1.Slot防护

chenluhua1980

5 天以前 22f2984276ff75433ebeab877c96b48905826e6c

 SourceCode/Bond/Servo/CMaster.cpp

@@ -63,6 +63,7 @@
      m_ullRunTime = 0;
      m_state = MASTERSTATE::READY;
      m_curveMode = CurveMode::Production;
      m_schedulingMode = SchedulingMode::Production;
      m_pActiveRobotTask = nullptr;
      m_nLastError = ER_CODE_NOERROR;
      m_isCompareMapsBeforeProceeding = FALSE;
@@ -310,6 +311,17 @@
   CurveMode CMaster::getCurveMode() const
   {
      return m_curveMode;
   }

   void CMaster::setSchedulingMode(SchedulingMode mode)
   {
      m_schedulingMode = mode;
      LOGI("<Master>SchedulingMode=%s", mode == SchedulingMode::Production ? "Production" : "Tuning");
   }

   SchedulingMode CMaster::getSchedulingMode() const
   {
      return m_schedulingMode;
   }

   int CMaster::term()
@@ -746,14 +758,22 @@


            // Measurement -> LoadPort
            for (int s = 0; s < 4; s++) {
               PortType pt = pLoadPorts[s]->getPortType();
               if (!rmd.armState[0] && pLoadPorts[s]->isEnable()
                  && (pt == PortType::Unloading || pt == PortType::Both)
                  && pLoadPorts[s]->getPortStatus() == PORT_INUSE) {
                  m_pActiveRobotTask = createTransferTask(pMeasurement, pLoadPorts[s], MaterialsType::G1, secondaryType);
                  if (m_pActiveRobotTask != nullptr) {
                     goto PORT_PUT;
            if (m_schedulingMode == SchedulingMode::Production) {
               if (!rmd.armState[0]) {
                  m_pActiveRobotTask = createTransferTask_returnOrigin(pMeasurement, pLoadPorts);
                  CHECK_RUN_ACTIVE_ROBOT_TASK(m_pActiveRobotTask);
               }
            }
            else {
               for (int s = 0; s < 4; s++) {
                  PortType pt = pLoadPorts[s]->getPortType();
                  if (!rmd.armState[0] && pLoadPorts[s]->isEnable()
                     && (pt == PortType::Unloading || pt == PortType::Both)
                     && pLoadPorts[s]->getPortStatus() == PORT_INUSE) {
                     m_pActiveRobotTask = createTransferTask(pMeasurement, pLoadPorts[s], MaterialsType::G1, secondaryType);
                     if (m_pActiveRobotTask != nullptr) {
                        goto PORT_PUT;
                     }
                  }
               }
            }
@@ -1008,19 +1028,27 @@
            // 组数门限：≥2 组时不再从 LP 上片，避免堆积（与单片一致）
            bool blockLoadFromLP = (nGlassGroup >= 2);

            // 7) Measurement -> LoadPort（固定：G1 优先回 LP）
            // 7) Measurement -> LoadPort
            if (rmd.armState[0] || rmd.armState[1]) {
               LOGD("Arm1 %s, Arm2 %s.",
                  rmd.armState[0] ? _T("不可用") : _T("可用"),
                  rmd.armState[1] ? _T("不可用") : _T("可用"));
            }
            for (int s = 0; s < 4; s++) {
               PortType pt = pLoadPorts[s]->getPortType();
               if (!rmd.armState[0] && pLoadPorts[s]->isEnable()
                  && (pt == PortType::Unloading || pt == PortType::Both)
                  && pLoadPorts[s]->getPortStatus() == PORT_INUSE) {
                  m_pActiveRobotTask = createTransferTask(pMeasurement, pLoadPorts[s], MaterialsType::G1, secondaryType);
                  if (m_pActiveRobotTask != nullptr) { goto BATCH_PORT_PUT; }
            if (m_schedulingMode == SchedulingMode::Production) {
               if (!rmd.armState[0]) {
                  m_pActiveRobotTask = createTransferTask_returnOrigin(pMeasurement, pLoadPorts);
                  CHECK_RUN_ACTIVE_ROBOT_TASK(m_pActiveRobotTask);
               }
            }
            else {
               for (int s = 0; s < 4; s++) {
                  PortType pt = pLoadPorts[s]->getPortType();
                  if (!rmd.armState[0] && pLoadPorts[s]->isEnable()
                     && (pt == PortType::Unloading || pt == PortType::Both)
                     && pLoadPorts[s]->getPortStatus() == PORT_INUSE) {
                     m_pActiveRobotTask = createTransferTask(pMeasurement, pLoadPorts[s], MaterialsType::G1, secondaryType);
                     if (m_pActiveRobotTask != nullptr) { goto BATCH_PORT_PUT; }
                  }
               }
            }

@@ -2449,11 +2477,19 @@

      nRet = pLoadPort1->getPin("Out")->connectPin(pAligner->getPin("In1"));
      if (nRet < 0) {
         LOGE("连接LoadPort1-Fliper失败");
         LOGE("连接LoadPort1-Aligner失败");
      }
      nRet = pLoadPort2->getPin("Out")->connectPin(pAligner->getPin("In2"));
      if (nRet < 0) {
         LOGE("连接LoadPort1-Fliper失败");
         LOGE("连接LoadPort2-Aligner失败");
      }
      nRet = pLoadPort3->getPin("Out")->connectPin(pAligner->getPin("In3"));
      if (nRet < 0) {
         LOGE("连接LoadPort3-Aligner失败");
      }
      nRet = pLoadPort4->getPin("Out")->connectPin(pAligner->getPin("In4"));
      if (nRet < 0) {
         LOGE("连接LoadPort4-Aligner失败");
      }

      nRet = pAligner->getPin("Out1")->connectPin(pFliper->getPin("In"));
@@ -2498,14 +2534,29 @@
         LOGE("连接BakeCooling-LoadPort3失败");
      }

      nRet = pMeasurement->getPin("Out1")->connectPin(pLoadPort3->getPin("In"));
      if (nRet < 0) {
         LOGE("连接BakeCooling-LoadPort3失败");
      }
      if (m_schedulingMode == SchedulingMode::Production) {
         // 生产模式：测量输出回到 G1 原位（默认 Port1 / Port3）
         nRet = pMeasurement->getPin("Out1")->connectPin(pLoadPort1->getPin("In"));
         if (nRet < 0) {
            LOGE("连接Measurement-LoadPort1失败");
         }

      nRet = pMeasurement->getPin("Out2")->connectPin(pLoadPort4->getPin("In"));
      if (nRet < 0) {
         LOGE("连接BakeCooling-LoadPort4失败");
         nRet = pMeasurement->getPin("Out2")->connectPin(pLoadPort3->getPin("In"));
         if (nRet < 0) {
            LOGE("连接Measurement-LoadPort3失败");
         }
      }
      else {
         // 调机模式：维持原连接（Out1->Port3, Out2->Port4）
         nRet = pMeasurement->getPin("Out1")->connectPin(pLoadPort3->getPin("In"));
         if (nRet < 0) {
            LOGE("连接Measurement-LoadPort3失败");
         }

         nRet = pMeasurement->getPin("Out2")->connectPin(pLoadPort4->getPin("In"));
         if (nRet < 0) {
            LOGE("连接Measurement-LoadPort4失败");
         }
      }
   }

@@ -2735,6 +2786,57 @@
      return pTask;
   }

   CRobotTask* CMaster::createTransferTask_returnOrigin(CEquipment* pEqSrc, CLoadPort** pPorts)
   {
      if (!pEqSrc->IsEnabled()) {
         return nullptr;
      }

      CSlot* pSrcSlot = pEqSrc->getProcessedSlot(MaterialsType::G1, m_bJobMode);
      if (pSrcSlot == nullptr) {
         return nullptr;
      }

      CGlass* pGlass = (CGlass*)pSrcSlot->getContext();
      if (pGlass == nullptr) {
         return nullptr;
      }

      int port = 0, slot = 0;
      pGlass->getOrginPort(port, slot);
      if (port < 0 || port >= 4 || slot < 0 || slot >= SLOT_MAX) {
         return nullptr;
      }

      CLoadPort* pPort = pPorts[port];
      if (pPort == nullptr || !pPort->isEnable()) {
         return nullptr;
      }
      PortType pt = pPort->getPortType();
      if (!(pt == PortType::Unloading || pt == PortType::Both)) {
         return nullptr;
      }
      if (pPort->getPortStatus() != PORT_INUSE) {
         return nullptr;
      }

      CSlot* pTarSlot = pPort->getSlot(slot);
      if (pTarSlot == nullptr) {
         return nullptr;
      }
      if (!pTarSlot->isEnable() || pTarSlot->isLock() || pTarSlot->getContext() != nullptr) {
         return nullptr;
      }

      CRobotTask* pTask = new CRobotTask();
      pTask->setContext(pSrcSlot->getContext());
      pTask->setEFEM((CEFEM*)getEquipment(EQ_ID_EFEM));
      taskSeqNo = pTask->setRobotTransferParam(taskSeqNo, 1, pSrcSlot->getPosition(),
         pTarSlot->getPosition(), pSrcSlot->getNo(), pTarSlot->getNo());

      return pTask;
   }

   CRobotTask* CMaster::createTransferTask_continuous_transfer(CEquipment* pSrcEq, int nSrcSlot,
      CEquipment* pTarEq, int nTarSlot, int armNo/* = 1*/)
   {
@@ -2844,6 +2946,19 @@
      pPort->localSetCessetteType(type);
   }

   void CMaster::applySchedulingModePortMapping()
   {
      // 生产模式：固定 Port1/Port3 为 G1，Port2/Port4 为 G2（G4 未定义，按 G2 处理）
      if (m_schedulingMode != SchedulingMode::Production) {
         return;
      }

      setPortCassetteType(0, SERVO::CassetteType::G1);
      setPortCassetteType(1, SERVO::CassetteType::G2);
      setPortCassetteType(2, SERVO::CassetteType::G1);
      setPortCassetteType(3, SERVO::CassetteType::G2);
   }

   void CMaster::setPortEnable(unsigned int index, BOOL bEnable)
   {
      ASSERT(index < 4);
@@ -2940,6 +3055,20 @@
         slotProcess = jobExistence[0];
      }

      bool hasExistence = false;
      for (short w : jobExistence) {
         if (w != 0) { hasExistence = true; break; }
      }
      const int portStatus = pPort->getPortStatus();
      if (!hasExistence) {
         LOGE("ProcessStart blocked (ProceedWithCarrier): no JobExistence map (port=%u, portStatus=%d, scanMap=%d, cassetteId=%s).",
            port + 1, portStatus, scanMap, pPort->getCassetteId().c_str());
         return -2;
      }
      if (portStatus != PORT_INUSE) {
         LOGW("ProcessStart warning (ProceedWithCarrier): port status is %d (expected INUSE).", portStatus);
      }

      pPort->sendCassetteCtrlCmd(CCC_PROCESS_START, jobExistence, 12, slotProcess, jobCount, nullptr, nullptr);
      return 0;
   }