1. 添加设备配方绑定

mrDarker

2025-06-19 02d1df7b4fa1a0e686c112e7bf3c8e794ba42b82

 SourceCode/Bond/Servo/CMaster.cpp

@@ -160,9 +160,9 @@
      ASSERT(pMeasurement);

      pEfem->setPort(0, pPort1);
      pEfem->setPort(1, pPort1);
      pEfem->setPort(2, pPort1);
      pEfem->setPort(3, pPort1);
      pEfem->setPort(1, pPort2);
      pEfem->setPort(2, pPort3);
      pEfem->setPort(3, pPort4);
      pEfem->setFliper(pFliper);
      pEfem->setAligner(pAligner);
      pEfem->setArmTray(0, pArmTray1);
@@ -477,7 +477,7 @@

            // Fliper(G2) -> Bonder
            // VacuumBake(G1) -> Bonder
            if (!rmd.armState[1]) {
            if (!rmd.armState[1] && !pBonder1->hasBondClass()) {
               m_pActiveRobotTask = createTransferTask(pFliper, pBonder1, primaryType, secondaryType, 2);
               if (m_pActiveRobotTask != nullptr) {
                  m_pActiveRobotTask->pick();
@@ -491,7 +491,7 @@
               }
            }

            if (!rmd.armState[1]) {
            if (!rmd.armState[1] && !pBonder2->hasBondClass()) {
               m_pActiveRobotTask = createTransferTask(pFliper, pBonder2, primaryType, secondaryType, 2);
               if (m_pActiveRobotTask != nullptr) {
                  m_pActiveRobotTask->pick();
@@ -505,7 +505,7 @@
               }
            }

            if (!rmd.armState[0]) {
            if (!rmd.armState[0] && !pBonder1->hasBondClass()) {
               m_pActiveRobotTask = createTransferTask(pVacuumBake, pBonder1, primaryType, secondaryType);
               if (m_pActiveRobotTask != nullptr) {
                  m_pActiveRobotTask->pick();
@@ -519,7 +519,7 @@
               }
            }

            if (!rmd.armState[0]) {
            if (!rmd.armState[0] && !pBonder2->hasBondClass()) {
               m_pActiveRobotTask = createTransferTask(pVacuumBake, pBonder2, primaryType, secondaryType);
               if (m_pActiveRobotTask != nullptr) {
                  m_pActiveRobotTask->pick();
@@ -613,16 +613,13 @@

         // 读标志位
         for (auto item : m_listEquipment) {
            if (item->getID() == EQ_ID_Bonder1 ||
               item->getID() == EQ_ID_Bonder2) {
               const StationIdentifier& station = item->getStation();
               MemoryBlock& block = item->getReadBitBlock();
            const StationIdentifier& station = item->getStation();
            MemoryBlock& block = item->getReadBitBlock();

               int nRet = m_cclink.ReadData2(station, (DeviceType)block.type,
                  block.start, block.size, block.buffer);
               if (0 == nRet) {
                  item->onReceiveLBData(block.buffer, block.size);
               }
            int nRet = m_cclink.ReadData2(station, (DeviceType)block.type,
               block.start, block.size, block.buffer);
            if (0 == nRet) {
               item->onReceiveLBData(block.buffer, block.size);
            }
         }
      }
@@ -780,7 +777,9 @@
            unlock();
         }
      };

      listener.onProcessStateChanged = [&](void* pEquipment, PROCESS_STATE state) -> void {
         LOGI("<Master>onProcessStateChanged<%d>", (int)state);
      };
      pEquipment->setListener(listener);
      pEquipment->setCcLink(&m_cclink);
      m_listEquipment.push_back(pEquipment);
@@ -852,7 +851,7 @@
      pEquipment->setBaseAlarmId(BASE_ALARM_EFEM);
      pEquipment->setName("VacuumBake(G1)");
      pEquipment->setDescription("VacuumBake(G1).");
      pEquipment->setReadBitBlock(0x4000, 0x45ff);
      pEquipment->setReadBitBlock(0x5c00, 0x66ff);
      pEquipment->setStation(0, 255);
      addToEquipmentList(pEquipment);

@@ -963,7 +962,7 @@
      pEquipment->setBaseAlarmId(BASE_ALARM_EFEM);
      pEquipment->setName("BakeCooling");
      pEquipment->setDescription("BakeCooling.");
      pEquipment->setReadBitBlock(0x4000, 0x45ff);
      pEquipment->setReadBitBlock(0x5100, 0x5bff);
      pEquipment->setStation(0, 255);
      addToEquipmentList(pEquipment);

@@ -1204,14 +1203,11 @@


      if (pSrcSlot != nullptr && nullptr != pTarSlot) {
         int srcPos, srcSlot, tarPos, tarSlot;
         transformPosAndSlot(pSrcSlot->getPosition(), pSrcSlot->getNo(), srcPos, srcSlot);
         transformPosAndSlot(pTarSlot->getPosition(), pTarSlot->getNo(), tarPos, tarSlot);
         pTask = new CRobotTask();
         pTask->setContext(pSrcSlot->getContext());
         pTask->setEFEM((CEFEM*)getEquipment(EQ_ID_EFEM));
         taskSeqNo = pTask->setRobotTransferParam(taskSeqNo, armNo, srcPos,
            tarPos, srcSlot, tarSlot);
         taskSeqNo = pTask->setRobotTransferParam(taskSeqNo, armNo, pSrcSlot->getPosition(),
            pTarSlot->getPosition(), pSrcSlot->getNo(), pTarSlot->getNo());
      }


@@ -1228,14 +1224,11 @@
      pSrcSlot = pSrcEq->getProcessedSlot(MaterialsType::G1);

      if (pSrcSlot != nullptr && nullptr != pTarSlot) {
         int srcPos, srcSlot, tarPos, tarSlot;
         transformPosAndSlot(pSrcSlot->getPosition(), pSrcSlot->getNo(), srcPos, srcSlot);
         transformPosAndSlot(pTarSlot->getPosition(), pTarSlot->getNo(), tarPos, tarSlot);
         pTask = new CRobotTask();
         pTask->setContext(pSrcSlot->getContext());
         pTask->setEFEM((CEFEM*)getEquipment(EQ_ID_EFEM));
         taskSeqNo = pTask->setRobotTransferParam(taskSeqNo, 1, srcPos,
            tarPos, srcSlot, tarSlot);
         taskSeqNo = pTask->setRobotTransferParam(taskSeqNo, 1, pSrcSlot->getPosition(),
            pTarSlot->getPosition(), pSrcSlot->getNo(), pTarSlot->getNo());
      }


@@ -1253,14 +1246,11 @@
      pSrcSlot = pSrcEq->getProcessedSlot2(MaterialsType::G1, slotsSrc);

      if (pSrcSlot != nullptr && nullptr != pTarSlot) {
         int srcPos, srcSlot, tarPos, tarSlot;
         transformPosAndSlot(pSrcSlot->getPosition(), pSrcSlot->getNo(), srcPos, srcSlot);
         transformPosAndSlot(pTarSlot->getPosition(), pTarSlot->getNo(), tarPos, tarSlot);
         pTask = new CRobotTask();
         pTask->setContext(pSrcSlot->getContext());
         pTask->setEFEM((CEFEM*)getEquipment(EQ_ID_EFEM));
         taskSeqNo = pTask->setRobotTransferParam(taskSeqNo, 1, srcPos,
            tarPos, srcSlot, tarSlot);
         taskSeqNo = pTask->setRobotTransferParam(taskSeqNo, 1, pSrcSlot->getPosition(),
            pTarSlot->getPosition(), pSrcSlot->getNo(), pTarSlot->getNo());
      }


@@ -1277,68 +1267,15 @@
      pSrcSlot = pSrcEq->getProcessedSlot2(MaterialsType::G1, slots);

      if (pSrcSlot != nullptr && nullptr != pTarSlot) {
         int srcPos, srcSlot, tarPos, tarSlot;
         transformPosAndSlot(pSrcSlot->getPosition(), pSrcSlot->getNo(), srcPos, srcSlot);
         transformPosAndSlot(pTarSlot->getPosition(), pTarSlot->getNo(), tarPos, tarSlot);
         pTask = new CRobotTask();
         pTask->setContext(pSrcSlot->getContext());
         pTask->setEFEM((CEFEM*)getEquipment(EQ_ID_EFEM));
         taskSeqNo = pTask->setRobotTransferParam(taskSeqNo, 1, srcPos,
            tarPos, srcSlot, tarSlot);
         taskSeqNo = pTask->setRobotTransferParam(taskSeqNo, 1, pSrcSlot->getPosition(),
            pTarSlot->getPosition(), pSrcSlot->getNo(), pTarSlot->getNo());
      }


      return pTask;
   }

   void CMaster::transformPosAndSlot(int srcPos, int srcSlot, int& tarPos, int& tarSlot)
   {
      switch (srcPos)
      {
      case EQ_ID_LOADPORT1:
      case EQ_ID_LOADPORT2:
      case EQ_ID_LOADPORT3:
      case EQ_ID_LOADPORT4:
      case EQ_ID_ARM_TRAY1:
      case EQ_ID_ARM_TRAY2:
      case EQ_ID_ALIGNER:
      case EQ_ID_FLIPER:
         tarPos = srcPos;
         tarSlot = 1;
         break;
      case EQ_ID_Bonder1:
         if (1 <= srcSlot && srcSlot <= 2) {
            tarPos = 9 + srcSlot;
            tarSlot = 1;
         }
         break;
      case EQ_ID_Bonder2:
         if (1 <= srcSlot && srcSlot <= 2) {
            tarPos = 11 + srcSlot;
            tarSlot = 1;
         }
         break;
      case EQ_ID_VACUUMBAKE:
         if (1 <= srcSlot && srcSlot <= 2) {
            tarPos = 13 + srcSlot;
            tarSlot = 1;
         }
         break;
      case EQ_ID_BAKE_COOLING:
         if (1 <= srcSlot && srcSlot <= 4) {
            tarPos = 15 + srcSlot;
            tarSlot = 1;
         }
         break;
      case EQ_ID_MEASUREMENT:
         tarPos = 19;
         tarSlot = 1;
         break;
      default:
         tarPos = srcPos;
         tarSlot = srcSlot;
         break;
      }
   }

   int CMaster::abortCurrentTask()