1. SGMeasurement实现规划的地址 2. 优化读取位时输入的地址不是8的倍数的问题 3. 添加读写心跳的功能

mrDarker

2025-08-05 f56051fa3102feb35ea60650ebda80f49e62d025

 SourceCode/Bond/Servo/CMaster.cpp

@@ -54,6 +54,7 @@
      m_isCompareMapsBeforeProceeding = FALSE;
      m_bEnableEventReport = true;
      m_bEnableAlarmReport = true;
      m_bContinuousTransfer = false;
      InitializeCriticalSection(&m_criticalSection);
   }

@@ -251,6 +252,20 @@
         return -1;
      }

      m_bContinuousTransfer = false;
      setState(MASTERSTATE::STARTING);
      m_ullStartTime = GetTickCount64();

      return 0;
   }

   int CMaster::startContinuousTransfer()
   {
      if (m_state != MASTERSTATE::READY) {
         return -1;
      }

      m_bContinuousTransfer = true;
      setState(MASTERSTATE::STARTING);
      m_ullStartTime = GetTickCount64();

@@ -260,7 +275,7 @@
   int CMaster::stop()
   {
      // 运行时间为累加结果，本次停止时刷新；
      if (m_state != MASTERSTATE::RUNNING) {
      if (m_state != MASTERSTATE::RUNNING && m_state != MASTERSTATE::RUNNING_CONTINUOUS_TRANSFER) {
         return -1;
      }

@@ -447,7 +462,11 @@


            unlock();
            setState(MASTERSTATE::RUNNING);
            if(!m_bContinuousTransfer)
               setState(MASTERSTATE::RUNNING);
            else 
               setState(MASTERSTATE::RUNNING_CONTINUOUS_TRANSFER);

            continue;
         }

@@ -548,15 +567,11 @@
               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"));
            }
            CEquipment* pEqTar[] = { pVacuumBake, pFliper };
            if (primaryType == MaterialsType::G2) {
               pEqTar[0] = pFliper;
               pEqTar[1] = pVacuumBake;
            }
            for (int s = 0; s < 4; s++) {
               PortType pt = pLoadPorts[s]->getPortType();
               if (!rmd.armState[0] && pLoadPorts[s]->isEnable()
                  && pLoadPorts[s]->getPortType() == PortType::Unloading
                  && pLoadPorts[s]->getPortMode() == PortMode::ReadyToUnload) {
                  && (pt == PortType::Unloading || pt == PortType::Both)
                  && pLoadPorts[s]->getPortStatus() == PORT_INUSE) {
                  m_pActiveRobotTask = createTransferTask(pMeasurement, pLoadPorts[s], primaryType, secondaryType);
                  if (m_pActiveRobotTask != nullptr) {
                     goto PORT_PUT;
@@ -649,9 +664,10 @@

            // LoadPort -> Aligner
            for (int s = 0; s < 4; s++) {
               PortType pt = pLoadPorts[s]->getPortType();
               if (!rmd.armState[0] && pLoadPorts[s]->isEnable()
                  && pLoadPorts[s]->getPortType() == PortType::Loading
                  && pLoadPorts[s]->getPortMode() == PortMode::ReadyToLoad) {
                  && (pt == PortType::Loading || pt == PortType::Both)
                  && pLoadPorts[s]->getPortStatus() == PORT_INUSE) {
                  m_pActiveRobotTask = createTransferTask(pLoadPorts[s], pAligner, primaryType, secondaryType);
                  if (m_pActiveRobotTask != nullptr) {
                     pEFEM->setContext(m_pActiveRobotTask->getContext());
@@ -667,6 +683,132 @@
            unlock();
            continue;
         }

         // 千传模式调度逻辑
         else if (m_state == MASTERSTATE::RUNNING_CONTINUOUS_TRANSFER) {
            // 检测判断robot状态
            RMDATA& rmd = pEFEM->getRobotMonitoringData();
            if (rmd.status != ROBOT_STATUS::Idle && rmd.status != ROBOT_STATUS::Run) {
               unlock();
               continue;
            }

            if (m_pActiveRobotTask != nullptr) {
               if (m_pActiveRobotTask->isPicked()) {
                  m_pActiveRobotTask->place();
               }
               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
               // LOGI("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...");
               continue;
            }

            // 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) {
                  for (int slot = 0; slot < SLOT_MAX; slot++) {
                     m_pActiveRobotTask = createTransferTask_continuous_transfer(pMeasurement,
                        0, pLoadPorts[s], slot);
                     if (m_pActiveRobotTask != nullptr) {
                        goto CT_PORT_PUT;
                     }
                  }
               }
            }

         CT_PORT_PUT:
            CHECK_RUN_ACTIVE_ROBOT_TASK(m_pActiveRobotTask);


            // BakeCooling ->Measurement
            if (!rmd.armState[0]) {
               m_pActiveRobotTask = createTransferTask_continuous_transfer(pBakeCooling,
                  3, pMeasurement, 0);
               CHECK_RUN_ACTIVE_ROBOT_TASK(m_pActiveRobotTask);
            }

				
            // BakeCooling内部
            if (!rmd.armState[0]) {
               m_pActiveRobotTask = createTransferTask_continuous_transfer(pBakeCooling,
                  2, pBakeCooling, 3);
               CHECK_RUN_ACTIVE_ROBOT_TASK(m_pActiveRobotTask);
            }
            if (!rmd.armState[0]) {
               m_pActiveRobotTask = createTransferTask_continuous_transfer(pBakeCooling,
                  1, pBakeCooling, 2);
               CHECK_RUN_ACTIVE_ROBOT_TASK(m_pActiveRobotTask);
            }
            if (!rmd.armState[0]) {
               m_pActiveRobotTask = createTransferTask_continuous_transfer(pBakeCooling,
                  0, pBakeCooling, 1);
               CHECK_RUN_ACTIVE_ROBOT_TASK(m_pActiveRobotTask);
            }

            // Bonder2 -> BakeCooling
            if (!rmd.armState[0]) {
               m_pActiveRobotTask = createTransferTask_continuous_transfer(pBonder2,
                  0, pBakeCooling, 0);
               CHECK_RUN_ACTIVE_ROBOT_TASK(m_pActiveRobotTask);
            }

            // Bonder1 -> Bonder2
            if (!rmd.armState[0] && !pBonder2->hasBondClass()) {
               m_pActiveRobotTask = createTransferTask_continuous_transfer(pBonder1,
                  0, pBonder2, 0);
               CHECK_RUN_ACTIVE_ROBOT_TASK(m_pActiveRobotTask);
            }

            // VacuumBake(G1) -> Bonder1
            if (!rmd.armState[0] && !pBonder1->hasBondClass()) {
               m_pActiveRobotTask = createTransferTask_continuous_transfer(pVacuumBake,
                  0, pBonder1, 0);
               CHECK_RUN_ACTIVE_ROBOT_TASK(m_pActiveRobotTask);
            }

            // Fliper(G2) -> VacuumBake(G1)
            if (!rmd.armState[0]) {
               m_pActiveRobotTask = createTransferTask_continuous_transfer(pFliper,
                  0, pVacuumBake, 0);
               CHECK_RUN_ACTIVE_ROBOT_TASK(m_pActiveRobotTask);
            }

            // Aligner -> Fliper(G2)
            if (!rmd.armState[1]) {
               m_pActiveRobotTask = createTransferTask_continuous_transfer(pAligner,
                  0, pFliper, 0);
               CHECK_RUN_ACTIVE_ROBOT_TASK(m_pActiveRobotTask);
            }

            // LoadPort -> Aligner
            for (int s = 0; s < 4; s++) {
               PortType pt = pLoadPorts[s]->getPortType();
               if (!rmd.armState[0] && pLoadPorts[s]->isEnable()
                  && (pt == PortType::Loading || pt == PortType::Both)
                  && pLoadPorts[s]->getPortStatus() == PORT_INUSE) {
                  for (int slot = 0; slot < SLOT_MAX; slot++) {
                     m_pActiveRobotTask = createTransferTask_continuous_transfer(pLoadPorts[s], 
                        slot, pAligner, 0);
                     if (m_pActiveRobotTask != nullptr) {
                        pEFEM->setContext(m_pActiveRobotTask->getContext());
                        goto CT_PORT_GET;
                     }
                  }
               }
            }

         CT_PORT_GET:
            CHECK_RUN_ACTIVE_ROBOT_TASK(m_pActiveRobotTask);


            unlock();
            continue;
         }


         unlock();
      }

@@ -891,10 +1033,10 @@
         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);
      listener.onPortStatusChanged = [&](void* pEquipment, short status, __int64 data) {
         LOGE("<Master-%s>Port InUse。status=%d, data=%lld", ((CEquipment*)pEquipment)->getName().c_str(), status);
         if (m_listener.onLoadPortStatusChanged != nullptr) {
            m_listener.onLoadPortStatusChanged(this, (CEquipment*)pEquipment, status, data);
         }
      };
      pEquipment->setListener(listener);
@@ -1429,6 +1571,31 @@
      return pTask;
   }

   CRobotTask* CMaster::createTransferTask_continuous_transfer(CEquipment* pSrcEq, int nSrcSlot,
      CEquipment* pTarEq, int nTarSlot, int armNo/* = 1*/)
   {
      if (!pSrcEq->IsEnabled()) {
         return nullptr;
      }
      if (!pTarEq->IsEnabled()) {
         return nullptr;
      }

      CRobotTask* pTask = nullptr;
      CSlot* pTarSlot = pTarEq->isSlotAvailable(nTarSlot);
      CSlot* pSrcSlot = pSrcEq->getProcessedSlotCt(nSrcSlot);
      if (pSrcSlot != nullptr && nullptr != pTarSlot) {
         pTask = new CRobotTask();
         pTask->setContext(pSrcSlot->getContext());
         pTask->setEFEM((CEFEM*)getEquipment(EQ_ID_EFEM));
         taskSeqNo = pTask->setRobotTransferParam(taskSeqNo, armNo, pSrcSlot->getPosition(),
            pTarSlot->getPosition(), pSrcSlot->getNo(), pTarSlot->getNo());
      }


      return pTask;
   }

   int CMaster::abortCurrentTask()
   {
      lock();