From 38f2ff1e5bc6c4434875e03b8cadc8f3f4e39bf6 Mon Sep 17 00:00:00 2001
From: LAPTOP-SNT8I5JK\Boounion <Chenluhua@qq.com>
Date: 星期三, 27 八月 2025 18:18:02 +0800
Subject: [PATCH] 1.修改调度逻辑，增加G0，第二类型，增加TestFlag, 用于必要时输出指定日志；
---
SourceCode/Bond/Servo/CMaster.cpp | 75 +++++++++++++++++++++++++------------
1 files changed, 50 insertions(+), 25 deletions(-)
diff --git a/SourceCode/Bond/Servo/CMaster.cpp b/SourceCode/Bond/Servo/CMaster.cpp
index e574cd6..a4878d6 100644
--- a/SourceCode/Bond/Servo/CMaster.cpp
+++ b/SourceCode/Bond/Servo/CMaster.cpp
@@ -63,6 +63,7 @@
m_nContinuousTransferCount = 0;
m_nContinuousTransferStep = CTStep_Unknow;
m_pControlJob = nullptr;
+ m_nTestFlag = 0;
InitializeCriticalSection(&m_criticalSection);
}
@@ -598,23 +599,38 @@
// 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;
- }
+ primaryType = MaterialsType::G2;
+ secondaryType = MaterialsType::G1;
+
+ if (!pBonder1->canPlaceGlassInSlot(0) && pBonder1->canPlaceGlassInSlot(1)) {
+ // 如果Bonder1有G2了，则取G1
+ primaryType = MaterialsType::G1;
+ secondaryType = MaterialsType::G0;
+ }
+ else if (!pBonder2->canPlaceGlassInSlot(0) && pBonder2->canPlaceGlassInSlot(1)) {
+ // 如果Bonder2有G2了，则取G1
+ primaryType = MaterialsType::G1;
+ secondaryType = MaterialsType::G0;
+ }
+ else if (!pFliper->canPlaceGlassInSlot(0)) {
+ primaryType = MaterialsType::G1;
+ secondaryType = MaterialsType::G0;
+ }
+ else if (pBonder1->canPlaceGlassInSlot(0)) {
+ // 如果Bonder1没有G2, 则先G2
+ primaryType = MaterialsType::G2;
+ secondaryType = MaterialsType::G0;
+ }
+ else if (pBonder2->canPlaceGlassInSlot(0)) {
+ // 如果Bonder2没有G2, 则先G2
+ primaryType = MaterialsType::G2;
+ secondaryType = MaterialsType::G0;
+ }
+ else {
+ primaryType = MaterialsType::G2;
+ secondaryType = MaterialsType::G0;
+ }
// Measurement -> LoadPort
if (rmd.armState[0] || rmd.armState[1]) {
@@ -674,24 +690,29 @@
// Fliper(G2) -> Bonder
auto pSrcSlot = pVacuumBake->getProcessedSlot(primaryType);
- if (pSrcSlot != nullptr && !rmd.armState[1] && !pBonder1->hasBondClass()) {
- m_pActiveRobotTask = createTransferTask(pFliper, pBonder1, primaryType, secondaryType, 2);
+ //LOGI("<Master>pSrcSlot = %x, primaryType:%d", pSrcSlot, primaryType);
+ if (pSrcSlot != nullptr && !rmd.armState[1]
+ && pBonder1->canPlaceGlassInSlot(0)
+ && !pBonder1->hasBondClass()) {
+ m_pActiveRobotTask = createTransferTask(pFliper, pBonder1, MaterialsType::G2, MaterialsType::G0, 2);
CHECK_RUN_ACTIVE_ROBOT_TASK(m_pActiveRobotTask);
}
- if (pSrcSlot != nullptr && !rmd.armState[1] && !pBonder2->hasBondClass()) {
- m_pActiveRobotTask = createTransferTask(pFliper, pBonder2, primaryType, secondaryType, 2);
+ if (pSrcSlot != nullptr && !rmd.armState[1]
+ && pBonder2->canPlaceGlassInSlot(0)
+ && !pBonder2->hasBondClass()) {
+ m_pActiveRobotTask = createTransferTask(pFliper, pBonder2, MaterialsType::G2, MaterialsType::G0, 2);
CHECK_RUN_ACTIVE_ROBOT_TASK(m_pActiveRobotTask);
}
// VacuumBake(G1) -> Bonder
if (!rmd.armState[0] && !pBonder1->hasBondClass()) {
- m_pActiveRobotTask = createTransferTask(pVacuumBake, pBonder1, primaryType, secondaryType);
+ m_pActiveRobotTask = createTransferTask(pVacuumBake, pBonder1, MaterialsType::G1, MaterialsType::G0);
CHECK_RUN_ACTIVE_ROBOT_TASK(m_pActiveRobotTask);
}
if (!rmd.armState[0] && !pBonder2->hasBondClass()) {
- m_pActiveRobotTask = createTransferTask(pVacuumBake, pBonder2, primaryType, secondaryType);
+ m_pActiveRobotTask = createTransferTask(pVacuumBake, pBonder2, MaterialsType::G1, MaterialsType::G0);
CHECK_RUN_ACTIVE_ROBOT_TASK(m_pActiveRobotTask);
}
@@ -704,8 +725,11 @@
}
if (!rmd.armState[0]) {
+ // m_nTestFlag = 1;
+ if (m_nTestFlag == 1) LOGI("createTransferTask 004df %d, %d", primaryType, secondaryType);
m_pActiveRobotTask = createTransferTask(pAligner, pVacuumBake, primaryType, secondaryType);
CHECK_RUN_ACTIVE_ROBOT_TASK(m_pActiveRobotTask);
+ m_nTestFlag = 0;
}
@@ -1929,16 +1953,17 @@
if (!pSrcEq->IsEnabled()) {
return nullptr;
}
-
CRobotTask* pTask = nullptr;
CSlot* pSrcSlot, * pTarSlot;
+ pSrcEq->m_nTestFlag = m_nTestFlag;
pTarSlot = pTarEq->getAvailableSlotForGlass(primaryType);
pSrcSlot = pSrcEq->getProcessedSlot(primaryType, bJobMode);
- if (pSrcSlot == nullptr || nullptr == pTarSlot) {
+ if (m_nTestFlag == 1) LOGI("createTransferTask 003 %x, %x", pTarSlot, pSrcSlot);
+ if (pSrcSlot == nullptr || nullptr == pTarSlot && secondaryType != SERVO::MaterialsType::G0) {
pTarSlot = pTarEq->getAvailableSlotForGlass(secondaryType);
pSrcSlot = pSrcEq->getProcessedSlot(secondaryType, bJobMode);
}
-
+ if (m_nTestFlag == 1) LOGI("createTransferTask 004 %x, %x", pTarSlot, pSrcSlot);
if (pSrcSlot != nullptr && nullptr != pTarSlot) {
pTask = new CRobotTask();
--
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