SourceCode/Bond/Servo/CBonder.cpp
@@ -34,7 +34,8 @@ { // 加入Pin初始化代码 LOGI("<CBonder>initPins"); addPin(SERVO::PinType::INPUT, _T("In")); addPin(SERVO::PinType::INPUT, _T("In1")); addPin(SERVO::PinType::INPUT, _T("In2")); addPin(SERVO::PinType::OUTPUT, _T("Out")); }
@@ -33,9 +33,9 @@ { // 加入Pin初始化代码 LOGI("<CFliper>initPins"); addPin(SERVO::PinType::INPUT, _T("In1")); addPin(SERVO::PinType::INPUT, _T("In2")); addPin(SERVO::PinType::OUTPUT, _T("Out")); addPin(SERVO::PinType::INPUT, _T("In")); addPin(SERVO::PinType::OUTPUT, _T("Out1")); addPin(SERVO::PinType::OUTPUT, _T("Out2")); } // 必须要实现的虚函数，在此初始化Slot信息 SourceCode/Bond/Servo/CLoadPort.cpp
@@ -51,8 +51,7 @@ // 加入Pin初始化代码 LOGI("<CLoadPort>initPins"); addPin(SERVO::PinType::INPUT, _T("In")); addPin(SERVO::PinType::OUTPUT, _T("Out1")); addPin(SERVO::PinType::OUTPUT, _T("Out2")); addPin(SERVO::PinType::OUTPUT, _T("Out")); } // 必须要实现的虚函数，在此初始化Slot信息 @@ -379,23 +378,23 @@ if (ar.IsStoring()) { ar << m_nIndex; ar << (int)m_portType; ar << (int)m_portMode; ar << (int)m_cassetteType; ar << (int)m_transferMode; ar << m_bEnable; ar << m_bAutoChangeEnable; //ar << (int)m_portType; //ar << (int)m_portMode; //ar << (int)m_cassetteType; //ar << (int)m_transferMode; //ar << m_bEnable; //ar << m_bAutoChangeEnable; m_portStatusReport.serialize(ar); } else { int temp; ar >> m_nIndex; ar >> temp; m_portType = (PortType)temp; ar >> temp; m_portMode = (PortMode)temp; ar >> temp; m_cassetteType = (CassetteType)temp; ar >> temp; m_transferMode = (TransferMode)temp; ar >> m_bEnable; ar >> m_bAutoChangeEnable; //ar >> temp; m_portType = (PortType)temp; //ar >> temp; m_portMode = (PortMode)temp; //ar >> temp; m_cassetteType = (CassetteType)temp; //ar >> temp; m_transferMode = (TransferMode)temp; //ar >> m_bEnable; //ar >> m_bAutoChangeEnable; m_portStatusReport.serialize(ar); } } @@ -1078,6 +1077,36 @@ return 0; } void CLoadPort::localEanblePort(BOOL bEnable) { m_bEnable = bEnable; } void CLoadPort::localSetPortType(PortType type) { m_portType = type; } void CLoadPort::localSetPortMode(PortMode mode) { m_portMode = mode; } void CLoadPort::localSetCessetteType(CassetteType type) { m_cassetteType = type; } void CLoadPort::localSetTransferMode(TransferMode mode) { m_transferMode = mode; } void CLoadPort::localAutoChangeEnable(BOOL bEnable) { m_bAutoChangeEnable = bEnable; } /* * 生成测试用的玻璃列表 */ SourceCode/Bond/Servo/CLoadPort.h
@@ -31,6 +31,12 @@ int setCassetteType(CassetteType type, ONWRITED onWritedBlock = nullptr); int setTransferMode(TransferMode mode, ONWRITED onWritedBlock = nullptr); int eableAutoChange(BOOL bEnable, ONWRITED onWritedBlock = nullptr); void localEanblePort(BOOL bEnable); void localSetPortType(PortType type); void localSetPortMode(PortMode mode); void localSetCessetteType(CassetteType type); void localSetTransferMode(TransferMode mode); void localAutoChangeEnable(BOOL bEnable); public: void setIndex(unsigned int index); SourceCode/Bond/Servo/CMaster.cpp
@@ -293,7 +293,7 @@ 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); @@ -306,7 +306,7 @@ ASSERT(pLoadPort3); ASSERT(pLoadPort4); ASSERT(pFliper); ASSERT(pVacuumBack); ASSERT(pVacuumBake); ASSERT(pAligner); ASSERT(pBonder1); ASSERT(pBonder2); @@ -377,10 +377,10 @@ // 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() @@ -395,7 +395,7 @@ PORT_PUT: if (m_pActiveRobotTask != nullptr) { m_pActiveRobotTask->run(); m_pActiveRobotTask->pick(); std::string strDescription = m_pActiveRobotTask->getDescription(); unlock(); if (m_listener.onRobotTaskEvent != nullptr) { @@ -409,7 +409,7 @@ // BakeCooling ->Measurement m_pActiveRobotTask = createTransferTask_bakecooling_to_measurement(pBakeCooling, pMeasurement); if (m_pActiveRobotTask != nullptr) { m_pActiveRobotTask->run(); m_pActiveRobotTask->pick(); std::string strDescription = m_pActiveRobotTask->getDescription(); unlock(); if (m_listener.onRobotTaskEvent != nullptr) { @@ -424,7 +424,7 @@ // Bake -> Cooling m_pActiveRobotTask = createTransferTask_bake_to_cooling(pBakeCooling); if (m_pActiveRobotTask != nullptr) { m_pActiveRobotTask->run(); m_pActiveRobotTask->pick(); std::string strDescription = m_pActiveRobotTask->getDescription(); unlock(); if (m_listener.onRobotTaskEvent != nullptr) { @@ -438,7 +438,7 @@ // Bonder -> BakeCooling m_pActiveRobotTask = createTransferTask_bonder_to_bakecooling(pBonder1, pBakeCooling); if (m_pActiveRobotTask != nullptr) { m_pActiveRobotTask->run(); m_pActiveRobotTask->pick(); std::string strDescription = m_pActiveRobotTask->getDescription(); unlock(); if (m_listener.onRobotTaskEvent != nullptr) { @@ -450,7 +450,7 @@ m_pActiveRobotTask = createTransferTask_bonder_to_bakecooling(pBonder2, pBakeCooling); if (m_pActiveRobotTask != nullptr) { m_pActiveRobotTask->run(); m_pActiveRobotTask->pick(); std::string strDescription = m_pActiveRobotTask->getDescription(); unlock(); if (m_listener.onRobotTaskEvent != nullptr) { @@ -460,10 +460,11 @@ continue; } // Aligner -> Bonder m_pActiveRobotTask = createTransferTask(pAligner, pBonder1, primaryType, secondaryType); // Fliper(G2) -> Bonder // VacuumBake(G1) -> Bonder m_pActiveRobotTask = createTransferTask(pFliper, pBonder1, primaryType, secondaryType, 2); if (m_pActiveRobotTask != nullptr) { m_pActiveRobotTask->run(); m_pActiveRobotTask->pick(); std::string strDescription = m_pActiveRobotTask->getDescription(); unlock(); if (m_listener.onRobotTaskEvent != nullptr) { @@ -473,9 +474,9 @@ continue; } m_pActiveRobotTask = createTransferTask(pAligner, pBonder2, primaryType, secondaryType); m_pActiveRobotTask = createTransferTask(pFliper, pBonder2, primaryType, secondaryType, 2); if (m_pActiveRobotTask != nullptr) { m_pActiveRobotTask->run(); m_pActiveRobotTask->pick(); std::string strDescription = m_pActiveRobotTask->getDescription(); unlock(); if (m_listener.onRobotTaskEvent != nullptr) { @@ -485,12 +486,9 @@ continue; } // Fliper(G2) -> Aligner // VacuumBake(G1) -> Aligner m_pActiveRobotTask = createTransferTask(pFliper, pAligner, primaryType, secondaryType); m_pActiveRobotTask = createTransferTask(pVacuumBake, pBonder1, primaryType, secondaryType); if (m_pActiveRobotTask != nullptr) { m_pActiveRobotTask->run(); m_pActiveRobotTask->pick(); std::string strDescription = m_pActiveRobotTask->getDescription(); unlock(); if (m_listener.onRobotTaskEvent != nullptr) { @@ -500,9 +498,35 @@ continue; } m_pActiveRobotTask = createTransferTask(pVacuumBack, pAligner, primaryType, secondaryType); m_pActiveRobotTask = createTransferTask(pVacuumBake, pBonder2, primaryType, secondaryType); if (m_pActiveRobotTask != nullptr) { m_pActiveRobotTask->run(); 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; } // Aligner -> Fliper(G2) // Aligner -> VacuumBake(G1) m_pActiveRobotTask = createTransferTask(pAligner, pFliper, 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; } m_pActiveRobotTask = createTransferTask(pAligner, pVacuumBake, primaryType, secondaryType); if (m_pActiveRobotTask != nullptr) { m_pActiveRobotTask->pick(); std::string strDescription = m_pActiveRobotTask->getDescription(); unlock(); if (m_listener.onRobotTaskEvent != nullptr) { @@ -513,24 +537,21 @@ } // 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); 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); if (m_pActiveRobotTask != nullptr) { goto PORT_GET; } } } PORT_GET: if (m_pActiveRobotTask != nullptr) { m_pActiveRobotTask->run(); m_pActiveRobotTask->pick(); std::string strDescription = m_pActiveRobotTask->getDescription(); unlock(); if (m_listener.onRobotTaskEvent != nullptr) { @@ -664,17 +685,24 @@ BOOL bOk = FALSE; lock(); if (m_pActiveRobotTask != nullptr) { if (m_pActiveRobotTask->getTarPosition() == p->getID()) { // 是否已经进入手臂(即取片完成),进入下一步，放片 if (m_pActiveRobotTask->isPicking() && ((m_pActiveRobotTask->getArmNo() == 1 && p->getID() == EQ_ID_ARM_TRAY1) || (m_pActiveRobotTask->getArmNo() == 2 && p->getID() == EQ_ID_ARM_TRAY2)) ) { slot = 1; bOk = TRUE; } // 是否放片完成 else if (m_pActiveRobotTask->isPlacing() && m_pActiveRobotTask->getTarPosition() == p->getID()) { CGlass* pGlass = p->getGlassFromSlot(m_pActiveRobotTask->getTarSlot()); if (pGlass == nullptr) { bOk = TRUE; slot = m_pActiveRobotTask->getTarSlot(); LOGI("<CMaster>onPreFethedOutJob, 已校验数据一致性."); } } else if (p->getID() == EQ_ID_ARM_TRAY1 || p->getID() == EQ_ID_ARM_TRAY2) { slot = 1; bOk = TRUE; } } unlock(); @@ -697,21 +725,30 @@ if (code == EDCC_FETCHOUT_JOB) { lock(); if (m_pActiveRobotTask != nullptr && m_pActiveRobotTask->getSrcPosition() == p->getID()) { m_pActiveRobotTask->fetchOut(); LOGI("开始取片..."); } unlock(); } else if (code == EDCC_STORED_JOB) { lock(); if (m_pActiveRobotTask != nullptr && m_pActiveRobotTask->getTarPosition() == p->getID()) { if (m_pActiveRobotTask != nullptr && m_pActiveRobotTask->isPicking() && ((m_pActiveRobotTask->getArmNo() == 1 && p->getID() == EQ_ID_ARM_TRAY1) || (m_pActiveRobotTask->getArmNo() == 2 && p->getID() == EQ_ID_ARM_TRAY2)) ) { LOGI("取片完成."); m_pActiveRobotTask->fetchOut(); m_pActiveRobotTask->place(); } else if (m_pActiveRobotTask != nullptr && m_pActiveRobotTask->isPlacing() && m_pActiveRobotTask->getTarPosition() == p->getID()) { m_pActiveRobotTask->stored(); m_pActiveRobotTask->completed(); LOGI("放片完成..."); // 完成此条搬送任务，但要把数据和消息上抛应用层 unlock(); lock(); @@ -988,42 +1025,40 @@ 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")); @@ -1136,7 +1171,8 @@ static int taskSeqNo = 0; CRobotTask* CMaster::createTransferTask(CEquipment* pSrcEq, CEquipment* pTarEq, MaterialsType primaryType/* = MaterialsType::G1*/, MaterialsType secondaryType/* = MaterialsType::G2*/) MaterialsType primaryType/* = MaterialsType::G1*/, MaterialsType secondaryType/* = MaterialsType::G2*/, int armNo/* = 1*/) { CRobotTask* pTask = nullptr; CSlot* pSrcSlot, * pTarSlot; @@ -1149,11 +1185,14 @@ 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)); pTask->setRobotTransferParam(++taskSeqNo, 1, pSrcSlot->getPosition(), pTarSlot->getPosition(), pSrcSlot->getNo(), pTarSlot->getNo()); taskSeqNo = pTask->setRobotTransferParam(taskSeqNo, armNo, srcPos, tarPos, srcSlot, tarSlot); } @@ -1170,11 +1209,14 @@ 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)); pTask->setRobotTransferParam(++taskSeqNo, 1, pSrcSlot->getPosition(), pTarSlot->getPosition(), pSrcSlot->getNo(), pTarSlot->getNo()); taskSeqNo = pTask->setRobotTransferParam(taskSeqNo, 1, srcPos, tarPos, srcSlot, tarSlot); } @@ -1192,11 +1234,14 @@ 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)); pTask->setRobotTransferParam(++taskSeqNo, 1, pSrcSlot->getPosition(), pTarSlot->getPosition(), pSrcSlot->getNo(), pTarSlot->getNo()); taskSeqNo = pTask->setRobotTransferParam(taskSeqNo, 1, srcPos, tarPos, srcSlot, tarSlot); } @@ -1213,15 +1258,68 @@ 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)); pTask->setRobotTransferParam(++taskSeqNo, 1, pSrcSlot->getPosition(), pTarSlot->getPosition(), pSrcSlot->getNo(), pTarSlot->getNo()); taskSeqNo = pTask->setRobotTransferParam(taskSeqNo, 1, srcPos, tarPos, srcSlot, tarSlot); } 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() @@ -1248,4 +1346,18 @@ return 0; } void CMaster::setPortType(unsigned int index, BOOL enable, int type, int mode, int cassetteType, int transferMode, BOOL autoChangeEnable) { ASSERT(index < 4); int eqid[] = { EQ_ID_LOADPORT1, EQ_ID_LOADPORT2, EQ_ID_LOADPORT3, EQ_ID_LOADPORT4}; CLoadPort* pPort = (CLoadPort*)getEquipment(eqid[index]); pPort->localEanblePort(enable); pPort->localSetPortType((SERVO::PortType)type); pPort->localSetPortMode((SERVO::PortMode)mode); pPort->localSetCessetteType((SERVO::CassetteType)cassetteType); pPort->localSetTransferMode((SERVO::TransferMode)transferMode); pPort->localAutoChangeEnable(autoChangeEnable); } } SourceCode/Bond/Servo/CMaster.h
@@ -64,6 +64,8 @@ CEquipment* getEquipment(int id); void setCacheFilepath(const char* pszFilepath); int abortCurrentTask(); void setPortType(unsigned int index, BOOL enable, int type, int mode, int cassetteType, int transferMode, BOOL autoChangeEnable); private: inline void lock() { EnterCriticalSection(&m_criticalSection); } @@ -86,10 +88,12 @@ void serialize(CArchive& ar); void setState(MASTERSTATE state); CRobotTask* createTransferTask(CEquipment* pSrcEq, CEquipment* pTarEq, MaterialsType primaryType = MaterialsType::G1, MaterialsType secondaryType = MaterialsType::G2); MaterialsType primaryType = MaterialsType::G1, MaterialsType secondaryType = MaterialsType::G2, int armNo = 1); CRobotTask* createTransferTask_bonder_to_bakecooling(CEquipment* pSrcEq, CEquipment* pTarEq); CRobotTask* createTransferTask_bake_to_cooling(CEquipment* pSrcEq); CRobotTask* createTransferTask_bakecooling_to_measurement(CEquipment* pSrcEq, CEquipment* pTarEq); void transformPosAndSlot(int srcPos, int srcSlot, int& tarPos, int& tarSlot); private: CRITICAL_SECTION m_criticalSection; SourceCode/Bond/Servo/CPagePortProperty.cpp
@@ -57,7 +57,7 @@ CComboBox* pComboBox; std::string strTemp; ((CButton*)GetDlgItem(IDC_CHECK_ENABLE))->SetCheck(m_pPort->isEnable() ? BST_CHECKED : BST_UNCHECKED); pComboBox = (CComboBox*)GetDlgItem(IDC_COMBO_PORT_TYPE); for (int i = 1; i <= 7; i++) { pComboBox->InsertString(i - 1, SERVO::CLoadPort::getPortTypeDescription((SERVO::PortType)i, strTemp).c_str()); SourceCode/Bond/Servo/CRobotTask.cpp
@@ -28,17 +28,17 @@ std::string CRobotTask::getDescription() const { std::string strOut = "CRobotTask<ID:"; strOut = strOut + std::to_string(m_robotCmdParam.sequenceNo); strOut = strOut + std::to_string(m_robotCmdParam[ACTION_TRANSFER].sequenceNo); strOut = strOut + ",Arm:"; strOut = strOut + std::to_string(m_robotCmdParam.armNo); strOut = strOut + std::to_string(m_robotCmdParam[ACTION_TRANSFER].armNo); strOut = strOut + ",GetPossion:"; strOut = strOut + std::to_string(m_robotCmdParam.getPosition); strOut = strOut + std::to_string(m_robotCmdParam[ACTION_TRANSFER].getPosition); strOut = strOut + ",GetSlot:"; strOut = strOut + std::to_string(m_robotCmdParam.getSlotNo); strOut = strOut + std::to_string(m_robotCmdParam[ACTION_TRANSFER].getSlotNo); strOut = strOut + ",PutPossion:"; strOut = strOut + std::to_string(m_robotCmdParam.putPosition); strOut = strOut + std::to_string(m_robotCmdParam[ACTION_TRANSFER].putPosition); strOut = strOut + ",PutSlot:"; strOut = strOut + std::to_string(m_robotCmdParam.putSlotNo); strOut = strOut + std::to_string(m_robotCmdParam[ACTION_TRANSFER].putSlotNo); strOut = strOut + ">"; return strOut; @@ -47,17 +47,17 @@ std::string CRobotTask::getSimpleDescription() const { std::string strOut = "CRobotTask<ID:"; strOut = strOut + std::to_string(m_robotCmdParam.sequenceNo); strOut = strOut + std::to_string(m_robotCmdParam[ACTION_TRANSFER].sequenceNo); strOut = strOut + ",Arm:"; strOut = strOut + std::to_string(m_robotCmdParam.armNo); strOut = strOut + std::to_string(m_robotCmdParam[ACTION_TRANSFER].armNo); strOut = strOut + ",GetPossion:"; strOut = strOut + std::to_string(m_robotCmdParam.getPosition); strOut = strOut + std::to_string(m_robotCmdParam[ACTION_TRANSFER].getPosition); strOut = strOut + ",GetSlot:"; strOut = strOut + std::to_string(m_robotCmdParam.getSlotNo); strOut = strOut + std::to_string(m_robotCmdParam[ACTION_TRANSFER].getSlotNo); strOut = strOut + ",PutPossion:"; strOut = strOut + std::to_string(m_robotCmdParam.putPosition); strOut = strOut + std::to_string(m_robotCmdParam[ACTION_TRANSFER].putPosition); strOut = strOut + ",PutSlot:"; strOut = strOut + std::to_string(m_robotCmdParam.putSlotNo); strOut = strOut + std::to_string(m_robotCmdParam[ACTION_TRANSFER].putSlotNo); strOut = strOut + ">"; return strOut; @@ -104,21 +104,47 @@ return m_strId; } void CRobotTask::setRobotTransferParam(int seq, int armNo, int fromPos, int toPos, int fromSlot, int toSlot) int CRobotTask::setRobotTransferParam(int seq, int armNo, int fromPos, int toPos, int fromSlot, int toSlot) { m_robotCmdParam = {}; m_robotCmdParam.sequenceNo = static_cast<short>(seq); m_robotCmdParam.rcmd = static_cast<short>(SERVO::RCMD::Transfer); m_robotCmdParam.armNo = static_cast<short>(armNo); m_robotCmdParam.getPosition = static_cast<short>(fromPos); m_robotCmdParam.getSlotNo = static_cast<short>(fromSlot); m_robotCmdParam.putPosition = static_cast<short>(toPos); m_robotCmdParam.putSlotNo = static_cast<short>(toSlot); // 这是直接使用搬运模式的参数， // 如果EFEM不支持，还需要拆解为取和放的动作及回放原位置的其它3套参数 m_robotCmdParam[ACTION_TRANSFER] = {}; m_robotCmdParam[ACTION_TRANSFER].sequenceNo = static_cast<short>(seq+1); m_robotCmdParam[ACTION_TRANSFER].rcmd = static_cast<short>(SERVO::RCMD::Transfer); m_robotCmdParam[ACTION_TRANSFER].armNo = static_cast<short>(armNo); m_robotCmdParam[ACTION_TRANSFER].getPosition = static_cast<short>(fromPos); m_robotCmdParam[ACTION_TRANSFER].getSlotNo = static_cast<short>(fromSlot); m_robotCmdParam[ACTION_TRANSFER].putPosition = static_cast<short>(toPos); m_robotCmdParam[ACTION_TRANSFER].putSlotNo = static_cast<short>(toSlot); m_robotCmdParam[ACTION_PICK] = {}; m_robotCmdParam[ACTION_PICK].sequenceNo = static_cast<short>(seq+2); m_robotCmdParam[ACTION_PICK].rcmd = static_cast<short>(SERVO::RCMD::Get); m_robotCmdParam[ACTION_PICK].armNo = static_cast<short>(armNo); m_robotCmdParam[ACTION_PICK].getPosition = static_cast<short>(fromPos); m_robotCmdParam[ACTION_PICK].getSlotNo = static_cast<short>(fromSlot); m_robotCmdParam[ACTION_PLACE] = {}; m_robotCmdParam[ACTION_PLACE].sequenceNo = static_cast<short>(seq + 2); m_robotCmdParam[ACTION_PLACE].rcmd = static_cast<short>(SERVO::RCMD::Put); m_robotCmdParam[ACTION_PLACE].armNo = static_cast<short>(armNo); m_robotCmdParam[ACTION_PLACE].putPosition = static_cast<short>(toPos); m_robotCmdParam[ACTION_PLACE].putSlotNo = static_cast<short>(toSlot); m_robotCmdParam[ACTION_RESTORE] = {}; m_robotCmdParam[ACTION_RESTORE].sequenceNo = static_cast<short>(seq + 1); m_robotCmdParam[ACTION_RESTORE].rcmd = static_cast<short>(SERVO::RCMD::Put); m_robotCmdParam[ACTION_RESTORE].armNo = static_cast<short>(armNo); m_robotCmdParam[ACTION_RESTORE].putPosition = static_cast<short>(fromPos); m_robotCmdParam[ACTION_RESTORE].putSlotNo = static_cast<short>(fromSlot); return seq + 1; } ROBOT_CMD_PARAM& CRobotTask::getRobotCmdParam() ROBOT_CMD_PARAM& CRobotTask::getRobotCmdParam(int index) { return m_robotCmdParam; ASSERT(ACTION_PICK <= index && index <= ACTION_TRANSFER); return m_robotCmdParam[index]; } time_t CRobotTask::getCreateTime() @@ -141,9 +167,30 @@ return m_timeFinish; } int CRobotTask::getArmNo() { return m_robotCmdParam[ACTION_PICK].armNo; } ROBOT_TASK_STATE CRobotTask::getState() { return m_state; } bool CRobotTask::isPicking() { return m_state == ROBOT_TASK_STATE::Picking; } bool CRobotTask::isPlacing() { return m_state == ROBOT_TASK_STATE::Placing; } bool CRobotTask::isRestoring() { return m_state == ROBOT_TASK_STATE::Restoring; } void CRobotTask::run() @@ -153,17 +200,80 @@ static int seq = 0; m_pEFEM->robotSendTransfer(++seq, m_robotCmdParam.armNo, m_robotCmdParam.getPosition, m_robotCmdParam.putPosition, m_robotCmdParam.getSlotNo, m_robotCmdParam.putSlotNo, m_robotCmdParam[ACTION_TRANSFER].armNo, m_robotCmdParam[ACTION_TRANSFER].getPosition, m_robotCmdParam[ACTION_TRANSFER].putPosition, m_robotCmdParam[ACTION_TRANSFER].getSlotNo, m_robotCmdParam[ACTION_TRANSFER].putSlotNo, [&](int code) -> int { if (code == WOK) { LOGI(_T("RobotTask已下发到EFEM")); } else { LOGI(_T("RobotTask已下发失败")); } return 0; }); } void CRobotTask::pick() { ASSERT(m_pEFEM); m_state = ROBOT_TASK_STATE::Picking; m_pEFEM->robotSendMoveToGet(m_robotCmdParam->sequenceNo, m_robotCmdParam[ACTION_PICK].armNo, m_robotCmdParam[ACTION_PICK].getPosition, m_robotCmdParam[ACTION_PICK].getSlotNo, [&](int code) -> int { if (code == WOK) { LOGI(_T("RobotTask/get已下发到EFEM")); } else { LOGI(_T("RobotTask/get已下发失败")); } return 0; }); } void CRobotTask::place() { ASSERT(m_pEFEM); m_state = ROBOT_TASK_STATE::Placing; m_pEFEM->robotSendMoveToPut(m_robotCmdParam->sequenceNo, m_robotCmdParam[ACTION_PLACE].armNo, m_robotCmdParam[ACTION_PLACE].putPosition, m_robotCmdParam[ACTION_PLACE].putSlotNo, [&](int code) -> int { if (code == WOK) { LOGI(_T("RobotTask/put已下发到EFEM")); } else { LOGI(_T("RobotTask/put已下发失败")); } return 0; }); } void CRobotTask::restore() { ASSERT(m_pEFEM); m_state = ROBOT_TASK_STATE::Restoring; m_pEFEM->robotSendMoveToPut(m_robotCmdParam->sequenceNo, m_robotCmdParam[ACTION_RESTORE].armNo, m_robotCmdParam[ACTION_RESTORE].putPosition, m_robotCmdParam[ACTION_RESTORE].putSlotNo, [&](int code) -> int { if (code == WOK) { LOGI(_T("RobotTask/restore-put已下发到EFEM")); } else { LOGI(_T("RobotTask/restore-put已下发失败")); } return 0; @@ -187,22 +297,22 @@ int CRobotTask::getSrcPosition() { return m_robotCmdParam.getPosition; return m_robotCmdParam[ACTION_TRANSFER].getPosition; } int CRobotTask::getTarPosition() { return m_robotCmdParam.putPosition; return m_robotCmdParam[ACTION_TRANSFER].putPosition; } int CRobotTask::getSrcSlot() { return m_robotCmdParam.getSlotNo; return m_robotCmdParam[ACTION_TRANSFER].getSlotNo; } int CRobotTask::getTarSlot() { return m_robotCmdParam.putSlotNo; return m_robotCmdParam[ACTION_TRANSFER].putSlotNo; } CString CRobotTask::getStateString() @@ -210,6 +320,9 @@ switch (m_state) { case ROBOT_TASK_STATE::Ready: return _T("Ready"); case ROBOT_TASK_STATE::Running: return _T("Running"); case ROBOT_TASK_STATE::Picking: return _T("Picking"); case ROBOT_TASK_STATE::Placing: return _T("Placing"); case ROBOT_TASK_STATE::Restoring: return _T("Restoring"); case ROBOT_TASK_STATE::Error: return _T("Error"); case ROBOT_TASK_STATE::Abort: return _T("Abort"); case ROBOT_TASK_STATE::Completed: return _T("Completed"); SourceCode/Bond/Servo/CRobotTask.h
@@ -4,6 +4,11 @@ #include "CEFEM.h" #define ACTION_PICK 0 /* ȡ */ #define ACTION_PLACE 1 /* 放 */ #define ACTION_RESTORE 2 /* 回原点 */ #define ACTION_TRANSFER 3 /* 搬运 */ namespace SERVO { class CRobotTask { @@ -18,14 +23,21 @@ void setContext(CContext* pContext); CContext* getContext(); void setEFEM(CEFEM* pEFEM); void setRobotTransferParam(int seq, int armNo, int fromPos, int toPos, int fromSlot, int toSlot); ROBOT_CMD_PARAM& getRobotCmdParam(); int setRobotTransferParam(int seq, int armNo, int fromPos, int toPos, int fromSlot, int toSlot); ROBOT_CMD_PARAM& getRobotCmdParam(int index); time_t getCreateTime(); time_t getFetchoutTime(); time_t getStoredTime(); time_t getFinishTime(); int getArmNo(); ROBOT_TASK_STATE getState(); bool isPicking(); bool isPlacing(); bool isRestoring(); void run(); void pick(); void place(); void restore(); void completed(); void error(); void abort(); @@ -51,7 +63,7 @@ time_t m_timeFetchOut; /* 取片时间*/ time_t m_timeStored; /* 放片时间 */ time_t m_timeFinish; /* 结束时间 */ ROBOT_CMD_PARAM m_robotCmdParam; /* 参数 */ ROBOT_CMD_PARAM m_robotCmdParam[4]; /* 参数 */ CContext* m_pContext; CEFEM* m_pEFEM; }; SourceCode/Bond/Servo/CRobotTaskDlg.cpp
@@ -58,7 +58,7 @@ CEquipment* pSrcEq = theApp.m_model.getMaster().getEquipment(pRobotTask->getSrcPosition()); CEquipment* pDstEq = theApp.m_model.getMaster().getEquipment(pRobotTask->getTarPosition()); ROBOT_CMD_PARAM& param = pRobotTask->getRobotCmdParam(); ROBOT_CMD_PARAM& param = pRobotTask->getRobotCmdParam(ACTION_TRANSFER); auto format_time = [](time_t t) -> CString { if (t == 0) { SourceCode/Bond/Servo/CVacuumBake.cpp
@@ -33,9 +33,9 @@ { // 加入Pin初始化代码 LOGI("<CVacuumBake>initPins"); addPin(SERVO::PinType::INPUT, _T("In1")); addPin(SERVO::PinType::INPUT, _T("In2")); addPin(SERVO::PinType::OUTPUT, _T("Out")); addPin(SERVO::PinType::INPUT, _T("In")); addPin(SERVO::PinType::OUTPUT, _T("Out1")); addPin(SERVO::PinType::OUTPUT, _T("Out2")); } void CVacuumBake::initSteps() SourceCode/Bond/Servo/Configuration.cpp
@@ -103,3 +103,25 @@ std::to_string(second).c_str(), m_strFilepath); } BOOL CConfiguration::getPortParms(unsigned int index, BOOL& bEnable, int& type, int& mode, int& cassetteType, int& transferMode, BOOL& bAutoChangeEnable) { if (index >= 4) return FALSE; static char* pszSection[] = {"Port1", "Port2", "Port3", "Port4"}; bEnable = GetPrivateProfileInt(pszSection[index], _T("Enable"), 0, m_strFilepath) == 1; type = GetPrivateProfileInt(pszSection[index], _T("Type"), 0, m_strFilepath); mode = GetPrivateProfileInt(pszSection[index], _T("Mode"), 0, m_strFilepath); cassetteType = GetPrivateProfileInt(pszSection[index], _T("CassetteType"), 0, m_strFilepath); transferMode = GetPrivateProfileInt(pszSection[index], _T("TransferMode"), 0, m_strFilepath); bAutoChangeEnable = GetPrivateProfileInt(pszSection[index], _T("AutoChangeEnable"), 0, m_strFilepath) == 1; // type, mode, cassetteType, transferMode 范围检查 type = max(1, min(type, 7)); mode = max(0, min(mode, 5)); cassetteType = max(1, min(cassetteType, 3)); transferMode = max(1, min(transferMode, 3)); return TRUE; }
@@ -20,6 +20,8 @@ void setLogcatIncludeRegex(BOOL bRegex); BOOL isLogcatIncludeRegex(); int getCustomLogcatIncludeTexts(std::vector<std::string>& texts); BOOL getPortParms(unsigned int index, BOOL& bEnable, int& type, int& mode, int& cassetteType, int& transferMode, BOOL& bAutoChangeEnable); public: void setP2RemoteEqReconnectInterval(int second); SourceCode/Bond/Servo/Model.cpp
@@ -40,6 +40,18 @@ m_strWorkDir = pszWorkDir; } void CModel::loadPortParams() { BOOL portEnable, autoChangeEnable; int portType, portMode, cassetteType, transferMode; for (int i = 0; i < 4; i++) { m_configuration.getPortParms(i, portEnable, portType, portMode, cassetteType, transferMode, autoChangeEnable); m_master.setPortType(i, portEnable, portType, portMode, cassetteType, transferMode, autoChangeEnable); } } int CModel::init() { CString strIniFile; @@ -188,7 +200,6 @@ break; case ROBOT_EVENT_FINISH: LOGI("<CModel>onRobotTaskEvent: 任务完成(%s, ClassID=%s).", strDesc.c_str(), strClassID.c_str()); pTask->completed(); break; case ROBOT_EVENT_ERROR: LOGE("<CModel>onRobotTaskEvent: 任务错误(%s, ClassID=%s).", strDesc.c_str(), strClassID.c_str()); SourceCode/Bond/Servo/Model.h
@@ -14,6 +14,7 @@ IObservable* getObservable(); SERVO::CMaster& getMaster(); void setWorkDir(const char* pszWorkDir); void loadPortParams(); int init(); int term();
@@ -110,6 +110,9 @@ enum class ROBOT_TASK_STATE { Ready = 0, Running, Picking, Placing, Restoring, Error, Abort, Completed SourceCode/Bond/Servo/ServoDlg.cpp
@@ -349,6 +349,7 @@ // 相当于延时调用master的初始化 theApp.m_model.m_master.init(); theApp.m_model.loadPortParams(); // 初始化master以后需要控件绑定数据 SourceCode/Bond/x64/Debug/EqsGraph.ini
@@ -23,8 +23,8 @@ Left=279 Top=297 [Aligner] Left=446 Top=363 Left=210 Top=317 [VacuumBake] Left=279 Top=437 @@ -41,11 +41,11 @@ Left=467 Top=167 [Fliper(G2)] Left=238 Top=251 Left=413 Top=285 [VacuumBake(G1)] Left=238 Top=386 Left=413 Top=437 [Measurement] Left=1041 Top=363
