From 34f6893ffa45a2eeb3636605d5b7c6289d879aa4 Mon Sep 17 00:00:00 2001
From: LAPTOP-SNT8I5JK\Boounion <Chenluhua@qq.com>
Date: 星期六, 20 九月 2025 13:42:48 +0800
Subject: [PATCH] 1.修复和测试Bath调度，更新数据应用到Master时出错的问题；
---
SourceCode/Bond/Servo/CMaster.cpp | 291 +++++++++++++++++++++++++++++++++------------------------
1 files changed, 168 insertions(+), 123 deletions(-)
diff --git a/SourceCode/Bond/Servo/CMaster.cpp b/SourceCode/Bond/Servo/CMaster.cpp
index 5572e53..922cf67 100644
--- a/SourceCode/Bond/Servo/CMaster.cpp
+++ b/SourceCode/Bond/Servo/CMaster.cpp
@@ -213,10 +213,9 @@
-
-
// 读缓存数据
readCache();
+ loadState();
// 定时器
@@ -806,48 +805,32 @@
// 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) {
+ // 1) 控制作业生命周期保障
+ if (m_pControlJob == nullptr) { unlock(); continue; }
+ CJState cjst = m_pControlJob->state();
+ if (cjst == CJState::Completed || cjst == CJState::Aborted || cjst == CJState::Failed) {
unlock();
continue;
}
- CJState state = m_pControlJob->state();
- if (state == CJState::Completed || state == CJState::Aborted || state == CJState::Failed) {
- // ConrolJpb已完成
- LOGE("<Master>ControlJob已经完成或失败中断");
- unlock();
- continue;
- }
-
-
- if (m_pControlJob->state() == CJState::NoState) {
+ if (cjst == 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_listener.onCjStart != nullptr) {
- m_listener.onCjStart(this, m_pControlJob);
- }
+ if (m_listener.onCjStart) m_listener.onCjStart(this, m_pControlJob);
}
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
+ // 2) 若当前无 PJ，则选择一个并上报
if (m_inProcesJobs.empty()) {
- auto pj = acquireNextProcessJob();
- if (pj != nullptr) {
+ if (auto pj = acquireNextProcessJob()) {
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_listener.onPjStart) m_listener.onPjStart(this, pj);
}
}
if (m_inProcesJobs.empty()) {
@@ -856,54 +839,64 @@
continue;
}
- // 如果当前没有Glass, 选择
+ // 3) 若队列无 Glass，拉取到等待队列
if (m_queueGlasses.empty()) {
int nCount = acquireGlassToQueue();
- LOGI("<Master>已加入 %d 块Glass到工艺列队！", nCount);
+ if (nCount > 0) {
+ LOGI("<Master>已加入 %d 块Glass到工艺列队！", nCount);
+ }
}
-
- // 检测判断robot状态
+ // 4) 机器人状态
RMDATA& rmd = pEFEM->getRobotMonitoringData();
if (rmd.status != ROBOT_STATUS::Idle && rmd.status != ROBOT_STATUS::Run) {
- unlock();
- continue;
+ unlock(); continue;
}
+ // 5) 正在执行的 RobotTask 先让它跑完一拍
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...");
+ unlock(); // 等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;
+ // 6) ——关键：全局统计 G1/G2 与组数门限（与单片分支对齐）——
+ auto countG1G2 = [&]() {
+ int g1 = 0, g2 = 0;
+ if (pBonder1->slotHasGlass(0)) g2++;
+ if (pBonder1->slotHasGlass(1)) g1++;
+ if (pBonder2->slotHasGlass(0)) g2++;
+ if (pBonder2->slotHasGlass(1)) g1++;
+ if (pFliper->slotHasGlass(0)) g2++;
+ if (pVacuumBake->slotHasGlass(0)) g1++;
+ if (pVacuumBake->slotHasGlass(1)) g1++;
+ if (auto g = pAligner->getGlassFromSlot(0)) {
+ auto t = g->getType();
+ if (t == MaterialsType::G1) g1++; else if (t == MaterialsType::G2) g2++;
}
- }
- else if ((pBonder1->canPlaceGlassInSlot(0) && !pBonder1->canPlaceGlassInSlot(1))
- || (pBonder2->canPlaceGlassInSlot(0) && !pBonder2->canPlaceGlassInSlot(1))) {
- primaryType = MaterialsType::G2;
- secondaryType = MaterialsType::G1;
- }
+ return std::pair<int, int>(g1, g2);
+ };
+ int g1Count = 0, g2Count = 0;
+ std::tie(g1Count, g2Count) = countG1G2();
+ int nGlassGroup = min(g1Count, g2Count);
+ int nExtraType = (g1Count == g2Count ? 0 : (g1Count > g2Count ? 1 : 2));
- // Measurement -> LoadPort
+ // primary/secondary 统一定义（secondary 默认 G0）
+ MaterialsType primaryType = MaterialsType::G1;
+ MaterialsType secondaryType = MaterialsType::G0;
+ if (nExtraType == 0) primaryType = MaterialsType::G2; // 与单片分支一致
+ else primaryType = MaterialsType::G1;
+
+ // 组数门限：≥2 组时不再从 LP 上片，避免堆积（与单片一致）
+ bool blockLoadFromLP = (nGlassGroup >= 2);
+
+ // 7) Measurement -> LoadPort（固定：G1 优先回 LP）
if (rmd.armState[0] || rmd.armState[1]) {
- LOGD("Arm1 %s, Arm2 %s.", rmd.armState[0] ? _T("不可用") : _T("可用"),
+ LOGD("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++) {
@@ -911,140 +904,123 @@
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;
- }
+ m_pActiveRobotTask = createTransferTask(pMeasurement, pLoadPorts[s], MaterialsType::G1, secondaryType);
+ if (m_pActiveRobotTask != nullptr) { goto BATCH_PORT_PUT; }
}
}
- BATCH_PORT_PUT:
+ BATCH_PORT_PUT:
CHECK_RUN_ACTIVE_ROBOT_TASK(m_pActiveRobotTask);
-
- // Measurement NG -> LoadPort
- // NG回原位
+ // 8) Measurement NG -> LoadPort（原位回退）
if (!rmd.armState[1]) {
m_pActiveRobotTask = createTransferTask_restore(pMeasurement, pLoadPorts);
CHECK_RUN_ACTIVE_ROBOT_TASK(m_pActiveRobotTask);
}
-
- // BakeCooling ->Measurement
+ // 9) 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
+ // 10) 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
+ // 11) 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);
}
+ // 12) Fliper(G2) -> Bonder（前置：VacuumBake 有 processed G1；输出 G2 到 Bonder slot0）
+ if (auto pSrcSlot = pVacuumBake->getProcessedSlot(MaterialsType::G1)) {
+ if (!rmd.armState[1] && pBonder1->canPlaceGlassInSlot(0)) {
+ m_pActiveRobotTask = createTransferTask(pFliper, pBonder1, MaterialsType::G2, MaterialsType::G0, 2);
+ CHECK_RUN_ACTIVE_ROBOT_TASK(m_pActiveRobotTask);
+ }
+ if (!rmd.armState[1] && pBonder2->canPlaceGlassInSlot(0)) {
+ m_pActiveRobotTask = createTransferTask(pFliper, pBonder2, MaterialsType::G2, MaterialsType::G0, 2);
+ CHECK_RUN_ACTIVE_ROBOT_TASK(m_pActiveRobotTask);
+ }
+ }
- // Fliper(G2) -> Bonder
- auto pSrcSlot = pVacuumBake->getProcessedSlot(primaryType);
- if (pSrcSlot != nullptr && !rmd.armState[1] && !pBonder1->hasBondGlass()) {
- m_pActiveRobotTask = createTransferTask(pFliper, pBonder1, primaryType, secondaryType, 2);
+ // 13) VacuumBake(G1) -> Bonder（槽级判定：slot0(G2) 已有且 slot1(G1) 为空）
+ if (!rmd.armState[0] && pBonder1->slotHasGlass(0) && !pBonder1->slotHasGlass(1)) {
+ m_pActiveRobotTask = createTransferTask(pVacuumBake, pBonder1, MaterialsType::G1, MaterialsType::G0);
CHECK_RUN_ACTIVE_ROBOT_TASK(m_pActiveRobotTask);
}
- if (pSrcSlot != nullptr && !rmd.armState[1] && !pBonder2->hasBondGlass()) {
- m_pActiveRobotTask = createTransferTask(pFliper, pBonder2, primaryType, secondaryType, 2);
+ if (!rmd.armState[0] && pBonder2->slotHasGlass(0) && !pBonder2->slotHasGlass(1)) {
+ m_pActiveRobotTask = createTransferTask(pVacuumBake, pBonder2, MaterialsType::G1, MaterialsType::G0);
CHECK_RUN_ACTIVE_ROBOT_TASK(m_pActiveRobotTask);
}
-
- // VacuumBake(G1) -> Bonder
- if (!rmd.armState[0] && !pBonder1->hasBondGlass()) {
- m_pActiveRobotTask = createTransferTask(pVacuumBake, pBonder1, primaryType, secondaryType);
- CHECK_RUN_ACTIVE_ROBOT_TASK(m_pActiveRobotTask);
- }
-
- if (!rmd.armState[0] && !pBonder2->hasBondGlass()) {
- m_pActiveRobotTask = createTransferTask(pVacuumBake, pBonder2, primaryType, secondaryType);
- CHECK_RUN_ACTIVE_ROBOT_TASK(m_pActiveRobotTask);
- }
-
-
- // Aligner -> Fliper(G2)
- // Aligner -> VacuumBake(G1)
+ // 14) Aligner -> Fliper(G2) 以及 -> VacuumBake(G1)（固定映射）
if (!rmd.armState[1]) {
- m_pActiveRobotTask = createTransferTask(pAligner, pFliper, primaryType, secondaryType);
+ m_pActiveRobotTask = createTransferTask(pAligner, pFliper, MaterialsType::G2, MaterialsType::G0);
CHECK_RUN_ACTIVE_ROBOT_TASK(m_pActiveRobotTask);
}
-
if (!rmd.armState[0]) {
- m_pActiveRobotTask = createTransferTask(pAligner, pVacuumBake, primaryType, secondaryType);
+ m_pActiveRobotTask = createTransferTask(pAligner, pVacuumBake, MaterialsType::G1, MaterialsType::G0);
CHECK_RUN_ACTIVE_ROBOT_TASK(m_pActiveRobotTask);
}
-
- // Aligner -> LoadPort
+ // 15) Aligner -> LoadPort（restore）
if (!rmd.armState[1]) {
m_pActiveRobotTask = createTransferTask_restore(pAligner, pLoadPorts);
CHECK_RUN_ACTIVE_ROBOT_TASK(m_pActiveRobotTask);
}
+ // 16) LoadPort -> Aligner（受组数门限控制；统一 buddy/状态时序）
+ if (blockLoadFromLP) { unlock(); continue; }
- // 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);
+
+ m_pActiveRobotTask = createTransferTask(pLoadPorts[s], pAligner, primaryType, secondaryType, 1, m_bJobMode);
if (m_pActiveRobotTask != nullptr) {
- CGlass* pGlass = (CGlass*)m_pActiveRobotTask->getContext();
+ auto* pGlass = static_cast<CGlass*>(m_pActiveRobotTask->getContext());
if (pGlass->getBuddy() != nullptr) {
- delete m_pActiveRobotTask;
- m_pActiveRobotTask = nullptr;
+ delete m_pActiveRobotTask; m_pActiveRobotTask = nullptr;
continue;
}
- pEFEM->setContext(pGlass);
+ // 统一：queue -> start -> setContext -> move queue→inProcess -> onPanelStart
+ pGlass->queue();
pGlass->start();
+ pEFEM->setContext(pGlass);
+
bool bMoved = glassFromQueueToInPorcess(pGlass);
if (bMoved) {
- LOGI("<Master>Glass(%s)从等待列队到工艺列队转移成功.",
- pGlass->getID().c_str());
+ LOGI("<Master>Glass(%s)从等待列队到工艺列队转移成功.", pGlass->getID().c_str());
}
else {
- LOGE("<Master>Glass(%s)从等待列队到工艺列队转移失败.",
- pGlass->getID().c_str());
+ LOGE("<Master>Glass(%s)从等待列队到工艺列队转移失败.", pGlass->getID().c_str());
}
- // 这里上报Panel Start事件
- if (m_listener.onPanelStart != nullptr) {
- m_listener.onPanelStart(this, pGlass);
- }
-
+ if (m_listener.onPanelStart) m_listener.onPanelStart(this, pGlass);
goto BATCH_PORT_GET;
}
}
}
- BATCH_PORT_GET:
+ BATCH_PORT_GET:
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) {
@@ -1853,6 +1829,7 @@
// 模拟测试
+ /*
static int aaa = 0;
aaa++;
if (aaa % 30 == 0) {
@@ -1906,7 +1883,7 @@
}
}
}
-
+ */
}
void CMaster::connectEquipments()
@@ -2409,8 +2386,31 @@
temp.push_back(p);
}
}
-
m_processJobs = temp;
+
+
+ // 更新context
+ std::vector<uint8_t> newSlots;
+ std::vector<void*> newContexts;
+ for (auto pj : m_processJobs) {
+ for (auto& c : pj->carriers()) {
+ auto pPort = getPortWithCarrierId(c.carrierId);
+ if (pPort == nullptr) continue;
+
+ for (auto s : c.slots) {
+ auto pGlass = pPort->getGlassFromSlot(s);
+ if (pGlass == nullptr) continue;
+
+ newSlots.push_back(s);
+ newContexts.push_back(pGlass);
+ }
+
+ pj->setCarrierSlotsAndContexts(c.carrierId, newSlots, newContexts);
+ }
+ }
+
+
+
this->saveState();
return (int)m_processJobs.size();
@@ -2553,13 +2553,9 @@
return true;
}
- bool CMaster::loadState(const std::string& path)
+ bool CMaster::loadState()
{
- // 保存文件路径
- m_strStatePath = path;
-
-
- std::ifstream ifs(path, std::ios::binary);
+ std::ifstream ifs(m_strStatePath, std::ios::binary);
if (!ifs) return false;
// 文件头
@@ -2612,10 +2608,33 @@
m_pControlJob->setPJs(tempPjs);
+ // 更新contexts
+ auto pjs = m_pControlJob->getPjs();
+ for (auto pj : pjs) {
+ for (auto& c : pj->carriers()) {
+ auto p = getPortWithCarrierId(c.carrierId);
+ if (p == nullptr) continue;
+
+ std::vector<void*> contexts;
+ for (auto s : c.slots) {
+ auto g = getGlass(p->getIndex(), s - 1);
+ if (g == nullptr) continue;
+ contexts.push_back(g);
+ }
+ pj->setCarrierContexts(c.carrierId, contexts);
+ }
+ }
+
+
// 如果版本升级，可在这里判断 version 来加载新字段
return true;
+ }
+
+ void CMaster::setStateFile(const std::string& path)
+ {
+ m_strStatePath = path;
}
CProcessJob* CMaster::acquireNextProcessJob()
@@ -2654,6 +2673,7 @@
int nCount = 0;
for (auto* pj : m_inProcesJobs) {
// 遍历 PJ 的 carriers 和 slots
+ if (pj->carriers().empty()) continue;
for (auto& cs : pj->carriers()) {
for (auto ctx : cs.contexts) {
CGlass* pGlass = (CGlass*)ctx;
@@ -2780,6 +2800,14 @@
m_pControlJob = nullptr;
}
+ // 注意要释放引用
+ m_inProcesJobs.clear();
+ m_completeProcessJobs.clear();
+ m_queueGlasses.clear();
+ m_inProcesGlasses.clear();
+ m_completeGlasses.clear();
+
+
saveState();
return true;
@@ -2876,4 +2904,21 @@
return true;
}
+
+ CGlass* CMaster::getGlass(int scrPort, int scrSlot)
+ {
+ for (auto eq : m_listEquipment) {
+ std::vector<CGlass*> glasses;
+ eq->getAllGlass(glasses);
+ for (auto g : glasses) {
+ int p, s;
+ g->getOrginPort(p, s);
+ if (p == scrPort && s == scrSlot) {
+ return g;
+ }
+ }
+ }
+
+ return nullptr;
+ }
}
--
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