From 331f447bb0e5eccf0b3161ab287c1372b14b8480 Mon Sep 17 00:00:00 2001
From: LAPTOP-SNT8I5JK\Boounion <Chenluhua@qq.com>
Date: 星期五, 08 八月 2025 11:53:58 +0800
Subject: [PATCH] 1.增加千传计数,保存计数，重启软件时恢复； 2.千传测试模式，打印相关日志，方便后期提取，用于统计； 3.千传模式时烘烤两腔体都要进入； 4.千传模式时，Fliper到Bonder修改为用手臂2取料； 5.修复千传模式不计运行时的问题； 6.千传模式，最后收料强制放入第一层； 6.修复Buf， 当任务未生成（在符合条件后仍有1秒间隙）而机器单元发送FetchOutJob时，数据检验失败的问题，增加Sleep, 缩小间隙；
---
SourceCode/Bond/Servo/CMaster.cpp | 556 +++++++++++++++++++++++++++++++++++++++----------------
1 files changed, 395 insertions(+), 161 deletions(-)
diff --git a/SourceCode/Bond/Servo/CMaster.cpp b/SourceCode/Bond/Servo/CMaster.cpp
index 6fd1c50..455804a 100644
--- a/SourceCode/Bond/Servo/CMaster.cpp
+++ b/SourceCode/Bond/Servo/CMaster.cpp
@@ -51,6 +51,12 @@
m_state = MASTERSTATE::READY;
m_pActiveRobotTask = nullptr;
m_nLastError = 0;
+ m_isCompareMapsBeforeProceeding = FALSE;
+ m_bEnableEventReport = true;
+ m_bEnableAlarmReport = true;
+ m_bContinuousTransfer = false;
+ m_nContinuousTransferCount = 0;
+ m_nContinuousTransferStep = CTStep_begin;
InitializeCriticalSection(&m_criticalSection);
}
@@ -248,6 +254,20 @@
return -1;
}
+ m_bContinuousTransfer = false;
+ setState(MASTERSTATE::STARTING);
+ m_ullStartTime = GetTickCount64();
+
+ return 0;
+ }
+
+ int CMaster::startContinuousTransfer()
+ {
+ if (m_state != MASTERSTATE::READY) {
+ return -1;
+ }
+
+ m_bContinuousTransfer = true;
setState(MASTERSTATE::STARTING);
m_ullStartTime = GetTickCount64();
@@ -257,7 +277,7 @@
int CMaster::stop()
{
// 运行时间为累加结果，本次停止时刷新；
- if (m_state != MASTERSTATE::RUNNING) {
+ if (m_state != MASTERSTATE::RUNNING && m_state != MASTERSTATE::RUNNING_CONTINUOUS_TRANSFER) {
return -1;
}
@@ -276,7 +296,7 @@
ULONGLONG CMaster::getRunTime()
{
- if (m_state == MASTERSTATE::RUNNING)
+ if (m_state == MASTERSTATE::RUNNING || m_state == MASTERSTATE::RUNNING_CONTINUOUS_TRANSFER)
return m_ullRunTime + (GetTickCount64() - m_ullStartTime);
else
return m_ullRunTime;
@@ -327,7 +347,7 @@
while (1) {
// 待退出信号或时间到
HANDLE hEvents[] = { m_hEventDispatchThreadExit[0], m_hDispatchEvent };
- int nRet = WaitForMultipleObjects(2, hEvents, FALSE, 1000);
+ int nRet = WaitForMultipleObjects(2, hEvents, FALSE, 500);
if (nRet == WAIT_OBJECT_0) {
break;
}
@@ -444,7 +464,11 @@
unlock();
- setState(MASTERSTATE::RUNNING);
+ if(!m_bContinuousTransfer)
+ setState(MASTERSTATE::RUNNING);
+ else
+ setState(MASTERSTATE::RUNNING_CONTINUOUS_TRANSFER);
+
continue;
}
@@ -545,15 +569,11 @@
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"));
}
- CEquipment* pEqTar[] = { pVacuumBake, pFliper };
- if (primaryType == MaterialsType::G2) {
- pEqTar[0] = pFliper;
- pEqTar[1] = pVacuumBake;
- }
for (int s = 0; s < 4; s++) {
+ PortType pt = pLoadPorts[s]->getPortType();
if (!rmd.armState[0] && pLoadPorts[s]->isEnable()
- && pLoadPorts[s]->getPortType() == PortType::Unloading
- && pLoadPorts[s]->getPortMode() == PortMode::ReadyToUnload) {
+ && (pt == PortType::Unloading || pt == PortType::Both)
+ && pLoadPorts[s]->getPortStatus() == PORT_INUSE) {
m_pActiveRobotTask = createTransferTask(pMeasurement, pLoadPorts[s], primaryType, secondaryType);
if (m_pActiveRobotTask != nullptr) {
goto PORT_PUT;
@@ -562,157 +582,65 @@
}
PORT_PUT:
- 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;
- }
+ CHECK_RUN_ACTIVE_ROBOT_TASK(m_pActiveRobotTask);
// 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;
- }
+ CHECK_RUN_ACTIVE_ROBOT_TASK(m_pActiveRobotTask);
}
-
-
// BakeCooling ->Measurement
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;
- }
+ CHECK_RUN_ACTIVE_ROBOT_TASK(m_pActiveRobotTask);
}
-
// BakeCooling内部
// Bake -> Cooling
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;
- }
+ CHECK_RUN_ACTIVE_ROBOT_TASK(m_pActiveRobotTask);
}
// Bonder -> BakeCooling
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;
- }
+ CHECK_RUN_ACTIVE_ROBOT_TASK(m_pActiveRobotTask);
}
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;
- }
+ CHECK_RUN_ACTIVE_ROBOT_TASK(m_pActiveRobotTask);
}
// Fliper(G2) -> Bonder
- // VacuumBake(G1) -> Bonder
- if (!rmd.armState[1] && !pBonder1->hasBondClass()) {
+ auto pSrcSlot = pVacuumBake->getProcessedSlot(primaryType);
+ if (pSrcSlot != nullptr && !rmd.armState[1] && !pBonder1->hasBondClass()) {
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;
- }
+ CHECK_RUN_ACTIVE_ROBOT_TASK(m_pActiveRobotTask);
}
-
- if (!rmd.armState[1] && !pBonder2->hasBondClass()) {
+ if (pSrcSlot != nullptr && !rmd.armState[1] && !pBonder2->hasBondClass()) {
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;
- }
+ CHECK_RUN_ACTIVE_ROBOT_TASK(m_pActiveRobotTask);
}
+
+ // VacuumBake(G1) -> Bonder
if (!rmd.armState[0] && !pBonder1->hasBondClass()) {
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;
- }
+ CHECK_RUN_ACTIVE_ROBOT_TASK(m_pActiveRobotTask);
}
if (!rmd.armState[0] && !pBonder2->hasBondClass()) {
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;
- }
+ CHECK_RUN_ACTIVE_ROBOT_TASK(m_pActiveRobotTask);
}
@@ -720,55 +648,28 @@
// Aligner -> VacuumBake(G1)
if (!rmd.armState[1]) {
m_pActiveRobotTask = createTransferTask(pAligner, pFliper, 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;
- }
+ CHECK_RUN_ACTIVE_ROBOT_TASK(m_pActiveRobotTask);
}
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;
- }
+ CHECK_RUN_ACTIVE_ROBOT_TASK(m_pActiveRobotTask);
}
+
// 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;
- }
+ 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()
- && pLoadPorts[s]->getPortType() == PortType::Loading
- && pLoadPorts[s]->getPortMode() == PortMode::ReadyToLoad) {
+ && (pt == PortType::Loading || pt == PortType::Both)
+ && pLoadPorts[s]->getPortStatus() == PORT_INUSE) {
m_pActiveRobotTask = createTransferTask(pLoadPorts[s], pAligner, primaryType, secondaryType);
if (m_pActiveRobotTask != nullptr) {
pEFEM->setContext(m_pActiveRobotTask->getContext());
@@ -778,20 +679,181 @@
}
PORT_GET:
- if (m_pActiveRobotTask != nullptr) {
- m_pActiveRobotTask->pick();
- std::string strDescription = m_pActiveRobotTask->getDescription();
+ CHECK_RUN_ACTIVE_ROBOT_TASK(m_pActiveRobotTask);
+
+
+ unlock();
+ continue;
+ }
+
+ // 千传模式调度逻辑
+ else if (m_state == MASTERSTATE::RUNNING_CONTINUOUS_TRANSFER) {
+ // 检测判断robot状态
+ RMDATA& rmd = pEFEM->getRobotMonitoringData();
+ if (rmd.status != ROBOT_STATUS::Idle && rmd.status != ROBOT_STATUS::Run) {
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;
}
- unlock();
+ 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;
+ }
+ // Measurement -> LoadPort
+ 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) {
+ for (int slot = 0; slot < SLOT_MAX; slot++) {
+ m_pActiveRobotTask = createTransferTask_continuous_transfer(pMeasurement,
+ 0, pLoadPorts[s], slot);
+ if (m_pActiveRobotTask != nullptr) {
+ m_nContinuousTransferStep = CTStep_end;
+ goto CT_PORT_PUT;
+ }
+ }
+ }
+ }
+
+ CT_PORT_PUT:
+ CHECK_RUN_ACTIVE_ROBOT_TASK(m_pActiveRobotTask);
+
+
+ // BakeCooling ->Measurement
+ if (!rmd.armState[0]) {
+ m_pActiveRobotTask = createTransferTask_continuous_transfer(pBakeCooling,
+ 3, pMeasurement, 0);
+ if (m_pActiveRobotTask != nullptr) {
+ LOGI("<ContinuousTransfer>千传测试，开始搬送任务(BakeCooling -> Measurement)...");
+ }
+ CHECK_RUN_ACTIVE_ROBOT_TASK(m_pActiveRobotTask);
+ }
+
+
+ // BakeCooling内部
+ if (!rmd.armState[0]) {
+ m_pActiveRobotTask = createTransferTask_continuous_transfer(pBakeCooling,
+ 2, pBakeCooling, 3);
+ if (m_pActiveRobotTask != nullptr) {
+ LOGI("<ContinuousTransfer>千传测试，开始搬送任务(BakeCooling-2 -> BakeCooling-3)...");
+ }
+ CHECK_RUN_ACTIVE_ROBOT_TASK(m_pActiveRobotTask);
+ }
+ if (!rmd.armState[0]) {
+ m_pActiveRobotTask = createTransferTask_continuous_transfer(pBakeCooling,
+ 1, pBakeCooling, 2);
+ if (m_pActiveRobotTask != nullptr) {
+ LOGI("<ContinuousTransfer>千传测试，开始搬送任务(BakeCooling-1 -> BakeCooling-2)...");
+ }
+ CHECK_RUN_ACTIVE_ROBOT_TASK(m_pActiveRobotTask);
+ }
+ if (!rmd.armState[0]) {
+ m_pActiveRobotTask = createTransferTask_continuous_transfer(pBakeCooling,
+ 0, pBakeCooling, 1);
+ if (m_pActiveRobotTask != nullptr) {
+ LOGI("<ContinuousTransfer>千传测试，开始搬送任务(BakeCooling-0 -> BakeCooling-1)...");
+ }
+ CHECK_RUN_ACTIVE_ROBOT_TASK(m_pActiveRobotTask);
+ }
+
+ // VacuumBake(G1) -> BakeCooling
+ if (!rmd.armState[0]) {
+ m_pActiveRobotTask = createTransferTask_continuous_transfer(pVacuumBake,
+ 1, pBakeCooling, 0);
+ if (m_pActiveRobotTask != nullptr) {
+ LOGI("<ContinuousTransfer>千传测试，开始搬送任务(VacuumBake(G1) -> BakeCooling)...");
+ }
+ CHECK_RUN_ACTIVE_ROBOT_TASK(m_pActiveRobotTask);
+ }
+
+ // VacuumBake(G1) -> VacuumBake(G1)
+ if (!rmd.armState[0]) {
+ m_pActiveRobotTask = createTransferTask_continuous_transfer(pVacuumBake,
+ 0, pVacuumBake, 1);
+ if (m_pActiveRobotTask != nullptr) {
+ LOGI("<ContinuousTransfer>千传测试，开始搬送任务(VacuumBake(G1-0) -> VacuumBake(G1-1))...");
+ }
+ CHECK_RUN_ACTIVE_ROBOT_TASK(m_pActiveRobotTask);
+ }
+
+ // Bonder2 -> VacuumBake(G1)
+ if (!rmd.armState[0]) {
+ m_pActiveRobotTask = createTransferTask_continuous_transfer(pBonder2,
+ 1, pVacuumBake, 0);
+ if (m_pActiveRobotTask != nullptr) {
+ LOGI("<ContinuousTransfer>千传测试，开始搬送任务(Bonder2 -> VacuumBake(G1))...");
+ }
+ CHECK_RUN_ACTIVE_ROBOT_TASK(m_pActiveRobotTask);
+ }
+
+ // Bonder1 -> Bonder2
+ if (!rmd.armState[0] && !pBonder2->hasBondClass()) {
+ m_pActiveRobotTask = createTransferTask_continuous_transfer(pBonder1,
+ 1, pBonder2, 1);
+ if (m_pActiveRobotTask != nullptr) {
+ LOGI("<ContinuousTransfer>千传测试，开始搬送任务(Bonder1 -> Bonder2)...");
+ }
+ CHECK_RUN_ACTIVE_ROBOT_TASK(m_pActiveRobotTask);
+ }
+
+ // Fliper(G2) -> Bonder1
+ if (!rmd.armState[0] && !pBonder1->hasBondClass()) {
+ m_pActiveRobotTask = createTransferTask_continuous_transfer(pFliper,
+ 0, pBonder1, 1, 2);
+ if (m_pActiveRobotTask != nullptr) {
+ LOGI("<ContinuousTransfer>千传测试，开始搬送任务(Fliper(G2) -> Bonder1)...");
+ }
+ CHECK_RUN_ACTIVE_ROBOT_TASK(m_pActiveRobotTask);
+ }
+
+ // Aligner -> Fliper(G2)
+ if (!rmd.armState[1]) {
+ m_pActiveRobotTask = createTransferTask_continuous_transfer(pAligner,
+ 0, pFliper, 0);
+ if (m_pActiveRobotTask != nullptr) {
+ LOGI("<ContinuousTransfer>千传测试，开始搬送任务(Aligner -> Fliper(G2))...");
+ }
+ 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) {
+ for (int slot = 0; slot < SLOT_MAX; slot++) {
+ m_pActiveRobotTask = createTransferTask_continuous_transfer(pLoadPorts[s],
+ slot, pAligner, 0);
+ if (m_pActiveRobotTask != nullptr) {
+ LOGI("<ContinuousTransfer>千传测试，开始搬送任务(LoadPort -> Aligner)...");
+ pEFEM->setContext(m_pActiveRobotTask->getContext());
+ goto CT_PORT_GET;
+ }
+ }
+ }
+ }
+
+ CT_PORT_GET:
+ if (m_pActiveRobotTask != nullptr) {
+ m_nContinuousTransferStep = CTStep_begin;
+ LOGI("<ContinuousTransfer>千传测试，开始第 %d 轮", m_nContinuousTransferCount + 1);
+ }
+ CHECK_RUN_ACTIVE_ROBOT_TASK(m_pActiveRobotTask);
+
+
+ unlock();
+ continue;
}
+
+
unlock();
}
@@ -805,6 +867,16 @@
unsigned CMaster::ReadBitsProc()
{
+ // 标志位清0复位
+ {
+ StationIdentifier station;
+ station.nNetNo = 0;
+ station.nStNo = 255;
+ char szBuffer[528] = { 0 }; // 0x0, 0x1087
+ m_cclink.WriteData(station, (long)DeviceType::B, 0, 528, (short*)szBuffer);
+ }
+
+
while (1) {
// 待退出信号或时间到
int nRet = ::WaitForSingleObject(m_hEventReadBitsThreadExit[0], 1000);
@@ -865,6 +937,8 @@
listener.onPreFethedOutJob = [&](void* pEquipment, int port, CJobDataB* pJobDataB) -> BOOL {
CEquipment* p = (CEquipment*)pEquipment;
+ // 可能要加这一句
+ Sleep(750);
// 取片，更新当前搬送任务
BOOL bOk = FALSE;
@@ -898,6 +972,8 @@
listener.onPreStoredJob = [&](void* pEquipment, int port, CJobDataB* pJobDataB, short& slot) -> BOOL {
CEquipment* p = (CEquipment*)pEquipment;
+ // 可能要加这一句
+ Sleep(750);
// 放片，更新当前搬送任务
BOOL bOk = FALSE;
@@ -975,6 +1051,17 @@
&& m_pActiveRobotTask->getTarPosition() == p->getID()) {
m_pActiveRobotTask->stored();
m_pActiveRobotTask->completed();
+
+ if (m_state == MASTERSTATE::RUNNING_CONTINUOUS_TRANSFER) {
+ if (m_nContinuousTransferStep == CTStep_end) {
+ m_nContinuousTransferCount++;
+ LOGI("<ContinuousTransfer>千传测试，第 %d 轮结束", m_nContinuousTransferCount);
+ if (m_listener.onCTRoundEnd != nullptr) {
+ m_listener.onCTRoundEnd(this, m_nContinuousTransferCount);
+ }
+ }
+ }
+
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
unlock();
@@ -1011,6 +1098,16 @@
};
listener.onProcessStateChanged = [&](void* pEquipment, PROCESS_STATE state) -> void {
LOGI("<Master>onProcessStateChanged<%d>", (int)state);
+ };
+ listener.onMapMismatch = [&](void* pEquipment, short scanMap, short downMap) {
+ LOGE("<Master-%s>Port InUse, map(%d!=%d)不一致，请检查。",
+ ((CEquipment*)pEquipment)->getName().c_str(), scanMap, downMap);
+ };
+ listener.onPortStatusChanged = [&](void* pEquipment, short status, __int64 data) {
+ LOGE("<Master-%s>onPortStatusChanged。status=%d, data=%lld", ((CEquipment*)pEquipment)->getName().c_str(), status);
+ if (m_listener.onLoadPortStatusChanged != nullptr) {
+ m_listener.onLoadPortStatusChanged(this, (CEquipment*)pEquipment, status, data);
+ }
};
pEquipment->setListener(listener);
pEquipment->setCcLink(&m_cclink);
@@ -1049,6 +1146,7 @@
pEquipment->setID(EQ_ID_LOADPORT1 + index);
pEquipment->setName(szName);
pEquipment->setDescription(szName);
+ pEquipment->setCompareMapsBeforeProceeding(m_isCompareMapsBeforeProceeding);
addToEquipmentList(pEquipment);
@@ -1405,6 +1503,10 @@
MaterialsType primaryType/* = MaterialsType::G1*/, MaterialsType secondaryType/* = MaterialsType::G2*/,
int armNo/* = 1*/)
{
+ if (!pSrcEq->IsEnabled()) {
+ return nullptr;
+ }
+
CRobotTask* pTask = nullptr;
CSlot* pSrcSlot, * pTarSlot;
pTarSlot = pTarEq->getAvailableSlotForGlass(primaryType);
@@ -1429,6 +1531,10 @@
CRobotTask* CMaster::createTransferTask_bonder_to_bakecooling(CEquipment* pSrcEq, CEquipment* pTarEq)
{
+ if (!pSrcEq->IsEnabled()) {
+ return nullptr;
+ }
+
std::vector<int> slots = {1, 3};
CRobotTask* pTask = nullptr;
@@ -1450,6 +1556,10 @@
CRobotTask* CMaster::createTransferTask_bake_to_cooling(CEquipment* pSrcEq)
{
+ if (!pSrcEq->IsEnabled()) {
+ return nullptr;
+ }
+
std::vector<int> slotsTar = { 2, 4 };
std::vector<int> slotsSrc = { 1, 3 };
@@ -1472,6 +1582,10 @@
CRobotTask* CMaster::createTransferTask_bakecooling_to_measurement(CEquipment* pSrcEq, CEquipment* pTarEq)
{
+ if (!pSrcEq->IsEnabled()) {
+ return nullptr;
+ }
+
std::vector<int> slots = { 2, 4 };
CRobotTask* pTask = nullptr;
@@ -1493,6 +1607,10 @@
CRobotTask* CMaster::createTransferTask_restore(CEquipment* pEqSrc, CLoadPort** pPorts)
{
+ if (!pEqSrc->IsEnabled()) {
+ return nullptr;
+ }
+
CRobotTask* pTask = nullptr;
CSlot* pSrcSlot, * pTarSlot = nullptr, * pTempSlot;
pSrcSlot = pEqSrc->getInspFailSlot();
@@ -1523,6 +1641,35 @@
return pTask;
}
+ CRobotTask* CMaster::createTransferTask_continuous_transfer(CEquipment* pSrcEq, int nSrcSlot,
+ CEquipment* pTarEq, int nTarSlot, int armNo/* = 1*/)
+ {
+ if (!pSrcEq->IsEnabled()) {
+ return nullptr;
+ }
+ if (!pTarEq->IsEnabled()) {
+ return nullptr;
+ }
+
+ CRobotTask* pTask = nullptr;
+ CSlot* pSrcSlot = pSrcEq->getProcessedSlotCt(nSrcSlot);
+ if (pSrcSlot != nullptr && pSrcEq->getID() == EQ_ID_MEASUREMENT
+ && (pTarEq->getID() == EQ_ID_LOADPORT1 || pTarEq->getID() == EQ_ID_LOADPORT2 || pTarEq->getID() == EQ_ID_LOADPORT3 || pTarEq->getID() == EQ_ID_LOADPORT4)) {
+ pTarEq->removeGlass(1);
+ }
+ CSlot* pTarSlot = pTarEq->isSlotAvailable(nTarSlot);
+ if (pSrcSlot != nullptr && nullptr != pTarSlot) {
+ pTask = new CRobotTask();
+ pTask->setContext(pSrcSlot->getContext());
+ pTask->setEFEM((CEFEM*)getEquipment(EQ_ID_EFEM));
+ taskSeqNo = pTask->setRobotTransferParam(taskSeqNo, armNo, pSrcSlot->getPosition(),
+ pTarSlot->getPosition(), pSrcSlot->getNo(), pTarSlot->getNo());
+ }
+
+
+ return pTask;
+ }
+
int CMaster::abortCurrentTask()
{
lock();
@@ -1543,7 +1690,8 @@
unlock();
// 当前任务手动中止后，停止调度，需要操作员在解决问题后，重新启动
- stop();
+ // 25年7月23日后修改为不停止任务
+ // stop();
return 0;
}
@@ -1553,6 +1701,18 @@
lock();
if (m_pActiveRobotTask != nullptr) {
m_pActiveRobotTask->restore();
+ }
+ unlock();
+
+
+ return 0;
+ }
+
+ int CMaster::resendCurrentTask()
+ {
+ lock();
+ if (m_pActiveRobotTask != nullptr) {
+ m_pActiveRobotTask->resend();
}
unlock();
@@ -1573,4 +1733,78 @@
pPort->localSetTransferMode((SERVO::TransferMode)transferMode);
pPort->localAutoChangeEnable(autoChangeEnable);
}
+
+ void CMaster::setPortCassetteType(unsigned int index, SERVO::CassetteType type)
+ {
+ ASSERT(index < 4);
+ int eqid[] = { EQ_ID_LOADPORT1, EQ_ID_LOADPORT2, EQ_ID_LOADPORT3, EQ_ID_LOADPORT4 };
+ CLoadPort* pPort = (CLoadPort*)getEquipment(eqid[index]);
+ pPort->localSetCessetteType(type);
+ }
+
+ void CMaster::setPortEnable(unsigned int index, BOOL bEnable)
+ {
+ ASSERT(index < 4);
+ int eqid[] = { EQ_ID_LOADPORT1, EQ_ID_LOADPORT2, EQ_ID_LOADPORT3, EQ_ID_LOADPORT4 };
+ CLoadPort* pPort = (CLoadPort*)getEquipment(eqid[index]);
+ pPort->localEanblePort(bEnable);
+ }
+
+ void CMaster::setCompareMapsBeforeProceeding(BOOL bCompare)
+ {
+ m_isCompareMapsBeforeProceeding = bCompare;
+ }
+
+ void CMaster::datetimeSync(SYSTEMTIME& time)
+ {
+ for (auto item : m_listEquipment) {
+ item->setDateTime(time.wYear, time.wMonth, time.wDay,
+ time.wHour, time.wMinute, time.wSecond);
+ }
+ }
+
+ void CMaster::enableEventReport(bool bEnable)
+ {
+ m_bEnableEventReport = bEnable;
+ }
+
+ void CMaster::enableAlarmReport(bool bEnable)
+ {
+ m_bEnableAlarmReport = bEnable;
+ }
+
+ bool CMaster::isAlarmReportEnable()
+ {
+ return m_bEnableAlarmReport;
+ }
+
+ int CMaster::proceedWithCarrier(unsigned int port)
+ {
+ if (port >= 4) return -1;
+
+ static int pid[] = { EQ_ID_LOADPORT1, EQ_ID_LOADPORT2, EQ_ID_LOADPORT3, EQ_ID_LOADPORT4};
+ CLoadPort* pPort = (CLoadPort*)getEquipment(pid[port]);
+ pPort->sendCassetteCtrlCmd(CCC_PROCESS_START, nullptr, 0, 0, 0, nullptr, nullptr);
+ return 0;
+ }
+
+ int CMaster::carrierRelease(unsigned int port)
+ {
+ if (port >= 4) return -1;
+
+ static int pid[] = { EQ_ID_LOADPORT1, EQ_ID_LOADPORT2, EQ_ID_LOADPORT3, EQ_ID_LOADPORT4 };
+ CLoadPort* pPort = (CLoadPort*)getEquipment(pid[port]);
+ pPort->sendCassetteCtrlCmd(CCC_PROCESS_CANCEL, nullptr, 0, 0, 0, nullptr, nullptr);
+ return 0;
+ }
+
+ int CMaster::getContinuousTransferCount()
+ {
+ return m_nContinuousTransferCount;
+ }
+
+ void CMaster::setContinuousTransferCount(int round)
+ {
+ m_nContinuousTransferCount = round;
+ }
}
--
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