From 43c7dc211f10851480352b12bd01f3443079bb01 Mon Sep 17 00:00:00 2001
From: mrDarker <mr.darker@163.com>
Date: 星期二, 26 八月 2025 09:09:21 +0800
Subject: [PATCH] Merge branch 'clh' into liuyang
---
SourceCode/Bond/Servo/CMaster.cpp | 310 +++++++++++++++++++++++++++++++++++++++++++++++++--
1 files changed, 296 insertions(+), 14 deletions(-)
diff --git a/SourceCode/Bond/Servo/CMaster.cpp b/SourceCode/Bond/Servo/CMaster.cpp
index 455804a..e01b180 100644
--- a/SourceCode/Bond/Servo/CMaster.cpp
+++ b/SourceCode/Bond/Servo/CMaster.cpp
@@ -3,6 +3,9 @@
#include "CMaster.h"
#include <future>
#include <vector>
+#include "RecipeManager.h"
+#include <fstream>
+#include "SerializeUtil.h"
namespace SERVO {
@@ -56,12 +59,23 @@
m_bEnableAlarmReport = true;
m_bContinuousTransfer = false;
m_nContinuousTransferCount = 0;
- m_nContinuousTransferStep = CTStep_begin;
+ m_nContinuousTransferStep = CTStep_Unknow;
+ m_pControlJob = nullptr;
InitializeCriticalSection(&m_criticalSection);
}
CMaster::~CMaster()
{
+ // 释放Job相关
+ for (auto item : m_processJobs) {
+ delete item;
+ }
+ m_processJobs.clear();
+ if (m_pControlJob != nullptr) {
+ delete m_pControlJob;
+ m_pControlJob = nullptr;
+ }
+
if (m_hEventReadBitsThreadExit[0] != nullptr) {
::CloseHandle(m_hEventReadBitsThreadExit[0]);
m_hEventReadBitsThreadExit[0] = nullptr;
@@ -708,13 +722,15 @@
// Measurement -> LoadPort
for (int s = 0; s < 4; s++) {
PortType pt = pLoadPorts[s]->getPortType();
- if (!rmd.armState[0] && pLoadPorts[s]->isEnable()
+ if ((m_nContinuousTransferStep == CTStep_Unknow || m_nContinuousTransferStep == CTStep_BakeCooling_Measurement)
+ && !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_Measurement_LoadPort;
m_nContinuousTransferStep = CTStep_end;
goto CT_PORT_PUT;
}
@@ -727,10 +743,12 @@
// BakeCooling ->Measurement
- if (!rmd.armState[0]) {
+ if ((m_nContinuousTransferStep == CTStep_Unknow || m_nContinuousTransferStep == CTStep_BakeCooling_BakeCooling3)
+ && !rmd.armState[0]) {
m_pActiveRobotTask = createTransferTask_continuous_transfer(pBakeCooling,
3, pMeasurement, 0);
if (m_pActiveRobotTask != nullptr) {
+ m_nContinuousTransferStep = CTStep_BakeCooling_Measurement;
LOGI("<ContinuousTransfer>千传测试，开始搬送任务(BakeCooling -> Measurement)...");
}
CHECK_RUN_ACTIVE_ROBOT_TASK(m_pActiveRobotTask);
@@ -738,86 +756,104 @@
// BakeCooling内部
- if (!rmd.armState[0]) {
+ if ((m_nContinuousTransferStep == CTStep_Unknow || m_nContinuousTransferStep == CTStep_BakeCooling_BakeCooling2)
+ && !rmd.armState[0]) {
m_pActiveRobotTask = createTransferTask_continuous_transfer(pBakeCooling,
2, pBakeCooling, 3);
if (m_pActiveRobotTask != nullptr) {
+ m_nContinuousTransferStep = CTStep_BakeCooling_BakeCooling3;
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]) {
+ if ((m_nContinuousTransferStep == CTStep_Unknow || m_nContinuousTransferStep == CTStep_BakeCooling_BakeCooling1)
+ && !rmd.armState[0]) {
m_pActiveRobotTask = createTransferTask_continuous_transfer(pBakeCooling,
1, pBakeCooling, 2);
if (m_pActiveRobotTask != nullptr) {
+ m_nContinuousTransferStep = CTStep_BakeCooling_BakeCooling2;
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]) {
+ if ((m_nContinuousTransferStep == CTStep_Unknow || m_nContinuousTransferStep == CTStep_VacuumBake_BakeCooling)
+ && !rmd.armState[0]) {
m_pActiveRobotTask = createTransferTask_continuous_transfer(pBakeCooling,
0, pBakeCooling, 1);
if (m_pActiveRobotTask != nullptr) {
+ m_nContinuousTransferStep = CTStep_BakeCooling_BakeCooling1;
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]) {
+ if ((m_nContinuousTransferStep == CTStep_Unknow || m_nContinuousTransferStep == CTStep_VacuumBake_VacuumBake)
+ && !rmd.armState[0]) {
m_pActiveRobotTask = createTransferTask_continuous_transfer(pVacuumBake,
1, pBakeCooling, 0);
if (m_pActiveRobotTask != nullptr) {
+ m_nContinuousTransferStep = CTStep_VacuumBake_BakeCooling;
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]) {
+ if ((m_nContinuousTransferStep == CTStep_Unknow || m_nContinuousTransferStep == CTStep_Bonder2_VacuumBake)
+ && !rmd.armState[0]) {
m_pActiveRobotTask = createTransferTask_continuous_transfer(pVacuumBake,
0, pVacuumBake, 1);
if (m_pActiveRobotTask != nullptr) {
+ m_nContinuousTransferStep = CTStep_VacuumBake_VacuumBake;
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]) {
+ if ((m_nContinuousTransferStep == CTStep_Unknow || m_nContinuousTransferStep == CTStep_Bonder1_Bonder2)
+ && !rmd.armState[0]) {
m_pActiveRobotTask = createTransferTask_continuous_transfer(pBonder2,
1, pVacuumBake, 0);
if (m_pActiveRobotTask != nullptr) {
+ m_nContinuousTransferStep = CTStep_Bonder2_VacuumBake;
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()) {
+ if ((m_nContinuousTransferStep == CTStep_Unknow || m_nContinuousTransferStep == CTStep_Fliper_Bonder1)
+ && !rmd.armState[0] && !pBonder2->hasBondClass()) {
m_pActiveRobotTask = createTransferTask_continuous_transfer(pBonder1,
1, pBonder2, 1);
if (m_pActiveRobotTask != nullptr) {
+ m_nContinuousTransferStep = CTStep_Bonder1_Bonder2;
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()) {
+ if ((m_nContinuousTransferStep == CTStep_Unknow || m_nContinuousTransferStep == CTStep_Aligner_Fliper)
+ &&!rmd.armState[0] && !pBonder1->hasBondClass()) {
m_pActiveRobotTask = createTransferTask_continuous_transfer(pFliper,
- 0, pBonder1, 1, 2);
+ 0, pBonder1, 1);
if (m_pActiveRobotTask != nullptr) {
+ m_nContinuousTransferStep = CTStep_Fliper_Bonder1;
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]) {
+ if ((m_nContinuousTransferStep == CTStep_Unknow || m_nContinuousTransferStep == CTStep_LoadPort_Aligner)
+ && !rmd.armState[1]) {
m_pActiveRobotTask = createTransferTask_continuous_transfer(pAligner,
0, pFliper, 0);
if (m_pActiveRobotTask != nullptr) {
+ m_nContinuousTransferStep = CTStep_Aligner_Fliper;
LOGI("<ContinuousTransfer>千传测试，开始搬送任务(Aligner -> Fliper(G2))...");
}
CHECK_RUN_ACTIVE_ROBOT_TASK(m_pActiveRobotTask);
@@ -826,13 +862,15 @@
// LoadPort -> Aligner
for (int s = 0; s < 4; s++) {
PortType pt = pLoadPorts[s]->getPortType();
- if (!rmd.armState[0] && pLoadPorts[s]->isEnable()
+ if ((m_nContinuousTransferStep == CTStep_Unknow || m_nContinuousTransferStep == CTStep_end)
+ && !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) {
+ m_nContinuousTransferStep = CTStep_LoadPort_Aligner;
LOGI("<ContinuousTransfer>千传测试，开始搬送任务(LoadPort -> Aligner)...");
pEFEM->setContext(m_pActiveRobotTask->getContext());
goto CT_PORT_GET;
@@ -1105,6 +1143,25 @@
};
listener.onPortStatusChanged = [&](void* pEquipment, short status, __int64 data) {
LOGE("<Master-%s>onPortStatusChanged。status=%d, data=%lld", ((CEquipment*)pEquipment)->getName().c_str(), status);
+ if (status == PORT_INUSE && m_pControlJob != nullptr) {
+ CLoadPort* pPort = (CLoadPort*)pEquipment;
+ auto pjs = m_pControlJob->getPjs();
+ for (auto pj : pjs) {
+ auto carrier = pj->getCarrier(pPort->getCassetteId());
+ if (carrier != nullptr) {
+ for (auto slot : carrier->slots) {
+ CGlass* pGlass = pPort->getGlassFromSlot(slot);
+ carrier->contexts.push_back((void*)pGlass);
+ if (pGlass != nullptr) {
+ pGlass->setProcessJob(pj);
+ }
+ }
+ }
+ }
+
+
+ }
+
if (m_listener.onLoadPortStatusChanged != nullptr) {
m_listener.onLoadPortStatusChanged(this, (CEquipment*)pEquipment, status, data);
}
@@ -1122,6 +1179,15 @@
}
CEquipment* CMaster::getEquipment(int id)
+ {
+ for (auto item : m_listEquipment) {
+ if (item->getID() == id) return item;
+ }
+
+ return nullptr;
+ }
+
+ CEquipment* CMaster::getEquipment(int id) const
{
for (auto item : m_listEquipment) {
if (item->getID() == id) return item;
@@ -1807,4 +1873,220 @@
{
m_nContinuousTransferCount = round;
}
+
+ int CMaster::setProcessJobs(std::vector<CProcessJob*>& pjs)
+ {
+ std::vector<SERVO::CProcessJob*> temp;
+ for (auto p : pjs) {
+ if (p->validate(*this)) {
+ p->queue();
+ temp.push_back(p);
+ }
+ }
+
+ m_processJobs = temp;
+ this->saveState();
+
+ return (int)m_processJobs.size();
+ }
+
+ std::vector<CProcessJob*>& CMaster::getProcessJobs()
+ {
+ return m_processJobs;
+ }
+
+ CProcessJob* CMaster::getProcessJob(const std::string& id)
+ {
+ for (auto item : m_processJobs) {
+ if (item->id().compare(id) == 0) return item;
+ }
+
+ return nullptr;
+ }
+
+ int CMaster::setControlJob(CControlJob& controlJob)
+ {
+ // 回调：是否参创建ControlJob
+ auto canCreateCjFn = [&](uint32_t& cc, std::string& mm) -> bool {
+ if (m_pControlJob != nullptr) {
+ cc = 1100;
+ mm = "当前ControlJob未结批，不能创建新的ControlJob";
+ return false;
+ }
+ return true;
+ };
+
+
+ // 回调：是否存在
+ auto pjExists = [&](const std::string& id) -> bool {
+ return getProcessJob(id) != nullptr;
+ };
+
+ // 回调：是否可加入 CJ（这里定义：必须是 Queued）
+ auto pjJoinable = [&](const std::string& id) -> bool {
+ auto pj = getProcessJob(id);
+ if (pj == nullptr) return false;
+ return pj->state() == PJState::Queued;
+ };
+
+ bool bRet = controlJob.validateForCreate(canCreateCjFn, pjExists, pjJoinable);
+ if (!bRet) return -1;
+
+ std::vector<CProcessJob*> temps;
+ m_pControlJob = new CControlJob(controlJob);
+ auto pjIds = controlJob.pjIds();
+ for (auto id : pjIds) {
+ auto pj = getProcessJob(id);
+ if (pj != nullptr) {
+ temps.push_back(pj);
+ }
+ }
+ m_pControlJob->setPJs(temps);
+ this->saveState();
+
+
+ return 0;
+ }
+
+ CControlJob* CMaster::getControlJob()
+ {
+ return m_pControlJob;
+ }
+
+ CLoadPort* CMaster::getPortWithCarrierId(const std::string& carrierId) const
+ {
+ CLoadPort* pPort;
+ int eqid[] = { EQ_ID_LOADPORT1, EQ_ID_LOADPORT2, EQ_ID_LOADPORT3, EQ_ID_LOADPORT4};
+ for (int i = 0; i < 4; i++) {
+ pPort = (CLoadPort*)getEquipment(eqid[i]);
+ ASSERT(pPort);
+ if (pPort->getCassetteId().compare(carrierId) == 0) return pPort;
+ }
+
+ return nullptr;
+ }
+
+ bool CMaster::isProcessJobsEmpty() const
+ {
+ return m_processJobs.empty();
+ }
+
+ bool CMaster::recipeExists(const std::string& ppid) const
+ {
+ std::vector<std::string> vecRecipe = RecipeManager::getInstance().getAllPPID();
+ bool exists = std::find(vecRecipe.begin(), vecRecipe.end(), ppid) != vecRecipe.end();
+ return exists;
+ }
+
+ bool CMaster::carrierPresent(const std::string& carrierId) const
+ {
+ CLoadPort* pPort = getPortWithCarrierId(carrierId);
+ return pPort != nullptr;
+ }
+
+ bool CMaster::slotUsable(const std::string& carrierId, uint16_t slot) const
+ {
+ CLoadPort* pPort = getPortWithCarrierId(carrierId);
+ if(pPort == nullptr) return false;
+ CSlot* pSlot = pPort->getSlot(slot);
+ if (pSlot == nullptr) return false;
+ return pSlot->isEnable();
+ }
+
+ bool CMaster::ceidDefined(uint32_t ceid) const
+ {
+ return true;
+ }
+
+ bool CMaster::saveState() const
+ {
+ std::ofstream ofs(m_strStatePath, std::ios::binary);
+ if (!ofs) return false;
+
+ // 文件头
+ uint32_t magic = 0x4D415354; // 'MAST'
+ uint16_t version = 1;
+ ofs.write(reinterpret_cast<const char*>(&magic), sizeof(magic));
+ ofs.write(reinterpret_cast<const char*>(&version), sizeof(version));
+
+ // 保存 ControlJob
+ bool hasCJ = (m_pControlJob != nullptr);
+ ofs.write(reinterpret_cast<const char*>(&hasCJ), sizeof(hasCJ));
+ if (hasCJ) {
+ m_pControlJob->serialize(ofs);
+ }
+
+ // 保存 ProcessJob 列表
+ uint32_t count = static_cast<uint32_t>(m_processJobs.size());
+ ofs.write(reinterpret_cast<const char*>(&count), sizeof(count));
+ for (const auto& job : m_processJobs) {
+ job->serialize(ofs);
+ }
+
+ // 以后可以在这里追加新字段
+ return true;
+ }
+
+ bool CMaster::loadState(const std::string& path)
+ {
+ // 保存文件路径
+ m_strStatePath = path;
+
+
+ std::ifstream ifs(path, std::ios::binary);
+ if (!ifs) return false;
+
+ // 文件头
+ uint32_t magic = 0;
+ uint16_t version = 0;
+ ifs.read(reinterpret_cast<char*>(&magic), sizeof(magic));
+ ifs.read(reinterpret_cast<char*>(&version), sizeof(version));
+
+ if (magic != 0x4D415354) {
+ // 文件不合法
+ return false;
+ }
+
+ if (m_pControlJob != nullptr) {
+ delete m_pControlJob;
+ m_pControlJob = nullptr;
+ }
+
+ // 读取 ControlJob
+ bool hasCJ = false;
+ ifs.read(reinterpret_cast<char*>(&hasCJ), sizeof(hasCJ));
+ if (hasCJ) {
+ m_pControlJob = new CControlJob();
+ if (!CControlJob::deserialize(ifs, *m_pControlJob)) return false;
+ }
+
+
+ // 读取 ProcessJob 列表
+ uint32_t count = 0;
+ ifs.read(reinterpret_cast<char*>(&count), sizeof(count));
+ m_processJobs.clear();
+ for (uint32_t i = 0; i < count; i++) {
+ CProcessJob* pProcessJob = new CProcessJob();
+ if (!CProcessJob::deserialize(ifs, *pProcessJob)) return false;
+ m_processJobs.push_back(pProcessJob);
+ }
+
+
+ // 找到CProcessJob指针加入列表中
+ std::vector<CProcessJob*> tempPjs;
+ auto ids = m_pControlJob->pjIds();
+ for (auto id : ids) {
+ auto pj = getProcessJob(id);
+ if (pj != nullptr) {
+ tempPjs.push_back(pj);
+ }
+ }
+ m_pControlJob->setPJs(tempPjs);
+
+
+ // 如果版本升级，可在这里判断 version 来加载新字段
+
+
+ return true;
+ }
}
--
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