From 4897210a25e7c98ddacb1fa4ecee3e8bdd1ae98e Mon Sep 17 00:00:00 2001
From: LAPTOP-SNT8I5JK\Boounion <Chenluhua@qq.com>
Date: 星期四, 12 六月 2025 14:18:16 +0800
Subject: [PATCH] 1.手臂选择匹配问题，
---
SourceCode/Bond/Servo/CMaster.cpp | 1453 ++++++++++++++++++++++++++++++++-------------------------
1 files changed, 807 insertions(+), 646 deletions(-)
diff --git a/SourceCode/Bond/Servo/CMaster.cpp b/SourceCode/Bond/Servo/CMaster.cpp
index fda6aeb..4eca70d 100644
--- a/SourceCode/Bond/Servo/CMaster.cpp
+++ b/SourceCode/Bond/Servo/CMaster.cpp
@@ -3,18 +3,17 @@
#include "CMaster.h"
-#define ADD_EQ_CASSETTE_TRANSFER_STATE_STEP(name,ws,index,psd) { \
- CEqCassetteTransferStateStep* pStep = new CEqCassetteTransferStateStep(); \
- pStep->setName(name); \
- pStep->setWriteSignalDev(ws); \
- pStep->setPortStatusDev(psd); \
- if (pEquipment->addStep(index, pStep) != 0) { \
- delete pStep; \
- } \
-}
-
namespace SERVO {
CMaster* g_pMaster = NULL;
+
+ unsigned __stdcall DispatchThreadFunction(LPVOID lpParam)
+ {
+ if (g_pMaster != NULL) {
+ return g_pMaster->DispatchProc();
+ }
+
+ return 0;
+ }
unsigned __stdcall ReadBitsThreadFunction(LPVOID lpParam)
{
@@ -34,21 +33,26 @@
CMaster::CMaster()
{
- m_listener = {nullptr, nullptr, nullptr};
+ m_listener = {};
m_bDataModify = FALSE;
m_hEventReadBitsThreadExit[0] = ::CreateEvent(NULL, TRUE, FALSE, NULL);
m_hEventReadBitsThreadExit[1] = ::CreateEvent(NULL, TRUE, FALSE, NULL);
m_hReadBitsThreadHandle = nullptr;
m_nReadBitsThreadAddr = 0;
+ m_hDispatchEvent = ::CreateEvent(NULL, TRUE, FALSE, NULL);
+ m_hEventDispatchThreadExit[0] = ::CreateEvent(NULL, TRUE, FALSE, NULL);
+ m_hEventDispatchThreadExit[1] = ::CreateEvent(NULL, TRUE, FALSE, NULL);
+ m_hDispatchThreadHandle = nullptr;
+ m_nDispatchThreadAddr = 0;
+ m_ullStartTime = 0;
+ m_ullRunTime = 0;
+ m_state = MASTERSTATE::READY;
+ m_pActiveRobotTask = nullptr;
+ InitializeCriticalSection(&m_criticalSection);
}
CMaster::~CMaster()
{
- for (auto item : m_listEquipment) {
- delete item;
- }
- m_listEquipment.clear();
-
if (m_hEventReadBitsThreadExit[0] != nullptr) {
::CloseHandle(m_hEventReadBitsThreadExit[0]);
m_hEventReadBitsThreadExit[0] = nullptr;
@@ -58,13 +62,33 @@
::CloseHandle(m_hEventReadBitsThreadExit[1]);
m_hEventReadBitsThreadExit[1] = nullptr;
}
+
+ if (m_hDispatchEvent != nullptr) {
+ ::CloseHandle(m_hDispatchEvent);
+ m_hDispatchEvent = nullptr;
+ }
+
+ if (m_hEventDispatchThreadExit[0] != nullptr) {
+ ::CloseHandle(m_hEventDispatchThreadExit[0]);
+ m_hEventDispatchThreadExit[0] = nullptr;
+ }
+
+ if (m_hEventDispatchThreadExit[1] != nullptr) {
+ ::CloseHandle(m_hEventDispatchThreadExit[1]);
+ m_hEventDispatchThreadExit[1] = nullptr;
+ }
+
+ DeleteCriticalSection(&m_criticalSection);
}
void CMaster::setListener(MasterListener listener)
{
- m_listener.onEqAlive = listener.onEqAlive;
- m_listener.onEqCimStateChanged = listener.onEqCimStateChanged;
- m_listener.onEqAlarm = listener.onEqAlarm;
+ m_listener = listener;
+ }
+
+ CRobotTask* CMaster::getActiveRobotTask()
+ {
+ return m_pActiveRobotTask;
}
int CMaster::init()
@@ -99,18 +123,68 @@
// 初始化添加各子设备
- addLoadPort(0);
- addLoadPort(1);
- addLoadPort(2);
- addLoadPort(3);
- addFliper();
- addVacuumBake();
- addAligner();
- addEFEM();
- addBonder(0);
- addBonder(1);
- addBakeCooling();
+ CLoadPort* pPort1, * pPort2, * pPort3, * pPort4;
+ CBonder* pBonder1, * pBonder2;
+ CEFEM* pEfem;
+ CArm* pArm;
+ CArmTray* pArmTray1, * pArmTray2;
+ CFliper* pFliper;
+ CVacuumBake* pVacuumBake;
+ CAligner* pAligner;
+ CBakeCooling* pBakeCooling;
+ CMeasurement* pMeasurement;
+
+ pPort1 = addLoadPort(0);
+ pPort2 = addLoadPort(1);
+ pPort3 = addLoadPort(2);
+ pPort4 = addLoadPort(3);
+ pEfem = addEFEM();
+ pArm = addArm();
+ pArmTray1 = addArmTray(0);
+ pArmTray2 = addArmTray(1);
+ pFliper = addFliper();
+ pVacuumBake = addVacuumBake();
+ pAligner = addAligner();
+ pBonder1 = addBonder(0);
+ pBonder2 = addBonder(1);
+ pBakeCooling = addBakeCooling();
+ pMeasurement = addMeasurement();
+
+ ASSERT(pEfem);
+ ASSERT(pFliper);
+ ASSERT(pVacuumBake);
+ ASSERT(pAligner);
+ ASSERT(pBonder1);
+ ASSERT(pBonder2);
+ ASSERT(pBakeCooling);
+ ASSERT(pMeasurement);
+
+ pEfem->setPort(0, pPort1);
+ pEfem->setPort(1, pPort1);
+ pEfem->setPort(2, pPort1);
+ pEfem->setPort(3, pPort1);
+ pEfem->setFliper(pFliper);
+ pEfem->setAligner(pAligner);
+ pEfem->setArmTray(0, pArmTray1);
+ pEfem->setArmTray(1, pArmTray2);
+ pPort1->setArm(pArm);
+ pPort2->setArm(pArm);
+ pPort3->setArm(pArm);
+ pPort4->setArm(pArm);
+ pArmTray1->setArm(pArm);
+ pArmTray2->setArm(pArm);
+ pFliper->setArm(pArm);
+ pVacuumBake->setArm(pArm);
+ pAligner->setArm(pArm);
+ pBonder1->setArm(pArm);
+ pBonder2->setArm(pArm);
+ pBakeCooling->setArm(pArm);
+ pMeasurement->setArm(pArm);
+
connectEquipments();
+
+
+
// 读缓存数据
@@ -122,6 +196,12 @@
SetTimer(NULL, 1, 250, (TIMERPROC)MasterTimerProc);
+ // 调度线程
+ m_hDispatchThreadHandle = (HANDLE)_beginthreadex(NULL, 0, SERVO::DispatchThreadFunction, this,
+ 0, &m_nDispatchThreadAddr);
+
+
+ // 监控bit线程
m_hReadBitsThreadHandle = (HANDLE)_beginthreadex(NULL, 0, SERVO::ReadBitsThreadFunction, this,
0, &m_nReadBitsThreadAddr);
@@ -133,7 +213,9 @@
int CMaster::term()
{
SetEvent(m_hEventReadBitsThreadExit[0]);
+ SetEvent(m_hEventDispatchThreadExit[0]);
::WaitForSingleObject(m_hEventReadBitsThreadExit[1], INFINITE);
+ ::WaitForSingleObject(m_hEventDispatchThreadExit[1], INFINITE);
LOGI("<Master>正在结束程序.");
for (auto item : m_listEquipment) {
@@ -141,8 +223,355 @@
}
saveCache();
+ lock();
+ if (m_pActiveRobotTask != nullptr) {
+ delete m_pActiveRobotTask;
+ m_pActiveRobotTask = nullptr;
+ }
+ unlock();
+
+ for (auto item : m_listEquipment) {
+ delete item;
+ }
+ m_listEquipment.clear();
+ return 0;
+ }
+
+ int CMaster::start()
+ {
+ if (m_state != MASTERSTATE::READY) {
+ return -1;
+ }
+
+ setState(MASTERSTATE::STARTING);
+ m_ullStartTime = GetTickCount64();
+
+ return 0;
+ }
+
+ int CMaster::stop()
+ {
+ // 运行时间为累加结果，本次停止时刷新；
+ if (m_state != MASTERSTATE::RUNNING) {
+ return -1;
+ }
+
+ m_ullRunTime += (GetTickCount64() - m_ullStartTime);
+ setState(MASTERSTATE::STOPPING);
+
+ return 0;
+ }
+
+ ULONGLONG CMaster::getRunTime()
+ {
+ if (m_state == MASTERSTATE::RUNNING)
+ return m_ullRunTime + (GetTickCount64() - m_ullStartTime);
+ else
+ return m_ullRunTime;
+ }
+
+ MASTERSTATE CMaster::getState()
+ {
+ return m_state;
+ }
+
+ unsigned CMaster::DispatchProc()
+ {
+ // 优先考虑的类型和次要类型
+ // 一种情况，如果不分主次，一直搬G1, 等到Bonder1和Bonder2都放了G1, Aligner也放了G1,
+ // Bonder1和Bonder2需要的G2就过不来了
+ // 最基本的实现，可以G2和G2轮流搬送，但最好根据Bonder的需求来决定
+ MaterialsType primaryType, secondaryType;
+
+
+ // 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);
+ CLoadPort* pLoadPort3 = (CLoadPort*)getEquipment(EQ_ID_LOADPORT3);
+ CLoadPort* pLoadPort4 = (CLoadPort*)getEquipment(EQ_ID_LOADPORT4);
+ CFliper* pFliper = (CFliper*)getEquipment(EQ_ID_FLIPER);
+ CVacuumBake* pVacuumBake = (CVacuumBake*)getEquipment(EQ_ID_VACUUMBAKE);
+ CAligner* pAligner = (CAligner*)getEquipment(EQ_ID_ALIGNER);
+ CBonder* pBonder1 = (CBonder*)getEquipment(EQ_ID_Bonder1);
+ CBonder* pBonder2 = (CBonder*)getEquipment(EQ_ID_Bonder2);
+ CBakeCooling* pBakeCooling = (CBakeCooling*)getEquipment(EQ_ID_BAKE_COOLING);
+ CMeasurement* pMeasurement = (CMeasurement*)getEquipment(EQ_ID_MEASUREMENT);
+
+ ASSERT(pEFEM);
+ ASSERT(pLoadPort1);
+ ASSERT(pLoadPort2);
+ ASSERT(pLoadPort3);
+ ASSERT(pLoadPort4);
+ ASSERT(pFliper);
+ ASSERT(pVacuumBake);
+ ASSERT(pAligner);
+ ASSERT(pBonder1);
+ ASSERT(pBonder2);
+ ASSERT(pBakeCooling);
+ ASSERT(pMeasurement);
+
+ 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);
+ if (nRet == WAIT_OBJECT_0) {
+ break;
+ }
+
+
+ // 如果状态为STARTING，开始工作并切换到RUNNING状态
+ lock();
+ if (m_state == MASTERSTATE::STARTING) {
+ unlock();
+ Sleep(1000);
+ setState(MASTERSTATE::RUNNING);
+ continue;
+ }
+
+
+ // 处理完成当前事务后，切换到停止或就绪状态
+ else if (m_state == MASTERSTATE::STOPPING) {
+ unlock();
+ Sleep(1000);
+ setState(MASTERSTATE::READY);
+ continue;
+ }
+
+
+ // 调度逻辑处理
+ else if (m_state == MASTERSTATE::RUNNING) {
+ unlock();
+ // LOGI("调度处理中...");
+
+ lock();
+ if (m_pActiveRobotTask != nullptr) {
+ 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;
+ }
+
+
+ // 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;
+ }
+
+
+ // Measurement -> LoadPort
+ CLoadPort* pEqLoadPort[] = { pLoadPort1, pLoadPort2, pLoadPort3, pLoadPort4 };
+ CEquipment* pEqTar[] = { pVacuumBake, pFliper };
+ if (primaryType == MaterialsType::G2) {
+ pEqTar[0] = pFliper;
+ pEqTar[1] = pVacuumBake;
+ }
+ for (int s = 0; s < 4; s++) {
+ if (pEqLoadPort[s]->isEnable()
+ && pEqLoadPort[s]->getPortType() == PortType::Unloading
+ && pEqLoadPort[s]->getPortMode() == PortMode::ReadyToUnload) {
+ m_pActiveRobotTask = createTransferTask(pMeasurement, pEqLoadPort[s], primaryType, secondaryType);
+ if (m_pActiveRobotTask != nullptr) {
+ goto PORT_PUT;
+ }
+ }
+ }
+
+ PORT_PUT:
+ if (m_pActiveRobotTask != nullptr) {
+ m_pActiveRobotTask->run();
+ 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;
+ }
+
+
+ // 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) {
+ m_listener.onRobotTaskEvent(this, m_pActiveRobotTask, ROBOT_EVENT_CREATE);
+ }
+ LOGI("创建新任务<%s>...", strDescription.c_str());
+ continue;
+ }
+
+
+ // BakeCooling内部
+ // 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) {
+ m_listener.onRobotTaskEvent(this, m_pActiveRobotTask, ROBOT_EVENT_CREATE);
+ }
+ LOGI("创建新任务<%s>...", strDescription.c_str());
+ continue;
+ }
+
+
+ // 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) {
+ m_listener.onRobotTaskEvent(this, m_pActiveRobotTask, ROBOT_EVENT_CREATE);
+ }
+ LOGI("创建新任务<%s>...", strDescription.c_str());
+ continue;
+ }
+
+ 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) {
+ m_listener.onRobotTaskEvent(this, m_pActiveRobotTask, ROBOT_EVENT_CREATE);
+ }
+ LOGI("创建新任务<%s>...", strDescription.c_str());
+ continue;
+ }
+
+ // Fliper(G2) -> Bonder
+ // VacuumBake(G1) -> Bonder
+ m_pActiveRobotTask = createTransferTask(pFliper, pBonder1, primaryType, secondaryType, 2);
+ if (m_pActiveRobotTask != nullptr) {
+ m_pActiveRobotTask->run();
+ 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;
+ }
+
+ m_pActiveRobotTask = createTransferTask(pFliper, pBonder2, primaryType, secondaryType, 2);
+ if (m_pActiveRobotTask != nullptr) {
+ m_pActiveRobotTask->run();
+ 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;
+ }
+
+ m_pActiveRobotTask = createTransferTask(pVacuumBake, pBonder1, primaryType, secondaryType);
+ if (m_pActiveRobotTask != nullptr) {
+ m_pActiveRobotTask->run();
+ 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;
+ }
+
+ m_pActiveRobotTask = createTransferTask(pVacuumBake, pBonder2, primaryType, secondaryType);
+ if (m_pActiveRobotTask != nullptr) {
+ m_pActiveRobotTask->run();
+ 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;
+ }
+
+ // Aligner -> Fliper(G2)
+ // Aligner -> VacuumBake(G1)
+ m_pActiveRobotTask = createTransferTask(pAligner, pFliper, primaryType, secondaryType, 2);
+ if (m_pActiveRobotTask != nullptr) {
+ m_pActiveRobotTask->run();
+ 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;
+ }
+
+ m_pActiveRobotTask = createTransferTask(pAligner, pVacuumBake, primaryType, secondaryType);
+ if (m_pActiveRobotTask != nullptr) {
+ m_pActiveRobotTask->run();
+ 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;
+ }
+
+
+ // LoadPort -> Aligner
+ for (int s = 0; s < 4; s++) {
+ if (pEqLoadPort[s]->isEnable()
+ && pEqLoadPort[s]->getPortType() == PortType::Loading
+ && pEqLoadPort[s]->getPortMode() == PortMode::ReadyToLoad) {
+ m_pActiveRobotTask = createTransferTask(pEqLoadPort[s], pAligner, primaryType, secondaryType);
+ if (m_pActiveRobotTask != nullptr) {
+ goto PORT_GET;
+ }
+ }
+ }
+
+PORT_GET:
+ if (m_pActiveRobotTask != nullptr) {
+ m_pActiveRobotTask->run();
+ 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;
+ }
+
+ unlock();
+
+ }
+ unlock();
+ }
+
+ SetEvent(m_hEventDispatchThreadExit[1]);
+
+
+ // _endthreadex(0);
+ TRACE("CMaster::DispatchProc 线程退出\n");
return 0;
}
@@ -155,6 +584,7 @@
break;
}
+ // 读标志位
for (auto item : m_listEquipment) {
if (item->getID() == EQ_ID_Bonder1 ||
item->getID() == EQ_ID_Bonder2) {
@@ -199,8 +629,113 @@
m_listener.onEqAlarm(this, p, state, alarmId, unitId, level);
}
};
+ listener.onVcrEventReport = [&](void* pEquipment, void* pReport) -> void {
+ CEquipment* p = (CEquipment*)pEquipment;
+ CVcrEventReport* p2 = (CVcrEventReport*)pReport;
+ if (m_listener.onEqVcrEventReport != nullptr) {
+ m_listener.onEqVcrEventReport(this, p, p2);
+ }
+ };
+ listener.onPreFethedOutJob = [&](void* pEquipment, CJobDataB* pJobDataB) -> BOOL {
+ CEquipment* p = (CEquipment*)pEquipment;
+
+
+ // 取片，更新当前搬送任务
+ BOOL bOk = FALSE;
+ lock();
+ if (m_pActiveRobotTask != nullptr) {
+ if (m_pActiveRobotTask->getSrcPosition() == p->getID()) {
+ CGlass* pGlass = p->getGlassFromSlot(m_pActiveRobotTask->getSrcSlot());
+ if (pGlass != nullptr) {
+ CJobDataB* pJobDataBSrc = pGlass->getJobDataB();
+ if (pJobDataBSrc != nullptr
+ && pJobDataBSrc->getCassetteSequenceNo() == pJobDataB->getCassetteSequenceNo()
+ && pJobDataBSrc->getJobSequenceNo() == pJobDataB->getJobSequenceNo()) {
+ bOk = TRUE;
+ LOGI("<CMaster>onPreFethedOutJob, 已校验数据一致性.");
+ }
+ }
+ }
+ else if (p->getID() == EQ_ID_ARM_TRAY1 || p->getID() == EQ_ID_ARM_TRAY2) {
+ bOk = TRUE;
+ }
+ }
+ unlock();
+
+ if (!bOk) {
+ LOGE("<CMaster>onPreFethedOutJob, 数据校验失败.");
+ }
+
+ return bOk;
+
+ };
+ listener.onPreStoredJob = [&](void* pEquipment, CJobDataB* pJobDataB, short& slot) -> BOOL {
+ CEquipment* p = (CEquipment*)pEquipment;
+
+
+ // 放片，更新当前搬送任务
+ BOOL bOk = FALSE;
+ lock();
+ if (m_pActiveRobotTask != nullptr) {
+ if (m_pActiveRobotTask->getTarPosition() == p->getID()) {
+ CGlass* pGlass = p->getGlassFromSlot(m_pActiveRobotTask->getTarSlot());
+ if (pGlass == nullptr) {
+ bOk = TRUE;
+ slot = m_pActiveRobotTask->getTarSlot();
+ LOGI("<CMaster>onPreFethedOutJob, 已校验数据一致性.");
+ }
+ }
+ else if (p->getID() == EQ_ID_ARM_TRAY1 || p->getID() == EQ_ID_ARM_TRAY2) {
+ slot = 1;
+ bOk = TRUE;
+ }
+ }
+ unlock();
+
+ if (!bOk) {
+ LOGE("<CMaster>onPreFethedOutJob, 数据校验失败.");
+ }
+
+ return bOk;
+
+ };
listener.onDataChanged = [&](void* pEquipment, int code) -> void {
m_bDataModify = TRUE;
+ CEquipment* p = (CEquipment*)pEquipment;
+ if (m_listener.onEqDataChanged != nullptr) {
+ m_listener.onEqDataChanged(this, p, 0);
+ }
+
+ // 取放片，更新当前搬送任务
+ if (code == EDCC_FETCHOUT_JOB) {
+ lock();
+ if (m_pActiveRobotTask != nullptr && m_pActiveRobotTask->getSrcPosition() == p->getID()) {
+ m_pActiveRobotTask->fetchOut();
+ LOGI("开始取片...");
+ }
+ unlock();
+ }
+ else if (code == EDCC_STORED_JOB) {
+ lock();
+ if (m_pActiveRobotTask != nullptr && m_pActiveRobotTask->getTarPosition() == p->getID()) {
+ m_pActiveRobotTask->stored();
+ m_pActiveRobotTask->completed();
+ 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();
+
+
+
+ lock();
+ if (m_listener.onRobotTaskEvent != nullptr) {
+ m_listener.onRobotTaskEvent(this, m_pActiveRobotTask, ROBOT_EVENT_FINISH);
+ }
+ delete m_pActiveRobotTask;
+ m_pActiveRobotTask = nullptr;
+ }
+ unlock();
+ }
};
pEquipment->setListener(listener);
@@ -224,58 +759,39 @@
return nullptr;
}
- /* 添加LoadPort1
+ /*
+ * 添加LoadPort1
* index -- 0~3
*/
- int CMaster::addLoadPort(int index)
+ CLoadPort* CMaster::addLoadPort(int index)
{
ASSERT(index == 0 || index == 1 || index == 2 || index == 3);
- static char* pszCassetteCtrlCmd[] = {
- STEP_EQ_P1_CASSETTE_CTRL_CMD,
- STEP_EQ_P2_CASSETTE_CTRL_CMD,
- STEP_EQ_P3_CASSETTE_CTRL_CMD,
- STEP_EQ_P4_CASSETTE_CTRL_CMD
- };
- int nWriteSignalDev[] = {0x120, 0x121, 0x122, 0x123};
- int nCtrlCmdDev[] = {0x45, 0x1a5, 0x305, 0x465};
- int nStepDev[] = { 0x480, 0x481, 0x482, 0x483 };
char szName[64];
sprintf_s(szName, 64, "LoadPort %d", index + 1);
CLoadPort* pEquipment = new CLoadPort();
+ pEquipment->setIndex(index);
pEquipment->setID(EQ_ID_LOADPORT1 + index);
pEquipment->setName(szName);
pEquipment->setDescription(szName);
addToEquipmentList(pEquipment);
- // step
- {
- CEqCassetteCtrlCmdStep* pStep = new CEqCassetteCtrlCmdStep();
- pStep->setName(pszCassetteCtrlCmd[index]);
- pStep->setWriteSignalDev(nWriteSignalDev[index]);
- pStep->setCtrlCmdDev(nCtrlCmdDev[index]);
- if (pEquipment->addStep(nStepDev[index], pStep) != 0) {
- delete pStep;
- }
- }
-
-
pEquipment->init();
LOGE("已添加“%s”.", pEquipment->getName().c_str());
- return 0;
+ return pEquipment;
}
- int CMaster::addFliper()
+ CFliper* CMaster::addFliper()
{
CFliper* pEquipment = new CFliper();
pEquipment->setID(EQ_ID_FLIPER);
pEquipment->setBaseAlarmId(BASE_ALARM_EFEM);
- pEquipment->setName("Fliper");
- pEquipment->setDescription("Fliper.");
+ pEquipment->setName("Fliper(G2)");
+ pEquipment->setDescription("Fliper(G2).");
pEquipment->setReadBitBlock(0x4000, 0x45ff);
pEquipment->setStation(0, 255);
addToEquipmentList(pEquipment);
@@ -283,16 +799,16 @@
pEquipment->init();
LOGE("已添加“Fliper”.");
- return 0;
+ return pEquipment;
}
- int CMaster::addVacuumBake()
+ CVacuumBake* CMaster::addVacuumBake()
{
CVacuumBake* pEquipment = new CVacuumBake();
pEquipment->setID(EQ_ID_VACUUMBAKE);
pEquipment->setBaseAlarmId(BASE_ALARM_EFEM);
- pEquipment->setName("VacuumBake");
- pEquipment->setDescription("VacuumBake.");
+ pEquipment->setName("VacuumBake(G1)");
+ pEquipment->setDescription("VacuumBake(G1).");
pEquipment->setReadBitBlock(0x4000, 0x45ff);
pEquipment->setStation(0, 255);
addToEquipmentList(pEquipment);
@@ -300,10 +816,11 @@
pEquipment->init();
LOGE("已添加“VacuumBake”.");
- return 0;
+
+ return pEquipment;
}
- int CMaster::addAligner()
+ CAligner* CMaster::addAligner()
{
CAligner* pEquipment = new CAligner();
pEquipment->setID(EQ_ID_ALIGNER);
@@ -317,410 +834,65 @@
pEquipment->init();
LOGE("已添加“Aligner”.");
- return 0;
+
+ return pEquipment;
}
- int CMaster::addEFEM()
+ CEFEM* CMaster::addEFEM()
{
CEFEM* pEquipment = new CEFEM();
pEquipment->setID(EQ_ID_EFEM);
pEquipment->setBaseAlarmId(BASE_ALARM_EFEM);
pEquipment->setName("EFEM(ROBOT)");
pEquipment->setDescription("EFEM(ROBOT).");
- pEquipment->setReadBitBlock(0x4000, 0x45ff);
+ pEquipment->setReadBitBlock(0x3000, 0x3aff);
pEquipment->setStation(0, 255);
addToEquipmentList(pEquipment);
- // 添加 step
- {
- CEqModeStep* pStep = new CEqModeStep();
- pStep->setName(STEP_MODE);
- pStep->setWriteSignalDev(0x30);
- pStep->setModeDev(0x4a8c);
- if (pEquipment->addStep(0x360, pStep) != 0) {
- delete pStep;
- }
- }
- {
- CEqStatusStep* pStep = new CEqStatusStep();
- pStep->setName(STEP_STATUS);
- pStep->setWriteSignalDev(0x31);
- pStep->setStatusDev(0x4a68);
- if (pEquipment->addStep(0x361, pStep) != 0) {
- delete pStep;
- }
- }
- {
- CEqAlarmStep* pStep = new CEqAlarmStep();
- pStep->setName(STEP_ALARM_BLOCK1);
- pStep->setWriteSignalDev(0x32);
- pStep->setAlarmDev(0x4c1d);
- if (pEquipment->addStep(0x362, pStep) != 0) {
- delete pStep;
- }
- }
- {
- CEqAlarmStep* pStep = new CEqAlarmStep();
- pStep->setName(STEP_ALARM_BLOCK2);
- pStep->setWriteSignalDev(0x33);
- pStep->setAlarmDev(0x4c4a);
- if (pEquipment->addStep(0x363, pStep) != 0) {
- delete pStep;
- }
- }
- {
- CEqAlarmStep* pStep = new CEqAlarmStep();
- pStep->setName(STEP_ALARM_BLOCK3);
- pStep->setWriteSignalDev(0x34);
- pStep->setAlarmDev(0x4c77);
- if (pEquipment->addStep(0x364, pStep) != 0) {
- delete pStep;
- }
- }
- {
- CEqAlarmStep* pStep = new CEqAlarmStep();
- pStep->setName(STEP_ALARM_BLOCK4);
- pStep->setWriteSignalDev(0x35);
- pStep->setAlarmDev(0x4ca4);
- if (pEquipment->addStep(0x365, pStep) != 0) {
- delete pStep;
- }
- }
- {
- CEqAlarmStep* pStep = new CEqAlarmStep();
- pStep->setName(STEP_ALARM_BLOCK5);
- pStep->setWriteSignalDev(0x36);
- pStep->setAlarmDev(0x4cd1);
- if (pEquipment->addStep(0x366, pStep) != 0) {
- delete pStep;
- }
- }
- {
- CEqProcessStep* pStep = new CEqProcessStep();
- pStep->setName(STEP_PROCESS);
- pStep->setWriteSignalDev(0x37);
- pStep->setProcessDev(0x5864);
- if (pEquipment->addStep(0x367, pStep) != 0) {
- delete pStep;
- }
- }
- {
- CEqCimModeChangeStep* pStep = new CEqCimModeChangeStep();
- pStep->setName(STEP_CIM_MODE_CHANGE);
- pStep->setWriteSignalDev(0x50);
- pStep->setCimModeDev(0x15);
- if (pEquipment->addStep(0x350, pStep) != 0) {
- delete pStep;
- }
- }
- {
- CEqCimMessageCmdStep* pStep = new CEqCimMessageCmdStep();
- pStep->setName(STEP_CIM_MESSAGE_CMD);
- pStep->setWriteSignalDev(0x51);
- pStep->setCimMessageDev(0x0);
- if (pEquipment->addStep(0x351, pStep) != 0) {
- delete pStep;
- }
- }
- {
- CEqCimMessageClearStep* pStep = new CEqCimMessageClearStep();
- pStep->setName(STEP_CIM_MESSAGE_CLEAR);
- pStep->setWriteSignalDev(0x52);
- pStep->setClearCimMessageDev(0x13);
- if (pEquipment->addStep(0x352, pStep) != 0) {
- delete pStep;
- }
- }
- {
- CEqDateTimeSetCmdStep* pStep = new CEqDateTimeSetCmdStep();
- pStep->setName(STEP_DATETIME_SET_CMD);
- pStep->setWriteSignalDev(0x53);
- pStep->setDateTimeDev(0x16);
- if (pEquipment->addStep(0x353, pStep) != 0) {
- delete pStep;
- }
- }
- {
- CEqVCREnableStep* pStep = new CEqVCREnableStep();
- pStep->setName(STEP_EQ_VCR_ENABLE);
- pStep->setWriteSignalDev(0x54);
- pStep->setEqVCRModeDev(0x1F);
- if (pEquipment->addStep(0x354, pStep) != 0) {
- delete pStep;
- }
- }
- {
- CEqModeChangeStep* pStep = new CEqModeChangeStep();
- pStep->setName(STEP_EQ_MODE_CHANGE);
- pStep->setWriteSignalDev(0x55);
- pStep->setEqModeDev(0x1E);
- if (pEquipment->addStep(0x355, pStep) != 0) {
- delete pStep;
- }
- }
-
- // Port1
- {
- CEqReadIntStep* pStep = new CEqReadIntStep(__INT16, 0x4d1f);
- pStep->setName(STEP_EQ_PORT1_TYPE);
- pStep->setWriteSignalDev(0x80);
- if (pEquipment->addStep(0x3e0, pStep) != 0) {
- delete pStep;
- }
- }
- {
- CEqReadIntStep* pStep = new CEqReadIntStep(__INT16, 0x4d20);
- pStep->setName(STEP_EQ_PORT1_MODE);
- pStep->setWriteSignalDev(0x88);
- if (pEquipment->addStep(0x3e8, pStep) != 0) {
- delete pStep;
- }
- }
- {
- CEqReadIntStep* pStep = new CEqReadIntStep(__INT32, 0x4d21);
- pStep->setName(STEP_EQ_PORT1_CASSETTE_TYPE);
- pStep->setWriteSignalDev(0x90);
- if (pEquipment->addStep(0x3f0, pStep) != 0) {
- delete pStep;
- }
- }
- {
- CEqReadIntStep* pStep = new CEqReadIntStep(__INT16, 0x4d23);
- pStep->setName(STEP_EQ_PORT1_TRANSFER_MODE);
- pStep->setWriteSignalDev(0x98);
- if (pEquipment->addStep(0x3f8, pStep) != 0) {
- delete pStep;
- }
- }
- {
- CEqReadIntStep* pStep = new CEqReadIntStep(__INT16, 0x4d24);
- pStep->setName(STEP_EQ_PORT1_ENABLE);
- pStep->setWriteSignalDev(0xa0);
- if (pEquipment->addStep(0x400, pStep) != 0) {
- delete pStep;
- }
- }
- {
- CEqReadIntStep* pStep = new CEqReadIntStep(__INT16, 0x4d25);
- pStep->setName(STEP_EQ_PORT1_TYPE_ATUO);
- pStep->setWriteSignalDev(0xa8);
- if (pEquipment->addStep(0x408, pStep) != 0) {
- delete pStep;
- }
- }
-
- // Port2
- {
- CEqReadIntStep* pStep = new CEqReadIntStep(__INT16, 0x4d2f);
- pStep->setName(STEP_EQ_PORT2_TYPE);
- pStep->setWriteSignalDev(0x81);
- if (pEquipment->addStep(0x3e1, pStep) != 0) {
- delete pStep;
- }
- }
- {
- CEqReadIntStep* pStep = new CEqReadIntStep(__INT16, 0x4d30);
- pStep->setName(STEP_EQ_PORT2_MODE);
- pStep->setWriteSignalDev(0x89);
- if (pEquipment->addStep(0x3e9, pStep) != 0) {
- delete pStep;
- }
- }
- {
- CEqReadIntStep* pStep = new CEqReadIntStep(__INT32, 0x4d31);
- pStep->setName(STEP_EQ_PORT2_CASSETTE_TYPE);
- pStep->setWriteSignalDev(0x91);
- if (pEquipment->addStep(0x3f1, pStep) != 0) {
- delete pStep;
- }
- }
- {
- CEqReadIntStep* pStep = new CEqReadIntStep(__INT16, 0x4d33);
- pStep->setName(STEP_EQ_PORT2_TRANSFER_MODE);
- pStep->setWriteSignalDev(0x99);
- if (pEquipment->addStep(0x3f9, pStep) != 0) {
- delete pStep;
- }
- }
- {
- CEqReadIntStep* pStep = new CEqReadIntStep(__INT16, 0x4d34);
- pStep->setName(STEP_EQ_PORT2_ENABLE);
- pStep->setWriteSignalDev(0xa1);
- if (pEquipment->addStep(0x401, pStep) != 0) {
- delete pStep;
- }
- }
- {
- CEqReadIntStep* pStep = new CEqReadIntStep(__INT16, 0x4d35);
- pStep->setName(STEP_EQ_PORT2_TYPE_ATUO);
- pStep->setWriteSignalDev(0xa9);
- if (pEquipment->addStep(0x409, pStep) != 0) {
- delete pStep;
- }
- }
-
- // Port3
- {
- CEqReadIntStep* pStep = new CEqReadIntStep(__INT16, 0x4d3f);
- pStep->setName(STEP_EQ_PORT3_TYPE);
- pStep->setWriteSignalDev(0x82);
- if (pEquipment->addStep(0x3e2, pStep) != 0) {
- delete pStep;
- }
- }
- {
- CEqReadIntStep* pStep = new CEqReadIntStep(__INT16, 0x4d40);
- pStep->setName(STEP_EQ_PORT3_MODE);
- pStep->setWriteSignalDev(0x8a);
- if (pEquipment->addStep(0x3ea, pStep) != 0) {
- delete pStep;
- }
- }
- {
- CEqReadIntStep* pStep = new CEqReadIntStep(__INT32, 0x4d41);
- pStep->setName(STEP_EQ_PORT3_CASSETTE_TYPE);
- pStep->setWriteSignalDev(0x92);
- if (pEquipment->addStep(0x3f2, pStep) != 0) {
- delete pStep;
- }
- }
- {
- CEqReadIntStep* pStep = new CEqReadIntStep(__INT16, 0x4d43);
- pStep->setName(STEP_EQ_PORT3_TRANSFER_MODE);
- pStep->setWriteSignalDev(0x9a);
- if (pEquipment->addStep(0x3fa, pStep) != 0) {
- delete pStep;
- }
- }
- {
- CEqReadIntStep* pStep = new CEqReadIntStep(__INT16, 0x4d44);
- pStep->setName(STEP_EQ_PORT3_ENABLE);
- pStep->setWriteSignalDev(0xa2);
- if (pEquipment->addStep(0x402, pStep) != 0) {
- delete pStep;
- }
- }
- {
- CEqReadIntStep* pStep = new CEqReadIntStep(__INT16, 0x4d45);
- pStep->setName(STEP_EQ_PORT3_TYPE_ATUO);
- pStep->setWriteSignalDev(0xaa);
- if (pEquipment->addStep(0x40a, pStep) != 0) {
- delete pStep;
- }
- }
-
- // Port4
- {
- CEqReadIntStep* pStep = new CEqReadIntStep(__INT16, 0x4d4f);
- pStep->setName(STEP_EQ_PORT4_TYPE);
- pStep->setWriteSignalDev(0x83);
- if (pEquipment->addStep(0x3e3, pStep) != 0) {
- delete pStep;
- }
- }
- {
- CEqReadIntStep* pStep = new CEqReadIntStep(__INT16, 0x4d50);
- pStep->setName(STEP_EQ_PORT4_MODE);
- pStep->setWriteSignalDev(0x8b);
- if (pEquipment->addStep(0x3eb, pStep) != 0) {
- delete pStep;
- }
- }
- {
- CEqReadIntStep* pStep = new CEqReadIntStep(__INT32, 0x4d51);
- pStep->setName(STEP_EQ_PORT4_CASSETTE_TYPE);
- pStep->setWriteSignalDev(0x93);
- if (pEquipment->addStep(0x3f3, pStep) != 0) {
- delete pStep;
- }
- }
- {
- CEqReadIntStep* pStep = new CEqReadIntStep(__INT16, 0x4d53);
- pStep->setName(STEP_EQ_PORT4_TRANSFER_MODE);
- pStep->setWriteSignalDev(0x9b);
- if (pEquipment->addStep(0x3fb, pStep) != 0) {
- delete pStep;
- }
- }
- {
- CEqReadIntStep* pStep = new CEqReadIntStep(__INT16, 0x4d54);
- pStep->setName(STEP_EQ_PORT4_ENABLE);
- pStep->setWriteSignalDev(0xa3);
- if (pEquipment->addStep(0x403, pStep) != 0) {
- delete pStep;
- }
- }
- {
- CEqReadIntStep* pStep = new CEqReadIntStep(__INT16, 0x4d55);
- pStep->setName(STEP_EQ_PORT4_TYPE_ATUO);
- pStep->setWriteSignalDev(0xab);
- if (pEquipment->addStep(0x40b, pStep) != 0) {
- delete pStep;
- }
- }
-
-
- // CEqCassetteTranserStateStep
- ADD_EQ_CASSETTE_TRANSFER_STATE_STEP(STEP_EQ_P1_CASSETTE_EMPTY, 0xb8,
- STEP_ID_PORT1_CASSETTIE_EMPTY, 0x4d5f);
- ADD_EQ_CASSETTE_TRANSFER_STATE_STEP(STEP_EQ_P1_CASSETTE_LOAD_EADY, 0xc0,
- STEP_ID_PORT1_CASSETTIE_LOAD_READY, 0x4d5f);
- ADD_EQ_CASSETTE_TRANSFER_STATE_STEP(STEP_EQ_P1_CASSETTE_LOADED, 0xc8,
- STEP_ID_PORT1_CASSETTIE_LOADED, 0x4d5f);
- ADD_EQ_CASSETTE_TRANSFER_STATE_STEP(STEP_EQ_P1_CASSETTE_INUSE, 0xd0,
- STEP_ID_PORT1_CASSETTIE_INUSE, 0x4d5f);
- ADD_EQ_CASSETTE_TRANSFER_STATE_STEP(STEP_EQ_P1_CASSETTE_UNLOAD_EADY, 0xd8,
- STEP_ID_PORT1_CASSETTIE_UNLOAD_READY, 0x4d5f);
- ADD_EQ_CASSETTE_TRANSFER_STATE_STEP(STEP_EQ_P1_CASSETTE_BLOCKED, 0xe0,
- STEP_ID_PORT1_CASSETTIE_BLOCKED, 0x4d5f);
- ADD_EQ_CASSETTE_TRANSFER_STATE_STEP(STEP_EQ_P2_CASSETTE_EMPTY,
- STEP_ID_PORT2_CASSETTIE_EMPTY, 0x418, 0x4d7f);
- ADD_EQ_CASSETTE_TRANSFER_STATE_STEP(STEP_EQ_P2_CASSETTE_LOAD_EADY,
- STEP_ID_PORT2_CASSETTIE_LOAD_READY, 0x420, 0x4d7f);
- ADD_EQ_CASSETTE_TRANSFER_STATE_STEP(STEP_EQ_P2_CASSETTE_LOADED,
- STEP_ID_PORT2_CASSETTIE_LOADED, 0x428, 0x4d7f);
- ADD_EQ_CASSETTE_TRANSFER_STATE_STEP(STEP_EQ_P2_CASSETTE_INUSE,
- STEP_ID_PORT2_CASSETTIE_INUSE, 0x430, 0x4d7f);
- ADD_EQ_CASSETTE_TRANSFER_STATE_STEP(STEP_EQ_P2_CASSETTE_UNLOAD_EADY,
- STEP_ID_PORT2_CASSETTIE_UNLOAD_READY, 0x438, 0x4d7f);
- ADD_EQ_CASSETTE_TRANSFER_STATE_STEP(STEP_EQ_P2_CASSETTE_BLOCKED,
- STEP_ID_PORT2_CASSETTIE_BLOCKED, 0x440, 0x4d7f);
- ADD_EQ_CASSETTE_TRANSFER_STATE_STEP(STEP_EQ_P3_CASSETTE_EMPTY,
- STEP_ID_PORT3_CASSETTIE_EMPTY, 0x418, 0x4d9f);
- ADD_EQ_CASSETTE_TRANSFER_STATE_STEP(STEP_EQ_P3_CASSETTE_LOAD_EADY,
- STEP_ID_PORT3_CASSETTIE_LOAD_READY, 0x420, 0x4d9f);
- ADD_EQ_CASSETTE_TRANSFER_STATE_STEP(STEP_EQ_P3_CASSETTE_LOADED,
- STEP_ID_PORT3_CASSETTIE_INUSE, 0x428, 0x4d9f);
- ADD_EQ_CASSETTE_TRANSFER_STATE_STEP(STEP_EQ_P3_CASSETTE_INUSE,
- STEP_ID_PORT3_CASSETTIE_INUSE, 0x430, 0x4d9f);
- ADD_EQ_CASSETTE_TRANSFER_STATE_STEP(STEP_EQ_P3_CASSETTE_UNLOAD_EADY,
- STEP_ID_PORT3_CASSETTIE_UNLOAD_READY, 0x438, 0x4d9f);
- ADD_EQ_CASSETTE_TRANSFER_STATE_STEP(STEP_EQ_P3_CASSETTE_BLOCKED,
- STEP_ID_PORT3_CASSETTIE_BLOCKED, 0x440, 0x4d9f);
- ADD_EQ_CASSETTE_TRANSFER_STATE_STEP(STEP_EQ_P4_CASSETTE_EMPTY,
- STEP_ID_PORT4_CASSETTIE_EMPTY, 0x418, 0x4dbf);
- ADD_EQ_CASSETTE_TRANSFER_STATE_STEP(STEP_EQ_P4_CASSETTE_LOAD_EADY,
- STEP_ID_PORT4_CASSETTIE_LOAD_READY, 0x420, 0x4dbf);
- ADD_EQ_CASSETTE_TRANSFER_STATE_STEP(STEP_EQ_P4_CASSETTE_LOADED,
- STEP_ID_PORT4_CASSETTIE_LOADED, 0x428, 0x4dbf);
- ADD_EQ_CASSETTE_TRANSFER_STATE_STEP(STEP_EQ_P4_CASSETTE_INUSE,
- STEP_ID_PORT4_CASSETTIE_INUSE, 0x430, 0x4dbf);
- ADD_EQ_CASSETTE_TRANSFER_STATE_STEP(STEP_EQ_P4_CASSETTE_UNLOAD_EADY,
- STEP_ID_PORT4_CASSETTIE_UNLOAD_READY, 0x438, 0x4dbf);
- ADD_EQ_CASSETTE_TRANSFER_STATE_STEP(STEP_EQ_P4_CASSETTE_BLOCKED,
- STEP_ID_PORT4_CASSETTIE_BLOCKED, 0x440, 0x4dbf);
-
pEquipment->init();
LOGE("已添加“EFEM(ROBOT)”.");
- return 0;
+
+ return pEquipment;
+ }
+
+ CArm* CMaster::addArm()
+ {
+ CArm* pEquipment = new CArm();
+ pEquipment->setID(EQ_ID_ARM);
+ pEquipment->setBaseAlarmId(BASE_ALARM_EFEM);
+ pEquipment->setName("ARM");
+ pEquipment->setDescription("ARM.");
+ addToEquipmentList(pEquipment);
+
+
+ pEquipment->init();
+ LOGE("已添加“ARM”.");
+
+ return pEquipment;
+ }
+
+ CArmTray* CMaster::addArmTray(int index)
+ {
+ CArmTray* pEquipment = new CArmTray();
+ pEquipment->setID(index == 0 ? EQ_ID_ARM_TRAY1 : EQ_ID_ARM_TRAY2);
+ pEquipment->setBaseAlarmId(BASE_ALARM_EFEM);
+ pEquipment->setName(index == 0 ? "Arm Tray1" : "Arm Tray2");
+ pEquipment->setDescription(index == 0 ? "Arm Tray1." : "Arm Tray2.");
+ addToEquipmentList(pEquipment);
+
+
+ pEquipment->init();
+ LOGE("已添加“%s”.", pEquipment->getName().c_str());
+
+ return pEquipment;
}
/* 添加bonder1 或 bonder2
* index -- 0, bonder1
* index -- 1, bonder2
*/
- int CMaster::addBonder(int index)
+ CBonder* CMaster::addBonder(int index)
{
ASSERT(index == 0 || index == 1);
CBonder* pEquipment = new CBonder();
@@ -728,184 +900,20 @@
pEquipment->setName(index == 0 ? "Bonder 1" : "Bonder 2");
pEquipment->setDescription(index == 0 ? "Bonder 1." : "Bonder 2.");
pEquipment->setStation(0, 255);
- pEquipment->setReadBitBlock(index == 0 ? 0x4600 : 0x4c00,
- index == 0 ? 0x4c00 : 0x5200);
+ pEquipment->setReadBitBlock(index == 0 ? 0x3b00 : 0x4600,
+ index == 0 ? 0x5600 : 0x6100);
+ pEquipment->setIndex(index);
addToEquipmentList(pEquipment);
-
-
- // 添加 step
- {
- CEqModeStep* pStep = new CEqModeStep();
- pStep->setName(STEP_MODE);
- pStep->setWriteSignalDev(index == 0 ? 0x330 : 0x630);
- pStep->setModeDev(index == 0 ? 0x6a8c : 0x8a8c);
- if (pEquipment->addStep(0x360, pStep) != 0) {
- delete pStep;
- }
- }
- {
- CEqStatusStep* pStep = new CEqStatusStep();
- pStep->setName(STEP_STATUS);
- pStep->setWriteSignalDev(index == 0 ? 0x331 : 0x631);
- pStep->setStatusDev(index == 0 ? 0x6a68 : 0x8a68);
- if (pEquipment->addStep(0x361, pStep) != 0) {
- delete pStep;
- }
- }
- {
- CEqAlarmStep* pStep = new CEqAlarmStep();
- pStep->setName(STEP_ALARM_BLOCK1);
- pStep->setWriteSignalDev(index == 0 ? 0x332 : 0x632);
- pStep->setAlarmDev(index == 0 ? 0x6c1d : 0x8c1d);
- if (pEquipment->addStep(0x362, pStep) != 0) {
- delete pStep;
- }
- }
- {
- CEqAlarmStep* pStep = new CEqAlarmStep();
- pStep->setName(STEP_ALARM_BLOCK2);
- pStep->setWriteSignalDev(index == 0 ? 0x333 : 0x633);
- pStep->setAlarmDev(index == 0 ? 0x6c4a : 0x8c4a);
- if (pEquipment->addStep(0x363, pStep) != 0) {
- delete pStep;
- }
- }
- {
- CEqAlarmStep* pStep = new CEqAlarmStep();
- pStep->setName(STEP_ALARM_BLOCK3);
- pStep->setWriteSignalDev(index == 0 ? 0x334 : 0x634);
- pStep->setAlarmDev(index == 0 ? 0x6c77 : 0x8c77);
- if (pEquipment->addStep(0x364, pStep) != 0) {
- delete pStep;
- }
- }
- {
- CEqAlarmStep* pStep = new CEqAlarmStep();
- pStep->setName(STEP_ALARM_BLOCK4);
- pStep->setWriteSignalDev(index == 0 ? 0x335 : 0x635);
- pStep->setAlarmDev(index == 0 ? 0x6ca4 : 0x8ca4);
- if (pEquipment->addStep(0x365, pStep) != 0) {
- delete pStep;
- }
- }
- {
- CEqAlarmStep* pStep = new CEqAlarmStep();
- pStep->setName(STEP_ALARM_BLOCK5);
- pStep->setWriteSignalDev(index == 0 ? 0x336 : 0x636);
- pStep->setAlarmDev(index == 0 ? 0x6cd1 : 0x8cd1);
- if (pEquipment->addStep(0x366, pStep) != 0) {
- delete pStep;
- }
- }
- {
- CEqProcessStep* pStep = new CEqProcessStep();
- pStep->setName(STEP_PROCESS);
- pStep->setWriteSignalDev(index == 0 ? 0x337 : 0x637);
- pStep->setProcessDev(index == 0 ? 0x7864 : 0x9864);
- if (pEquipment->addStep(0x367, pStep) != 0) {
- delete pStep;
- }
- }
- {
- CEqCimModeChangeStep* pStep = new CEqCimModeChangeStep();
- pStep->setName(STEP_CIM_MODE_CHANGE);
- pStep->setWriteSignalDev(index == 0 ? 0x350 : 0x650);
- pStep->setCimModeDev(index == 0 ? 0x965 : 0x12b5);
- if (pEquipment->addStep(0x350, pStep) != 0) {
- delete pStep;
- }
- }
- {
- CEqCimMessageCmdStep* pStep = new CEqCimMessageCmdStep();
- pStep->setName(STEP_CIM_MESSAGE_CMD);
- pStep->setWriteSignalDev(index == 0 ? 0x351 : 0x651);
- pStep->setCimMessageDev(index == 0 ? 0x950 : 0x12a0);
- if (pEquipment->addStep(0x351, pStep) != 0) {
- delete pStep;
- }
- }
- {
- // CIM Message Confirm
- CEqReadIntStep* pStep = new CEqReadIntStep(__INT32, index == 0 ? 0x6a8f : 0x8a8f);
- pStep->setName(STEP_EQ_CIM_MESSAGE_CONFIRM);
- pStep->setWriteSignalDev(index == 0 ? 0x339 : 0x639);
- if (pEquipment->addStep(0x369, pStep) != 0) {
- delete pStep;
- }
- }
- {
- CEqCimMessageClearStep* pStep = new CEqCimMessageClearStep();
- pStep->setName(STEP_CIM_MESSAGE_CLEAR);
- pStep->setWriteSignalDev(index == 0 ? 0x352 : 0x652);
- pStep->setClearCimMessageDev(index == 0 ? 0x963 : 0x12b3);
- if (pEquipment->addStep(0x352, pStep) != 0) {
- delete pStep;
- }
- }
- {
- CEqDateTimeSetCmdStep* pStep = new CEqDateTimeSetCmdStep();
- pStep->setName(STEP_DATETIME_SET_CMD);
- pStep->setWriteSignalDev(index == 0 ? 0x353 : 0x653);
- pStep->setDateTimeDev(index == 0 ? 0x966 : 0x12b6);
- if (pEquipment->addStep(0x353, pStep) != 0) {
- delete pStep;
- }
- }
- {
- CEqModeChangeStep* pStep = new CEqModeChangeStep();
- pStep->setName(STEP_EQ_MODE_CHANGE);
- pStep->setWriteSignalDev(index == 0 ? 0x355 : 0x655);
- pStep->setEqModeDev(index == 0 ? 0x96E : 0x12be);
- if (pEquipment->addStep(0x355, pStep) != 0) {
- delete pStep;
- }
- }
- {
- CEqJobEventStep* pStep = new CEqJobEventStep();
- pStep->setName(STEP_EQ_RECEIVED_JOB_UPS1);
- pStep->setWriteSignalDev(index == 0 ? 0x300 : 0x600);
- pStep->setJobDataDev(index == 0 ? 0x6388 : 0x8388);
- if (pEquipment->addStep(0x380, pStep) != 0) {
- delete pStep;
- }
- }
- {
- CEqJobEventStep* pStep = new CEqJobEventStep();
- pStep->setName(STEP_EQ_RECEIVED_JOB_UPS2);
- pStep->setWriteSignalDev(index == 0 ? 0x301 : 0x601);
- pStep->setJobDataDev(index == 0 ? 0x64c8 : 0x84c8);
- if (pEquipment->addStep(0x381, pStep) != 0) {
- delete pStep;
- }
- }
- {
- CEqJobEventStep* pStep = new CEqJobEventStep();
- pStep->setName(STEP_EQ_SENT_OUT_JOB_UPS1);
- pStep->setWriteSignalDev(index == 0 ? 0x306 : 0x606);
- pStep->setJobDataDev(index == 0 ? 0x6000 : 0x8000);
- if (pEquipment->addStep(0x386, pStep) != 0) {
- delete pStep;
- }
- }
- {
- CEqJobEventStep* pStep = new CEqJobEventStep();
- pStep->setName(STEP_EQ_SENT_OUT_JOB_UPS2);
- pStep->setWriteSignalDev(index == 0 ? 0x307 : 0x607);
- pStep->setJobDataDev(index == 0 ? 0x6140 : 0x8140);
- if (pEquipment->addStep(0x387, pStep) != 0) {
- delete pStep;
- }
- }
pEquipment->init();
LOGE("已添加“%s”.", pEquipment->getName().c_str());
- return 0;
+ return pEquipment;
}
- int CMaster::addBakeCooling()
+ CBakeCooling* CMaster::addBakeCooling()
{
CBakeCooling* pEquipment = new CBakeCooling();
pEquipment->setID(EQ_ID_BAKE_COOLING);
@@ -916,10 +924,27 @@
pEquipment->setStation(0, 255);
addToEquipmentList(pEquipment);
-
pEquipment->init();
LOGE("已添加“Aligner”.");
- return 0;
+
+ return pEquipment;
+ }
+
+ CMeasurement* CMaster::addMeasurement()
+ {
+ CMeasurement* pEquipment = new CMeasurement();
+ pEquipment->setID(EQ_ID_MEASUREMENT);
+ pEquipment->setBaseAlarmId(BASE_ALARM_EFEM);
+ pEquipment->setName("Measurement");
+ pEquipment->setDescription("Measurement.");
+ pEquipment->setReadBitBlock(0x6700, 0x6e00);
+ pEquipment->setStation(0, 255);
+ addToEquipmentList(pEquipment);
+
+ pEquipment->init();
+ LOGE("已添加“Measurement”.");
+
+ return pEquipment;
}
void CMaster::onTimer(UINT nTimerid)
@@ -974,43 +999,42 @@
CBonder* pBonder1 = (CBonder*)getEquipment(EQ_ID_Bonder1);
CBonder* pBonder2 = (CBonder*)getEquipment(EQ_ID_Bonder2);
CBakeCooling* pBakeCooling = (CBakeCooling*)getEquipment(EQ_ID_BAKE_COOLING);
+ CMeasurement* pMeasurement = (CMeasurement*)getEquipment(EQ_ID_MEASUREMENT);
- nRet = pLoadPort1->getPin("Out1")->connectPin(pFliper->getPin("In1"));
+ nRet = pLoadPort1->getPin("Out")->connectPin(pAligner->getPin("In1"));
if (nRet < 0) {
LOGE("连接LoadPort1-Fliper失败");
}
- nRet = pLoadPort2->getPin("Out1")->connectPin(pFliper->getPin("In2"));
+ nRet = pLoadPort2->getPin("Out")->connectPin(pAligner->getPin("In2"));
if (nRet < 0) {
LOGE("连接LoadPort1-Fliper失败");
}
- nRet = pLoadPort1->getPin("Out2")->connectPin(pVacuumBake->getPin("In1"));
+ nRet = pAligner->getPin("Out1")->connectPin(pFliper->getPin("In"));
if (nRet < 0) {
- LOGE("连接LoadPort1-VacuumBake失败");
+ LOGE("连接Aligner-Fliper失败");
}
- nRet = pLoadPort2->getPin("Out2")->connectPin(pVacuumBake->getPin("In2"));
+ nRet = pAligner->getPin("Out2")->connectPin(pVacuumBake->getPin("In"));
if (nRet < 0) {
- LOGE("连接LoadPort1-VacuumBake失败");
+ LOGE("连接Aligner-VacuumBake失败");
}
- nRet = pFliper->getPin("Out")->connectPin(pAligner->getPin("In1"));
+ nRet = pFliper->getPin("Out1")->connectPin(pBonder1->getPin("In1"));
if (nRet < 0) {
- LOGE("连接Fliper-Aligner失败");
+ LOGE("连接Fliper-Bonder1失败");
+ }
+ nRet = pFliper->getPin("Out2")->connectPin(pBonder2->getPin("In1"));
+ if (nRet < 0) {
+ LOGE("连接Fliper-Bonder2失败");
}
- nRet = pVacuumBake->getPin("Out")->connectPin(pAligner->getPin("In2"));
+ nRet = pVacuumBake->getPin("Out1")->connectPin(pBonder1->getPin("In2"));
if (nRet < 0) {
- LOGE("连接VacuumBake-Aligner失败");
+ LOGE("连接VacuumBake-Bonder1失败");
}
-
- nRet = pAligner->getPin("Out1")->connectPin(pBonder1->getPin("In"));
+ nRet = pVacuumBake->getPin("Out2")->connectPin(pBonder2->getPin("In2"));
if (nRet < 0) {
- LOGE("连接Aligner-Bondere1失败");
- }
-
- nRet = pAligner->getPin("Out2")->connectPin(pBonder2->getPin("In"));
- if (nRet < 0) {
- LOGE("连接Aligner-Bondere2失败");
+ LOGE("连接VacuumBake-Bonder2失败");
}
nRet = pBonder1->getPin("Out")->connectPin(pBakeCooling->getPin("In1"));
@@ -1023,12 +1047,17 @@
LOGE("连接Bonder2-BakeCooling失败");
}
- nRet = pBakeCooling->getPin("Out1")->connectPin(pLoadPort3->getPin("In"));
+ nRet = pBakeCooling->getPin("Out")->connectPin(pMeasurement->getPin("In"));
if (nRet < 0) {
LOGE("连接BakeCooling-LoadPort3失败");
}
- nRet = pBakeCooling->getPin("Out2")->connectPin(pLoadPort4->getPin("In"));
+ nRet = pMeasurement->getPin("Out1")->connectPin(pLoadPort3->getPin("In"));
+ if (nRet < 0) {
+ LOGE("连接BakeCooling-LoadPort3失败");
+ }
+
+ nRet = pMeasurement->getPin("Out2")->connectPin(pLoadPort4->getPin("In"));
if (nRet < 0) {
LOGE("连接BakeCooling-LoadPort4失败");
}
@@ -1080,15 +1109,23 @@
int CMaster::readCache()
{
- CFile file;
- if (!file.Open(m_strFilepath.c_str(), CFile::modeRead)) {
- return -1;
- }
+ try {
+ CFile file;
+ if (!file.Open(m_strFilepath.c_str(), CFile::modeRead)) {
+ return -1;
+ }
- CArchive ar(&file, CArchive::load);
- serialize(ar);
- ar.Close();
- file.Close();
+ CArchive ar(&file, CArchive::load);
+ serialize(ar);
+ ar.Close();
+ file.Close();
+ }
+ catch (CFileException* e) {
+ TCHAR szErr[512];
+ e->GetErrorMessage(szErr, 512);
+ AfxMessageBox(szErr);
+ e->Delete();
+ }
return 0;
}
@@ -1099,4 +1136,128 @@
item->serialize(ar);
}
}
+
+ void CMaster::setState(MASTERSTATE state)
+ {
+ m_state = state;
+ if (m_listener.onMasterStateChanged != nullptr) {
+ m_listener.onMasterStateChanged(this, m_state);
+ }
+ }
+
+ static int taskSeqNo = 0;
+ CRobotTask* CMaster::createTransferTask(CEquipment* pSrcEq, CEquipment* pTarEq,
+ MaterialsType primaryType/* = MaterialsType::G1*/, MaterialsType secondaryType/* = MaterialsType::G2*/,
+ int armNo/* = 1*/)
+ {
+ CRobotTask* pTask = nullptr;
+ CSlot* pSrcSlot, * pTarSlot;
+ pTarSlot = pTarEq->getAvailableSlotForGlass(primaryType);
+ pSrcSlot = pSrcEq->getProcessedSlot(primaryType);
+ if (pSrcSlot == nullptr || nullptr == pTarSlot) {
+ pTarSlot = pTarEq->getAvailableSlotForGlass(secondaryType);
+ pSrcSlot = pSrcEq->getProcessedSlot(secondaryType);
+ }
+
+
+ if (pSrcSlot != nullptr && nullptr != pTarSlot) {
+ pTask = new CRobotTask();
+ pTask->setContext(pSrcSlot->getContext());
+ pTask->setEFEM((CEFEM*)getEquipment(EQ_ID_EFEM));
+ pTask->setRobotTransferParam(++taskSeqNo, armNo, pSrcSlot->getPosition(),
+ pTarSlot->getPosition(), pSrcSlot->getNo(), pTarSlot->getNo());
+ }
+
+
+ return pTask;
+ }
+
+ CRobotTask* CMaster::createTransferTask_bonder_to_bakecooling(CEquipment* pSrcEq, CEquipment* pTarEq)
+ {
+ std::vector<int> slots = {1, 2};
+
+ CRobotTask* pTask = nullptr;
+ CSlot* pSrcSlot, * pTarSlot;
+ pTarSlot = pTarEq->getAvailableSlotForGlass2(MaterialsType::G1, slots);
+ pSrcSlot = pSrcEq->getProcessedSlot(MaterialsType::G1);
+
+ 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());
+ }
+
+
+ return pTask;
+ }
+
+ CRobotTask* CMaster::createTransferTask_bake_to_cooling(CEquipment* pSrcEq)
+ {
+ std::vector<int> slotsTar = { 3, 4 };
+ std::vector<int> slotsSrc = { 1, 2 };
+
+ CRobotTask* pTask = nullptr;
+ CSlot* pSrcSlot, * pTarSlot;
+ pTarSlot = pSrcEq->getAvailableSlotForGlass2(MaterialsType::G1, slotsTar);
+ pSrcSlot = pSrcEq->getProcessedSlot2(MaterialsType::G1, slotsSrc);
+
+ 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());
+ }
+
+
+ return pTask;
+ }
+
+ CRobotTask* CMaster::createTransferTask_bakecooling_to_measurement(CEquipment* pSrcEq, CEquipment* pTarEq)
+ {
+ std::vector<int> slots = { 3, 4 };
+
+ CRobotTask* pTask = nullptr;
+ CSlot* pSrcSlot, * pTarSlot;
+ pTarSlot = pTarEq->getAvailableSlotForGlass(MaterialsType::G1);
+ pSrcSlot = pSrcEq->getProcessedSlot2(MaterialsType::G1, slots);
+
+ 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());
+ }
+
+
+ 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;
+ }
}
--
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