From 10f48622c553729352dce9a4484def4bfeaa1083 Mon Sep 17 00:00:00 2001
From: LAPTOP-SNT8I5JK\Boounion <Chenluhua@qq.com>
Date: 星期三, 02 七月 2025 14:51:33 +0800
Subject: [PATCH] 1.将OnPanelDataReport相关功能由EFEM移到Aligner; 2.Glass增加最初来源Port和Slot，以便在Aligner检测NG时加退； 3.物流调度增加一个参数，是否检测OK作为调度依据。 4.Alginer检测NG,送回原处；
---
SourceCode/Bond/Servo/Servo.vcxproj | 4
SourceCode/Bond/Servo/CGlass.cpp | 44 +++++
SourceCode/Bond/Servo/CGlass.h | 8 +
SourceCode/Bond/Servo/CPath.cpp | 18 ++
SourceCode/Bond/Servo/CMaster.h | 3
SourceCode/Bond/Servo/CLoadPort.cpp | 63 ++++----
SourceCode/Bond/Servo/CPath.h | 4
SourceCode/Bond/Servo/CAligner.cpp | 28 ++++
SourceCode/Bond/Servo/CEquipment.cpp | 58 ++++++--
SourceCode/Bond/Servo/CAligner.h | 2
SourceCode/Bond/Servo/CEFEM.cpp | 19 --
SourceCode/Bond/Servo/CMaster.cpp | 103 ++++++++++++--
SourceCode/Bond/Servo/CEquipment.h | 7 +
SourceCode/Bond/Servo/ServoCommo.h | 26 +++
14 files changed, 294 insertions(+), 93 deletions(-)
diff --git a/SourceCode/Bond/Servo/CAligner.cpp b/SourceCode/Bond/Servo/CAligner.cpp
index c15885e..815b1ee 100644
--- a/SourceCode/Bond/Servo/CAligner.cpp
+++ b/SourceCode/Bond/Servo/CAligner.cpp
@@ -48,6 +48,34 @@
m_slot[0].setName("Slot 1");
}
+ void CAligner::initSteps()
+ {
+ CEquipment::initSteps();
+
+ {
+ // Panel Data Report
+ CEqReadStep* pStep = new CEqReadStep(0x617f, 386 * 2,
+ [&](void* pFrom, int code, const char* pszData, size_t size) -> int {
+ if (code == ROK && pszData != nullptr && size > 0) {
+ decodePanelDataReport((CStep*)pFrom, pszData, size);
+ }
+ return -1;
+ });
+ pStep->setName(STEP_EQ_PANEL_DATA_REPORT);
+ pStep->setProp("Port", (void*)1);
+ pStep->setWriteSignalDev(0x15e);
+ if (addStep(STEP_ID_PANEL_DATA_REPORT, pStep) != 0) {
+ delete pStep;
+ }
+ }
+ }
+
+ void CAligner::onReceiveLBData(const char* pszData, size_t size)
+ {
+ __super::onReceiveLBData(pszData, size);
+ CHECK_READ_STEP_SIGNAL(STEP_ID_PANEL_DATA_REPORT, pszData, size);
+ }
+
void CAligner::onTimer(UINT nTimerid)
{
CEquipment::onTimer(nTimerid);
diff --git a/SourceCode/Bond/Servo/CAligner.h b/SourceCode/Bond/Servo/CAligner.h
index a1ce3be..a6081ca 100644
--- a/SourceCode/Bond/Servo/CAligner.h
+++ b/SourceCode/Bond/Servo/CAligner.h
@@ -16,6 +16,8 @@
virtual void term();
virtual void initPins();
virtual void initSlots();
+ virtual void initSteps();
+ virtual void onReceiveLBData(const char* pszData, size_t size);
virtual void onTimer(UINT nTimerid);
virtual void serialize(CArchive& ar);
virtual void getAttributeVector(CAttributeVector& attrubutes);
diff --git a/SourceCode/Bond/Servo/CEFEM.cpp b/SourceCode/Bond/Servo/CEFEM.cpp
index fdaf6c1..941b834 100644
--- a/SourceCode/Bond/Servo/CEFEM.cpp
+++ b/SourceCode/Bond/Servo/CEFEM.cpp
@@ -677,23 +677,6 @@
}
{
- // Panel Data Report
- CEqReadStep* pStep = new CEqReadStep(0x617f, 386 * 2,
- [&](void* pFrom, int code, const char* pszData, size_t size) -> int {
- if (code == ROK && pszData != nullptr && size > 0) {
- decodePanelDataReport((CStep*)pFrom, pszData, size);
- }
- return -1;
- });
- pStep->setName(STEP_EQ_PANEL_DATA_REPORT);
- pStep->setProp("Port", (void*)1);
- pStep->setWriteSignalDev(0x15e);
- if (addStep(STEP_ID_PANEL_DATA_REPORT, pStep) != 0) {
- delete pStep;
- }
- }
-
- {
// FAC Data Report
CEqReadStep* pStep = new CEqReadStep(0x6301, 108 * 2,
[&](void* pFrom, int code, const char* pszData, size_t size) -> int {
@@ -804,6 +787,8 @@
m_pPort[i]->onReceiveLBData(pszData, size);
}
}
+ m_pAligner->onReceiveLBData(pszData, size);
+
// 更新信号到LoadPort, Robot, Aligner, Fliper
m_pPort[0]->setLinkSignalUpstreamBlock(0, &m_bLinkSignalToUpstream[0][0]);
diff --git a/SourceCode/Bond/Servo/CEquipment.cpp b/SourceCode/Bond/Servo/CEquipment.cpp
index bef7c8d..70c6134 100644
--- a/SourceCode/Bond/Servo/CEquipment.cpp
+++ b/SourceCode/Bond/Servo/CEquipment.cpp
@@ -7,22 +7,6 @@
#include "Servo.h"
-#define CHECK_READ_STEP_SIGNAL(addr, data, size) { \
- BOOL bFlag = isBitOn(data, size, addr); \
- SERVO::CStep* pStep = getStep(addr); \
- if (pStep != nullptr) { \
- ((CReadStep*)pStep)->onReadSignal(bFlag ? addr : 0); \
- } \
-}
-
-#define CHECK_WRITE_STEP_SIGNAL(addr, data, size) { \
- BOOL bFlag = isBitOn(data, size, addr); \
- SERVO::CStep* pStep = getStep(addr); \
- if (pStep != nullptr) { \
- ((CWriteStep*)pStep)->onRecvSignal(bFlag ? addr : 0); \
- } \
-}
-
namespace SERVO {
CEquipment::CEquipment() : m_nID(0), m_strName(""), m_strDescription(""), m_station(0, 255)
@@ -1313,6 +1297,7 @@
CGlass* pGlass = (CGlass*)m_slot[i].getContext();
if (!isSlotProcessed(i)) continue;
if (pGlass == nullptr) continue;
+ if(pGlass->getInspResult(m_nID, 0) == InspResult::Fail) continue;
int lsPath = m_slot[i].getLinkSignalPath();
if(!m_bLinkSignalToUpstream[lsPath][SIGNAL_UPSTREAM_INLINE]
|| m_bLinkSignalToUpstream[lsPath][SIGNAL_UPSTREAM_TROUBLE]
@@ -1352,6 +1337,26 @@
return &m_slot[i];
}
}
+ }
+
+ return nullptr;
+ }
+
+ CSlot* CEquipment::getInspFailSlot()
+ {
+ for (int i = 0; i < SLOT_MAX; i++) {
+ if (!m_slot[i].isEnable()) continue;
+ if (m_slot[i].isLock()) continue;
+ CGlass* pGlass = (CGlass*)m_slot[i].getContext();
+ if (pGlass == nullptr) continue;
+ if (pGlass->getInspResult(m_nID, 0) != InspResult::Fail) continue;
+ int lsPath = m_slot[i].getLinkSignalPath();
+ if (!m_bLinkSignalToUpstream[lsPath][SIGNAL_UPSTREAM_INLINE]
+ || m_bLinkSignalToUpstream[lsPath][SIGNAL_UPSTREAM_TROUBLE]
+ || !m_bLinkSignalToUpstream[lsPath][SIGNAL_INTERLOCK]
+ || !m_bLinkSignalToUpstream[lsPath][SIGNAL_SEND_ABLE]) continue;
+
+ return &m_slot[i];
}
return nullptr;
@@ -1634,6 +1639,15 @@
pStep->addAttribute(new CAttribute("PanelGradeData",
strPanelGradeData.c_str(), "", weight++));
+
+ // 更新检测结果
+ CGlass* pGlass = getGlassWithCassette(cassetteNo, jobSequenceNo);
+ if (pGlass == nullptr) {
+ LOGE("<CEquipment-%s>更新Panel Data失败，找不到对应的Glass.cassetteNo=%d, jobSequenceNo=%d",
+ getName().c_str(), cassetteNo, jobSequenceNo);
+ return -1;
+ }
+ pGlass->setInspResult(m_nID, 0, judgeStringToInspResult(strPanelJudgeData));
return 0;
}
@@ -1974,4 +1988,16 @@
);
}
}
+
+ InspResult CEquipment::judgeStringToInspResult(std::string& strJudge)
+ {
+ if (strJudge.compare("N") == 0) {
+ return InspResult::Fail;
+ }
+ if (strJudge.compare("G") == 0) {
+ return InspResult::Pass;
+ }
+
+ return InspResult::NotInspected;
+ }
}
\ No newline at end of file
diff --git a/SourceCode/Bond/Servo/CEquipment.h b/SourceCode/Bond/Servo/CEquipment.h
index f7ca3bc..465354d 100644
--- a/SourceCode/Bond/Servo/CEquipment.h
+++ b/SourceCode/Bond/Servo/CEquipment.h
@@ -179,6 +179,7 @@
// 获取一个指定物料类型(G1,G2,G1&G2)的且已经加工处理的槽位
CSlot* getProcessedSlot(MaterialsType putSlotType);
CSlot* getProcessedSlot2(MaterialsType putSlotType, const std::vector<int>& candidates);
+ CSlot* getInspFailSlot();
// 获取玻璃物料
CGlass* getGlassFromSlot(int slotNo);
@@ -199,6 +200,12 @@
// 手动移除物料
int removeGlass(int slotNo);
+ // 字符串检测结果转换
+ InspResult judgeStringToInspResult(std::string& strJudge);
+
+
+
+
// 以下为从CC-Link读取到的Bit标志位检测函数
public:
BOOL isAlive();
diff --git a/SourceCode/Bond/Servo/CGlass.cpp b/SourceCode/Bond/Servo/CGlass.cpp
index a88255a..6d1a1ee 100644
--- a/SourceCode/Bond/Servo/CGlass.cpp
+++ b/SourceCode/Bond/Servo/CGlass.cpp
@@ -8,6 +8,8 @@
m_pPath = nullptr;
m_type = MaterialsType::G1;
m_pBuddy = nullptr;
+ m_nOriginPort = 0;
+ m_nOriginSlot = 0;
}
CGlass::~CGlass()
@@ -66,6 +68,18 @@
return m_strID;
}
+ void CGlass::setOriginPort(int port, int slot)
+ {
+ m_nOriginPort = port;
+ m_nOriginSlot = slot;
+ }
+
+ void CGlass::getOrginPort(int& port, int& slot)
+ {
+ port = m_nOriginPort;
+ slot = m_nOriginSlot;
+ }
+
CPath* CGlass::getPath()
{
return m_pPath;
@@ -103,6 +117,8 @@
Lock();
ar << (int)m_type;
WriteString(ar, m_strID);
+ ar << m_nOriginPort;
+ ar << m_nOriginSlot;
ar << (ULONGLONG)m_pPath;
if (m_pPath != nullptr) {
m_pPath->serialize(ar);
@@ -123,6 +139,8 @@
ar >> type;
m_type = (MaterialsType)type;
ReadString(ar, m_strID);
+ ar >> m_nOriginPort;
+ ar >> m_nOriginSlot;
ar >> ullPath;
if (ullPath != 0) {
m_pPath = new CPath();
@@ -182,12 +200,13 @@
return m_strBuddyId;
}
- void CGlass::processEnd(unsigned int nEqId, unsigned int nUnit)
+ int CGlass::processEnd(unsigned int nEqId, unsigned int nUnit)
{
CPath* pPath = getPathWithEq(nEqId, nUnit);
- if (pPath != nullptr) {
- pPath->processEnd();
- }
+ if (pPath == nullptr) return -1;
+
+ pPath->processEnd();
+ return 0;
}
BOOL CGlass::isProcessed(unsigned int nEqId, unsigned int nUnit)
@@ -197,4 +216,21 @@
return pPath->isProcessEnd();
}
+
+ int CGlass::setInspResult(unsigned int nEqId, unsigned int nUnit, InspResult result)
+ {
+ CPath* pPath = getPathWithEq(nEqId, nUnit);
+ if (pPath == nullptr) return -1;
+
+ pPath->setInspResult(result);
+ return 0;
+ }
+
+ InspResult CGlass::getInspResult(unsigned int nEqId, unsigned int nUnit)
+ {
+ CPath* pPath = getPathWithEq(nEqId, nUnit);
+ if (pPath == nullptr) return InspResult::NotInspected;
+
+ return pPath->getInspResult();
+ }
}
diff --git a/SourceCode/Bond/Servo/CGlass.h b/SourceCode/Bond/Servo/CGlass.h
index f5e1945..3127839 100644
--- a/SourceCode/Bond/Servo/CGlass.h
+++ b/SourceCode/Bond/Servo/CGlass.h
@@ -24,6 +24,8 @@
void setType(MaterialsType type);
void setID(const char* pszID);
std::string& getID();
+ void setOriginPort(int port, int slot);
+ void getOrginPort(int& port, int& slot);
CPath* getPathWithEq(unsigned int nEqId, unsigned int nUnit);
CPath* getPath();
void addPath(unsigned int nEqId, unsigned int nUnit);
@@ -35,8 +37,10 @@
BOOL forceSetBuddy(CGlass* pGlass);
CGlass* getBuddy();
std::string& getBuddyId();
- void processEnd(unsigned int nEqId, unsigned int nUnit);
+ int processEnd(unsigned int nEqId, unsigned int nUnit);
BOOL isProcessed(unsigned int nEqId, unsigned int nUnit);
+ int setInspResult(unsigned int nEqId, unsigned int nUnit, InspResult result);
+ InspResult getInspResult(unsigned int nEqId, unsigned int nUnit);
private:
MaterialsType m_type;
@@ -45,6 +49,8 @@
CJobDataS m_jobDataS;
CGlass* m_pBuddy;
std::string m_strBuddyId;
+ int m_nOriginPort;
+ int m_nOriginSlot;
};
}
diff --git a/SourceCode/Bond/Servo/CLoadPort.cpp b/SourceCode/Bond/Servo/CLoadPort.cpp
index aa096e3..f6afed4 100644
--- a/SourceCode/Bond/Servo/CLoadPort.cpp
+++ b/SourceCode/Bond/Servo/CLoadPort.cpp
@@ -2,23 +2,8 @@
#include "CLoadPort.h"
#include "CGlassPool.h"
#include "Servo.h"
+#include "ServoCommo.h"
-
-#define CHECK_READ_STEP_SIGNAL2(addr, data, size) { \
- BOOL bFlag = isBitOn(data, size, addr); \
- SERVO::CStep* pStep = getStep(addr); \
- if (pStep != nullptr) { \
- ((CReadStep*)pStep)->onReadSignal(bFlag ? addr : 0); \
- } \
-}
-
-#define CHECK_WRITE_STEP_SIGNAL2(addr, data, size) { \
- BOOL bFlag = isBitOn(data, size, addr); \
- SERVO::CStep* pStep = getStep(addr); \
- if (pStep != nullptr) { \
- ((CWriteStep*)pStep)->onRecvSignal(bFlag ? addr : 0); \
- } \
-}
namespace SERVO {
CLoadPort::CLoadPort() : CEquipment()
@@ -429,15 +414,18 @@
SERVO::CEqWriteStep* pStep = (SERVO::CEqWriteStep*)getCassetteCtrlCmdStep();
ASSERT(pStep);
- ASSERT(jobExistenceSize == 12);
- ASSERT(pJobDataA);
-
char szBuffer[1024] = { 0 };
memcpy(&szBuffer[0], &cmd, sizeof(short));
- memcpy(&szBuffer[2], jobExistence, sizeof(short) * jobExistenceSize);
+ if (jobExistence != nullptr && jobExistenceSize == 12) {
+ memcpy(&szBuffer[2], jobExistence, sizeof(short) * jobExistenceSize);
+ }
+
memcpy(&szBuffer[26], &slotProcess, sizeof(short));
memcpy(&szBuffer[36], &jopCount, sizeof(short));
- int nLen = pJobDataA->serialize(&szBuffer[38], 1024 - 38);
+ if (pJobDataA != nullptr) {
+ pJobDataA->serialize(&szBuffer[38], 1024 - 38);
+ }
+
return pStep->writeDataEx(szBuffer, 352 * 2, onWritedBlock);
}
@@ -860,12 +848,12 @@
static int autoType[] = { STEP_ID_PORT1_TYPE_AUTO_CHANGE, STEP_ID_PORT2_TYPE_AUTO_CHANGE,
STEP_ID_PORT3_TYPE_AUTO_CHANGE, STEP_ID_PORT4_TYPE_AUTO_CHANGE };
- CHECK_READ_STEP_SIGNAL2(type[m_nIndex], pszData, size);
- CHECK_READ_STEP_SIGNAL2(mode[m_nIndex], pszData, size);
- CHECK_READ_STEP_SIGNAL2(cassetteType[m_nIndex], pszData, size);
- CHECK_READ_STEP_SIGNAL2(transferMode[m_nIndex], pszData, size);
- CHECK_READ_STEP_SIGNAL2(enable[m_nIndex], pszData, size);
- CHECK_READ_STEP_SIGNAL2(autoType[m_nIndex], pszData, size);
+ CHECK_READ_STEP_SIGNAL(type[m_nIndex], pszData, size);
+ CHECK_READ_STEP_SIGNAL(mode[m_nIndex], pszData, size);
+ CHECK_READ_STEP_SIGNAL(cassetteType[m_nIndex], pszData, size);
+ CHECK_READ_STEP_SIGNAL(transferMode[m_nIndex], pszData, size);
+ CHECK_READ_STEP_SIGNAL(enable[m_nIndex], pszData, size);
+ CHECK_READ_STEP_SIGNAL(autoType[m_nIndex], pszData, size);
static int typeReply[] = { STEP_ID_PROT1_TYPE_CHANGE_REPLY, STEP_ID_PROT2_TYPE_CHANGE_REPLY,
@@ -881,12 +869,12 @@
static int cassetteTypeReply[] = { STEP_ID_PROT1_CASSETTE_TYPE_CHANGE_REPLY, STEP_ID_PROT2_CASSETTE_TYPE_CHANGE_REPLY,
STEP_ID_PROT3_CASSETTE_TYPE_CHANGE_REPLY, STEP_ID_PROT4_CASSETTE_TYPE_CHANGE_REPLY };
- CHECK_WRITE_STEP_SIGNAL2(typeReply[m_nIndex], pszData, size);
- CHECK_WRITE_STEP_SIGNAL2(modeReply[m_nIndex], pszData, size);
- CHECK_WRITE_STEP_SIGNAL2(transferModeReply[m_nIndex], pszData, size);
- CHECK_WRITE_STEP_SIGNAL2(enableModeReply[m_nIndex], pszData, size);
- CHECK_WRITE_STEP_SIGNAL2(typeAutoReply[m_nIndex], pszData, size);
- CHECK_WRITE_STEP_SIGNAL2(cassetteTypeReply[m_nIndex], pszData, size);
+ CHECK_WRITE_STEP_SIGNAL(typeReply[m_nIndex], pszData, size);
+ CHECK_WRITE_STEP_SIGNAL(modeReply[m_nIndex], pszData, size);
+ CHECK_WRITE_STEP_SIGNAL(transferModeReply[m_nIndex], pszData, size);
+ CHECK_WRITE_STEP_SIGNAL(enableModeReply[m_nIndex], pszData, size);
+ CHECK_WRITE_STEP_SIGNAL(typeAutoReply[m_nIndex], pszData, size);
+ CHECK_WRITE_STEP_SIGNAL(cassetteTypeReply[m_nIndex], pszData, size);
}
int CLoadPort::decodePortStatusReport(CStep* pStep, const char* pszData, size_t size)
@@ -895,6 +883,11 @@
int nRet = portStatusReport.unserialize(&pszData[0], (int)size);
if (nRet < 0) return nRet;
m_portStatusReport.copyEx(portStatusReport);
+
+ if (m_portStatusReport.getPortStatus() == PORT_INUSE) {
+ this->sendCassetteCtrlCmd(5, nullptr, 0, 0, 0, nullptr, nullptr);
+ }
+
// 缓存Attribute，用于调试时显示信息
@@ -909,6 +902,8 @@
LOGI("<CCassetteTranserStateStep>InUse<JobExistenceSlot:%d>",
m_portStatusReport.getJobExistenceSlot());
}
+
+
return nRet;
}
@@ -1144,6 +1139,7 @@
js.setMaterialsType((int)type);
CGlass* pGlass = theApp.m_model.m_glassPool.allocaGlass();
+ pGlass->setOriginPort(m_nIndex, i);
pGlass->addPath(m_nID, 0);
pGlass->processEnd(m_nID, 0);
pGlass->setID(szBuffer);
@@ -1182,6 +1178,7 @@
js.setGlass1Id(szBuffer);
CGlass* pGlass = theApp.m_model.m_glassPool.allocaGlass();
+ pGlass->setOriginPort(m_nIndex, nSlotIndex);
pGlass->addPath(m_nID, 0);
pGlass->processEnd(m_nID, 0);
pGlass->setID(szBuffer);
diff --git a/SourceCode/Bond/Servo/CMaster.cpp b/SourceCode/Bond/Servo/CMaster.cpp
index cba74ae..6fd1c50 100644
--- a/SourceCode/Bond/Servo/CMaster.cpp
+++ b/SourceCode/Bond/Servo/CMaster.cpp
@@ -297,11 +297,12 @@
// 各种机器
+ CLoadPort* pLoadPorts[4];
CEFEM* pEFEM = (CEFEM*)getEquipment(EQ_ID_EFEM);
- CLoadPort* pLoadPort1 = (CLoadPort*)getEquipment(EQ_ID_LOADPORT1);
- CLoadPort* pLoadPort2 = (CLoadPort*)getEquipment(EQ_ID_LOADPORT2);
- CLoadPort* pLoadPort3 = (CLoadPort*)getEquipment(EQ_ID_LOADPORT3);
- CLoadPort* pLoadPort4 = (CLoadPort*)getEquipment(EQ_ID_LOADPORT4);
+ pLoadPorts[0] = (CLoadPort*)getEquipment(EQ_ID_LOADPORT1);
+ pLoadPorts[1] = (CLoadPort*)getEquipment(EQ_ID_LOADPORT2);
+ pLoadPorts[2] = (CLoadPort*)getEquipment(EQ_ID_LOADPORT3);
+ pLoadPorts[3] = (CLoadPort*)getEquipment(EQ_ID_LOADPORT4);
CFliper* pFliper = (CFliper*)getEquipment(EQ_ID_FLIPER);
CVacuumBake* pVacuumBake = (CVacuumBake*)getEquipment(EQ_ID_VACUUMBAKE);
CAligner* pAligner = (CAligner*)getEquipment(EQ_ID_ALIGNER);
@@ -311,10 +312,10 @@
CMeasurement* pMeasurement = (CMeasurement*)getEquipment(EQ_ID_MEASUREMENT);
ASSERT(pEFEM);
- ASSERT(pLoadPort1);
- ASSERT(pLoadPort2);
- ASSERT(pLoadPort3);
- ASSERT(pLoadPort4);
+ ASSERT(pLoadPorts[0]);
+ ASSERT(pLoadPorts[1]);
+ ASSERT(pLoadPorts[2]);
+ ASSERT(pLoadPorts[3]);
ASSERT(pFliper);
ASSERT(pVacuumBake);
ASSERT(pAligner);
@@ -544,17 +545,16 @@
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) {
pEqTar[0] = pFliper;
pEqTar[1] = pVacuumBake;
}
for (int s = 0; s < 4; s++) {
- 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);
+ if (!rmd.armState[0] && pLoadPorts[s]->isEnable()
+ && pLoadPorts[s]->getPortType() == PortType::Unloading
+ && pLoadPorts[s]->getPortMode() == PortMode::ReadyToUnload) {
+ m_pActiveRobotTask = createTransferTask(pMeasurement, pLoadPorts[s], primaryType, secondaryType);
if (m_pActiveRobotTask != nullptr) {
goto PORT_PUT;
}
@@ -572,6 +572,25 @@
LOGI("创建新任务<%s>...", strDescription.c_str());
continue;
}
+
+
+ // Measurement NG -> LoadPort
+ // NG回原位
+ if (!rmd.armState[1]) {
+ m_pActiveRobotTask = createTransferTask_restore(pMeasurement, pLoadPorts);
+ 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Measurement回退任务<%s>...", strDescription.c_str());
+ continue;
+ }
+ }
+
+
// BakeCooling ->Measurement
@@ -727,12 +746,30 @@
}
}
+ // Aligner -> LoadPort
+ if (!rmd.armState[1]) {
+ m_pActiveRobotTask = createTransferTask_restore(pAligner, pLoadPorts);
+ 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Aligner回退任务<%s>...", strDescription.c_str());
+ continue;
+ }
+ }
+
+
+
+
// LoadPort -> Aligner
for (int s = 0; s < 4; s++) {
- 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);
+ if (!rmd.armState[0] && pLoadPorts[s]->isEnable()
+ && pLoadPorts[s]->getPortType() == PortType::Loading
+ && pLoadPorts[s]->getPortMode() == PortMode::ReadyToLoad) {
+ m_pActiveRobotTask = createTransferTask(pLoadPorts[s], pAligner, primaryType, secondaryType);
if (m_pActiveRobotTask != nullptr) {
pEFEM->setContext(m_pActiveRobotTask->getContext());
goto PORT_GET;
@@ -1454,6 +1491,38 @@
return pTask;
}
+ CRobotTask* CMaster::createTransferTask_restore(CEquipment* pEqSrc, CLoadPort** pPorts)
+ {
+ CRobotTask* pTask = nullptr;
+ CSlot* pSrcSlot, * pTarSlot = nullptr, * pTempSlot;
+ pSrcSlot = pEqSrc->getInspFailSlot();
+ if (pSrcSlot != nullptr) {
+ CGlass* pGlass = (CGlass*)pSrcSlot->getContext();
+ ASSERT(pGlass);
+ int port, slot;
+ pGlass->getOrginPort(port, slot);
+ pGlass->setInspResult(pPorts[port]->getID(), 0, InspResult::Fail);
+ ASSERT(0 <= port && port < 4);
+ ASSERT(0 <= slot && slot < 8);
+ pTempSlot = pPorts[port]->getSlot(slot);
+ if (pTempSlot->getContext() == nullptr) {
+ pTarSlot = pTempSlot;
+ }
+ }
+
+
+ if (pSrcSlot != nullptr && nullptr != pTarSlot) {
+ pTask = new CRobotTask();
+ pTask->setContext(pSrcSlot->getContext());
+ pTask->setEFEM((CEFEM*)getEquipment(EQ_ID_EFEM));
+ taskSeqNo = pTask->setRobotTransferParam(taskSeqNo, 1, pSrcSlot->getPosition(),
+ pTarSlot->getPosition(), pSrcSlot->getNo(), pTarSlot->getNo());
+ }
+
+
+ return pTask;
+ }
+
int CMaster::abortCurrentTask()
{
lock();
diff --git a/SourceCode/Bond/Servo/CMaster.h b/SourceCode/Bond/Servo/CMaster.h
index 4ff2252..37ff05b 100644
--- a/SourceCode/Bond/Servo/CMaster.h
+++ b/SourceCode/Bond/Servo/CMaster.h
@@ -96,7 +96,8 @@
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);
-
+ CRobotTask* createTransferTask_restore(CEquipment* pEqSrc, CLoadPort** pPorts);
+
private:
CRITICAL_SECTION m_criticalSection;
MasterListener m_listener;
diff --git a/SourceCode/Bond/Servo/CPath.cpp b/SourceCode/Bond/Servo/CPath.cpp
index 3eb286b..6f71f45 100644
--- a/SourceCode/Bond/Servo/CPath.cpp
+++ b/SourceCode/Bond/Servo/CPath.cpp
@@ -10,6 +10,7 @@
m_timeOut = 0;
m_timeIn = CToolUnits::getTimestamp();
m_bProcessed = FALSE;
+ m_inspResult = InspResult::NotInspected;
m_pPrev = nullptr;
m_pNext = nullptr;
}
@@ -20,9 +21,10 @@
m_nUnit = nUnit;
m_timeOut = 0;
m_timeIn = CToolUnits::getTimestamp();
+ m_bProcessed = FALSE;
+ m_inspResult = InspResult::NotInspected;
m_pPrev = nullptr;
m_pNext = nullptr;
- m_bProcessed = FALSE;
}
CPath::~CPath()
@@ -52,17 +54,21 @@
ar << m_timeIn;
ar << m_timeOut;
ar << m_bProcessed;
+ ar << (int)m_inspResult;
ar << (ULONGLONG)m_pNext;
if (m_pNext != nullptr) {
m_pNext->serialize(ar);
}
}
else {
+ int temp;
+
ar >> m_nEqID;
ar >> m_nUnit;
ar >> m_timeIn;
ar >> m_timeOut;
ar >> m_bProcessed;
+ ar >> temp; m_inspResult = (InspResult)temp;
ULONGLONG ulNext;
ar >> ulNext;
if ((CPath*)ulNext != nullptr) {
@@ -109,6 +115,16 @@
return m_bProcessed;
}
+ void CPath::setInspResult(InspResult result)
+ {
+ m_inspResult = result;
+ }
+
+ InspResult CPath::getInspResult()
+ {
+ return m_inspResult;
+ }
+
CPath* CPath::getPrev()
{
return m_pPrev;
diff --git a/SourceCode/Bond/Servo/CPath.h b/SourceCode/Bond/Servo/CPath.h
index 577d07a..2c96c49 100644
--- a/SourceCode/Bond/Servo/CPath.h
+++ b/SourceCode/Bond/Servo/CPath.h
@@ -1,4 +1,5 @@
#pragma once
+#include "ServoCommo.h"
namespace SERVO {
@@ -24,6 +25,8 @@
ULONGLONG getOutTime();
void processEnd();
BOOL isProcessEnd();
+ void setInspResult(InspResult result);
+ InspResult getInspResult();
private:
unsigned int m_nEqID;
@@ -31,6 +34,7 @@
ULONGLONG m_timeIn;
ULONGLONG m_timeOut;
BOOL m_bProcessed;
+ InspResult m_inspResult;
CPath* m_pPrev;
CPath* m_pNext;
};
diff --git a/SourceCode/Bond/Servo/Servo.vcxproj b/SourceCode/Bond/Servo/Servo.vcxproj
index 4eddc5d..c3e7398 100644
--- a/SourceCode/Bond/Servo/Servo.vcxproj
+++ b/SourceCode/Bond/Servo/Servo.vcxproj
@@ -135,8 +135,8 @@
</ResourceCompile>
<PostBuildEvent>
<Command>if exist "\\DESKTOP-IODBVIQ\Servo\Debug\" (
- xcopy /Y /D "$(OutDir)*.exe" "\\DESKTOP-IODBVIQ\Servo\Debug\"
- xcopy /Y /D "$(OutDir)*.pdb" "\\DESKTOP-IODBVIQ\Servo\Debug\"
+ xcopy /Y /D "$(OutDir)Servo.exe" "\\DESKTOP-IODBVIQ\Servo\Debug\"
+ xcopy /Y /D "$(OutDir)Servo.pdb" "\\DESKTOP-IODBVIQ\Servo\Debug\"
)</Command>
</PostBuildEvent>
</ItemDefinitionGroup>
diff --git a/SourceCode/Bond/Servo/ServoCommo.h b/SourceCode/Bond/Servo/ServoCommo.h
index 1e63c8e..09ca1d0 100644
--- a/SourceCode/Bond/Servo/ServoCommo.h
+++ b/SourceCode/Bond/Servo/ServoCommo.h
@@ -2,6 +2,23 @@
#include <string>
#include <vector>
+
+#define CHECK_READ_STEP_SIGNAL(addr, data, size) { \
+ BOOL bFlag = isBitOn(data, size, addr); \
+ SERVO::CStep* pStep = getStep(addr); \
+ if (pStep != nullptr) { \
+ ((CReadStep*)pStep)->onReadSignal(bFlag ? addr : 0); \
+ } \
+}
+
+#define CHECK_WRITE_STEP_SIGNAL(addr, data, size) { \
+ BOOL bFlag = isBitOn(data, size, addr); \
+ SERVO::CStep* pStep = getStep(addr); \
+ if (pStep != nullptr) { \
+ ((CWriteStep*)pStep)->onRecvSignal(bFlag ? addr : 0); \
+ } \
+}
+
namespace SERVO {
#define BLOCK_BUFFER_MAX 1024
#define ALIVE_TIMEOUT 15
@@ -14,7 +31,14 @@
OK = 1,
NG,
};
- typedef RET JobDataRequestAck;
+ using JobDataRequestAck = RET;
+
+ enum class InspResult
+ {
+ NotInspected = 0, // 初始化状态，尚未检测
+ Pass, // 检测合格
+ Fail // 检测不合格
+ };
enum class PortType {
Loading = 1,
--
Gitblit v1.9.3