From 22122fe5fd927ccb8892cded1a2480d796e56ce9 Mon Sep 17 00:00:00 2001
From: LAPTOP-SNT8I5JK\Boounion <Chenluhua@qq.com>
Date: 星期二, 26 八月 2025 17:35:33 +0800
Subject: [PATCH] 1.修复加Job模式后，手臂号为0导致不能搬运的问题；
---
SourceCode/Bond/Servo/CMaster.cpp | 377 ++++++++++++++++++++++++++++++++++++++++++++++++++++-
1 files changed, 369 insertions(+), 8 deletions(-)
diff --git a/SourceCode/Bond/Servo/CMaster.cpp b/SourceCode/Bond/Servo/CMaster.cpp
index b10d2f6..e6ed125 100644
--- a/SourceCode/Bond/Servo/CMaster.cpp
+++ b/SourceCode/Bond/Servo/CMaster.cpp
@@ -59,6 +59,7 @@
m_bEnableEventReport = true;
m_bEnableAlarmReport = true;
m_bContinuousTransfer = false;
+ m_bBatch = false;
m_nContinuousTransferCount = 0;
m_nContinuousTransferStep = CTStep_Unknow;
m_pControlJob = nullptr;
@@ -270,6 +271,7 @@
}
m_bContinuousTransfer = false;
+ m_bBatch = false;
setState(MASTERSTATE::STARTING);
m_ullStartTime = GetTickCount64();
@@ -283,6 +285,21 @@
}
m_bContinuousTransfer = true;
+ m_bBatch = false;
+ setState(MASTERSTATE::STARTING);
+ m_ullStartTime = GetTickCount64();
+
+ return 0;
+ }
+
+ int CMaster::startBatch()
+ {
+ if (m_state != MASTERSTATE::READY) {
+ return -1;
+ }
+
+ m_bContinuousTransfer = false;
+ m_bBatch = true;
setState(MASTERSTATE::STARTING);
m_ullStartTime = GetTickCount64();
@@ -292,12 +309,28 @@
int CMaster::stop()
{
// 运行时间为累加结果，本次停止时刷新；
- if (m_state != MASTERSTATE::RUNNING && m_state != MASTERSTATE::RUNNING_CONTINUOUS_TRANSFER) {
+ lock();
+ if (m_state != MASTERSTATE::RUNNING && m_state != MASTERSTATE::RUNNING_CONTINUOUS_TRANSFER
+ && m_state != MASTERSTATE::RUNNING_BATCH) {
+ unlock();
return -1;
}
-
m_ullRunTime += (GetTickCount64() - m_ullStartTime);
+ unlock();
+
+
+ // 更新状态
setState(MASTERSTATE::STOPPING);
+
+
+ // ControlJob暂停
+ lock();
+ if (m_pControlJob != nullptr) {
+ m_pControlJob->pause();
+ saveState();
+ }
+ unlock();
+
return 0;
}
@@ -311,7 +344,8 @@
ULONGLONG CMaster::getRunTime()
{
- if (m_state == MASTERSTATE::RUNNING || m_state == MASTERSTATE::RUNNING_CONTINUOUS_TRANSFER)
+ if (m_state == MASTERSTATE::RUNNING || m_state == MASTERSTATE::RUNNING_CONTINUOUS_TRANSFER
+ || m_state == MASTERSTATE::RUNNING_BATCH)
return m_ullRunTime + (GetTickCount64() - m_ullStartTime);
else
return m_ullRunTime;
@@ -471,18 +505,21 @@
}
// 检查看是否都已经切换到START状态
+ /*
if (!bIomcOk[6]) {
unlock();
setState(MASTERSTATE::MSERROR);
continue;
}
-
+ */
unlock();
- if(!m_bContinuousTransfer)
- setState(MASTERSTATE::RUNNING);
- else
+ if(m_bContinuousTransfer)
setState(MASTERSTATE::RUNNING_CONTINUOUS_TRANSFER);
+ else if (m_bBatch)
+ setState(MASTERSTATE::RUNNING_BATCH);
+ else
+ setState(MASTERSTATE::RUNNING);
continue;
}
@@ -685,7 +722,7 @@
if (!rmd.armState[0] && pLoadPorts[s]->isEnable()
&& (pt == PortType::Loading || pt == PortType::Both)
&& pLoadPorts[s]->getPortStatus() == PORT_INUSE) {
- m_pActiveRobotTask = createTransferTask(pLoadPorts[s], pAligner, primaryType, secondaryType, m_bJobMode);
+ m_pActiveRobotTask = createTransferTask(pLoadPorts[s], pAligner, primaryType, secondaryType, 1, m_bJobMode);
if (m_pActiveRobotTask != nullptr) {
pEFEM->setContext(m_pActiveRobotTask->getContext());
goto PORT_GET;
@@ -694,6 +731,231 @@
}
PORT_GET:
+ CHECK_RUN_ACTIVE_ROBOT_TASK(m_pActiveRobotTask);
+
+
+ unlock();
+ continue;
+ }
+
+ // 批处理模式，最终以此为准，但先保留之前的单片模式
+ else if (m_state == MASTERSTATE::RUNNING_BATCH) {
+ // 首选检查有没有CControlJob, 状态等
+ if (m_pControlJob == nullptr) {
+ unlock();
+ continue;
+ }
+ CJState state = m_pControlJob->state();
+ if (state == CJState::Completed || state == CJState::Aborted || state == CJState::Failed) {
+ // ConrolJpb已完成
+ LOGI("<Master>ControlJob已经完成或失败中断");
+ unlock();
+ continue;
+ }
+
+
+ if (m_pControlJob->state() == CJState::NoState) {
+ LOGI("<Master>ControlJob已经进入列队");
+ m_pControlJob->queue();
+ }
+ if (m_pControlJob->state() == CJState::Queued) {
+ LOGI("<Master>ControlJob已经启动");
+ m_pControlJob->start();
+ }
+ if (m_pControlJob->state() == CJState::Paused) {
+ LOGI("<Master>ControlJob已经恢复运行");
+ m_pControlJob->resume();
+ }
+
+
+ // 如果当前未选择CProcessJob, 选择一个
+ if (m_inProcesJobs.empty()) {
+ auto pj = acquireNextProcessJob();
+ if (pj != nullptr) {
+ m_inProcesJobs.push_back(pj);
+
+ // 这里上报PJ Start事件
+ if (m_listener.onPjStart != nullptr) {
+ m_listener.onPjStart(this, pj);
+ }
+ }
+ }
+ if (m_inProcesJobs.empty()) {
+ LOGI("<Master>选择当前ProcessJob失败！");
+ unlock();
+ continue;
+ }
+
+ // 如果当前没有Glass, 选择
+ if (m_queueGlasses.empty()) {
+ int nCount = acquireGlassToQueue();
+ LOGI("<Master>已加入 %d 块Glass到工艺列队！", nCount);
+ }
+
+
+ // 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;
+ }
+
+
+ // 此处检测优先类型和次要类型（G1或G2）
+ // 如果其中一Bonder有单个玻璃，优先取它的配对类型，否则无所谓了
+ primaryType = MaterialsType::G1;
+ secondaryType = MaterialsType::G2;
+ if ((!pBonder1->canPlaceGlassInSlot(0) && !pBonder1->canPlaceGlassInSlot(1))
+ && (!pBonder2->canPlaceGlassInSlot(0) && !pBonder2->canPlaceGlassInSlot(1))) {
+ // 如果G1和G2都满了，那就看Aligner, 如果Aligner有玻璃为G1, 则取G2
+ CGlass* pGlass = pAligner->getGlassFromSlot(1);
+ if (pGlass != nullptr && pGlass->getType() == MaterialsType::G1) {
+ primaryType = MaterialsType::G2;
+ secondaryType = MaterialsType::G1;
+ }
+ }
+ else if ((pBonder1->canPlaceGlassInSlot(0) && !pBonder1->canPlaceGlassInSlot(1))
+ || (pBonder2->canPlaceGlassInSlot(0) && !pBonder2->canPlaceGlassInSlot(1))) {
+ primaryType = MaterialsType::G2;
+ secondaryType = MaterialsType::G1;
+ }
+
+
+ // Measurement -> LoadPort
+ if (rmd.armState[0] || rmd.armState[1]) {
+ 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"));
+ }
+ 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) {
+ m_pActiveRobotTask = createTransferTask(pMeasurement, pLoadPorts[s], primaryType, secondaryType);
+ if (m_pActiveRobotTask != nullptr) {
+ goto BATCH_PORT_PUT;
+ }
+ }
+ }
+
+ BATCH_PORT_PUT:
+ CHECK_RUN_ACTIVE_ROBOT_TASK(m_pActiveRobotTask);
+
+
+ // Measurement NG -> LoadPort
+ // NG回原位
+ if (!rmd.armState[1]) {
+ m_pActiveRobotTask = createTransferTask_restore(pMeasurement, pLoadPorts);
+ CHECK_RUN_ACTIVE_ROBOT_TASK(m_pActiveRobotTask);
+ }
+
+
+ // BakeCooling ->Measurement
+ if (!rmd.armState[0]) {
+ m_pActiveRobotTask = createTransferTask_bakecooling_to_measurement(pBakeCooling, pMeasurement);
+ CHECK_RUN_ACTIVE_ROBOT_TASK(m_pActiveRobotTask);
+ }
+
+
+ // BakeCooling内部
+ // Bake -> Cooling
+ if (!rmd.armState[0]) {
+ m_pActiveRobotTask = createTransferTask_bake_to_cooling(pBakeCooling);
+ CHECK_RUN_ACTIVE_ROBOT_TASK(m_pActiveRobotTask);
+ }
+
+
+ // Bonder -> BakeCooling
+ if (!rmd.armState[0]) {
+ m_pActiveRobotTask = createTransferTask_bonder_to_bakecooling(pBonder1, pBakeCooling);
+ CHECK_RUN_ACTIVE_ROBOT_TASK(m_pActiveRobotTask);
+ }
+
+ if (!rmd.armState[0]) {
+ m_pActiveRobotTask = createTransferTask_bonder_to_bakecooling(pBonder2, pBakeCooling);
+ CHECK_RUN_ACTIVE_ROBOT_TASK(m_pActiveRobotTask);
+ }
+
+
+ // Fliper(G2) -> Bonder
+ auto pSrcSlot = pVacuumBake->getProcessedSlot(primaryType);
+ if (pSrcSlot != nullptr && !rmd.armState[1] && !pBonder1->hasBondClass()) {
+ m_pActiveRobotTask = createTransferTask(pFliper, pBonder1, primaryType, secondaryType, 2);
+ CHECK_RUN_ACTIVE_ROBOT_TASK(m_pActiveRobotTask);
+ }
+ if (pSrcSlot != nullptr && !rmd.armState[1] && !pBonder2->hasBondClass()) {
+ m_pActiveRobotTask = createTransferTask(pFliper, pBonder2, primaryType, secondaryType, 2);
+ CHECK_RUN_ACTIVE_ROBOT_TASK(m_pActiveRobotTask);
+ }
+
+
+ // VacuumBake(G1) -> Bonder
+ if (!rmd.armState[0] && !pBonder1->hasBondClass()) {
+ m_pActiveRobotTask = createTransferTask(pVacuumBake, pBonder1, primaryType, secondaryType);
+ CHECK_RUN_ACTIVE_ROBOT_TASK(m_pActiveRobotTask);
+ }
+
+ if (!rmd.armState[0] && !pBonder2->hasBondClass()) {
+ m_pActiveRobotTask = createTransferTask(pVacuumBake, pBonder2, primaryType, secondaryType);
+ CHECK_RUN_ACTIVE_ROBOT_TASK(m_pActiveRobotTask);
+ }
+
+
+ // Aligner -> Fliper(G2)
+ // Aligner -> VacuumBake(G1)
+ if (!rmd.armState[1]) {
+ m_pActiveRobotTask = createTransferTask(pAligner, pFliper, primaryType, secondaryType);
+ CHECK_RUN_ACTIVE_ROBOT_TASK(m_pActiveRobotTask);
+ }
+
+ if (!rmd.armState[0]) {
+ m_pActiveRobotTask = createTransferTask(pAligner, pVacuumBake, primaryType, secondaryType);
+ CHECK_RUN_ACTIVE_ROBOT_TASK(m_pActiveRobotTask);
+ }
+
+
+ // Aligner -> LoadPort
+ if (!rmd.armState[1]) {
+ m_pActiveRobotTask = createTransferTask_restore(pAligner, pLoadPorts);
+ 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) {
+ m_pActiveRobotTask = createTransferTask(pLoadPorts[s], pAligner, primaryType, secondaryType, m_bJobMode);
+ if (m_pActiveRobotTask != nullptr) {
+ pEFEM->setContext(m_pActiveRobotTask->getContext());
+ bool bMoved = glassFromQueueToInPorcess((CGlass*)m_pActiveRobotTask->getContext());
+ if (bMoved) {
+ LOGI("<Master>Glass(%s)从等待列队到工艺列队转移成功.",
+ ((CGlass*)m_pActiveRobotTask->getContext())->getID().c_str());
+ }
+ else {
+ LOGE("<Master>Glass(%s)从等待列队到工艺列队转移失败.",
+ ((CGlass*)m_pActiveRobotTask->getContext())->getID().c_str());
+ }
+
+ goto BATCH_PORT_GET;
+ }
+ }
+ }
+
+ BATCH_PORT_GET:
CHECK_RUN_ACTIVE_ROBOT_TASK(m_pActiveRobotTask);
@@ -983,9 +1245,12 @@
BOOL bOk = FALSE;
lock();
if (m_pActiveRobotTask != nullptr) {
+ LOGI("<CMaster>onPreFethedOutJob 0001.");
if (m_pActiveRobotTask->getSrcPosition() == p->getID()) {
+ LOGI("<CMaster>onPreFethedOutJob 0002.");
CGlass* pGlass = p->getGlassFromSlot(m_pActiveRobotTask->getSrcSlot());
if (pGlass != nullptr) {
+ LOGI("<CMaster>onPreFethedOutJob 0003.");
CJobDataS* pJobDataS = pGlass->getJobDataS();
if (pJobDataS != nullptr
&& pJobDataS->getCassetteSequenceNo() == pJobDataB->getCassetteSequenceNo()
@@ -1103,6 +1368,21 @@
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
+
+ // 如果是搬送回从AOI搬送回Port, 则glass工艺完成
+ if (m_pActiveRobotTask->getSrcPosition() == EQ_ID_MEASUREMENT) {
+ bool bMoved = glassFromInPorcessToComplete((CGlass*)m_pActiveRobotTask->getContext());
+ if (bMoved) {
+ LOGI("<Master>Glass(%s)从工艺列队到完成列队转移成功.",
+ ((CGlass*)m_pActiveRobotTask->getContext())->getID().c_str());
+ }
+ else {
+ LOGE("<Master>Glass(%s)从工艺列队到完成列队转移失败.",
+ ((CGlass*)m_pActiveRobotTask->getContext())->getID().c_str());
+ }
+ }
+
+
unlock();
@@ -2095,4 +2375,85 @@
return true;
}
+
+ CProcessJob* CMaster::acquireNextProcessJob()
+ {
+ auto& pjs = m_pControlJob->getPjs();
+ for (const auto pj : pjs) {
+ if (pj->state() == PJState::Queued) {
+ pj->start();
+ }
+ return pj;
+ }
+
+
+ return nullptr;
+ }
+
+ CGlass* CMaster::acquireNextGlass()
+ {
+ for (auto* pj : m_inProcesJobs) {
+ // 遍历 PJ 的 carriers 和 slots
+ for (auto& cs : pj->carriers()) {
+ for (auto ctx : cs.contexts) {
+ CGlass* pGlass = (CGlass*)ctx;
+ if (pGlass->state() == GlsState::NoState) {
+ pGlass->queue();
+ return pGlass;
+ }
+ }
+ }
+ }
+ return nullptr; // 没有可加工的 Glass
+ }
+
+ int CMaster::acquireGlassToQueue()
+ {
+ int nCount = 0;
+ for (auto* pj : m_inProcesJobs) {
+ // 遍历 PJ 的 carriers 和 slots
+ for (auto& cs : pj->carriers()) {
+ for (auto ctx : cs.contexts) {
+ CGlass* pGlass = (CGlass*)ctx;
+ if (pGlass->state() == GlsState::NoState) {
+ pGlass->queue();
+ if(addGlassToQueue(pGlass)) nCount++;
+ }
+ }
+ }
+ }
+ return nCount;
+ }
+
+ bool CMaster::addGlassToQueue(CGlass* pGlass)
+ {
+ for (auto g : m_queueGlasses) {
+ if (g == pGlass) return false;
+ }
+
+ m_queueGlasses.push_back(pGlass);
+ return true;
+ }
+
+ bool CMaster::glassFromQueueToInPorcess(CGlass* pGlass)
+ {
+ auto it = std::find(m_queueGlasses.begin(), m_queueGlasses.end(), pGlass);
+ if (it != m_queueGlasses.end()) {
+ m_inProcesGlasses.push_back(*it);
+ m_queueGlasses.erase(it);
+ return true;
+ }
+ return false;
+ }
+
+ bool CMaster::glassFromInPorcessToComplete(CGlass* pGlass)
+ {
+ auto it = std::find(m_inProcesGlasses.begin(), m_inProcesGlasses.end(), pGlass);
+ if (it != m_inProcesGlasses.end()) {
+ m_completeGlasses.push_back(*it);
+ m_inProcesGlasses.erase(it);
+ return true;
+ }
+ return false;
+ }
}
--
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