From ffd3de44be70cfa45f2ad74b71daa55192296298 Mon Sep 17 00:00:00 2001
From: LAPTOP-SNT8I5JK\Boounion <Chenluhua@qq.com>
Date: 星期四, 12 六月 2025 14:07:17 +0800
Subject: [PATCH] 1.调整物流传输顺序，将Aligner往前调到Fliper前面
---
SourceCode/Bond/Servo/CMaster.cpp | 143 +++++++++++++++++++++++++++--------------------
1 files changed, 81 insertions(+), 62 deletions(-)
diff --git a/SourceCode/Bond/Servo/CMaster.cpp b/SourceCode/Bond/Servo/CMaster.cpp
index 2b509e8..37fefe6 100644
--- a/SourceCode/Bond/Servo/CMaster.cpp
+++ b/SourceCode/Bond/Servo/CMaster.cpp
@@ -294,7 +294,7 @@
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);
+ CVacuumBake* pVacuumBake = (CVacuumBake*)getEquipment(EQ_ID_VACUUMBAKE);
CAligner* pAligner = (CAligner*)getEquipment(EQ_ID_ALIGNER);
CBonder* pBonder1 = (CBonder*)getEquipment(EQ_ID_Bonder1);
CBonder* pBonder2 = (CBonder*)getEquipment(EQ_ID_Bonder2);
@@ -307,7 +307,7 @@
ASSERT(pLoadPort3);
ASSERT(pLoadPort4);
ASSERT(pFliper);
- ASSERT(pVacuumBack);
+ ASSERT(pVacuumBake);
ASSERT(pAligner);
ASSERT(pBonder1);
ASSERT(pBonder2);
@@ -378,10 +378,10 @@
// Measurement -> LoadPort
CLoadPort* pEqLoadPort[] = { pLoadPort1, pLoadPort2, pLoadPort3, pLoadPort4 };
- CEquipment* pEqTar[] = { pVacuumBack, pFliper };
+ CEquipment* pEqTar[] = { pVacuumBake, pFliper };
if (primaryType == MaterialsType::G2) {
pEqTar[0] = pFliper;
- pEqTar[1] = pVacuumBack;
+ pEqTar[1] = pVacuumBake;
}
for (int s = 0; s < 4; s++) {
if (pEqLoadPort[s]->isEnable()
@@ -461,8 +461,9 @@
continue;
}
- // Aligner -> Bonder
- m_pActiveRobotTask = createTransferTask(pAligner, pBonder1, primaryType, secondaryType, armNo);
+ // Fliper(G2) -> Bonder
+ // VacuumBake(G1) -> Bonder
+ m_pActiveRobotTask = createTransferTask(pFliper, pBonder1, primaryType, secondaryType, armNo);
if (m_pActiveRobotTask != nullptr) {
m_pActiveRobotTask->run();
std::string strDescription = m_pActiveRobotTask->getDescription();
@@ -474,7 +475,57 @@
continue;
}
- m_pActiveRobotTask = createTransferTask(pAligner, pBonder2, primaryType, secondaryType, armNo);
+ m_pActiveRobotTask = createTransferTask(pFliper, pBonder2, primaryType, secondaryType, armNo);
+ 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(pVacuumBake, pBonder1, primaryType, secondaryType, armNo);
+ 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(pVacuumBake, pBonder2, primaryType, secondaryType, armNo);
+ 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;
+ }
+
+ // Aligner -> Fliper(G2)
+ // Aligner -> VacuumBake(G1)
+ m_pActiveRobotTask = createTransferTask(pAligner, pFliper, primaryType, secondaryType, armNo);
+ 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(pAligner, pVacuumBake, primaryType, secondaryType, armNo);
if (m_pActiveRobotTask != nullptr) {
m_pActiveRobotTask->run();
std::string strDescription = m_pActiveRobotTask->getDescription();
@@ -487,44 +538,14 @@
}
- // Fliper(G2) -> Aligner
- // VacuumBake(G1) -> Aligner
- m_pActiveRobotTask = createTransferTask(pFliper, pAligner, primaryType, secondaryType, armNo);
- 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(pVacuumBack, pAligner, primaryType, secondaryType, armNo);
- 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 -> Fliper(G2)
- // LoadPort -> VacuumBake(G1)
+ // LoadPort -> Aligner
for (int s = 0; s < 4; s++) {
- for (int t = 0; t < 2; t++) {
- if (pEqLoadPort[s]->isEnable()
- && pEqLoadPort[s]->getPortType() == PortType::Loading
- && pEqLoadPort[s]->getPortMode() == PortMode::ReadyToLoad) {
- m_pActiveRobotTask = createTransferTask(pEqLoadPort[s], pEqTar[t], primaryType, secondaryType, armNo);
- if (m_pActiveRobotTask != nullptr) {
- goto PORT_GET;
- }
+ if (pEqLoadPort[s]->isEnable()
+ && pEqLoadPort[s]->getPortType() == PortType::Loading
+ && pEqLoadPort[s]->getPortMode() == PortMode::ReadyToLoad) {
+ m_pActiveRobotTask = createTransferTask(pEqLoadPort[s], pAligner, primaryType, secondaryType, armNo);
+ if (m_pActiveRobotTask != nullptr) {
+ goto PORT_GET;
}
}
}
@@ -981,42 +1002,40 @@
CBakeCooling* pBakeCooling = (CBakeCooling*)getEquipment(EQ_ID_BAKE_COOLING);
CMeasurement* pMeasurement = (CMeasurement*)getEquipment(EQ_ID_MEASUREMENT);
- nRet = pLoadPort1->getPin("Out1")->connectPin(pFliper->getPin("In1"));
+ nRet = pLoadPort1->getPin("Out")->connectPin(pAligner->getPin("In1"));
if (nRet < 0) {
LOGE("连接LoadPort1-Fliper失败");
}
- nRet = pLoadPort2->getPin("Out1")->connectPin(pFliper->getPin("In2"));
+ nRet = pLoadPort2->getPin("Out")->connectPin(pAligner->getPin("In2"));
if (nRet < 0) {
LOGE("连接LoadPort1-Fliper失败");
}
- nRet = pLoadPort1->getPin("Out2")->connectPin(pVacuumBake->getPin("In1"));
+ nRet = pAligner->getPin("Out1")->connectPin(pFliper->getPin("In"));
if (nRet < 0) {
- LOGE("连接LoadPort1-VacuumBake失败");
+ LOGE("连接Aligner-Fliper失败");
}
- nRet = pLoadPort2->getPin("Out2")->connectPin(pVacuumBake->getPin("In2"));
+ nRet = pAligner->getPin("Out2")->connectPin(pVacuumBake->getPin("In"));
if (nRet < 0) {
- LOGE("连接LoadPort1-VacuumBake失败");
+ LOGE("连接Aligner-VacuumBake失败");
}
- nRet = pFliper->getPin("Out")->connectPin(pAligner->getPin("In1"));
+ nRet = pFliper->getPin("Out1")->connectPin(pBonder1->getPin("In1"));
if (nRet < 0) {
- LOGE("连接Fliper-Aligner失败");
+ LOGE("连接Fliper-Bonder1失败");
+ }
+ nRet = pFliper->getPin("Out2")->connectPin(pBonder2->getPin("In1"));
+ if (nRet < 0) {
+ LOGE("连接Fliper-Bonder2失败");
}
- nRet = pVacuumBake->getPin("Out")->connectPin(pAligner->getPin("In2"));
+ nRet = pVacuumBake->getPin("Out1")->connectPin(pBonder1->getPin("In2"));
if (nRet < 0) {
- LOGE("连接VacuumBake-Aligner失败");
+ LOGE("连接VacuumBake-Bonder1失败");
}
-
- nRet = pAligner->getPin("Out1")->connectPin(pBonder1->getPin("In"));
+ nRet = pVacuumBake->getPin("Out2")->connectPin(pBonder2->getPin("In2"));
if (nRet < 0) {
- LOGE("连接Aligner-Bondere1失败");
- }
-
- nRet = pAligner->getPin("Out2")->connectPin(pBonder2->getPin("In"));
- if (nRet < 0) {
- LOGE("连接Aligner-Bondere2失败");
+ LOGE("连接VacuumBake-Bonder2失败");
}
nRet = pBonder1->getPin("Out")->connectPin(pBakeCooling->getPin("In1"));
--
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