From 55dea22443cf5be586cab68a0cff1d8fb7de9a9e Mon Sep 17 00:00:00 2001
From: LAPTOP-SNT8I5JK\Boounion <Chenluhua@qq.com>
Date: 星期五, 05 九月 2025 09:20:43 +0800
Subject: [PATCH] 1.修复加工好的玻璃放回原处仍被取走的问题。
---
SourceCode/Bond/Servo/CMaster.cpp | 334 ++++++++++++++++++++++++++++++++++++++++++++++---------
1 files changed, 278 insertions(+), 56 deletions(-)
diff --git a/SourceCode/Bond/Servo/CMaster.cpp b/SourceCode/Bond/Servo/CMaster.cpp
index e6ed125..405eca3 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);
}
@@ -505,13 +506,11 @@
}
// 检查看是否都已经切换到START状态
- /*
if (!bIomcOk[6]) {
unlock();
setState(MASTERSTATE::MSERROR);
continue;
}
- */
unlock();
if(m_bContinuousTransfer)
@@ -596,37 +595,62 @@
}
- // 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;
- }
+ // Bonder1、Bonder2、Fliper、VacuumBake、Aligner，统计G2和G1的数量, 配对组数, 多出的类型
+ int nG2Count = 0, nG1Count = 0, nGlassGroup, nExtraType;
+ if (pBonder1->slotHasGlass(0)) {
+ nG2Count++;
}
- else if ((pBonder1->canPlaceGlassInSlot(0) && !pBonder1->canPlaceGlassInSlot(1))
- || (pBonder2->canPlaceGlassInSlot(0) && !pBonder2->canPlaceGlassInSlot(1))) {
- primaryType = MaterialsType::G2;
- secondaryType = MaterialsType::G1;
+ if (pBonder1->slotHasGlass(1)) {
+ nG1Count++;
}
+
+ if (pBonder2->slotHasGlass(0)) {
+ nG2Count++;
+ }
+ if (pBonder2->slotHasGlass(1)) {
+ nG1Count++;
+ }
+
+ if (pFliper->slotHasGlass(0)) {
+ nG2Count++;
+ }
+
+ if (pVacuumBake->slotHasGlass(0)) {
+ nG1Count++;
+ }
+ if (pVacuumBake->slotHasGlass(1)) {
+ nG1Count++;
+ }
+
+ CGlass* pTempGlass = pAligner->getGlassFromSlot(0);
+ if (pTempGlass != nullptr) {
+ MaterialsType type = pTempGlass->getType();
+ if(type == MaterialsType::G1)
+ nG1Count++;
+ else if (type == MaterialsType::G2)
+ nG2Count++;
+ }
+ nGlassGroup = min(nG1Count, nG2Count);
+
+ if (nG1Count == nG2Count) {
+ nExtraType = 0;
+ }
+ else if (nG1Count > nG2Count) {
+ nExtraType = 1;
+ }
+ else {
+ nExtraType = 2;
+ }
+ secondaryType = MaterialsType::G0;
// Measurement -> LoadPort
- if (rmd.armState[0] || rmd.armState[1]) {
- LOGI("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++) {
PortType pt = pLoadPorts[s]->getPortType();
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);
+ m_pActiveRobotTask = createTransferTask(pMeasurement, pLoadPorts[s], MaterialsType::G1, secondaryType);
if (m_pActiveRobotTask != nullptr) {
goto PORT_PUT;
}
@@ -673,25 +697,30 @@
// Fliper(G2) -> Bonder
- auto pSrcSlot = pVacuumBake->getProcessedSlot(primaryType);
- if (pSrcSlot != nullptr && !rmd.armState[1] && !pBonder1->hasBondClass()) {
- m_pActiveRobotTask = createTransferTask(pFliper, pBonder1, primaryType, secondaryType, 2);
+ //m_nTestFlag = 1;
+ //pVacuumBake->m_nTestFlag = 1;
+ auto pSrcSlot = pVacuumBake->getProcessedSlot(MaterialsType::G1);
+ //LOGI("<Master>pSrcSlot = %x", pSrcSlot,);
+ if (pSrcSlot != nullptr && !rmd.armState[1]
+ && pBonder1->canPlaceGlassInSlot(0)) {
+ 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)) {
+ m_pActiveRobotTask = createTransferTask(pFliper, pBonder2, MaterialsType::G2, MaterialsType::G0, 2);
CHECK_RUN_ACTIVE_ROBOT_TASK(m_pActiveRobotTask);
}
-
-
+ //m_nTestFlag = 0
+ ;
// VacuumBake(G1) -> Bonder
- if (!rmd.armState[0] && !pBonder1->hasBondClass()) {
- m_pActiveRobotTask = createTransferTask(pVacuumBake, pBonder1, primaryType, secondaryType);
+ 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 (!rmd.armState[0] && !pBonder2->hasBondClass()) {
- m_pActiveRobotTask = createTransferTask(pVacuumBake, pBonder2, primaryType, secondaryType);
+ 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);
}
@@ -699,13 +728,16 @@
// Aligner -> Fliper(G2)
// Aligner -> VacuumBake(G1)
if (!rmd.armState[1]) {
- m_pActiveRobotTask = createTransferTask(pAligner, pFliper, primaryType, secondaryType);
+ m_pActiveRobotTask = createTransferTask(pAligner, pFliper, MaterialsType::G2, secondaryType);
CHECK_RUN_ACTIVE_ROBOT_TASK(m_pActiveRobotTask);
}
if (!rmd.armState[0]) {
- m_pActiveRobotTask = createTransferTask(pAligner, pVacuumBake, primaryType, secondaryType);
+ // m_nTestFlag = 1;
+ if (m_nTestFlag == 1) LOGI("createTransferTask 004df %d, %d", MaterialsType::G1, secondaryType);
+ m_pActiveRobotTask = createTransferTask(pAligner, pVacuumBake, MaterialsType::G1, secondaryType);
CHECK_RUN_ACTIVE_ROBOT_TASK(m_pActiveRobotTask);
+ m_nTestFlag = 0;
}
@@ -717,6 +749,17 @@
// LoadPort -> Aligner
+ if (nGlassGroup >= 2) {
+ unlock();
+ continue;
+ }
+
+ if(nExtraType == 0)
+ primaryType = MaterialsType::G2;
+ else {
+ primaryType = MaterialsType::G1;
+ }
+
for (int s = 0; s < 4; s++) {
PortType pt = pLoadPorts[s]->getPortType();
if (!rmd.armState[0] && pLoadPorts[s]->isEnable()
@@ -724,6 +767,13 @@
&& pLoadPorts[s]->getPortStatus() == PORT_INUSE) {
m_pActiveRobotTask = createTransferTask(pLoadPorts[s], pAligner, primaryType, secondaryType, 1, m_bJobMode);
if (m_pActiveRobotTask != nullptr) {
+ CGlass* pGlass = (CGlass*)m_pActiveRobotTask->getContext();
+ if (pGlass->getBuddy() != nullptr) {
+ delete m_pActiveRobotTask;
+ m_pActiveRobotTask = nullptr;
+ continue;
+ }
+
pEFEM->setContext(m_pActiveRobotTask->getContext());
goto PORT_GET;
}
@@ -761,6 +811,10 @@
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_pControlJob->state() == CJState::Paused) {
LOGI("<Master>ControlJob已经恢复运行");
@@ -889,23 +943,23 @@
// Fliper(G2) -> Bonder
auto pSrcSlot = pVacuumBake->getProcessedSlot(primaryType);
- if (pSrcSlot != nullptr && !rmd.armState[1] && !pBonder1->hasBondClass()) {
+ if (pSrcSlot != nullptr && !rmd.armState[1] && !pBonder1->hasBondGlass()) {
m_pActiveRobotTask = createTransferTask(pFliper, pBonder1, primaryType, secondaryType, 2);
CHECK_RUN_ACTIVE_ROBOT_TASK(m_pActiveRobotTask);
}
- if (pSrcSlot != nullptr && !rmd.armState[1] && !pBonder2->hasBondClass()) {
+ if (pSrcSlot != nullptr && !rmd.armState[1] && !pBonder2->hasBondGlass()) {
m_pActiveRobotTask = createTransferTask(pFliper, pBonder2, primaryType, secondaryType, 2);
CHECK_RUN_ACTIVE_ROBOT_TASK(m_pActiveRobotTask);
}
// VacuumBake(G1) -> Bonder
- if (!rmd.armState[0] && !pBonder1->hasBondClass()) {
+ 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->hasBondClass()) {
+ if (!rmd.armState[0] && !pBonder2->hasBondGlass()) {
m_pActiveRobotTask = createTransferTask(pVacuumBake, pBonder2, primaryType, secondaryType);
CHECK_RUN_ACTIVE_ROBOT_TASK(m_pActiveRobotTask);
}
@@ -939,15 +993,28 @@
&& pLoadPorts[s]->getPortStatus() == PORT_INUSE) {
m_pActiveRobotTask = createTransferTask(pLoadPorts[s], pAligner, primaryType, secondaryType, m_bJobMode);
if (m_pActiveRobotTask != nullptr) {
- pEFEM->setContext(m_pActiveRobotTask->getContext());
- bool bMoved = glassFromQueueToInPorcess((CGlass*)m_pActiveRobotTask->getContext());
+ CGlass* pGlass = (CGlass*)m_pActiveRobotTask->getContext();
+ if (pGlass->getBuddy() != nullptr) {
+ delete m_pActiveRobotTask;
+ m_pActiveRobotTask = nullptr;
+ continue;
+ }
+
+ pEFEM->setContext(pGlass);
+ pGlass->start();
+ bool bMoved = glassFromQueueToInPorcess(pGlass);
if (bMoved) {
LOGI("<Master>Glass(%s)从等待列队到工艺列队转移成功.",
- ((CGlass*)m_pActiveRobotTask->getContext())->getID().c_str());
+ pGlass->getID().c_str());
}
else {
LOGE("<Master>Glass(%s)从等待列队到工艺列队转移失败.",
- ((CGlass*)m_pActiveRobotTask->getContext())->getID().c_str());
+ pGlass->getID().c_str());
+ }
+
+ // 这里上报Panel Start事件
+ if (m_listener.onPanelStart != nullptr) {
+ m_listener.onPanelStart(this, pGlass);
}
goto BATCH_PORT_GET;
@@ -1088,7 +1155,7 @@
// Bonder1 -> Bonder2
if ((m_nContinuousTransferStep == CTStep_Unknow || m_nContinuousTransferStep == CTStep_Fliper_Bonder1)
- && !rmd.armState[0] && !pBonder2->hasBondClass()) {
+ && !rmd.armState[0] && !pBonder2->hasBondGlass()) {
m_pActiveRobotTask = createTransferTask_continuous_transfer(pBonder1,
1, pBonder2, 1);
if (m_pActiveRobotTask != nullptr) {
@@ -1100,7 +1167,7 @@
// Fliper(G2) -> Bonder1
if ((m_nContinuousTransferStep == CTStep_Unknow || m_nContinuousTransferStep == CTStep_Aligner_Fliper)
- &&!rmd.armState[0] && !pBonder1->hasBondClass()) {
+ &&!rmd.armState[0] && !pBonder1->hasBondGlass()) {
m_pActiveRobotTask = createTransferTask_continuous_transfer(pFliper,
0, pBonder1, 1);
if (m_pActiveRobotTask != nullptr) {
@@ -1258,6 +1325,15 @@
bOk = TRUE;
LOGI("<CMaster>onPreFethedOutJob, 已校验数据一致性.");
}
+ LOGI("<CMaster>onPreFethedOutJob 0004.");
+ if (pJobDataS != nullptr) {
+ LOGI("<CMaster>onPreFethedOutJob 0005. %d,%d,%d,%d",
+ pJobDataS->getCassetteSequenceNo(),
+ pJobDataB->getCassetteSequenceNo(),
+ pJobDataS->getJobSequenceNo(),
+ pJobDataB->getJobSequenceNo()
+ );
+ }
}
}
else if (p->getID() == EQ_ID_ARM_TRAY1 || p->getID() == EQ_ID_ARM_TRAY2) {
@@ -1299,7 +1375,7 @@
if (pGlass == nullptr) {
bOk = TRUE;
slot = m_pActiveRobotTask->getTarSlot();
- LOGI("<CMaster>onPreFethedOutJob, 已校验数据一致性.");
+ LOGI("<CMaster>onPreStoredJob, 已校验数据一致性.");
}
}
@@ -1310,7 +1386,7 @@
if (pGlass == nullptr && m_pActiveRobotTask->getSrcSlot() == port) {
bOk = TRUE;
slot = m_pActiveRobotTask->getSrcSlot();
- LOGI("<CMaster>onPreFethedOutJob, 已校验数据一致性.");
+ LOGI("<CMaster>onPreStoredJob, 已校验数据一致性.");
}
}
}
@@ -1371,16 +1447,45 @@
// 如果是搬送回从AOI搬送回Port, 则glass工艺完成
if (m_pActiveRobotTask->getSrcPosition() == EQ_ID_MEASUREMENT) {
- bool bMoved = glassFromInPorcessToComplete((CGlass*)m_pActiveRobotTask->getContext());
+ CGlass* pGlass = (CGlass*)m_pActiveRobotTask->getContext();
+ pGlass->complete();
+ this->saveState();
+ bool bMoved = glassFromInPorcessToComplete(pGlass);
if (bMoved) {
LOGI("<Master>Glass(%s)从工艺列队到完成列队转移成功.",
- ((CGlass*)m_pActiveRobotTask->getContext())->getID().c_str());
+ pGlass->getID().c_str());
}
else {
LOGE("<Master>Glass(%s)从工艺列队到完成列队转移失败.",
- ((CGlass*)m_pActiveRobotTask->getContext())->getID().c_str());
+ pGlass->getID().c_str());
+ }
+ if (m_listener.onPanelEnd != nullptr) {
+ m_listener.onPanelEnd(this, pGlass);
+ }
+
+ // 检查PJ是否已经完成
+ CProcessJob* pJob = getGlassProcessJob((CGlass*)m_pActiveRobotTask->getContext());
+ if (pJob != nullptr && checkAndUpdatePjComplete(pJob)) {
+ this->saveState();
+ LOGE("<Master>ProcessJob(%s)完成.",
+ pJob->id().c_str());
+ if (m_listener.onPjEnd != nullptr) {
+ m_listener.onPjEnd(this, pJob);
+ }
+
+ // 检查CJ是否已经完成
+ ASSERT(m_pControlJob);
+ if (checkAndUpdateCjComplete(m_pControlJob)) {
+ this->saveState();
+ LOGE("<Master>ControlJob(%s)完成.",
+ m_pControlJob->id().c_str());
+ if (m_listener.onCjEnd != nullptr) {
+ m_listener.onCjEnd(this, pJob);
+ }
+ }
}
}
+
unlock();
@@ -1684,6 +1789,61 @@
}
}
+
+
+ // 模拟测试
+ static int aaa = 0;
+ aaa++;
+ if (aaa % 30 == 0) {
+ if (!m_queueGlasses.empty()) {
+ CGlass* pGlass = m_queueGlasses.front();
+ pGlass->start();
+ glassFromQueueToInPorcess(pGlass);
+ this->saveState();
+
+ // 这里上报Panel Start事件
+ if (m_listener.onPanelStart != nullptr) {
+ m_listener.onPanelStart(this, pGlass);
+ }
+ }
+ }
+
+ if (aaa % 45 == 0) {
+ if (!m_inProcesGlasses.empty()) {
+ CGlass* pGlass = m_inProcesGlasses.front();
+ pGlass->complete();
+ glassFromInPorcessToComplete(pGlass);
+ this->saveState();
+
+ // 这里上报Panel End事件
+ if (m_listener.onPanelEnd != nullptr) {
+ m_listener.onPanelEnd(this, pGlass);
+ }
+
+ CProcessJob* pJob = getGlassProcessJob(pGlass);
+ if (pJob != nullptr && checkAndUpdatePjComplete(pJob)) {
+ processJobFromInPorcessToComplete(pJob);
+ this->saveState();
+ LOGE("<Master>ProcessJob(%s)完成.",
+ pJob->id().c_str());
+ if (m_listener.onPjEnd != nullptr) {
+ m_listener.onPjEnd(this, pJob);
+ }
+
+ // 检查CJ是否已经完成
+ ASSERT(m_pControlJob);
+ if (checkAndUpdateCjComplete(m_pControlJob)) {
+ this->saveState();
+ LOGE("<Master>ControlJob(%s)完成.",
+ m_pControlJob->id().c_str());
+ if (m_listener.onCjEnd != nullptr) {
+ m_listener.onCjEnd(this, pJob);
+ }
+ }
+ }
+ }
+ }
+
}
void CMaster::connectEquipments()
@@ -1853,16 +2013,17 @@
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();
@@ -2345,7 +2506,9 @@
m_pControlJob = new CControlJob();
if (!CControlJob::deserialize(ifs, *m_pControlJob)) return false;
}
-
+ else {
+ return false;
+ }
// 读取 ProcessJob 列表
uint32_t count = 0;
@@ -2382,8 +2545,8 @@
for (const auto pj : pjs) {
if (pj->state() == PJState::Queued) {
pj->start();
+ return pj;
}
- return pj;
}
@@ -2456,4 +2619,63 @@
}
return false;
}
+
+ bool CMaster::processJobFromInPorcessToComplete(CProcessJob* pProcessJob)
+ {
+ auto it = std::find(m_inProcesJobs.begin(), m_inProcesJobs.end(), pProcessJob);
+ if (it != m_inProcesJobs.end()) {
+ m_completeProcessJobs.push_back(*it);
+ m_inProcesJobs.erase(it);
+ return true;
+ }
+ return false;
+ }
+
+ bool CMaster::checkAndUpdatePjComplete(CProcessJob* pJob)
+ {
+ ASSERT(pJob);
+ auto state = pJob->state();
+ if (state != PJState::InProcess && state != PJState::Paused) return false;
+
+ for (auto c : pJob->carriers()) {
+ for (auto g : c.contexts) {
+ auto state = ((CGlass*)g)->state();
+ if (state != GlsState::Aborted && state != GlsState::Completed
+ && state != GlsState::Failed) return false;
+ }
+ }
+
+ return pJob->complete();
+ }
+
+ bool CMaster::checkAndUpdateCjComplete(CControlJob* pJob)
+ {
+ ASSERT(pJob);
+ auto state = pJob->state();
+ if (state != CJState::Executing && state != CJState::Paused) return false;
+
+ for (auto pj : pJob->getPjs()) {
+ auto state = pj->state();
+ if (state != PJState::Aborted && state != PJState::Completed
+ && state != PJState::Failed) {
+ return false;
+ }
+ }
+
+ return pJob->complete();
+ }
+
+ CProcessJob* CMaster::getGlassProcessJob(CGlass* pGlass)
+ {
+ if (m_pControlJob == nullptr) return nullptr;
+ for (auto pj : m_pControlJob->getPjs()) {
+ for (auto c : pj->carriers()) {
+ for (auto g : c.contexts) {
+ if (g == pGlass) return pj;
+ }
+ }
+ }
+
+ return nullptr;
+ }
}
--
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