1.Robot状态和位置的监控，其中两个arm状态(是否有料)，也作为调度的依据。

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2025-06-16 fd1333fbf52e00ff8f0b0d51ec0d707a66cc9141

1.Robot状态和位置的监控，其中两个arm状态(是否有料)，也作为调度的依据。

 Document/ESWIN_EAS_Bonder_Inline_Mapping_Address_v1.1.7(1).xlsx

Binary files differ

 Document/ESWIN_EAS_Bonder_Inline_Mapping_Address_v1.1.7.xlsx

Binary files differ

 SourceCode/Bond/Servo/CEFEM.cpp

@@ -331,6 +331,11 @@
        return robotCmds(cmds, 2, onWritedBlock);
    }

    RMDATA& CEFEM::getRobotMonitoringData()
    {
        return m_robotData;
    }

    void CEFEM::init()
    {
        CEquipment::init();
@@ -692,6 +697,28 @@
    {
        __super::onReceiveLBData(pszData, size);

        // 解释得到Robot状态
        // 地址从(0x3500 - 0x3000)开始
        int index = 0x500;
        for (int i = 0; i < 6; i++) {
            if (isBitOn(pszData, size, index + i)) {
                m_robotData.status = (ROBOT_STATUS)i;
                break;
            }
        }
        index += 8;

        for (int i = 0; i < 11; i++) {
            if (isBitOn(pszData, size, index + i)) {
                m_robotData.position = (ROBOT_POSITION)i;
                break;
            }
        }
        index += 16;
        m_robotData.armState[0] = isBitOn(pszData, size, index);
        m_robotData.armState[1] = isBitOn(pszData, size, index + 1);


        for (unsigned int i = 0; i < 4; i++) {
            if (m_pPort[i] != nullptr) {
                m_pPort[i]->onReceiveLBData(pszData, size);

 SourceCode/Bond/Servo/CEFEM.h

@@ -39,6 +39,7 @@
        void setArmTray(unsigned int index, CArmTray* pArmTray);
        int robotCmd(ROBOT_CMD_PARAM& robotCmdParam, ONWRITED onWritedBlock = nullptr);
        int robotCmds(ROBOT_CMD_PARAM* robotCmdParam, unsigned int count, ONWRITED onWritedBlock = nullptr);
        RMDATA& getRobotMonitoringData();

        // 快捷封装
        int robotSendHome(int seq, ONWRITED onWritedBlock = nullptr);
@@ -62,6 +63,7 @@
        CAligner* m_pAligner;
        CFliper* m_pFliper;
        CArmTray* m_pArmTray[2];
        RMDATA m_robotData;
    };
}


 SourceCode/Bond/Servo/CMaster.cpp

@@ -343,10 +343,13 @@

            // 调度逻辑处理
            else if (m_state == MASTERSTATE::RUNNING) {
                unlock();
                // LOGI("调度处理中...");
                // 检测判断robot状态
                RMDATA& rmd = pEFEM->getRobotMonitoringData();
                if (rmd.status != ROBOT_STATUS::Idle && rmd.status != ROBOT_STATUS::Run) {
                    unlock();
                    continue;
                }

                lock();
                if (m_pActiveRobotTask != nullptr) {
                    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
@@ -376,6 +379,8 @@


                // Measurement -> LoadPort
                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"));
                CLoadPort* pEqLoadPort[] = { pLoadPort1, pLoadPort2, pLoadPort3, pLoadPort4 };
                CEquipment* pEqTar[] = { pVacuumBake, pFliper };
                if (primaryType == MaterialsType::G2) {
@@ -383,7 +388,7 @@
                    pEqTar[1] = pVacuumBake;
                }
                for (int s = 0; s < 4; s++) {
                    if (pEqLoadPort[s]->isEnable()
                    if (!rmd.armState[0] && pEqLoadPort[s]->isEnable()
                        && pEqLoadPort[s]->getPortType() == PortType::Unloading
                        && pEqLoadPort[s]->getPortMode() == PortMode::ReadyToUnload) {
                        m_pActiveRobotTask = createTransferTask(pMeasurement, pEqLoadPort[s], primaryType, secondaryType);
@@ -407,139 +412,161 @@


                // BakeCooling ->Measurement
                m_pActiveRobotTask = createTransferTask_bakecooling_to_measurement(pBakeCooling, pMeasurement);
                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);
                if (!rmd.armState[0]) {
                    m_pActiveRobotTask = createTransferTask_bakecooling_to_measurement(pBakeCooling, pMeasurement);
                    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;
                    }
                    LOGI("创建新任务<%s>...", strDescription.c_str());
                    continue;
                }


                
                // BakeCooling内部
                // Bake -> Cooling
                m_pActiveRobotTask = createTransferTask_bake_to_cooling(pBakeCooling);
                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);
                if (!rmd.armState[0]) {
                    m_pActiveRobotTask = createTransferTask_bake_to_cooling(pBakeCooling);
                    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;
                    }
                    LOGI("创建新任务<%s>...", strDescription.c_str());
                    continue;
                }


                // Bonder -> BakeCooling
                m_pActiveRobotTask = createTransferTask_bonder_to_bakecooling(pBonder1, pBakeCooling);
                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);
                if (!rmd.armState[0]) {
                    m_pActiveRobotTask = createTransferTask_bonder_to_bakecooling(pBonder1, pBakeCooling);
                    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;
                    }
                    LOGI("创建新任务<%s>...", strDescription.c_str());
                    continue;
                }

                m_pActiveRobotTask = createTransferTask_bonder_to_bakecooling(pBonder2, pBakeCooling);
                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);
                if (!rmd.armState[0]) {
                    m_pActiveRobotTask = createTransferTask_bonder_to_bakecooling(pBonder2, pBakeCooling);
                    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;
                    }
                    LOGI("创建新任务<%s>...", strDescription.c_str());
                    continue;
                }


                // Fliper(G2) -> Bonder
                // VacuumBake(G1) -> Bonder
                m_pActiveRobotTask = createTransferTask(pFliper, pBonder1, 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);
                if (!rmd.armState[1]) {
                    m_pActiveRobotTask = createTransferTask(pFliper, pBonder1, 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;
                    }
                    LOGI("创建新任务<%s>...", strDescription.c_str());
                    continue;
                }

                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);
                if (!rmd.armState[1]) {
                    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;
                    }
                    LOGI("创建新任务<%s>...", strDescription.c_str());
                    continue;
                }

                m_pActiveRobotTask = createTransferTask(pVacuumBake, pBonder1, primaryType, secondaryType);
                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);
                if (!rmd.armState[0]) {
                    m_pActiveRobotTask = createTransferTask(pVacuumBake, pBonder1, primaryType, secondaryType);
                    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;
                    }
                    LOGI("创建新任务<%s>...", strDescription.c_str());
                    continue;
                }

                m_pActiveRobotTask = createTransferTask(pVacuumBake, pBonder2, primaryType, secondaryType);
                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);
                if (!rmd.armState[0]) {
                    m_pActiveRobotTask = createTransferTask(pVacuumBake, pBonder2, primaryType, secondaryType);
                    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;
                    }
                    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);
                if (!rmd.armState[1]) {
                    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;
                    }
                    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) {
                        m_listener.onRobotTaskEvent(this, m_pActiveRobotTask, ROBOT_EVENT_CREATE);
                if (!rmd.armState[0]) {
                    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) {
                            m_listener.onRobotTaskEvent(this, m_pActiveRobotTask, ROBOT_EVENT_CREATE);
                        }
                        LOGI("创建新任务<%s>...", strDescription.c_str());
                        continue;
                    }
                    LOGI("创建新任务<%s>...", strDescription.c_str());
                    continue;
                }


                // LoadPort -> Aligner
                for (int s = 0; s < 4; s++) {
                    if (pEqLoadPort[s]->isEnable()
                    if (!rmd.armState[0] && pEqLoadPort[s]->isEnable()
                        && pEqLoadPort[s]->getPortType() == PortType::Loading
                        && pEqLoadPort[s]->getPortMode() == PortMode::ReadyToLoad) {
                        m_pActiveRobotTask = createTransferTask(pEqLoadPort[s], pAligner, primaryType, secondaryType);

 SourceCode/Bond/Servo/ServoCommo.h

@@ -118,6 +118,38 @@
        Completed
    };

    enum class ROBOT_STATUS {
        Setup = 0,
        Idle,
        Run,
        Pause,
        Stop,
        Moving,
    };

    enum class ROBOT_POSITION {
        Port1 = 0,
        Port2,
        Port3,
        Port4,
        Aligner,
        Fliper,
        Bonder1,
        Bonder2,
        Bake,
        Cooling,
        Measurement
    };

    /* Indexer Monitoring Status */
    /* Robot Monitoring Data */
    typedef struct _ROBOT_MONITORING_DATA {
        ROBOT_STATUS status;
        ROBOT_POSITION position;
        BOOL armState[2];
    } ROBOT_MONITORING_DATA, RMDATA;


    /* EQ Data changed code */
#define EDCC_FETCHOUT_JOB                1000    /* ȡƬ */
#define EDCC_STORED_JOB                    1001    /* 放片 */