From 2ee440d9e85eccd73d2c3d4cbfe42cb8c1c25ec0 Mon Sep 17 00:00:00 2001
From: LAPTOP-SNT8I5JK\Boounion <Chenluhua@qq.com>
Date: 星期六, 28 六月 2025 14:35:24 +0800
Subject: [PATCH] 1.在stroedJob和Fetchout Job中增加Port的校验； 2.在物料调度中增加检测物料是否已经处理完成的校验；
---
SourceCode/Bond/Servo/CMaster.cpp | 157 ++++++++++++++++++++++++++++++++++++++--------------
1 files changed, 115 insertions(+), 42 deletions(-)
diff --git a/SourceCode/Bond/Servo/CMaster.cpp b/SourceCode/Bond/Servo/CMaster.cpp
index 6efd863..602cdf2 100644
--- a/SourceCode/Bond/Servo/CMaster.cpp
+++ b/SourceCode/Bond/Servo/CMaster.cpp
@@ -340,7 +340,7 @@
int nRet;
CEquipment* pEq[6] = { pEFEM, pBonder1, pBonder2, pBakeCooling,
pVacuumBake, pMeasurement};
- BOOL bIomcOk[7] = {FALSE, FALSE, FALSE, FALSE, FALSE, FALSE, TRUE};
+ BOOL bIomcOk[7] = {FALSE, TRUE, TRUE, TRUE, TRUE, TRUE, TRUE};
std::vector<std::promise<void>> promises(6);
std::vector<std::future<void>> futures;
@@ -356,7 +356,7 @@
goto WAIT;
}
futures.push_back(promises[0].get_future());
-
+ /*
nRet = pEq[1]->indexerOperationModeChange(IDNEXER_OPERATION_MODE::Start,
[&](int writeCode, int retCode) -> void {
bIomcOk[1] = retCode == (int)RET::OK;
@@ -421,6 +421,7 @@
goto WAIT;
}
futures.push_back(promises[5].get_future());
+ */
WAIT:
for (auto& f : futures) {
@@ -450,7 +451,49 @@
// 处理完成当前事务后，切换到停止或就绪状态
else if (m_state == MASTERSTATE::STOPPING) {
unlock();
- Sleep(1000);
+ LOGI("<Master>开始切换各设备到 Stop 模式...");
+
+ std::vector<std::promise<void>> promises(6);
+ std::vector<std::future<void>> futures;
+ BOOL bIomcOk[7] = { FALSE, TRUE, TRUE, TRUE, TRUE, TRUE, TRUE };
+
+ int nRet;
+ CEquipment* pEq[6] = { pEFEM, pBonder1, pBonder2, pBakeCooling,
+ pVacuumBake, pMeasurement };
+
+ for (int i = 0; i < 1; ++i) {
+ nRet = pEq[i]->indexerOperationModeChange(IDNEXER_OPERATION_MODE::Stop,
+ [i, &promises, &bIomcOk](int writeCode, int retCode) -> void {
+ bIomcOk[i] = retCode == (int)RET::OK;
+ promises[i].set_value();
+ TRACE("s000%d: ret=%d\n", i + 1, retCode);
+ });
+ if (nRet != 0) {
+ LOGI("<Master>%s切换Stop状态发送失败", pEq[i]->getName().c_str());
+ m_strLastError = pEq[i]->getName() + "切换Stop状态发送失败.";
+ bIomcOk[i] = FALSE;
+ promises[i].set_value(); // 避免 wait 阻塞
+ }
+ futures.push_back(promises[i].get_future());
+ }
+
+ for (auto& f : futures) {
+ f.wait(); // 等待所有完成
+ }
+
+ for (int i = 0; i < 6; ++i) {
+ if (!bIomcOk[i]) {
+ bIomcOk[6] = FALSE;
+ LOGI("<Master>%s切换Stop状态失败", pEq[i]->getName().c_str());
+ }
+ }
+
+ if (!bIomcOk[6]) {
+ setState(MASTERSTATE::MSERROR);
+ continue;
+ }
+
+ LOGI("<Master>所有设备成功切换到 Stop 模式");
setState(MASTERSTATE::READY);
continue;
}
@@ -466,6 +509,9 @@
}
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...");
@@ -494,8 +540,10 @@
// 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"));
+ 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"));
+ }
CLoadPort* pEqLoadPort[] = { pLoadPort1, pLoadPort2, pLoadPort3, pLoadPort4 };
CEquipment* pEqTar[] = { pVacuumBake, pFliper };
if (primaryType == MaterialsType::G2) {
@@ -652,7 +700,7 @@
// Aligner -> Fliper(G2)
// Aligner -> VacuumBake(G1)
if (!rmd.armState[1]) {
- m_pActiveRobotTask = createTransferTask(pAligner, pFliper, primaryType, secondaryType, 2);
+ m_pActiveRobotTask = createTransferTask(pAligner, pFliper, primaryType, secondaryType);
if (m_pActiveRobotTask != nullptr) {
m_pActiveRobotTask->pick();
std::string strDescription = m_pActiveRobotTask->getDescription();
@@ -686,6 +734,7 @@
&& pEqLoadPort[s]->getPortMode() == PortMode::ReadyToLoad) {
m_pActiveRobotTask = createTransferTask(pEqLoadPort[s], pAligner, primaryType, secondaryType);
if (m_pActiveRobotTask != nullptr) {
+ pEFEM->setContext(m_pActiveRobotTask->getContext());
goto PORT_GET;
}
}
@@ -730,11 +779,12 @@
for (auto item : m_listEquipment) {
const StationIdentifier& station = item->getStation();
MemoryBlock& block = item->getReadBitBlock();
-
- int nRet = m_cclink.ReadData2(station, (DeviceType)block.type,
- block.start, block.size, block.buffer);
- if (0 == nRet) {
- item->onReceiveLBData(block.buffer, block.size);
+ if (block.end > block.start) {
+ int nRet = m_cclink.ReadData2(station, (DeviceType)block.type,
+ block.start, block.size, block.buffer);
+ if (0 == nRet) {
+ item->onReceiveLBData(block.buffer, block.size);
+ }
}
}
}
@@ -775,7 +825,7 @@
m_listener.onEqVcrEventReport(this, p, p2);
}
};
- listener.onPreFethedOutJob = [&](void* pEquipment, CJobDataB* pJobDataB) -> BOOL {
+ listener.onPreFethedOutJob = [&](void* pEquipment, int port, CJobDataB* pJobDataB) -> BOOL {
CEquipment* p = (CEquipment*)pEquipment;
@@ -785,7 +835,7 @@
if (m_pActiveRobotTask != nullptr) {
if (m_pActiveRobotTask->getSrcPosition() == p->getID()) {
CGlass* pGlass = p->getGlassFromSlot(m_pActiveRobotTask->getSrcSlot());
- if (pGlass != nullptr) {
+ if (pGlass != nullptr && port == m_pActiveRobotTask->getSrcSlot()) {
CJobDataS* pJobDataS = pGlass->getJobDataS();
if (pJobDataS != nullptr
&& pJobDataS->getCassetteSequenceNo() == pJobDataB->getCassetteSequenceNo()
@@ -808,7 +858,7 @@
return bOk;
};
- listener.onPreStoredJob = [&](void* pEquipment, CJobDataB* pJobDataB, short& slot) -> BOOL {
+ listener.onPreStoredJob = [&](void* pEquipment, int port, CJobDataB* pJobDataB, short& slot) -> BOOL {
CEquipment* p = (CEquipment*)pEquipment;
@@ -829,9 +879,20 @@
else if (m_pActiveRobotTask->isPlacing() &&
m_pActiveRobotTask->getTarPosition() == p->getID()) {
CGlass* pGlass = p->getGlassFromSlot(m_pActiveRobotTask->getTarSlot());
- if (pGlass == nullptr) {
+ if (pGlass == nullptr && m_pActiveRobotTask->getTarSlot() == port) {
bOk = TRUE;
slot = m_pActiveRobotTask->getTarSlot();
+ LOGI("<CMaster>onPreFethedOutJob, 已校验数据一致性.");
+ }
+ }
+
+ // 是否回撤
+ else if (m_pActiveRobotTask->isRestoring() &&
+ m_pActiveRobotTask->getSrcPosition() == p->getID()) {
+ CGlass* pGlass = p->getGlassFromSlot(m_pActiveRobotTask->getSrcSlot());
+ if (pGlass == nullptr && m_pActiveRobotTask->getSrcSlot() == port) {
+ bOk = TRUE;
+ slot = m_pActiveRobotTask->getSrcSlot();
LOGI("<CMaster>onPreFethedOutJob, 已校验数据一致性.");
}
}
@@ -839,7 +900,7 @@
unlock();
if (!bOk) {
- LOGE("<CMaster>onPreFethedOutJob, 数据校验失败.");
+ LOGE("<CMaster>onPreStoredJob, 数据校验失败.");
}
return bOk;
@@ -869,7 +930,7 @@
) {
LOGI("取片完成.");
m_pActiveRobotTask->fetchOut();
- m_pActiveRobotTask->place();
+ m_pActiveRobotTask->picked();
}
else if (m_pActiveRobotTask != nullptr
@@ -888,6 +949,25 @@
}
delete m_pActiveRobotTask;
m_pActiveRobotTask = nullptr;
+ }
+
+ else if (m_pActiveRobotTask != nullptr
+ && m_pActiveRobotTask->isRestoring()
+ && m_pActiveRobotTask->getSrcPosition() == p->getID()) {
+ m_pActiveRobotTask->stored();
+ m_pActiveRobotTask->restored();
+ LOGI("回撤完成...");
+ // 完成此条搬送任务，但要把数据和消息上抛应用层
+ unlock();
+
+
+ lock();
+ if (m_listener.onRobotTaskEvent != nullptr) {
+ m_listener.onRobotTaskEvent(this, m_pActiveRobotTask, ROBOT_EVENT_RESTORE);
+ }
+ delete m_pActiveRobotTask;
+ m_pActiveRobotTask = nullptr;
+ stop();
}
unlock();
}
@@ -949,7 +1029,7 @@
pEquipment->setBaseAlarmId(BASE_ALARM_EFEM);
pEquipment->setName("Fliper(G2)");
pEquipment->setDescription("Fliper(G2).");
- pEquipment->setReadBitBlock(0x4000, 0x45ff);
+ pEquipment->setReadBitBlock(0x0, 0x0);
pEquipment->setStation(0, 255);
addToEquipmentList(pEquipment);
@@ -984,7 +1064,7 @@
pEquipment->setBaseAlarmId(BASE_ALARM_EFEM);
pEquipment->setName("Aligner");
pEquipment->setDescription("Aligner.");
- pEquipment->setReadBitBlock(0x4000, 0x45ff);
+ pEquipment->setReadBitBlock(0x0, 0x0);
pEquipment->setStation(0, 255);
addToEquipmentList(pEquipment);
@@ -1111,27 +1191,8 @@
}
- // 按一定频率扫描LB数据
static int i = 0;
i++;
- /*
- if (i % (4 * 1) == 0) {
-
- for (auto item : m_listEquipment) {
- if (item->getID() == EQ_ID_Bonder1) {
- const StationIdentifier& station = item->getStation();
- MemoryBlock& block = item->getReadBitBlock();
-
- int nRet = m_cclink.ReadData2(station, (DeviceType)block.type,
- block.start, block.size, block.buffer);
- if (0 == nRet) {
- item->onReceiveLBData(block.buffer, block.size);
- }
- }
- }
- }
- */
-
// 自动保存缓存
if (i % (4 * 2) == 0) {
@@ -1331,7 +1392,7 @@
CRobotTask* CMaster::createTransferTask_bonder_to_bakecooling(CEquipment* pSrcEq, CEquipment* pTarEq)
{
- std::vector<int> slots = {1, 2};
+ std::vector<int> slots = {1, 3};
CRobotTask* pTask = nullptr;
CSlot* pSrcSlot, * pTarSlot;
@@ -1352,8 +1413,8 @@
CRobotTask* CMaster::createTransferTask_bake_to_cooling(CEquipment* pSrcEq)
{
- std::vector<int> slotsTar = { 3, 4 };
- std::vector<int> slotsSrc = { 1, 2 };
+ std::vector<int> slotsTar = { 2, 4 };
+ std::vector<int> slotsSrc = { 1, 3 };
CRobotTask* pTask = nullptr;
CSlot* pSrcSlot, * pTarSlot;
@@ -1374,7 +1435,7 @@
CRobotTask* CMaster::createTransferTask_bakecooling_to_measurement(CEquipment* pSrcEq, CEquipment* pTarEq)
{
- std::vector<int> slots = { 3, 4 };
+ std::vector<int> slots = { 2, 4 };
CRobotTask* pTask = nullptr;
CSlot* pSrcSlot, * pTarSlot;
@@ -1418,6 +1479,18 @@
return 0;
}
+ int CMaster::restoreCurrentTask()
+ {
+ lock();
+ if (m_pActiveRobotTask != nullptr) {
+ m_pActiveRobotTask->restore();
+ }
+ unlock();
+
+
+ return 0;
+ }
+
void CMaster::setPortType(unsigned int index, BOOL enable, int type, int mode,
int cassetteType, int transferMode, BOOL autoChangeEnable)
{
--
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