From 3404823d074a08b8c0824b505db16168f7e66201 Mon Sep 17 00:00:00 2001
From: LAPTOP-SNT8I5JK\Boounion <Chenluhua@qq.com>
Date: 星期一, 09 六月 2025 09:49:10 +0800
Subject: [PATCH] Merge branch 'clh'
---
SourceCode/Bond/Servo/CPageGraph2.cpp | 6 +
SourceCode/Bond/Servo/Context.cpp | 27 +++++
SourceCode/Bond/Servo/CRobotTask.cpp | 31 ++++++
SourceCode/Bond/Servo/CMaster.h | 1
SourceCode/Bond/Servo/CLoadPort.cpp | 1
SourceCode/Bond/Servo/ServoDlg.cpp | 9 +
SourceCode/Bond/Servo/CBakeCooling.cpp | 4
SourceCode/Bond/Servo/CSlot.h | 3
SourceCode/Bond/Servo/CRobotTask.h | 4
SourceCode/Bond/Servo/CSlot.cpp | 11 ++
SourceCode/Bond/Servo/CEquipmentPage2.cpp | 64 +++++++-----
SourceCode/Bond/Servo/CEquipment.cpp | 40 ++++++-
SourceCode/Bond/Servo/Servo.rc | 0
SourceCode/Bond/Servo/CMaster.cpp | 41 ++++++++
SourceCode/Bond/Servo/CEquipment.h | 5 +
SourceCode/Bond/Servo/CEquipmentPage2.h | 1
SourceCode/Bond/Servo/CRobotTaskDlg.cpp | 8 +
17 files changed, 211 insertions(+), 45 deletions(-)
diff --git a/SourceCode/Bond/Servo/CBakeCooling.cpp b/SourceCode/Bond/Servo/CBakeCooling.cpp
index cf4caf4..422a81e 100644
--- a/SourceCode/Bond/Servo/CBakeCooling.cpp
+++ b/SourceCode/Bond/Servo/CBakeCooling.cpp
@@ -45,18 +45,22 @@
m_slot[0].setPosition(m_nID);
m_slot[0].setNo(1);
m_slot[0].setName("Bake 1");
+ m_slot[0].setLinkSignalPath(0);
m_slot[1].enable();
m_slot[1].setPosition(m_nID);
m_slot[1].setNo(2);
m_slot[1].setName("Bake 2");
+ m_slot[1].setLinkSignalPath(0);
m_slot[2].enable();
m_slot[2].setPosition(m_nID);
m_slot[2].setNo(3);
m_slot[2].setName("Cooling 1");
+ m_slot[2].setLinkSignalPath(1);
m_slot[3].enable();
m_slot[3].setPosition(m_nID);
m_slot[3].setNo(4);
m_slot[3].setName("Cooling 2");
+ m_slot[3].setLinkSignalPath(1);
}
void CBakeCooling::onTimer(UINT nTimerid)
diff --git a/SourceCode/Bond/Servo/CEquipment.cpp b/SourceCode/Bond/Servo/CEquipment.cpp
index 0aa06b1..35c81b8 100644
--- a/SourceCode/Bond/Servo/CEquipment.cpp
+++ b/SourceCode/Bond/Servo/CEquipment.cpp
@@ -47,7 +47,6 @@
for (int i = 0; i < SLOT_MAX; i++) {
CContext* pContext = m_slot[i].getContext();
if (pContext != nullptr) {
- pContext->release();
m_slot[i].setContext(nullptr);
}
}
@@ -1149,10 +1148,11 @@
if (m_slot[i].isLock()) continue;
CGlass* pGlass = (CGlass*)m_slot[i].getContext();
if (pGlass == nullptr) continue;
- if(!m_bLinkSignal[0][SIGNAL_UPSTREAM_INLINE]
- || m_bLinkSignal[0][SIGNAL_UPSTREAM_TROUBLE]
- || !m_bLinkSignal[0][SIGNAL_INTERLOCK]
- || !m_bLinkSignal[0][SIGNAL_SEND_ABLE] ) continue;
+ int lsPath = m_slot[i].getLinkSignalPath();
+ if(!m_bLinkSignal[lsPath][SIGNAL_UPSTREAM_INLINE]
+ || m_bLinkSignal[lsPath][SIGNAL_UPSTREAM_TROUBLE]
+ || !m_bLinkSignal[lsPath][SIGNAL_INTERLOCK]
+ || !m_bLinkSignal[lsPath][SIGNAL_SEND_ABLE] ) continue;
MaterialsType glassType = pGlass->getType();
if (glassType == MaterialsType::G1 && putSlotType == MaterialsType::G2) continue;
@@ -1173,10 +1173,11 @@
if (m_slot[i].isLock()) continue;
CGlass* pGlass = (CGlass*)m_slot[i].getContext();
if (pGlass == nullptr) continue;
- if (!m_bLinkSignal[0][SIGNAL_UPSTREAM_INLINE]
- || m_bLinkSignal[0][SIGNAL_UPSTREAM_TROUBLE]
- || !m_bLinkSignal[0][SIGNAL_INTERLOCK]
- || !m_bLinkSignal[0][SIGNAL_SEND_ABLE]) continue;
+ int lsPath = m_slot[i].getLinkSignalPath();
+ if (!m_bLinkSignal[lsPath][SIGNAL_UPSTREAM_INLINE]
+ || m_bLinkSignal[lsPath][SIGNAL_UPSTREAM_TROUBLE]
+ || !m_bLinkSignal[lsPath][SIGNAL_INTERLOCK]
+ || !m_bLinkSignal[lsPath][SIGNAL_SEND_ABLE]) continue;
MaterialsType glassType = pGlass->getType();
if (glassType == MaterialsType::G1 && putSlotType == MaterialsType::G2) continue;
@@ -1188,6 +1189,12 @@
}
return nullptr;
+ }
+
+ CSlot* CEquipment::getSlot(int index)
+ {
+ if (index >= SLOT_MAX) return nullptr;
+ return &m_slot[index];
}
CGlass* CEquipment::getGlassFromSlot(int slotNo)
@@ -1229,6 +1236,21 @@
return TRUE;
}
+ int CEquipment::removeGlass(int slotNo)
+ {
+ CSlot* pSlot = nullptr;
+ for (int i = 0; i < SLOT_MAX; i++) {
+ if (!m_slot[i].isEnable()) continue;
+ if (m_slot[i].getNo() != slotNo) continue;
+ pSlot = &m_slot[i];
+ break;
+ }
+
+ if (pSlot == nullptr) return -1;
+ pSlot->setContext(nullptr);
+ return 0;
+ }
+
short CEquipment::decodeRecipeListReport(const char* pszData, size_t size)
{
return m_recipesManager.decodeRecipeListReport(pszData, size);
diff --git a/SourceCode/Bond/Servo/CEquipment.h b/SourceCode/Bond/Servo/CEquipment.h
index ac4b84c..da67314 100644
--- a/SourceCode/Bond/Servo/CEquipment.h
+++ b/SourceCode/Bond/Servo/CEquipment.h
@@ -150,6 +150,9 @@
// unitNo: 0:local; Others:unit No
int recipeParameterRequest(short masterRecipeId, short localRecipeId, short unitNo);
+ // 获取指定的Slot
+ CSlot* getSlot(int index);
+
// 获取一个可用的槽位
CSlot* getAvailableSlot();
@@ -182,6 +185,8 @@
// 指定槽位是否可以放置玻璃
BOOL canPlaceGlassInSlot(const short slotIndex);
+ // 手动移除物料
+ int removeGlass(int slotNo);
// 以下为从CC-Link读取到的Bit标志位检测函数
public:
diff --git a/SourceCode/Bond/Servo/CEquipmentPage2.cpp b/SourceCode/Bond/Servo/CEquipmentPage2.cpp
index f566568..14b46ac 100644
--- a/SourceCode/Bond/Servo/CEquipmentPage2.cpp
+++ b/SourceCode/Bond/Servo/CEquipmentPage2.cpp
@@ -74,25 +74,15 @@
ListView_SetImageList(m_listCtrl.GetSafeHwnd(), imageList, LVSIL_SMALL);
m_listCtrl.InsertColumn(0, _T(""), LVCFMT_RIGHT, width[0]);
m_listCtrl.InsertColumn(1, _T("ID"), LVCFMT_LEFT, width[1]);
- m_listCtrl.InsertColumn(2, _T("璐村悎"), LVCFMT_LEFT, width[2]);
- m_listCtrl.InsertColumn(3, _T("鏃堕棿"), LVCFMT_LEFT, width[3]);
- m_listCtrl.SetColumnWidth(3, LVSCW_AUTOSIZE_USEHEADER);
+ m_listCtrl.InsertColumn(2, _T("鍚嶇О"), LVCFMT_LEFT, width[2]);
+ m_listCtrl.InsertColumn(3, _T("Glass ID"), LVCFMT_LEFT, width[3]);
+ m_listCtrl.InsertColumn(4, _T("璐村悎Glass ID"), LVCFMT_LEFT, width[4]);
+ m_listCtrl.InsertColumn(5, _T("鏃堕棿"), LVCFMT_LEFT, width[5]);
+ m_listCtrl.SetColumnWidth(5, LVSCW_AUTOSIZE_USEHEADER);
ASSERT(m_pEquipment);
- for (int i = 0; i < SLOT_MAX; i++) {
- SERVO::CGlass* pGlass = m_pEquipment->getGlassFromSlot(i+1);
- if (pGlass != nullptr) {
- pGlass->addRef();
- SERVO::CGlass* pBuddy = pGlass->getBuddy();
- int index = m_listCtrl.InsertItem(m_listCtrl.GetItemCount(), _T(""));
- m_listCtrl.SetItemData(index, (DWORD_PTR)pGlass);
- m_listCtrl.SetItemText(index, 1, pGlass->getID().c_str());
- if (pBuddy != nullptr) {
- m_listCtrl.SetItemText(index, 2, pBuddy->getID().c_str());
- }
- }
- }
+ UpdateSlots();
return TRUE; // return TRUE unless you set the focus to a control
// 寮傚父: OCX 灞炴�ч〉搴旇繑鍥� FALSE
@@ -122,11 +112,6 @@
strItem.Format(_T("Col_%d_Width"), i);
strTemp.Format(_T("%d"), rect.right - rect.left);
WritePrivateProfileString("EquipmentPage2ListCtrl", strItem, strTemp, strIniFile);
- }
-
- for (int i = 0; i < m_listCtrl.GetItemCount(); i++) {
- SERVO::CGlass* pGlass = (SERVO::CGlass*)m_listCtrl.GetItemData(i);
- pGlass->release();
}
}
@@ -171,16 +156,37 @@
void CEquipmentPage2::OnBnClickedButtonRemove()
{
- /*
int index = GetSelectedItemIndex();
if (index >= 0) {
- SERVO::CGlass* pGlass = (SERVO::CGlass*)m_listCtrl.GetItemData(index);
- ASSERT(m_pEquipment);
- BOOL bRet = m_pEquipment->removeClass(pGlass);
- if (bRet) {
- pGlass->release();
- m_listCtrl.DeleteItem(index);
+ SERVO::CSlot* pSlot = (SERVO::CSlot*)m_listCtrl.GetItemData(index);
+ ASSERT(pSlot);
+ int bRet = m_pEquipment->removeGlass(pSlot->getNo());
+ if (bRet == 0) {
+ UpdateSlots();
}
}
- */
}
+
+void CEquipmentPage2::UpdateSlots()
+{
+ m_listCtrl.DeleteAllItems();
+ for (int i = 0; i < SLOT_MAX; i++) {
+ SERVO::CSlot* pSlot = m_pEquipment->getSlot(i);
+ if (pSlot != nullptr && pSlot->isEnable()) {
+ int index = m_listCtrl.InsertItem(m_listCtrl.GetItemCount(), _T(""));
+ m_listCtrl.SetItemData(index, (DWORD_PTR)pSlot);
+ m_listCtrl.SetItemText(index, 1, std::to_string(pSlot->getNo()).c_str());
+ m_listCtrl.SetItemText(index, 2, pSlot->getName().c_str());
+
+ SERVO::CGlass* pGlass = (SERVO::CGlass*)pSlot->getContext();
+ if (pGlass != nullptr) {
+ m_listCtrl.SetItemText(index, 3, pGlass->getID().c_str());
+ SERVO::CGlass* pBuddy = pGlass->getBuddy();
+ if (pBuddy != nullptr) {
+ m_listCtrl.SetItemText(index, 4, pBuddy->getID().c_str());
+ }
+ }
+ }
+ }
+}
+
diff --git a/SourceCode/Bond/Servo/CEquipmentPage2.h b/SourceCode/Bond/Servo/CEquipmentPage2.h
index 99a7596..c20331a 100644
--- a/SourceCode/Bond/Servo/CEquipmentPage2.h
+++ b/SourceCode/Bond/Servo/CEquipmentPage2.h
@@ -18,6 +18,7 @@
private:
int GetSelectedItemIndex();
+ void UpdateSlots();
private:
SERVO::CEquipment* m_pEquipment;
diff --git a/SourceCode/Bond/Servo/CLoadPort.cpp b/SourceCode/Bond/Servo/CLoadPort.cpp
index 895ca1e..7e73a0a 100644
--- a/SourceCode/Bond/Servo/CLoadPort.cpp
+++ b/SourceCode/Bond/Servo/CLoadPort.cpp
@@ -1103,7 +1103,6 @@
pGlass->setJobDataB(&jb);
pGlass->setType(type);
pGlass->setJobDataS(&js);
- pGlass->addRef();
m_slot[i].setContext(pGlass);
}
diff --git a/SourceCode/Bond/Servo/CMaster.cpp b/SourceCode/Bond/Servo/CMaster.cpp
index bc2a884..6a7437a 100644
--- a/SourceCode/Bond/Servo/CMaster.cpp
+++ b/SourceCode/Bond/Servo/CMaster.cpp
@@ -287,6 +287,7 @@
// 各种机器
+ CEFEM* pEFEM = (CEFEM*)getEquipment(EQ_ID_EFEM);
CLoadPort* pLoadPort1 = (CLoadPort*)getEquipment(EQ_ID_LOADPORT1);
CLoadPort* pLoadPort2 = (CLoadPort*)getEquipment(EQ_ID_LOADPORT2);
CFliper* pFliper = (CFliper*)getEquipment(EQ_ID_FLIPER);
@@ -297,6 +298,7 @@
CBakeCooling* pBakeCooling = (CBakeCooling*)getEquipment(EQ_ID_BAKE_COOLING);
CMeasurement* pMeasurement = (CMeasurement*)getEquipment(EQ_ID_MEASUREMENT);
+ ASSERT(pEFEM);
ASSERT(pLoadPort1);
ASSERT(pLoadPort2);
ASSERT(pFliper);
@@ -372,6 +374,7 @@
// BakeCooling ->Measurement
m_pActiveRobotTask = createTransferTask_bakecooling_to_measurement(pBakeCooling, pMeasurement);
if (m_pActiveRobotTask != nullptr) {
+ m_pActiveRobotTask->run();
std::string strDescription = m_pActiveRobotTask->getDescription();
unlock();
if (m_listener.onRobotTaskEvent != nullptr) {
@@ -386,6 +389,7 @@
// Bake -> Cooling
m_pActiveRobotTask = createTransferTask_bake_to_cooling(pBakeCooling);
if (m_pActiveRobotTask != nullptr) {
+ m_pActiveRobotTask->run();
std::string strDescription = m_pActiveRobotTask->getDescription();
unlock();
if (m_listener.onRobotTaskEvent != nullptr) {
@@ -399,6 +403,7 @@
// Bonder -> BakeCooling
m_pActiveRobotTask = createTransferTask_bonder_to_bakecooling(pBonder1, pBakeCooling);
if (m_pActiveRobotTask != nullptr) {
+ m_pActiveRobotTask->run();
std::string strDescription = m_pActiveRobotTask->getDescription();
unlock();
if (m_listener.onRobotTaskEvent != nullptr) {
@@ -410,6 +415,7 @@
m_pActiveRobotTask = createTransferTask_bonder_to_bakecooling(pBonder2, pBakeCooling);
if (m_pActiveRobotTask != nullptr) {
+ m_pActiveRobotTask->run();
std::string strDescription = m_pActiveRobotTask->getDescription();
unlock();
if (m_listener.onRobotTaskEvent != nullptr) {
@@ -422,6 +428,7 @@
// Aligner -> Bonder
m_pActiveRobotTask = createTransferTask(pAligner, pBonder1, primaryType, secondaryType);
if (m_pActiveRobotTask != nullptr) {
+ m_pActiveRobotTask->run();
std::string strDescription = m_pActiveRobotTask->getDescription();
unlock();
if (m_listener.onRobotTaskEvent != nullptr) {
@@ -433,6 +440,7 @@
m_pActiveRobotTask = createTransferTask(pAligner, pBonder2, primaryType, secondaryType);
if (m_pActiveRobotTask != nullptr) {
+ m_pActiveRobotTask->run();
std::string strDescription = m_pActiveRobotTask->getDescription();
unlock();
if (m_listener.onRobotTaskEvent != nullptr) {
@@ -447,6 +455,7 @@
// VacuumBake(G1) -> Aligner
m_pActiveRobotTask = createTransferTask(pFliper, pAligner, primaryType, secondaryType);
if (m_pActiveRobotTask != nullptr) {
+ m_pActiveRobotTask->run();
std::string strDescription = m_pActiveRobotTask->getDescription();
unlock();
if (m_listener.onRobotTaskEvent != nullptr) {
@@ -458,6 +467,7 @@
m_pActiveRobotTask = createTransferTask(pVacuumBack, pAligner, primaryType, secondaryType);
if (m_pActiveRobotTask != nullptr) {
+ m_pActiveRobotTask->run();
std::string strDescription = m_pActiveRobotTask->getDescription();
unlock();
if (m_listener.onRobotTaskEvent != nullptr) {
@@ -478,6 +488,7 @@
}
m_pActiveRobotTask = createTransferTask(pLoadPort1, pEqTar1, primaryType, secondaryType);
if (m_pActiveRobotTask != nullptr) {
+ m_pActiveRobotTask->run();
std::string strDescription = m_pActiveRobotTask->getDescription();
unlock();
if (m_listener.onRobotTaskEvent != nullptr) {
@@ -489,6 +500,7 @@
m_pActiveRobotTask = createTransferTask(pLoadPort2, pEqTar1, primaryType, secondaryType);
if (m_pActiveRobotTask != nullptr) {
+ m_pActiveRobotTask->run();
std::string strDescription = m_pActiveRobotTask->getDescription();
unlock();
if (m_listener.onRobotTaskEvent != nullptr) {
@@ -503,6 +515,7 @@
// LoadPort -> VacuumBake(G1)
m_pActiveRobotTask = createTransferTask(pLoadPort1, pEqTar2, primaryType, secondaryType);
if (m_pActiveRobotTask != nullptr) {
+ m_pActiveRobotTask->run();
std::string strDescription = m_pActiveRobotTask->getDescription();
unlock();
if (m_listener.onRobotTaskEvent != nullptr) {
@@ -514,6 +527,7 @@
m_pActiveRobotTask = createTransferTask(pLoadPort2, pEqTar2, primaryType, secondaryType);
if (m_pActiveRobotTask != nullptr) {
+ m_pActiveRobotTask->run();
std::string strDescription = m_pActiveRobotTask->getDescription();
unlock();
if (m_listener.onRobotTaskEvent != nullptr) {
@@ -1131,6 +1145,7 @@
if (pSrcSlot != nullptr && nullptr != pTarSlot) {
pTask = new CRobotTask();
pTask->setContext(pSrcSlot->getContext());
+ pTask->setEFEM((CEFEM*)getEquipment(EQ_ID_EFEM));
pTask->setRobotTransferParam(++taskSeqNo, 1, pSrcSlot->getPosition(),
pTarSlot->getPosition(), pSrcSlot->getNo(), pTarSlot->getNo());
}
@@ -1151,6 +1166,7 @@
if (pSrcSlot != nullptr && nullptr != pTarSlot) {
pTask = new CRobotTask();
pTask->setContext(pSrcSlot->getContext());
+ pTask->setEFEM((CEFEM*)getEquipment(EQ_ID_EFEM));
pTask->setRobotTransferParam(++taskSeqNo, 1, pSrcSlot->getPosition(),
pTarSlot->getPosition(), pSrcSlot->getNo(), pTarSlot->getNo());
}
@@ -1172,6 +1188,7 @@
if (pSrcSlot != nullptr && nullptr != pTarSlot) {
pTask = new CRobotTask();
pTask->setContext(pSrcSlot->getContext());
+ pTask->setEFEM((CEFEM*)getEquipment(EQ_ID_EFEM));
pTask->setRobotTransferParam(++taskSeqNo, 1, pSrcSlot->getPosition(),
pTarSlot->getPosition(), pSrcSlot->getNo(), pTarSlot->getNo());
}
@@ -1200,4 +1217,28 @@
return pTask;
}
+ int CMaster::abortCurrentTask()
+ {
+ lock();
+ if (m_pActiveRobotTask != nullptr) {
+ m_pActiveRobotTask->abort();
+ }
+ unlock();
+
+ if (m_listener.onRobotTaskEvent != nullptr) {
+ m_listener.onRobotTaskEvent(this, m_pActiveRobotTask, ROBOT_EVENT_ABORT);
+ }
+
+ lock();
+ if (m_pActiveRobotTask != nullptr) {
+ delete m_pActiveRobotTask;
+ m_pActiveRobotTask = nullptr;
+ }
+ 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();
+
+ return 0;
+ }
}
diff --git a/SourceCode/Bond/Servo/CMaster.h b/SourceCode/Bond/Servo/CMaster.h
index 9d00447..8a879dd 100644
--- a/SourceCode/Bond/Servo/CMaster.h
+++ b/SourceCode/Bond/Servo/CMaster.h
@@ -63,6 +63,7 @@
std::list<CEquipment*>& getEquipmentList();
CEquipment* getEquipment(int id);
void setCacheFilepath(const char* pszFilepath);
+ int abortCurrentTask();
private:
inline void lock() { EnterCriticalSection(&m_criticalSection); }
diff --git a/SourceCode/Bond/Servo/CPageGraph2.cpp b/SourceCode/Bond/Servo/CPageGraph2.cpp
index b16eae2..d095b21 100644
--- a/SourceCode/Bond/Servo/CPageGraph2.cpp
+++ b/SourceCode/Bond/Servo/CPageGraph2.cpp
@@ -148,7 +148,7 @@
CEquipmentPage2* pPage2 = new CEquipmentPage2();
pPage2->setEquipment(pEquipment);
pPage2->Create(IDD_PAGE_EQUIPMENT2);
- dlg.addPage(pPage2, "Glass");
+ dlg.addPage(pPage2, "Slots");
if (pEquipment->getID() == EQ_ID_EFEM) {
CEquipmentPage3* pPage3 = new CEquipmentPage3();
@@ -269,6 +269,10 @@
pEquipment->setLinkSignal(0, SIGNAL_UPSTREAM_TROUBLE, FALSE);
pEquipment->setLinkSignal(0, SIGNAL_INTERLOCK, TRUE);
pEquipment->setLinkSignal(0, SIGNAL_SEND_ABLE, TRUE);
+ pEquipment->setLinkSignal(1, SIGNAL_UPSTREAM_INLINE, TRUE);
+ pEquipment->setLinkSignal(1, SIGNAL_UPSTREAM_TROUBLE, FALSE);
+ pEquipment->setLinkSignal(1, SIGNAL_INTERLOCK, TRUE);
+ pEquipment->setLinkSignal(1, SIGNAL_SEND_ABLE, TRUE);
}
if (pEquipment != nullptr && (pEquipment->getID() == EQ_ID_Bonder1
diff --git a/SourceCode/Bond/Servo/CRobotTask.cpp b/SourceCode/Bond/Servo/CRobotTask.cpp
index a33cc40..dc1b82e 100644
--- a/SourceCode/Bond/Servo/CRobotTask.cpp
+++ b/SourceCode/Bond/Servo/CRobotTask.cpp
@@ -1,6 +1,7 @@
#include "stdafx.h"
#include "CRobotTask.h"
#include "ToolUnits.h"
+#include "Log.h"
namespace SERVO {
@@ -13,6 +14,7 @@
m_timeStored = 0;
m_timeFinish = 0;
m_pContext = nullptr;
+ m_pEFEM = nullptr;
}
CRobotTask::~CRobotTask()
@@ -78,6 +80,11 @@
return m_pContext;
}
+ void CRobotTask::setEFEM(CEFEM* pEFEM)
+ {
+ m_pEFEM = pEFEM;
+ }
+
std::string& CRobotTask::generateId(std::string& out)
{
char szBuffer[256];
@@ -139,6 +146,30 @@
return m_state;
}
+ void CRobotTask::run()
+ {
+ ASSERT(m_pEFEM);
+ m_state = ROBOT_TASK_STATE::Running;
+
+ static int seq = 0;
+ m_pEFEM->robotSendTransfer(++seq,
+ m_robotCmdParam.armNo,
+ m_robotCmdParam.getPosition,
+ m_robotCmdParam.putPosition,
+ m_robotCmdParam.getSlotNo,
+ m_robotCmdParam.putSlotNo,
+ [&](int code) -> int {
+ if (code == WOK) {
+ LOGI(_T("RobotTask已下发到EFEM"));
+ }
+ else {
+ LOGI(_T("RobotTask已下发失败"));
+ }
+
+ return 0;
+ });
+ }
+
void CRobotTask::completed()
{
m_state = ROBOT_TASK_STATE::Completed;
diff --git a/SourceCode/Bond/Servo/CRobotTask.h b/SourceCode/Bond/Servo/CRobotTask.h
index 2cd8654..63edbeb 100644
--- a/SourceCode/Bond/Servo/CRobotTask.h
+++ b/SourceCode/Bond/Servo/CRobotTask.h
@@ -1,6 +1,7 @@
#pragma once
#include "ServoCommo.h"
#include "Context.h"
+#include "CEFEM.h"
namespace SERVO {
@@ -16,6 +17,7 @@
std::string getSimpleDescription() const;
void setContext(CContext* pContext);
CContext* getContext();
+ void setEFEM(CEFEM* pEFEM);
void setRobotTransferParam(int seq, int armNo, int fromPos, int toPos, int fromSlot, int toSlot);
ROBOT_CMD_PARAM& getRobotCmdParam();
time_t getCreateTime();
@@ -23,6 +25,7 @@
time_t getStoredTime();
time_t getFinishTime();
ROBOT_TASK_STATE getState();
+ void run();
void completed();
void error();
void abort();
@@ -50,5 +53,6 @@
time_t m_timeFinish; /* 结束时间 */
ROBOT_CMD_PARAM m_robotCmdParam; /* 参数 */
CContext* m_pContext;
+ CEFEM* m_pEFEM;
};
}
diff --git a/SourceCode/Bond/Servo/CRobotTaskDlg.cpp b/SourceCode/Bond/Servo/CRobotTaskDlg.cpp
index b354216..cb39af5 100644
--- a/SourceCode/Bond/Servo/CRobotTaskDlg.cpp
+++ b/SourceCode/Bond/Servo/CRobotTaskDlg.cpp
@@ -194,8 +194,10 @@
void CRobotTaskDlg::OnBnClickedAbortTask()
{
- if (m_pRobotTask) {
- m_pRobotTask->abort();
- AfxMessageBox(_T("浠诲姟宸插仠姝€��"));
+ int ret = AfxMessageBox(_T("纭瑕佺粓姝㈠綋鍓嶆惉閫佷换鍔″悧?闄ら潪鍙戠敓浜嗗紓甯革紝鍚﹀垯璇蜂笉瑕佹墜鍔ㄧ粓姝换鍔★紒"), MB_OKCANCEL | MB_ICONEXCLAMATION);
+ if (ret != IDOK) {
+ return;
}
+
+ theApp.m_model.getMaster().abortCurrentTask();
}
\ No newline at end of file
diff --git a/SourceCode/Bond/Servo/CSlot.cpp b/SourceCode/Bond/Servo/CSlot.cpp
index 94299a1..629f7ac 100644
--- a/SourceCode/Bond/Servo/CSlot.cpp
+++ b/SourceCode/Bond/Servo/CSlot.cpp
@@ -12,6 +12,7 @@
m_bLock = FALSE;
m_pContext = nullptr;
m_pTempContext = nullptr;
+ m_nLinkSignalPath = 0;
}
CSlot::~CSlot()
@@ -119,6 +120,16 @@
return m_pTempContext;
}
+ void CSlot::setLinkSignalPath(int path)
+ {
+ m_nLinkSignalPath = path;
+ }
+
+ int CSlot::getLinkSignalPath()
+ {
+ return m_nLinkSignalPath;
+ }
+
void CSlot::serialize(CArchive& ar)
{
if (ar.IsStoring()) {
diff --git a/SourceCode/Bond/Servo/CSlot.h b/SourceCode/Bond/Servo/CSlot.h
index 76461d8..d1869fc 100644
--- a/SourceCode/Bond/Servo/CSlot.h
+++ b/SourceCode/Bond/Servo/CSlot.h
@@ -29,6 +29,8 @@
CContext* getContext();
CContext* getTempContext();
void setContext(CContext* pContext);
+ void setLinkSignalPath(int path);
+ int getLinkSignalPath();
void serialize(CArchive& ar);
private:
@@ -44,6 +46,7 @@
CContext* m_pTempContext;
BOOL m_bEnable;
BOOL m_bLock;
+ int m_nLinkSignalPath;
};
}
diff --git a/SourceCode/Bond/Servo/Context.cpp b/SourceCode/Bond/Servo/Context.cpp
index d71cf34..dff60f2 100644
--- a/SourceCode/Bond/Servo/Context.cpp
+++ b/SourceCode/Bond/Servo/Context.cpp
@@ -1,7 +1,34 @@
#include "stdafx.h"
#include "Context.h"
+#include <dbghelp.h>
+
+#pragma comment(lib, "dbghelp.lib")
+void PrintStackTrace()
+{
+ void* stack[62]; // 最多抓62层
+ USHORT frames = CaptureStackBackTrace(0, 62, stack, NULL);
+
+ HANDLE process = GetCurrentProcess();
+ SymInitialize(process, NULL, TRUE);
+ for (USHORT i = 0; i < frames; ++i) {
+ DWORD64 address = (DWORD64)(stack[i]);
+ char buffer[sizeof(SYMBOL_INFO) + MAX_SYM_NAME * sizeof(TCHAR)];
+ PSYMBOL_INFO symbol = (PSYMBOL_INFO)buffer;
+ symbol->SizeOfStruct = sizeof(SYMBOL_INFO);
+ symbol->MaxNameLen = MAX_SYM_NAME;
+
+ if (SymFromAddr(process, address, 0, symbol)) {
+ TRACE(">>>> name:%s\n", symbol->Name);
+ }
+ else {
+ TRACE(">>>> name:%s\n", "SymFromAddr failed");
+ }
+ }
+
+ SymCleanup(process);
+}
CContext::CContext()
{
m_onReleaseCallback = nullptr;
diff --git a/SourceCode/Bond/Servo/Servo.rc b/SourceCode/Bond/Servo/Servo.rc
index 2f13140..8a548dd 100644
--- a/SourceCode/Bond/Servo/Servo.rc
+++ b/SourceCode/Bond/Servo/Servo.rc
Binary files differ
diff --git a/SourceCode/Bond/Servo/ServoDlg.cpp b/SourceCode/Bond/Servo/ServoDlg.cpp
index 80117a5..e689f1a 100644
--- a/SourceCode/Bond/Servo/ServoDlg.cpp
+++ b/SourceCode/Bond/Servo/ServoDlg.cpp
@@ -174,6 +174,8 @@
else if (RX_CODE_MASTER_STATE_CHANGED == code) {
SERVO::MASTERSTATE state = theApp.m_model.getMaster().getState();
if (state == SERVO::MASTERSTATE::READY) {
+ m_pTopToolbar->GetBtn(IDC_BUTTON_RUN)->EnableWindow(TRUE);
+ m_pTopToolbar->GetBtn(IDC_BUTTON_STOP)->EnableWindow(FALSE);
m_pMyStatusbar->setBackgroundColor(STATUSBAR_BK_NORMAL);
m_pMyStatusbar->setForegroundColor(RGB(0, 0, 0));
KillTimer(TIMER_ID_UPDATE_RUMTIME);
@@ -182,6 +184,8 @@
m_pMyStatusbar->setRunTimeText((LPTSTR)(LPCTSTR)strText);
}
else if (state == SERVO::MASTERSTATE::RUNNING) {
+ m_pTopToolbar->GetBtn(IDC_BUTTON_RUN)->EnableWindow(FALSE);
+ m_pTopToolbar->GetBtn(IDC_BUTTON_STOP)->EnableWindow(TRUE);
m_pMyStatusbar->setBackgroundColor(STATUSBAR_BK_RUNNING);
m_pMyStatusbar->setForegroundColor(RGB(255, 255, 255));
SetTimer(TIMER_ID_UPDATE_RUMTIME, 500, nullptr);
@@ -207,6 +211,9 @@
}
}
else if (exCode == ROBOT_EVENT_FINISH) {
+ m_pMyStatusbar->setCurTaskBtnText("无");
+ }
+ else if (exCode == ROBOT_EVENT_ABORT) {
m_pMyStatusbar->setCurTaskBtnText("无");
}
}
@@ -793,11 +800,9 @@
if (id == IDC_BUTTON_RUN) {
theApp.m_model.getMaster().start();
m_pTopToolbar->GetBtn(IDC_BUTTON_RUN)->EnableWindow(FALSE);
- m_pTopToolbar->GetBtn(IDC_BUTTON_STOP)->EnableWindow(TRUE);
}
else if (id == IDC_BUTTON_STOP) {
theApp.m_model.getMaster().stop();
- m_pTopToolbar->GetBtn(IDC_BUTTON_RUN)->EnableWindow(TRUE);
m_pTopToolbar->GetBtn(IDC_BUTTON_STOP)->EnableWindow(FALSE);
}
else if (id == IDC_BUTTON_ROBOT) {
--
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