From 58edd8b23ce7d804c1e88eecde6fb42830034946 Mon Sep 17 00:00:00 2001
From: LAPTOP-SNT8I5JK\Boounion <Chenluhua@qq.com>
Date: 星期五, 01 八月 2025 16:35:15 +0800
Subject: [PATCH] 1.千传模式，待测；
---
SourceCode/Bond/x64/Debug/Res/RunCt_Gray_32.ico | 0
SourceCode/Bond/Servo/resource.h | 0
SourceCode/Bond/Servo/TopToolbar.h | 1
SourceCode/Bond/Servo/CEquipment.cpp | 31 ++++++
SourceCode/Bond/Servo/Servo.rc | 0
SourceCode/Bond/Servo/TopToolbar.cpp | 8 +
SourceCode/Bond/Servo/CMaster.cpp | 174 ++++++++++++++++++++++++++++++++++
SourceCode/Bond/Servo/CMaster.h | 5 +
SourceCode/Bond/Servo/CEquipment.h | 2
SourceCode/Bond/Servo/ServoDlg.cpp | 20 +++
SourceCode/Bond/x64/Debug/Res/RunCt_High_32.ico | 0
Document/Panel Bonder八零联合 SecsTest CheckList_v3.0.xlsx | 0
12 files changed, 238 insertions(+), 3 deletions(-)
diff --git "a/Document/Panel Bonder\345\205\253\351\233\266\350\201\224\345\220\210 SecsTest CheckList_v3.0.xlsx" "b/Document/Panel Bonder\345\205\253\351\233\266\350\201\224\345\220\210 SecsTest CheckList_v3.0.xlsx"
index 6b16c1a..48e2a37 100644
--- "a/Document/Panel Bonder\345\205\253\351\233\266\350\201\224\345\220\210 SecsTest CheckList_v3.0.xlsx"
+++ "b/Document/Panel Bonder\345\205\253\351\233\266\350\201\224\345\220\210 SecsTest CheckList_v3.0.xlsx"
Binary files differ
diff --git a/SourceCode/Bond/Servo/CEquipment.cpp b/SourceCode/Bond/Servo/CEquipment.cpp
index 0d99db6..322923d 100644
--- a/SourceCode/Bond/Servo/CEquipment.cpp
+++ b/SourceCode/Bond/Servo/CEquipment.cpp
@@ -1292,6 +1292,21 @@
return nullptr;
}
+ CSlot* CEquipment::isSlotAvailable(unsigned int slot)
+ {
+ if (slot >= 8) return nullptr;
+ if (!m_slot[slot].isEnable()) return nullptr;
+ if (m_slot[slot].isLock()) return nullptr;
+ if (!m_slot[slot].isEmpty()) return nullptr;
+ int lsPath = m_slot[slot].getLinkSignalPath();
+ if (!m_bLinkSignalToDownstream[lsPath][SIGNAL_UPSTREAM_INLINE]
+ || m_bLinkSignalToDownstream[lsPath][SIGNAL_UPSTREAM_TROUBLE]
+ || !m_bLinkSignalToDownstream[lsPath][SIGNAL_INTERLOCK]
+ || !m_bLinkSignalToDownstream[lsPath][SIGNAL_RECEIVE_ABLE]) return nullptr;
+
+ return &m_slot[slot];
+ }
+
CSlot* CEquipment::getNonEmptySlot(MaterialsType putSlotType)
{
for (int i = 0; i < SLOT_MAX; i++) {
@@ -1364,6 +1379,22 @@
return nullptr;
}
+ CSlot* CEquipment::getProcessedSlotCt(unsigned int slot)
+ {
+ if (slot >= 8) return nullptr;
+ if (!m_slot[slot].isEnable()) return nullptr;
+ if (m_slot[slot].isLock()) return nullptr;
+ CGlass* pGlass = (CGlass*)m_slot[slot].getContext();
+ if (pGlass == nullptr) return nullptr;
+ int lsPath = m_slot[slot].getLinkSignalPath();
+ if (!m_bLinkSignalToUpstream[lsPath][SIGNAL_UPSTREAM_INLINE]
+ || m_bLinkSignalToUpstream[lsPath][SIGNAL_UPSTREAM_TROUBLE]
+ || !m_bLinkSignalToUpstream[lsPath][SIGNAL_INTERLOCK]
+ || !m_bLinkSignalToUpstream[lsPath][SIGNAL_SEND_ABLE]) return nullptr;
+
+ return &m_slot[slot];
+ }
+
CSlot* CEquipment::getInspFailSlot()
{
for (int i = 0; i < SLOT_MAX; i++) {
diff --git a/SourceCode/Bond/Servo/CEquipment.h b/SourceCode/Bond/Servo/CEquipment.h
index 28bf252..ce75a56 100644
--- a/SourceCode/Bond/Servo/CEquipment.h
+++ b/SourceCode/Bond/Servo/CEquipment.h
@@ -176,6 +176,7 @@
// 获取一个指定物料类型(G1,G2,G1&G2)的空槽位
CSlot* getAvailableSlotForGlass(MaterialsType type);
CSlot* getAvailableSlotForGlassExcludeSignal(MaterialsType type);
+ CSlot* isSlotAvailable(unsigned int slot);
// 在指定的槽列表中，获取一个指定物料类型(G1,G2,G1&G2)的空槽位
CSlot* getAvailableSlotForGlass2(MaterialsType type, const std::vector<int>& candidates);
@@ -187,6 +188,7 @@
CSlot* getProcessedSlot(MaterialsType putSlotType);
CSlot* getProcessedSlot2(MaterialsType putSlotType, const std::vector<int>& candidates);
CSlot* getInspFailSlot();
+ CSlot* getProcessedSlotCt(unsigned int slot);
// 获取玻璃物料
CGlass* getGlassFromSlot(int slotNo);
diff --git a/SourceCode/Bond/Servo/CMaster.cpp b/SourceCode/Bond/Servo/CMaster.cpp
index 6bcda0c..6714999 100644
--- a/SourceCode/Bond/Servo/CMaster.cpp
+++ b/SourceCode/Bond/Servo/CMaster.cpp
@@ -54,6 +54,7 @@
m_isCompareMapsBeforeProceeding = FALSE;
m_bEnableEventReport = true;
m_bEnableAlarmReport = true;
+ m_bContinuousTransfer = false;
InitializeCriticalSection(&m_criticalSection);
}
@@ -251,6 +252,20 @@
return -1;
}
+ m_bContinuousTransfer = false;
+ setState(MASTERSTATE::STARTING);
+ m_ullStartTime = GetTickCount64();
+
+ return 0;
+ }
+
+ int CMaster::startContinuousTransfer()
+ {
+ if (m_state != MASTERSTATE::READY) {
+ return -1;
+ }
+
+ m_bContinuousTransfer = true;
setState(MASTERSTATE::STARTING);
m_ullStartTime = GetTickCount64();
@@ -260,7 +275,7 @@
int CMaster::stop()
{
// 运行时间为累加结果，本次停止时刷新；
- if (m_state != MASTERSTATE::RUNNING) {
+ if (m_state != MASTERSTATE::RUNNING && m_state != MASTERSTATE::RUNNING_CONTINUOUS_TRANSFER) {
return -1;
}
@@ -447,7 +462,11 @@
unlock();
- setState(MASTERSTATE::RUNNING);
+ if(!m_bContinuousTransfer)
+ setState(MASTERSTATE::RUNNING);
+ else
+ setState(MASTERSTATE::RUNNING_CONTINUOUS_TRANSFER);
+
continue;
}
@@ -664,6 +683,132 @@
unlock();
continue;
}
+
+ // 千传模式调度逻辑
+ else if (m_state == MASTERSTATE::RUNNING_CONTINUOUS_TRANSFER) {
+ // 检测判断robot状态
+ RMDATA& rmd = pEFEM->getRobotMonitoringData();
+ if (rmd.status != ROBOT_STATUS::Idle && rmd.status != ROBOT_STATUS::Run) {
+ unlock();
+ continue;
+ }
+
+ 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...");
+ continue;
+ }
+
+ // Measurement -> LoadPort
+ 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) {
+ for (int slot = 0; slot < SLOT_MAX; slot++) {
+ m_pActiveRobotTask = createTransferTask_continuous_transfer(pMeasurement,
+ 0, pLoadPorts[s], slot);
+ if (m_pActiveRobotTask != nullptr) {
+ goto CT_PORT_PUT;
+ }
+ }
+ }
+ }
+
+ CT_PORT_PUT:
+ CHECK_RUN_ACTIVE_ROBOT_TASK(m_pActiveRobotTask);
+
+
+ // BakeCooling ->Measurement
+ if (!rmd.armState[0]) {
+ m_pActiveRobotTask = createTransferTask_continuous_transfer(pBakeCooling,
+ 3, pMeasurement, 0);
+ CHECK_RUN_ACTIVE_ROBOT_TASK(m_pActiveRobotTask);
+ }
+
+
+ // BakeCooling内部
+ if (!rmd.armState[0]) {
+ m_pActiveRobotTask = createTransferTask_continuous_transfer(pBakeCooling,
+ 2, pBakeCooling, 3);
+ CHECK_RUN_ACTIVE_ROBOT_TASK(m_pActiveRobotTask);
+ }
+ if (!rmd.armState[0]) {
+ m_pActiveRobotTask = createTransferTask_continuous_transfer(pBakeCooling,
+ 1, pBakeCooling, 2);
+ CHECK_RUN_ACTIVE_ROBOT_TASK(m_pActiveRobotTask);
+ }
+ if (!rmd.armState[0]) {
+ m_pActiveRobotTask = createTransferTask_continuous_transfer(pBakeCooling,
+ 0, pBakeCooling, 1);
+ CHECK_RUN_ACTIVE_ROBOT_TASK(m_pActiveRobotTask);
+ }
+
+ // Bonder2 -> BakeCooling
+ if (!rmd.armState[0]) {
+ m_pActiveRobotTask = createTransferTask_continuous_transfer(pBonder2,
+ 0, pBakeCooling, 0);
+ CHECK_RUN_ACTIVE_ROBOT_TASK(m_pActiveRobotTask);
+ }
+
+ // Bonder1 -> Bonder2
+ if (!rmd.armState[0] && !pBonder2->hasBondClass()) {
+ m_pActiveRobotTask = createTransferTask_continuous_transfer(pBonder1,
+ 0, pBonder2, 0);
+ CHECK_RUN_ACTIVE_ROBOT_TASK(m_pActiveRobotTask);
+ }
+
+ // VacuumBake(G1) -> Bonder1
+ if (!rmd.armState[0] && !pBonder1->hasBondClass()) {
+ m_pActiveRobotTask = createTransferTask_continuous_transfer(pVacuumBake,
+ 0, pBonder1, 0);
+ CHECK_RUN_ACTIVE_ROBOT_TASK(m_pActiveRobotTask);
+ }
+
+ // Fliper(G2) -> VacuumBake(G1)
+ if (!rmd.armState[0]) {
+ m_pActiveRobotTask = createTransferTask_continuous_transfer(pFliper,
+ 0, pVacuumBake, 0);
+ CHECK_RUN_ACTIVE_ROBOT_TASK(m_pActiveRobotTask);
+ }
+
+ // Aligner -> Fliper(G2)
+ if (!rmd.armState[1]) {
+ m_pActiveRobotTask = createTransferTask_continuous_transfer(pAligner,
+ 0, pFliper, 0);
+ CHECK_RUN_ACTIVE_ROBOT_TASK(m_pActiveRobotTask);
+ }
+
+ // 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) {
+ for (int slot = 0; slot < SLOT_MAX; slot++) {
+ m_pActiveRobotTask = createTransferTask_continuous_transfer(pLoadPorts[s],
+ slot, pAligner, 0);
+ if (m_pActiveRobotTask != nullptr) {
+ pEFEM->setContext(m_pActiveRobotTask->getContext());
+ goto CT_PORT_GET;
+ }
+ }
+ }
+ }
+
+ CT_PORT_GET:
+ CHECK_RUN_ACTIVE_ROBOT_TASK(m_pActiveRobotTask);
+
+
+ unlock();
+ continue;
+ }
+
+
unlock();
}
@@ -1426,6 +1571,31 @@
return pTask;
}
+ CRobotTask* CMaster::createTransferTask_continuous_transfer(CEquipment* pSrcEq, int nSrcSlot,
+ CEquipment* pTarEq, int nTarSlot, int armNo/* = 1*/)
+ {
+ if (!pSrcEq->IsEnabled()) {
+ return nullptr;
+ }
+ if (!pTarEq->IsEnabled()) {
+ return nullptr;
+ }
+
+ CRobotTask* pTask = nullptr;
+ CSlot* pTarSlot = pTarEq->isSlotAvailable(nTarSlot);
+ CSlot* pSrcSlot = pSrcEq->getProcessedSlotCt(nSrcSlot);
+ if (pSrcSlot != nullptr && nullptr != pTarSlot) {
+ pTask = new CRobotTask();
+ pTask->setContext(pSrcSlot->getContext());
+ pTask->setEFEM((CEFEM*)getEquipment(EQ_ID_EFEM));
+ taskSeqNo = pTask->setRobotTransferParam(taskSeqNo, armNo, pSrcSlot->getPosition(),
+ pTarSlot->getPosition(), pSrcSlot->getNo(), pTarSlot->getNo());
+ }
+
+
+ return pTask;
+ }
+
int CMaster::abortCurrentTask()
{
lock();
diff --git a/SourceCode/Bond/Servo/CMaster.h b/SourceCode/Bond/Servo/CMaster.h
index 76d52eb..7b16db8 100644
--- a/SourceCode/Bond/Servo/CMaster.h
+++ b/SourceCode/Bond/Servo/CMaster.h
@@ -20,6 +20,7 @@
READY = 0,
STARTING,
RUNNING,
+ RUNNING_CONTINUOUS_TRANSFER,
STOPPING,
MSERROR
};
@@ -57,6 +58,7 @@
int init();
int term();
int start();
+ int startContinuousTransfer();
int stop();
void clearError();
ULONGLONG getRunTime();
@@ -107,6 +109,8 @@
CRobotTask* createTransferTask_bake_to_cooling(CEquipment* pSrcEq);
CRobotTask* createTransferTask_bakecooling_to_measurement(CEquipment* pSrcEq, CEquipment* pTarEq);
CRobotTask* createTransferTask_restore(CEquipment* pEqSrc, CLoadPort** pPorts);
+ CRobotTask* createTransferTask_continuous_transfer(CEquipment* pSrcEq, int nSrcSlot,
+ CEquipment* pTarEq, int nTarSlot, int armNo = 1);
private:
CRITICAL_SECTION m_criticalSection;
@@ -115,6 +119,7 @@
std::list<CEquipment*> m_listEquipment;
std::string m_strFilepath;
BOOL m_bDataModify;
+ bool m_bContinuousTransfer;
private:
/* 监控比特位的线程*/
diff --git a/SourceCode/Bond/Servo/Servo.rc b/SourceCode/Bond/Servo/Servo.rc
index 04cab1e..552795b 100644
--- a/SourceCode/Bond/Servo/Servo.rc
+++ b/SourceCode/Bond/Servo/Servo.rc
Binary files differ
diff --git a/SourceCode/Bond/Servo/ServoDlg.cpp b/SourceCode/Bond/Servo/ServoDlg.cpp
index 457a1fe..84b1f21 100644
--- a/SourceCode/Bond/Servo/ServoDlg.cpp
+++ b/SourceCode/Bond/Servo/ServoDlg.cpp
@@ -189,6 +189,7 @@
SERVO::MASTERSTATE state = theApp.m_model.getMaster().getState();
if (state == SERVO::MASTERSTATE::READY) {
m_pTopToolbar->GetBtn(IDC_BUTTON_RUN)->EnableWindow(TRUE);
+ m_pTopToolbar->GetBtn(IDC_BUTTON_RUN_CT)->EnableWindow(TRUE);
m_pTopToolbar->GetBtn(IDC_BUTTON_STOP)->EnableWindow(FALSE);
m_pMyStatusbar->setBackgroundColor(STATUSBAR_BK_NORMAL);
m_pMyStatusbar->setForegroundColor(RGB(0, 0, 0));
@@ -204,13 +205,15 @@
}
else if (state == SERVO::MASTERSTATE::MSERROR) {
m_pTopToolbar->GetBtn(IDC_BUTTON_RUN)->EnableWindow(TRUE);
+ m_pTopToolbar->GetBtn(IDC_BUTTON_RUN_CT)->EnableWindow(TRUE);
m_pTopToolbar->GetBtn(IDC_BUTTON_STOP)->EnableWindow(FALSE);
m_pMyStatusbar->setBackgroundColor(STATUSBAR_BK_ALARM);
m_pMyStatusbar->setForegroundColor(RGB(0, 0, 0));
m_pMyStatusbar->setRunTimeText("启动失败.");
}
- else if (state == SERVO::MASTERSTATE::RUNNING) {
+ else if (state == SERVO::MASTERSTATE::RUNNING || state == SERVO::MASTERSTATE::RUNNING_CONTINUOUS_TRANSFER) {
m_pTopToolbar->GetBtn(IDC_BUTTON_RUN)->EnableWindow(FALSE);
+ m_pTopToolbar->GetBtn(IDC_BUTTON_RUN_CT)->EnableWindow(FALSE);
m_pTopToolbar->GetBtn(IDC_BUTTON_STOP)->EnableWindow(TRUE);
m_pMyStatusbar->setBackgroundColor(STATUSBAR_BK_RUNNING);
m_pMyStatusbar->setForegroundColor(RGB(255, 255, 255));
@@ -937,6 +940,18 @@
else {
if (theApp.m_model.getMaster().start() == 0) {
m_pTopToolbar->GetBtn(IDC_BUTTON_RUN)->EnableWindow(FALSE);
+ m_pTopToolbar->GetBtn(IDC_BUTTON_RUN_CT)->EnableWindow(FALSE);
+ }
+ }
+ }
+ else if (id == IDC_BUTTON_RUN_CT) {
+ if (theApp.m_model.getMaster().getState() == SERVO::MASTERSTATE::MSERROR) {
+ AfxMessageBox("当前有机台发生错误，不能启动，请确认解决问题后再尝试重新启动！");
+ }
+ else {
+ if (theApp.m_model.getMaster().startContinuousTransfer() == 0) {
+ m_pTopToolbar->GetBtn(IDC_BUTTON_RUN)->EnableWindow(FALSE);
+ m_pTopToolbar->GetBtn(IDC_BUTTON_RUN_CT)->EnableWindow(FALSE);
}
}
}
@@ -1057,6 +1072,9 @@
if (state == SERVO::MASTERSTATE::RUNNING) {
strText.Format(_T("正在运行：%02d:%02d:%02d %s"), h, m, s, pszSuffix);
}
+ else if (state == SERVO::MASTERSTATE::RUNNING_CONTINUOUS_TRANSFER) {
+ strText.Format(_T("千传模式：%02d:%02d:%02d %s"), h, m, s, pszSuffix);
+ }
else {
strText.Format(_T("已运行：%02d:%02d:%02d %s"), h, m, s, pszSuffix);
}
diff --git a/SourceCode/Bond/Servo/TopToolbar.cpp b/SourceCode/Bond/Servo/TopToolbar.cpp
index a601129..0208ece 100644
--- a/SourceCode/Bond/Servo/TopToolbar.cpp
+++ b/SourceCode/Bond/Servo/TopToolbar.cpp
@@ -27,6 +27,7 @@
{
CDialogEx::DoDataExchange(pDX);
DDX_Control(pDX, IDC_BUTTON_RUN, m_btnRun);
+ DDX_Control(pDX, IDC_BUTTON_RUN_CT, m_btnRunCt);
DDX_Control(pDX, IDC_BUTTON_STOP, m_btnStop);
DDX_Control(pDX, IDC_BUTTON_ALARM, m_btnAlarm);
DDX_Control(pDX, IDC_BUTTON_SETTINGS, m_btnSettings);
@@ -52,6 +53,7 @@
CDialogEx::OnInitDialog();
InitBtn(m_btnRun, "Run_High_32.ico", "Run_Gray_32.ico");
+ InitBtn(m_btnRunCt, "RunCt_High_32.ico", "RunCt_Gray_32.ico");
InitBtn(m_btnStop, "Stop_High_32.ico", "Stop_Gray_32.ico");
InitBtn(m_btnAlarm, "Alarm_o_32.ico", "Alarm_gray_32.ico");
InitBtn(m_btnSettings, "Settings_High_32.ico", "Settings_Gray_32.ico");
@@ -112,6 +114,11 @@
int x = 2, y = 3;
pItem = GetDlgItem(IDC_BUTTON_RUN);
+ pItem->MoveWindow(x, y, BTN_WIDTH, nBthHeight);
+ x += BTN_WIDTH;
+ x += 2;
+
+ pItem = GetDlgItem(IDC_BUTTON_RUN_CT);
pItem->MoveWindow(x, y, BTN_WIDTH, nBthHeight);
x += BTN_WIDTH;
x += 2;
@@ -190,6 +197,7 @@
{
switch (LOWORD(wParam)) {
case IDC_BUTTON_RUN:
+ case IDC_BUTTON_RUN_CT:
case IDC_BUTTON_STOP:
case IDC_BUTTON_ALARM:
case IDC_BUTTON_SETTINGS:
diff --git a/SourceCode/Bond/Servo/TopToolbar.h b/SourceCode/Bond/Servo/TopToolbar.h
index e4e0408..6400443 100644
--- a/SourceCode/Bond/Servo/TopToolbar.h
+++ b/SourceCode/Bond/Servo/TopToolbar.h
@@ -31,6 +31,7 @@
private:
CBlButton m_btnRun;
+ CBlButton m_btnRunCt;
CBlButton m_btnStop;
CBlButton m_btnAlarm;
CBlButton m_btnSettings;
diff --git a/SourceCode/Bond/Servo/resource.h b/SourceCode/Bond/Servo/resource.h
index 3a430cc..3658421 100644
--- a/SourceCode/Bond/Servo/resource.h
+++ b/SourceCode/Bond/Servo/resource.h
Binary files differ
diff --git a/SourceCode/Bond/x64/Debug/Res/RunCt_Gray_32.ico b/SourceCode/Bond/x64/Debug/Res/RunCt_Gray_32.ico
new file mode 100644
index 0000000..bb7d956
--- /dev/null
+++ b/SourceCode/Bond/x64/Debug/Res/RunCt_Gray_32.ico
Binary files differ
diff --git a/SourceCode/Bond/x64/Debug/Res/RunCt_High_32.ico b/SourceCode/Bond/x64/Debug/Res/RunCt_High_32.ico
new file mode 100644
index 0000000..ef3c3f9
--- /dev/null
+++ b/SourceCode/Bond/x64/Debug/Res/RunCt_High_32.ico
Binary files differ
--
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