1.理顺CRobotTask（搬送任务）和Glass，Slot, JobData等关系，实现创建调度任务，模拟拔片测试；

LAPTOP-SNT8I5JK\Boounion

2025-05-29 ce83df0657786b340be5cc2e9817fb2392117ac9

1.理顺CRobotTask（搬送任务）和Glass，Slot, JobData等关系，实现创建调度任务，模拟拔片测试；

 Document/BONDERÁ÷³ÌÐÅÏ¢±í.xls

Binary files differ

 Document/ESWIN_EAS_Bonder_Inline_Mapping_Address_v1.1.6(5).xlsx

Binary files differ

 SourceCode/Bond/Servo/CEquipment.cpp

@@ -27,7 +27,7 @@

    CEquipment::CEquipment() : m_nID(0), m_strName(""), m_strDescription(""), m_station(0, 255)
    {
        m_listener = { nullptr, nullptr, nullptr, nullptr, nullptr };
        m_listener = { nullptr, nullptr, nullptr, nullptr, nullptr, nullptr };
        m_alive = { FALSE, 0, FALSE };
        m_bCimState = FALSE;
        m_bUpstreamInline = FALSE;
@@ -76,6 +76,7 @@
        m_listener.onAlarm = listener.onAlarm;
        m_listener.onDataChanged = listener.onDataChanged;
        m_listener.onVcrEventReport = listener.onVcrEventReport;
        m_listener.onPreFethedOutJob = listener.onPreFethedOutJob;
    }

    void CEquipment::setCcLink(CCCLinkIEControl* pCcLink)
@@ -754,7 +755,7 @@
        Unlock();

        if (m_listener.onDataChanged != nullptr) {
            m_listener.onDataChanged(this, 0);
            m_listener.onDataChanged(this, EDCC_FETCHOUT_JOB);
        }

        return 0;
@@ -794,7 +795,7 @@


        if (m_listener.onDataChanged != nullptr) {
            m_listener.onDataChanged(this, 0);
            m_listener.onDataChanged(this, EDCC_STORED_JOB);
        }
        */
        return 0;
@@ -1233,10 +1234,14 @@
        return index;
    }

    int CEquipment::onPreFetchedOutJob(int port, CJobDataB* pJobDataB)
    BOOL CEquipment::onPreFetchedOutJob(int port, CJobDataB* pJobDataB)
    {
        LOGI("<CEquipment-%s>onPreFetchedOutJob:port:%d|GlassId:%s",
            m_strName.c_str(), port, pJobDataB->getGlassId().c_str());
        if (m_listener.onPreFethedOutJob != nullptr) {
            return m_listener.onPreFethedOutJob(this, pJobDataB);
        }

        return TRUE;
    }


 SourceCode/Bond/Servo/CEquipment.h

@@ -44,6 +44,7 @@
    typedef std::function<void(void* pEiuipment, int code)> ONDATACHANGED;
    typedef std::function<void(void* pEiuipment, int state, int alarmId, int unitId, int level)> ONALARM;
    typedef std::function<void(void* pEiuipment, void* pReport)> ONVCREVENTREPORT;
    typedef std::function<BOOL(void* pEiuipment, CJobDataB* pJobDataB)> ONPREFETCHEDOUTJOB;
    typedef struct _EquipmentListener
    {
        ONALIVE                onAlive;
@@ -51,6 +52,7 @@
        ONALARM                onAlarm;
        ONDATACHANGED        onDataChanged;
        ONVCREVENTREPORT    onVcrEventReport;
        ONPREFETCHEDOUTJOB    onPreFethedOutJob;
    } EquipmentListener;



 SourceCode/Bond/Servo/CLoadPort.cpp

@@ -1060,6 +1060,11 @@
     */
    int CLoadPort::testGenerateGlassList(MaterialsType type, const char* pszPrefix, int startSuffix)
    {
        static unsigned short nJobSequenceNo = 0;
        static unsigned short nCassetteSequenceNo = 0;
        nCassetteSequenceNo++;


        // å¦‚果非空就不生成了
        Lock();
        if (hasGlass()) {
@@ -1079,7 +1084,11 @@

            sprintf_s(szBuffer, "%s%d", pszPrefix, suffix++);
            jb.setGlassId(szBuffer);
            jb.setCassetteSequenceNo(nCassetteSequenceNo);
            jb.setJobSequenceNo(++nJobSequenceNo);
            js.setMaterialsType((int)type);
            js.setCassetteSequenceNo(nCassetteSequenceNo);
            js.setJobSequenceNo(nJobSequenceNo);
            if (type == MaterialsType::G1) {
                js.setGlass1Id(szBuffer);
            }

 SourceCode/Bond/Servo/CMaster.cpp

@@ -228,6 +228,12 @@
        }
        saveCache();

        lock();
        if (m_pActiveRobotTask != nullptr) {
            delete m_pActiveRobotTask;
            m_pActiveRobotTask = nullptr;
        }
        unlock();

        for (auto item : m_listEquipment) {
            delete item;
@@ -310,13 +316,60 @@
            else if (m_state == MASTERSTATE::RUNNING) {
                unlock();
                LOGI("调度处理中...");
                Sleep(1000);

                lock();
                if (m_pActiveRobotTask != nullptr) {
                    unlock();
                    // æ£€æµ‹åˆ°å½“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;
                }

                // LoadPort -> Fliper(G2)
                CLoadPort* pLoadPort1 = (CLoadPort*)getEquipment(EQ_ID_LOADPORT1);
                CLoadPort* pLoadPort2 = (CLoadPort*)getEquipment(EQ_ID_LOADPORT2);
                CFliper* pFliper = (CFliper*)getEquipment(EQ_ID_FLIPER);
                CVacuumBake* pVacuumBack = (CVacuumBake*)getEquipment(EQ_ID_VACUUMBAKE);
                ASSERT(pLoadPort1);
                ASSERT(pLoadPort2);
                ASSERT(pFliper);
                ASSERT(pVacuumBack);

                m_pActiveRobotTask = createTransferTask(pLoadPort1, pFliper);
                if (m_pActiveRobotTask != nullptr) {
                    std::string strDescription = m_pActiveRobotTask->getDescription();
                    unlock();
                    LOGI("创建新任务<%s>...", strDescription.c_str());
                    continue;
                }

                m_pActiveRobotTask = createTransferTask(pLoadPort2, pFliper);
                if (m_pActiveRobotTask != nullptr) {
                    std::string strDescription = m_pActiveRobotTask->getDescription();
                    unlock();
                    LOGI("创建新任务<%s>...", strDescription.c_str());
                    continue;
                }



                // LoadPort -> VacuumBake(G1)
                m_pActiveRobotTask = createTransferTask(pLoadPort1, pVacuumBack);
                if (m_pActiveRobotTask != nullptr) {
                    std::string strDescription = m_pActiveRobotTask->getDescription();
                    unlock();
                    LOGI("创建新任务1<%s>...", strDescription.c_str());
                    continue;
                }

                m_pActiveRobotTask = createTransferTask(pLoadPort2, pVacuumBack);
                if (m_pActiveRobotTask != nullptr) {
                    std::string strDescription = m_pActiveRobotTask->getDescription();
                    unlock();
                    LOGI("创建新任务2<%s>...", strDescription.c_str());
                    continue;
                }



                // Fliper(G2) -> Aligner
@@ -338,7 +391,7 @@




                unlock();

            }
            unlock();
@@ -412,11 +465,57 @@
                m_listener.onEqVcrEventReport(this, p, p2);
            }
        };
        listener.onPreFethedOutJob = [&](void* pEquipment, CJobDataB* pJobDataB) -> BOOL {
            CEquipment* p = (CEquipment*)pEquipment;


            // å–放片，更新当前搬送任务
            BOOL bOk = FALSE;
            lock();
            if (m_pActiveRobotTask != nullptr && m_pActiveRobotTask->getSrcPosition() == p->getID()) {
                CGlass* pGlass = p->getGlassFromSlot(m_pActiveRobotTask->getSrcSlot());
                if (pGlass != nullptr) {
                    CJobDataB* pJobDataBSrc = pGlass->getJobDataB();
                    if (pJobDataBSrc != nullptr
                        && pJobDataBSrc->getCassetteSequenceNo() == pJobDataB->getCassetteSequenceNo()
                        && pJobDataBSrc->getJobSequenceNo() == pJobDataB->getJobSequenceNo()) {
                        bOk = TRUE;
                        LOGI("<CMaster>onPreFethedOutJob, å·²æ ¡éªŒæ•°æ®ä¸€è‡´æ€§.");
                    }
                }
            }
            unlock();

            if (!bOk) {
                LOGE("<CMaster>onPreFethedOutJob, æ•°æ®æ ¡éªŒå¤±è´¥.");
            }

            return bOk;

        };
        listener.onDataChanged = [&](void* pEquipment, int code) -> void {
            m_bDataModify = TRUE;
            CEquipment* p = (CEquipment*)pEquipment;
            if (m_listener.onEqDataChanged != nullptr) {
                m_listener.onEqDataChanged(this, p, 0);
            }

            // å–放片，更新当前搬送任务
            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()) {
                    m_pActiveRobotTask->stored();
                    LOGI("放片完成...");
                }
                unlock();
            }
        };

@@ -828,4 +927,28 @@
            m_listener.onMasterStateChanged(this, m_state);
        }
    }

    static int taskSeqNo = 0;
    CRobotTask* CMaster::createTransferTask(CEquipment* pSrcEq, CEquipment* pTarEq)
    {
        CRobotTask* pTask = nullptr;
        CSlot* pSrcSlot, * pTarSlot;
        pTarSlot = pTarEq->getAvailableSlotForGlass(MaterialsType::G1);
        pSrcSlot = pSrcEq->getNonEmptySlot(MaterialsType::G1);
        if (pSrcSlot == nullptr || nullptr == pTarSlot) {
            pTarSlot = pTarEq->getAvailableSlotForGlass(MaterialsType::G2);
            pSrcSlot = pSrcEq->getNonEmptySlot(MaterialsType::G2);
        }


        if (pSrcSlot != nullptr && nullptr != pTarSlot) {
            pTask = new CRobotTask();
            pTask->setContext(pSrcSlot->getContext());
            pTask->setRobotTransferParam(++taskSeqNo, 1, pSrcSlot->getPosition(),
                pTarSlot->getPosition(), pSrcSlot->getNo(), pTarSlot->getNo());
        }


        return pTask;
    }
}

 SourceCode/Bond/Servo/CMaster.h

@@ -82,6 +82,7 @@
        int readCache();
        void serialize(CArchive& ar);
        void setState(MASTERSTATE state);
        CRobotTask* createTransferTask(CEquipment* pSrcEq, CEquipment* pTarEq);

    private:
        CRITICAL_SECTION m_criticalSection;

 SourceCode/Bond/Servo/CPageGraph2.cpp

@@ -204,26 +204,31 @@

        // æµ‹è¯•
        else if (nCmd == ID_EQSGRAPHITEM_TEST1) {
            BOOL bTestGenerate = FALSE;
            SERVO::CEquipment* pEquipment = (SERVO::CEquipment*)pItem->pData;
            if (pEquipment->getID() == EQ_ID_LOADPORT1) {
            if (pEquipment->getID() == EQ_ID_LOADPORT1 && !pEquipment->hasGlass()) {
                ((SERVO::CLoadPort*)pEquipment)->testGenerateGlassList(SERVO::MaterialsType::G1, 
                    "P20250320G1X", 1);
                bTestGenerate = TRUE;
            }
            else if (pEquipment->getID() == EQ_ID_LOADPORT2) {
            else if (pEquipment->getID() == EQ_ID_LOADPORT2 && !pEquipment->hasGlass()) {
                ((SERVO::CLoadPort*)pEquipment)->testGenerateGlassList(SERVO::MaterialsType::G2,
                    "P20250320G2X", 1);
                bTestGenerate = TRUE;
            }
            /*
            SERVO::CGlass* pGlass = pEquipment->getAnyGlass();
            if (pGlass != nullptr) {
			
            if (!bTestGenerate) {
                SERVO::CRobotTask* pTask = theApp.m_model.getMaster().getActiveRobotTask();
                if (pTask != nullptr) {
                    SERVO::CGlass* pGlass = (SERVO::CGlass*)pTask->getContext();
                SERVO::CJobDataB* pJobDataB = pGlass->getJobDataB();
                SERVO::CJobDataS* pJobDataS = pGlass->getJobDataS();
                if (pJobDataB != nullptr && pJobDataS != nullptr) {
                    pEquipment->fetchedOutJob(pJobDataB);
                        pEquipment->onFetchedOutJob(0, pJobDataB);
                    pEquipment->onSentOutJob(0, pJobDataS);
                }
            }
            */
            }
        }
        else if (nCmd == ID_EQSGRAPHITEM_TEST2) {
            SERVO::CEquipment* pEquipment = (SERVO::CEquipment*)pItem->pData;

 SourceCode/Bond/Servo/CRobotTask.cpp

@@ -7,12 +7,56 @@
    CRobotTask::CRobotTask()
    {
        generateId(m_strId);
        m_state = ROBOT_TASK_STATE::Ready;
        m_timeCreate = CToolUnits::getTimestamp();
        m_timeFetchOut = 0;
        m_timeStored = 0;
        m_timeFinish = 0;
        m_pContext = nullptr;
    }

    CRobotTask::~CRobotTask()
    {
        if (m_pContext != nullptr) {
            m_pContext->release();
            m_pContext = nullptr;
        }
    }

    std::string CRobotTask::getDescription() const
    {
        std::string strOut = "CRobotTask<ID:";
        strOut = strOut + std::to_string(m_robotCmdParam.sequenceNo);
        strOut = strOut + ",Arm:";
        strOut = strOut + std::to_string(m_robotCmdParam.armNo);
        strOut = strOut + ",GetPossion:";
        strOut = strOut + std::to_string(m_robotCmdParam.getPosition);
        strOut = strOut + ",GetSlot:";
        strOut = strOut + std::to_string(m_robotCmdParam.getSlotNo);
        strOut = strOut + ",PutPossion:";
        strOut = strOut + std::to_string(m_robotCmdParam.putPosition);
        strOut = strOut + ",PutSlot:";
        strOut = strOut + std::to_string(m_robotCmdParam.putSlotNo);
        strOut = strOut + ">";

        return strOut;
    }

    void CRobotTask::setContext(CContext* pContext)
    {
        if (pContext != nullptr) {
            pContext->release();
        }

        m_pContext = pContext;
        if (m_pContext != nullptr) {
            m_pContext->addRef();
        }
    }

    CContext* CRobotTask::getContext()
    {
        return m_pContext;
    }

    std::string& CRobotTask::generateId(std::string& out)
@@ -56,8 +100,53 @@
        return m_timeCreate;
    }

    time_t CRobotTask::getFetchoutTime()
    {
        return m_timeFetchOut;
    }

    time_t CRobotTask::getStoredTime()
    {
        return m_timeStored;
    }

    time_t CRobotTask::getFinishTime()
    {
        return m_timeFinish;
    }

    ROBOT_TASK_STATE CRobotTask::getState()
    {
        return m_state;
    }

    int CRobotTask::getSrcPosition()
    {
        return m_robotCmdParam.getPosition;
    }

    int CRobotTask::getTarPosition()
    {
        return m_robotCmdParam.putPosition;
    }

    int CRobotTask::getSrcSlot()
    {
        return m_robotCmdParam.getSlotNo;
    }

    int CRobotTask::getTarSlot()
    {
        return m_robotCmdParam.putSlotNo;
    }

    void CRobotTask::fetchOut()
    {
        m_timeFetchOut = CToolUnits::getTimestamp();;
    }

    void CRobotTask::stored()
    {
        m_timeStored = CToolUnits::getTimestamp();;
    }
}

 SourceCode/Bond/Servo/CRobotTask.h

@@ -1,5 +1,6 @@
#pragma once
#include "ServoCommo.h"
#include "Context.h"


namespace SERVO {
@@ -11,18 +12,38 @@

    public:
        std::string& getId();
        std::string getDescription() const;
        void setContext(CContext* pContext);
        CContext* getContext();
        void setRobotTransferParam(int seq, int armNo, int fromPos, int toPos, int fromSlot, int toSlot);
        ROBOT_CMD_PARAM& getRobotCmdParam();
        time_t getCreateTime();
        time_t getFetchoutTime();
        time_t getStoredTime();
        time_t getFinishTime();
        ROBOT_TASK_STATE getState();
        int getSrcPosition();
        int getSrcSlot();
        int getTarPosition();
        int getTarSlot();

        // ä»Žæºåœ°æ‹”片
        void fetchOut();

        // åœ¨ç›®çš„地放片
        void stored();

    private:
        static std::string& generateId(std::string& out);

    public:
    private:
        ROBOT_TASK_STATE m_state;                    /* ä»»åŠ¡çŠ¶æ€ */
        std::string m_strId;
        time_t m_timeCreate;                        /* åˆ›å»ºæ—¶é—´ */
        time_t m_timeFetchOut;                        /* å–片时间*/
        time_t m_timeStored;                        /* æ”¾ç‰‡æ—¶é—´ */
        time_t m_timeFinish;                        /* ç»“束时间 */
        ROBOT_CMD_PARAM m_robotCmdParam;            /* å‚æ•° */
        CContext* m_pContext;
    };
}

 SourceCode/Bond/Servo/CSlot.cpp

@@ -10,11 +10,15 @@
        m_pContext = nullptr;
        m_bEnable = FALSE;
        m_bLock = FALSE;
        m_pContext = nullptr;
    }

    CSlot::~CSlot()
    {

        if (m_pContext != nullptr) {
            m_pContext->release();
            m_pContext = nullptr;
        }
    }

    BOOL CSlot::isEnable()
@@ -92,14 +96,21 @@
        return m_pContext == nullptr;
    }

    void CSlot::setContext(CContext* pContext)
    {
        if (pContext != nullptr) {
            pContext->release();
        }

        m_pContext = pContext;
        if (m_pContext != nullptr) {
            m_pContext->addRef();
        }
    }

    CContext* CSlot::getContext()
    {
        return m_pContext;
    }

    void CSlot::setContext(CContext* pContext)
    {
        m_pContext = pContext;
    }

    void CSlot::serialize(CArchive& ar)

 SourceCode/Bond/Servo/ServoCommo.h

@@ -112,5 +112,9 @@
        Abort,
        Completed
    };

    /* EQ Data changed code */
#define EDCC_FETCHOUT_JOB                1000    /* È¡Æ¬ */
#define EDCC_STORED_JOB                    1001    /* æ”¾ç‰‡ */
}