->getAvailableSlotForGlass2(MaterialsType::G1, slots);
+ pSrcSlot = pSrcEq->getProcessedSlot(MaterialsType::G1);
if (pSrcSlot != nullptr && nullptr != pTarSlot) {
pTask = new CRobotTask();
@@ -1137,4 +1158,46 @@
return pTask;
}
+
+ CRobotTask* CMaster::createTransferTask_bake_to_cooling(CEquipment* pSrcEq)
+ {
+ std::vector<int> slotsTar = { 3, 4 };
+ std::vector<int> slotsSrc = { 1, 2 };
+
+ CRobotTask* pTask = nullptr;
+ CSlot* pSrcSlot, * pTarSlot;
+ pTarSlot = pSrcEq->getAvailableSlotForGlass2(MaterialsType::G1, slotsTar);
+ pSrcSlot = pSrcEq->getProcessedSlot2(MaterialsType::G1, slotsSrc);
+
+ if (pSrcSlot != nullptr && nullptr != pTarSlot) {
+ pTask = new CRobotTask();
+ pTask->setContext(pSrcSlot->getContext());
+ pTask->setRobotTransferParam(++taskSeqNo, 1, pSrcSlot->getPosition(),
+ pTarSlot->getPosition(), pSrcSlot->getNo(), pTarSlot->getNo());
+ }
+
+
+ return pTask;
+ }
+
+ CRobotTask* CMaster::createTransferTask_bakecooling_to_measurement(CEquipment* pSrcEq, CEquipment* pTarEq)
+ {
+ std::vector<int> slots = { 3, 4 };
+
+ CRobotTask* pTask = nullptr;
+ CSlot* pSrcSlot, * pTarSlot;
+ pTarSlot = pTarEq->getAvailableSlotForGlass(MaterialsType::G1);
+ pSrcSlot = pSrcEq->getProcessedSlot2(MaterialsType::G1, slots);
+
+ if (pSrcSlot != nullptr && nullptr != pTarSlot) {
+ pTask = new CRobotTask();
+ pTask->setContext(pSrcSlot->getContext());
+ pTask->setRobotTransferParam(++taskSeqNo, 1, pSrcSlot->getPosition(),
+ pTarSlot->getPosition(), pSrcSlot->getNo(), pTarSlot->getNo());
+ }
+
+
+ return pTask;
+ }
+
}
--
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