1. 配置port时下发配方数据

mrDarker

2025-07-25 2cb68ea2313d5be30639705581b3412a16468e2f

 SourceCode/Bond/Servo/CMaster.cpp

@@ -51,6 +51,7 @@
      m_state = MASTERSTATE::READY;
      m_pActiveRobotTask = nullptr;
      m_nLastError = 0;
      m_isCompareMapsBeforeProceeding = FALSE;
      InitializeCriticalSection(&m_criticalSection);
   }

@@ -659,8 +660,10 @@

            // Fliper(G2) -> Bonder
            // VacuumBake(G1) -> Bonder
            SERVO::CRobotTask* tempTask[2] = {nullptr, nullptr};
            if (!rmd.armState[1] && !pBonder1->hasBondClass()) {
               m_pActiveRobotTask = createTransferTask(pFliper, pBonder1, primaryType, secondaryType, 2);
               tempTask[0] = createTransferTask(pFliper, pBonder1, primaryType, secondaryType, 2);
               /*
               if (m_pActiveRobotTask != nullptr) {
                  m_pActiveRobotTask->pick();
                  std::string strDescription = m_pActiveRobotTask->getDescription();
@@ -671,24 +674,12 @@
                  LOGI("创建新任务<%s>...", strDescription.c_str());
                  continue;
               }
            }

            if (!rmd.armState[1] && !pBonder2->hasBondClass()) {
               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;
               }
               */
            }

            if (!rmd.armState[0] && !pBonder1->hasBondClass()) {
               m_pActiveRobotTask = createTransferTask(pVacuumBake, pBonder1, primaryType, secondaryType);
               tempTask[1] = createTransferTask(pVacuumBake, pBonder1, primaryType, secondaryType);
               /*
               if (m_pActiveRobotTask != nullptr) {
                  m_pActiveRobotTask->pick();
                  std::string strDescription = m_pActiveRobotTask->getDescription();
@@ -699,10 +690,51 @@
                  LOGI("创建新任务<%s>...", strDescription.c_str());
                  continue;
               }
               */
            }

            if (tempTask[1] != nullptr && pBonder1->hasG2Class()) {
               m_pActiveRobotTask = tempTask[1];
               if(tempTask[0] != nullptr) delete tempTask[0];
            }
            else if (tempTask[0] != nullptr && tempTask[1] != nullptr) {
               m_pActiveRobotTask = tempTask[0];
               delete tempTask[1];
            }
            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;
            }

            if (tempTask[0] != nullptr) delete tempTask[0];
            if (tempTask[1] != nullptr) delete tempTask[1];
            tempTask[0] = nullptr;
            tempTask[1] = nullptr;
            if (!rmd.armState[1] && !pBonder2->hasBondClass()) {
               tempTask[0] = 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;
               }
               */
            }

            if (!rmd.armState[0] && !pBonder2->hasBondClass()) {
               m_pActiveRobotTask = createTransferTask(pVacuumBake, pBonder2, primaryType, secondaryType);
               tempTask[1] = createTransferTask(pVacuumBake, pBonder2, primaryType, secondaryType);
               /*
               if (m_pActiveRobotTask != nullptr) {
                  m_pActiveRobotTask->pick();
                  std::string strDescription = m_pActiveRobotTask->getDescription();
@@ -713,8 +745,31 @@
                  LOGI("创建新任务<%s>...", strDescription.c_str());
                  continue;
               }
               */
            }

            if (tempTask[1] != nullptr && pBonder1->hasG2Class()) {
               m_pActiveRobotTask = tempTask[1];
               if (tempTask[0] != nullptr) delete tempTask[0];
            }
            else if (tempTask[0] != nullptr && tempTask[1] != nullptr) {
               m_pActiveRobotTask = tempTask[0];
               delete tempTask[1];
            }
            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;
            }
            if (tempTask[0] != nullptr) delete tempTask[0];
            if (tempTask[1] != nullptr) delete tempTask[1];
            tempTask[0] = nullptr;
            tempTask[1] = nullptr;

            // Aligner -> Fliper(G2)
            // Aligner -> VacuumBake(G1)
@@ -1012,6 +1067,16 @@
      listener.onProcessStateChanged = [&](void* pEquipment, PROCESS_STATE state) -> void {
         LOGI("<Master>onProcessStateChanged<%d>", (int)state);
      };
      listener.onMapMismatch = [&](void* pEquipment, short scanMap, short downMap) {
         LOGE("<Master-%s>Port InUse, map(%d!=%d)不一致，请检查。",
            ((CEquipment*)pEquipment)->getName().c_str(), scanMap, downMap);
      };
      listener.onPortInUse = [&](void* pEquipment, short scanMap) {
         LOGE("<Master-%s>Port InUse。scanMap=%d", ((CEquipment*)pEquipment)->getName().c_str(), scanMap);
         if (m_listener.onLoadPortInUse != nullptr) {
            m_listener.onLoadPortInUse(this, (CEquipment*)pEquipment, scanMap);
         }
      };
      pEquipment->setListener(listener);
      pEquipment->setCcLink(&m_cclink);
      m_listEquipment.push_back(pEquipment);
@@ -1049,6 +1114,7 @@
      pEquipment->setID(EQ_ID_LOADPORT1 + index);
      pEquipment->setName(szName);
      pEquipment->setDescription(szName);
      pEquipment->setCompareMapsBeforeProceeding(m_isCompareMapsBeforeProceeding);		
      addToEquipmentList(pEquipment);


@@ -1405,6 +1471,10 @@
      MaterialsType primaryType/* = MaterialsType::G1*/, MaterialsType secondaryType/* = MaterialsType::G2*/,
      int armNo/* = 1*/)
   {
      if (!pSrcEq->IsEnabled()) { 
         return nullptr;
      }

      CRobotTask* pTask = nullptr;
      CSlot* pSrcSlot, * pTarSlot;
      pTarSlot = pTarEq->getAvailableSlotForGlass(primaryType);
@@ -1429,6 +1499,10 @@

   CRobotTask* CMaster::createTransferTask_bonder_to_bakecooling(CEquipment* pSrcEq, CEquipment* pTarEq)
   {
      if (!pSrcEq->IsEnabled()) {
         return nullptr;
      }

      std::vector<int> slots = {1, 3};

      CRobotTask* pTask = nullptr;
@@ -1450,6 +1524,10 @@

   CRobotTask* CMaster::createTransferTask_bake_to_cooling(CEquipment* pSrcEq)
   {
      if (!pSrcEq->IsEnabled()) {
         return nullptr;
      }

      std::vector<int> slotsTar = { 2, 4 };
      std::vector<int> slotsSrc = { 1, 3 };

@@ -1472,6 +1550,10 @@

   CRobotTask* CMaster::createTransferTask_bakecooling_to_measurement(CEquipment* pSrcEq, CEquipment* pTarEq)
   {
      if (!pSrcEq->IsEnabled()) {
         return nullptr;
      }

      std::vector<int> slots = { 2, 4 };

      CRobotTask* pTask = nullptr;
@@ -1493,6 +1575,10 @@

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

      CRobotTask* pTask = nullptr;
      CSlot* pSrcSlot, * pTarSlot = nullptr, * pTempSlot;
      pSrcSlot = pEqSrc->getInspFailSlot();
@@ -1543,7 +1629,8 @@
      unlock();

      // 当前任务手动中止后，停止调度，需要操作员在解决问题后，重新启动
      stop();
      // 25年7月23日后修改为不停止任务
      // stop();

      return 0;
   }
@@ -1553,6 +1640,18 @@
      lock();
      if (m_pActiveRobotTask != nullptr) {
         m_pActiveRobotTask->restore();
      }
      unlock();


      return 0;
   }

   int CMaster::resendCurrentTask()
   {
      lock();
      if (m_pActiveRobotTask != nullptr) {
         m_pActiveRobotTask->resend();
      }
      unlock();

@@ -1573,4 +1672,17 @@
      pPort->localSetTransferMode((SERVO::TransferMode)transferMode);
      pPort->localAutoChangeEnable(autoChangeEnable);
   }

   void CMaster::setPortCassetteType(unsigned int index, SERVO::CassetteType type)
   {
      ASSERT(index < 4);
      int eqid[] = { EQ_ID_LOADPORT1, EQ_ID_LOADPORT2, EQ_ID_LOADPORT3, EQ_ID_LOADPORT4 };
      CLoadPort* pPort = (CLoadPort*)getEquipment(eqid[index]);
      pPort->localSetCessetteType(type);
   }

   void CMaster::setCompareMapsBeforeProceeding(BOOL bCompare)
   {
      m_isCompareMapsBeforeProceeding = bCompare;
   }
}