From fd1333fbf52e00ff8f0b0d51ec0d707a66cc9141 Mon Sep 17 00:00:00 2001
From: LAPTOP-SNT8I5JK\Boounion <Chenluhua@qq.com>
Date: 星期一, 16 六月 2025 11:20:16 +0800
Subject: [PATCH] 1.Robot状态和位置的监控，其中两个arm状态(是否有料)，也作为调度的依据。

---
 SourceCode/Bond/Servo/CMaster.cpp |  219 ++++++++++++++++++++++++++++++------------------------
 1 files changed, 123 insertions(+), 96 deletions(-)

diff --git a/SourceCode/Bond/Servo/CMaster.cpp b/SourceCode/Bond/Servo/CMaster.cpp
index 21d96bc..79da60d 100644
--- a/SourceCode/Bond/Servo/CMaster.cpp
+++ b/SourceCode/Bond/Servo/CMaster.cpp
@@ -343,10 +343,13 @@
 
 			// 调度逻辑处理
 			else if (m_state == MASTERSTATE::RUNNING) {
-				unlock();
-				// LOGI("调度处理中...");
+				// 检测判断robot状态
+				RMDATA& rmd = pEFEM->getRobotMonitoringData();
+				if (rmd.status != ROBOT_STATUS::Idle && rmd.status != ROBOT_STATUS::Run) {
+					unlock();
+					continue;
+				}
 
-				lock();
 				if (m_pActiveRobotTask != nullptr) {
 					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
@@ -376,6 +379,8 @@
 
 
 				// 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"));
 				CLoadPort* pEqLoadPort[] = { pLoadPort1, pLoadPort2, pLoadPort3, pLoadPort4 };
 				CEquipment* pEqTar[] = { pVacuumBake, pFliper };
 				if (primaryType == MaterialsType::G2) {
@@ -383,7 +388,7 @@
 					pEqTar[1] = pVacuumBake;
 				}
 				for (int s = 0; s < 4; s++) {
-					if (pEqLoadPort[s]->isEnable()
+					if (!rmd.armState[0] && pEqLoadPort[s]->isEnable()
 						&& pEqLoadPort[s]->getPortType() == PortType::Unloading
 						&& pEqLoadPort[s]->getPortMode() == PortMode::ReadyToUnload) {
 						m_pActiveRobotTask = createTransferTask(pMeasurement, pEqLoadPort[s], primaryType, secondaryType);
@@ -407,139 +412,161 @@
 
 
 				// BakeCooling ->Measurement
-				m_pActiveRobotTask = createTransferTask_bakecooling_to_measurement(pBakeCooling, pMeasurement);
-				if (m_pActiveRobotTask != nullptr) {
-					m_pActiveRobotTask->pick();
-					std::string strDescription = m_pActiveRobotTask->getDescription();
-					unlock();
-					if (m_listener.onRobotTaskEvent != nullptr) {
-						m_listener.onRobotTaskEvent(this, m_pActiveRobotTask, ROBOT_EVENT_CREATE);
+				if (!rmd.armState[0]) {
+					m_pActiveRobotTask = createTransferTask_bakecooling_to_measurement(pBakeCooling, pMeasurement);
+					if (m_pActiveRobotTask != nullptr) {
+						m_pActiveRobotTask->pick();
+						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;
 					}
-					LOGI("创建新任务<%s>...", strDescription.c_str());
-					continue;
 				}
+
 
 				
 				// BakeCooling内部
 				// Bake -> Cooling
-				m_pActiveRobotTask = createTransferTask_bake_to_cooling(pBakeCooling);
-				if (m_pActiveRobotTask != nullptr) {
-					m_pActiveRobotTask->pick();
-					std::string strDescription = m_pActiveRobotTask->getDescription();
-					unlock();
-					if (m_listener.onRobotTaskEvent != nullptr) {
-						m_listener.onRobotTaskEvent(this, m_pActiveRobotTask, ROBOT_EVENT_CREATE);
+				if (!rmd.armState[0]) {
+					m_pActiveRobotTask = createTransferTask_bake_to_cooling(pBakeCooling);
+					if (m_pActiveRobotTask != nullptr) {
+						m_pActiveRobotTask->pick();
+						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;
 					}
-					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) {
-					m_pActiveRobotTask->pick();
-					std::string strDescription = m_pActiveRobotTask->getDescription();
-					unlock();
-					if (m_listener.onRobotTaskEvent != nullptr) {
-						m_listener.onRobotTaskEvent(this, m_pActiveRobotTask, ROBOT_EVENT_CREATE);
+				if (!rmd.armState[0]) {
+					m_pActiveRobotTask = createTransferTask_bonder_to_bakecooling(pBonder1, pBakeCooling);
+					if (m_pActiveRobotTask != nullptr) {
+						m_pActiveRobotTask->pick();
+						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;
 					}
-					LOGI("创建新任务<%s>...", strDescription.c_str());
-					continue;
 				}
 
-				m_pActiveRobotTask = createTransferTask_bonder_to_bakecooling(pBonder2, pBakeCooling);
-				if (m_pActiveRobotTask != nullptr) {
-					m_pActiveRobotTask->pick();
-					std::string strDescription = m_pActiveRobotTask->getDescription();
-					unlock();
-					if (m_listener.onRobotTaskEvent != nullptr) {
-						m_listener.onRobotTaskEvent(this, m_pActiveRobotTask, ROBOT_EVENT_CREATE);
+				if (!rmd.armState[0]) {
+					m_pActiveRobotTask = createTransferTask_bonder_to_bakecooling(pBonder2, pBakeCooling);
+					if (m_pActiveRobotTask != nullptr) {
+						m_pActiveRobotTask->pick();
+						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;
 					}
-					LOGI("创建新任务<%s>...", strDescription.c_str());
-					continue;
 				}
+
 
 				// Fliper(G2) -> Bonder
 				// VacuumBake(G1) -> Bonder
-				m_pActiveRobotTask = createTransferTask(pFliper, pBonder1, primaryType, secondaryType, 2);
-				if (m_pActiveRobotTask != nullptr) {
-					m_pActiveRobotTask->pick();
-					std::string strDescription = m_pActiveRobotTask->getDescription();
-					unlock();
-					if (m_listener.onRobotTaskEvent != nullptr) {
-						m_listener.onRobotTaskEvent(this, m_pActiveRobotTask, ROBOT_EVENT_CREATE);
+				if (!rmd.armState[1]) {
+					m_pActiveRobotTask = createTransferTask(pFliper, pBonder1, primaryType, secondaryType, 2);
+					if (m_pActiveRobotTask != nullptr) {
+						m_pActiveRobotTask->pick();
+						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;
 					}
-					LOGI("创建新任务<%s>...", strDescription.c_str());
-					continue;
 				}
 
-				m_pActiveRobotTask = createTransferTask(pFliper, pBonder2, primaryType, secondaryType, 2);
-				if (m_pActiveRobotTask != nullptr) {
-					m_pActiveRobotTask->pick();
-					std::string strDescription = m_pActiveRobotTask->getDescription();
-					unlock();
-					if (m_listener.onRobotTaskEvent != nullptr) {
-						m_listener.onRobotTaskEvent(this, m_pActiveRobotTask, ROBOT_EVENT_CREATE);
+				if (!rmd.armState[1]) {
+					m_pActiveRobotTask = createTransferTask(pFliper, pBonder2, primaryType, secondaryType, 2);
+					if (m_pActiveRobotTask != nullptr) {
+						m_pActiveRobotTask->pick();
+						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;
 					}
-					LOGI("创建新任务<%s>...", strDescription.c_str());
-					continue;
 				}
 
-				m_pActiveRobotTask = createTransferTask(pVacuumBake, pBonder1, primaryType, secondaryType);
-				if (m_pActiveRobotTask != nullptr) {
-					m_pActiveRobotTask->pick();
-					std::string strDescription = m_pActiveRobotTask->getDescription();
-					unlock();
-					if (m_listener.onRobotTaskEvent != nullptr) {
-						m_listener.onRobotTaskEvent(this, m_pActiveRobotTask, ROBOT_EVENT_CREATE);
+				if (!rmd.armState[0]) {
+					m_pActiveRobotTask = createTransferTask(pVacuumBake, pBonder1, primaryType, secondaryType);
+					if (m_pActiveRobotTask != nullptr) {
+						m_pActiveRobotTask->pick();
+						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;
 					}
-					LOGI("创建新任务<%s>...", strDescription.c_str());
-					continue;
 				}
 
-				m_pActiveRobotTask = createTransferTask(pVacuumBake, pBonder2, primaryType, secondaryType);
-				if (m_pActiveRobotTask != nullptr) {
-					m_pActiveRobotTask->pick();
-					std::string strDescription = m_pActiveRobotTask->getDescription();
-					unlock();
-					if (m_listener.onRobotTaskEvent != nullptr) {
-						m_listener.onRobotTaskEvent(this, m_pActiveRobotTask, ROBOT_EVENT_CREATE);
+				if (!rmd.armState[0]) {
+					m_pActiveRobotTask = createTransferTask(pVacuumBake, pBonder2, primaryType, secondaryType);
+					if (m_pActiveRobotTask != nullptr) {
+						m_pActiveRobotTask->pick();
+						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;
 					}
-					LOGI("创建新任务<%s>...", strDescription.c_str());
-					continue;
 				}
+
 
 				// Aligner -> Fliper(G2)
 				// Aligner -> VacuumBake(G1)
-				m_pActiveRobotTask = createTransferTask(pAligner, pFliper, primaryType, secondaryType, 2);
-				if (m_pActiveRobotTask != nullptr) {
-					m_pActiveRobotTask->pick();
-					std::string strDescription = m_pActiveRobotTask->getDescription();
-					unlock();
-					if (m_listener.onRobotTaskEvent != nullptr) {
-						m_listener.onRobotTaskEvent(this, m_pActiveRobotTask, ROBOT_EVENT_CREATE);
+				if (!rmd.armState[1]) {
+					m_pActiveRobotTask = createTransferTask(pAligner, pFliper, primaryType, secondaryType, 2);
+					if (m_pActiveRobotTask != nullptr) {
+						m_pActiveRobotTask->pick();
+						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;
 					}
-					LOGI("创建新任务<%s>...", strDescription.c_str());
-					continue;
 				}
 
-				m_pActiveRobotTask = createTransferTask(pAligner, pVacuumBake, primaryType, secondaryType);
-				if (m_pActiveRobotTask != nullptr) {
-					m_pActiveRobotTask->pick();
-					std::string strDescription = m_pActiveRobotTask->getDescription();
-					unlock();
-					if (m_listener.onRobotTaskEvent != nullptr) {
-						m_listener.onRobotTaskEvent(this, m_pActiveRobotTask, ROBOT_EVENT_CREATE);
+				if (!rmd.armState[0]) {
+					m_pActiveRobotTask = createTransferTask(pAligner, pVacuumBake, primaryType, secondaryType);
+					if (m_pActiveRobotTask != nullptr) {
+						m_pActiveRobotTask->pick();
+						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;
 					}
-					LOGI("创建新任务<%s>...", strDescription.c_str());
-					continue;
 				}
-
 
 				// LoadPort -> Aligner
 				for (int s = 0; s < 4; s++) {
-					if (pEqLoadPort[s]->isEnable()
+					if (!rmd.armState[0] && pEqLoadPort[s]->isEnable()
 						&& pEqLoadPort[s]->getPortType() == PortType::Loading
 						&& pEqLoadPort[s]->getPortMode() == PortMode::ReadyToLoad) {
 						m_pActiveRobotTask = createTransferTask(pEqLoadPort[s], pAligner, primaryType, secondaryType);

--
Gitblit v1.9.3