From 8b96cadc838caf8d664e2d54576874bec299972a Mon Sep 17 00:00:00 2001
From: LAPTOP-SNT8I5JK\Boounion <Chenluhua@qq.com>
Date: 星期四, 24 七月 2025 17:36:32 +0800
Subject: [PATCH] 1.EAP模拟器，增加Link Report加载功能，列表展示功能，修改Report ID功能，但未真正下发到指令到Master.
---
SourceCode/Bond/Servo/CMaster.cpp | 698 +++++++++++++++++++++++++++++++++++++++-------------------
1 files changed, 470 insertions(+), 228 deletions(-)
diff --git a/SourceCode/Bond/Servo/CMaster.cpp b/SourceCode/Bond/Servo/CMaster.cpp
index b9ea92b..592184a 100644
--- a/SourceCode/Bond/Servo/CMaster.cpp
+++ b/SourceCode/Bond/Servo/CMaster.cpp
@@ -1,6 +1,8 @@
#include "stdafx.h"
#include "Common.h"
#include "CMaster.h"
+#include <future>
+#include <vector>
namespace SERVO {
@@ -48,6 +50,9 @@
m_ullRunTime = 0;
m_state = MASTERSTATE::READY;
m_pActiveRobotTask = nullptr;
+ m_nLastError = 0;
+ m_bEnableEventReport = true;
+ m_bEnableAlarmReport = true;
InitializeCriticalSection(&m_criticalSection);
}
@@ -264,6 +269,13 @@
return 0;
}
+ void CMaster::clearError()
+ {
+ m_nLastError = 0;
+ m_strLastError = "";
+ setState(MASTERSTATE::READY);
+ }
+
ULONGLONG CMaster::getRunTime()
{
if (m_state == MASTERSTATE::RUNNING)
@@ -287,11 +299,12 @@
// 各种机器
+ CLoadPort* pLoadPorts[4];
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);
+ pLoadPorts[0] = (CLoadPort*)getEquipment(EQ_ID_LOADPORT1);
+ pLoadPorts[1] = (CLoadPort*)getEquipment(EQ_ID_LOADPORT2);
+ pLoadPorts[2] = (CLoadPort*)getEquipment(EQ_ID_LOADPORT3);
+ pLoadPorts[3] = (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);
@@ -301,10 +314,10 @@
CMeasurement* pMeasurement = (CMeasurement*)getEquipment(EQ_ID_MEASUREMENT);
ASSERT(pEFEM);
- ASSERT(pLoadPort1);
- ASSERT(pLoadPort2);
- ASSERT(pLoadPort3);
- ASSERT(pLoadPort4);
+ ASSERT(pLoadPorts[0]);
+ ASSERT(pLoadPorts[1]);
+ ASSERT(pLoadPorts[2]);
+ ASSERT(pLoadPorts[3]);
ASSERT(pFliper);
ASSERT(pVacuumBake);
ASSERT(pAligner);
@@ -325,8 +338,114 @@
// 如果状态为STARTING，开始工作并切换到RUNNING状态
lock();
if (m_state == MASTERSTATE::STARTING) {
+ // 发送indexerOperationModeChange到各个机台，成功后切换到RUNNING状态
+ // 否则切换到MSERROR状态
+ int nRet;
+ CEquipment* pEq[6] = { pEFEM, pBonder1, pBonder2, pBakeCooling,
+ pVacuumBake, pMeasurement};
+ BOOL bIomcOk[7] = {FALSE, TRUE, TRUE, TRUE, TRUE, TRUE, TRUE};
+ std::vector<std::promise<void>> promises(6);
+ std::vector<std::future<void>> futures;
+
+ nRet = pEq[0]->indexerOperationModeChange(IDNEXER_OPERATION_MODE::Start,
+ [&](int writeCode, int retCode) -> void {
+ bIomcOk[0] = retCode == (int)RET::OK;
+ promises[0].set_value();
+ TRACE("a0001\n", writeCode, retCode);
+ });
+ if (nRet != 0) {
+ LOGI("<Master>EFEM切换Start状态失败");
+ m_strLastError = "EFEM切换Start状态失败.";
+ goto WAIT;
+ }
+ futures.push_back(promises[0].get_future());
+ /*
+ nRet = pEq[1]->indexerOperationModeChange(IDNEXER_OPERATION_MODE::Start,
+ [&](int writeCode, int retCode) -> void {
+ bIomcOk[1] = retCode == (int)RET::OK;
+ promises[1].set_value();
+ TRACE("a0002\n");
+ });
+ if (nRet != 0) {
+ LOGI("<Master>Bonder1切换Start状态失败");
+ m_strLastError = "Bonder1切换Start状态失败.";
+ goto WAIT;
+ }
+ futures.push_back(promises[1].get_future());
+
+ nRet = pEq[2]->indexerOperationModeChange(IDNEXER_OPERATION_MODE::Start,
+ [&](int writeCode, int retCode) -> void {
+ bIomcOk[2] = retCode == (int)RET::OK;
+ promises[2].set_value();
+ TRACE("a0003\n");
+ });
+ if (nRet != 0) {
+ LOGI("<Master>Bonder2切换Start状态失败");
+ m_strLastError = "Bonder2切换Start状态失败.";
+ goto WAIT;
+ }
+ futures.push_back(promises[2].get_future());
+
+ nRet = pEq[3]->indexerOperationModeChange(IDNEXER_OPERATION_MODE::Start,
+ [&](int writeCode, int retCode) -> void {
+ bIomcOk[3] = retCode == (int)RET::OK;
+ promises[3].set_value();
+ TRACE("a0004\n");
+ });
+ if (nRet != 0) {
+ LOGI("<Master>BakeCooling切换Start状态失败");
+ m_strLastError = "BakeCooling切换Start状态失败.";
+ goto WAIT;
+ }
+ futures.push_back(promises[3].get_future());
+
+ nRet = pEq[4]->indexerOperationModeChange(IDNEXER_OPERATION_MODE::Start,
+ [&](int writeCode, int retCode) -> void {
+ bIomcOk[4] = retCode == (int)RET::OK;
+ promises[4].set_value();
+ TRACE("a0005\n");
+ });
+ if (nRet != 0) {
+ LOGI("<Master>VacuumBake切换Start状态失败");
+ m_strLastError = "VacuumBake切换Start状态失败.";
+ goto WAIT;
+ }
+ futures.push_back(promises[4].get_future());
+
+ nRet = pEq[5]->indexerOperationModeChange(IDNEXER_OPERATION_MODE::Start,
+ [&](int writeCode, int retCode) -> void {
+ bIomcOk[5] = retCode == (int)RET::OK;
+ promises[5].set_value();
+ TRACE("a0006\n");
+ });
+ if (nRet != 0) {
+ LOGI("<Master>Measurement切换Start状态失败");
+ m_strLastError = "Measurement切换Start状态失败.";
+ goto WAIT;
+ }
+ futures.push_back(promises[5].get_future());
+ */
+
+WAIT:
+ for (auto& f : futures) {
+ f.wait(); // 阻塞等待对应设备完成
+ }
+ for (int i = 0; i < 6; i++) {
+ if (!bIomcOk[i]) {
+ bIomcOk[6] = FALSE;
+ LOGI("<Master>%s切换Start状态失败", pEq[i]->getName().c_str());
+ }
+ }
+
+ // 检查看是否都已经切换到START状态
+ if (!bIomcOk[6]) {
+ unlock();
+ setState(MASTERSTATE::MSERROR);
+ continue;
+ }
+
+
unlock();
- Sleep(1000);
setState(MASTERSTATE::RUNNING);
continue;
}
@@ -335,7 +454,49 @@
// 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);
+ LOGI("<Master>开始切换各设备到 Stop 模式...");
+
+ std::vector<std::promise<void>> promises(6);
+ std::vector<std::future<void>> futures;
+ BOOL bIomcOk[7] = { FALSE, TRUE, TRUE, TRUE, TRUE, TRUE, TRUE };
+
+ int nRet;
+ CEquipment* pEq[6] = { pEFEM, pBonder1, pBonder2, pBakeCooling,
+ pVacuumBake, pMeasurement };
+
+ for (int i = 0; i < 1; ++i) {
+ nRet = pEq[i]->indexerOperationModeChange(IDNEXER_OPERATION_MODE::Stop,
+ [i, &promises, &bIomcOk](int writeCode, int retCode) -> void {
+ bIomcOk[i] = retCode == (int)RET::OK;
+ promises[i].set_value();
+ TRACE("s000%d: ret=%d\n", i + 1, retCode);
+ });
+ if (nRet != 0) {
+ LOGI("<Master>%s切换Stop状态发送失败", pEq[i]->getName().c_str());
+ m_strLastError = pEq[i]->getName() + "切换Stop状态发送失败.";
+ bIomcOk[i] = FALSE;
+ promises[i].set_value(); // 避免 wait 阻塞
+ }
+ futures.push_back(promises[i].get_future());
+ }
+
+ for (auto& f : futures) {
+ f.wait(); // 等待所有完成
+ }
+
+ for (int i = 0; i < 6; ++i) {
+ if (!bIomcOk[i]) {
+ bIomcOk[6] = FALSE;
+ LOGI("<Master>%s切换Stop状态失败", pEq[i]->getName().c_str());
+ }
+ }
+
+ if (!bIomcOk[6]) {
+ setState(MASTERSTATE::MSERROR);
+ continue;
+ }
+
+ LOGI("<Master>所有设备成功切换到 Stop 模式");
setState(MASTERSTATE::READY);
continue;
}
@@ -343,11 +504,17 @@
// 调度逻辑处理
else if (m_state == MASTERSTATE::RUNNING) {
- unlock();
- // LOGI("调度处理中...");
+ // 检测判断robot状态
+ RMDATA& rmd = pEFEM->getRobotMonitoringData();
+ if (rmd.status != ROBOT_STATUS::Idle && rmd.status != ROBOT_STATUS::Run) {
+ unlock();
+ continue;
+ }
- lock();
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...");
@@ -376,17 +543,20 @@
// Measurement -> LoadPort
- CLoadPort* pEqLoadPort[] = { pLoadPort1, pLoadPort2, pLoadPort3, pLoadPort4 };
+ 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"));
+ }
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 (!rmd.armState[0] && pLoadPorts[s]->isEnable()
+ && pLoadPorts[s]->getPortType() == PortType::Unloading
+ && pLoadPorts[s]->getPortMode() == PortMode::ReadyToUnload) {
+ m_pActiveRobotTask = createTransferTask(pMeasurement, pLoadPorts[s], primaryType, secondaryType);
if (m_pActiveRobotTask != nullptr) {
goto PORT_PUT;
}
@@ -406,144 +576,204 @@
}
- // BakeCooling ->Measurement
- m_pActiveRobotTask = createTransferTask_bakecooling_to_measurement(pBakeCooling, pMeasurement);
- if (m_pActiveRobotTask != nullptr) {
- m_pActiveRobotTask->pick();
- std::string strDescription = m_pActiveRobotTask->getDescription();
- unlock();
- if (m_listener.onRobotTaskEvent != nullptr) {
- m_listener.onRobotTaskEvent(this, m_pActiveRobotTask, ROBOT_EVENT_CREATE);
+ // Measurement NG -> LoadPort
+ // NG回原位
+ if (!rmd.armState[1]) {
+ m_pActiveRobotTask = createTransferTask_restore(pMeasurement, pLoadPorts);
+ if (m_pActiveRobotTask != nullptr) {
+ m_pActiveRobotTask->pick();
+ std::string strDescription = m_pActiveRobotTask->getDescription();
+ unlock();
+ if (m_listener.onRobotTaskEvent != nullptr) {
+ m_listener.onRobotTaskEvent(this, m_pActiveRobotTask, ROBOT_EVENT_CREATE);
+ }
+ LOGI("创建Measurement回退任务<%s>...", strDescription.c_str());
+ continue;
}
- LOGI("创建新任务<%s>...", strDescription.c_str());
- continue;
}
+
+
+
+
+ // BakeCooling ->Measurement
+ if (!rmd.armState[0]) {
+ m_pActiveRobotTask = createTransferTask_bakecooling_to_measurement(pBakeCooling, pMeasurement);
+ if (m_pActiveRobotTask != nullptr) {
+ m_pActiveRobotTask->pick();
+ 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->pick();
- std::string strDescription = m_pActiveRobotTask->getDescription();
- unlock();
- if (m_listener.onRobotTaskEvent != nullptr) {
- m_listener.onRobotTaskEvent(this, m_pActiveRobotTask, ROBOT_EVENT_CREATE);
+ if (!rmd.armState[0]) {
+ m_pActiveRobotTask = createTransferTask_bake_to_cooling(pBakeCooling);
+ if (m_pActiveRobotTask != nullptr) {
+ m_pActiveRobotTask->pick();
+ 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;
}
- 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->pick();
- std::string strDescription = m_pActiveRobotTask->getDescription();
- unlock();
- if (m_listener.onRobotTaskEvent != nullptr) {
- m_listener.onRobotTaskEvent(this, m_pActiveRobotTask, ROBOT_EVENT_CREATE);
+ if (!rmd.armState[0]) {
+ m_pActiveRobotTask = createTransferTask_bonder_to_bakecooling(pBonder1, pBakeCooling);
+ if (m_pActiveRobotTask != nullptr) {
+ m_pActiveRobotTask->pick();
+ 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;
}
- 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->pick();
- std::string strDescription = m_pActiveRobotTask->getDescription();
- unlock();
- if (m_listener.onRobotTaskEvent != nullptr) {
- m_listener.onRobotTaskEvent(this, m_pActiveRobotTask, ROBOT_EVENT_CREATE);
+ if (!rmd.armState[0]) {
+ m_pActiveRobotTask = createTransferTask_bonder_to_bakecooling(pBonder2, pBakeCooling);
+ if (m_pActiveRobotTask != nullptr) {
+ m_pActiveRobotTask->pick();
+ 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;
}
- 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->pick();
- std::string strDescription = m_pActiveRobotTask->getDescription();
- unlock();
- if (m_listener.onRobotTaskEvent != nullptr) {
- m_listener.onRobotTaskEvent(this, m_pActiveRobotTask, ROBOT_EVENT_CREATE);
+ if (!rmd.armState[1] && !pBonder1->hasBondClass()) {
+ m_pActiveRobotTask = createTransferTask(pFliper, pBonder1, primaryType, secondaryType, 2);
+ if (m_pActiveRobotTask != nullptr) {
+ m_pActiveRobotTask->pick();
+ 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;
}
- 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->pick();
- std::string strDescription = m_pActiveRobotTask->getDescription();
- unlock();
- if (m_listener.onRobotTaskEvent != nullptr) {
- m_listener.onRobotTaskEvent(this, m_pActiveRobotTask, ROBOT_EVENT_CREATE);
+ if (!rmd.armState[1] && !pBonder2->hasBondClass()) {
+ m_pActiveRobotTask = createTransferTask(pFliper, pBonder2, primaryType, secondaryType, 2);
+ if (m_pActiveRobotTask != nullptr) {
+ m_pActiveRobotTask->pick();
+ 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;
}
- LOGI("创建新任务<%s>...", strDescription.c_str());
- continue;
}
- m_pActiveRobotTask = createTransferTask(pVacuumBake, pBonder1, primaryType, secondaryType);
- if (m_pActiveRobotTask != nullptr) {
- m_pActiveRobotTask->pick();
- std::string strDescription = m_pActiveRobotTask->getDescription();
- unlock();
- if (m_listener.onRobotTaskEvent != nullptr) {
- m_listener.onRobotTaskEvent(this, m_pActiveRobotTask, ROBOT_EVENT_CREATE);
+ if (!rmd.armState[0] && !pBonder1->hasBondClass()) {
+ m_pActiveRobotTask = createTransferTask(pVacuumBake, pBonder1, primaryType, secondaryType);
+ if (m_pActiveRobotTask != nullptr) {
+ m_pActiveRobotTask->pick();
+ 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;
}
- LOGI("创建新任务<%s>...", strDescription.c_str());
- continue;
}
- m_pActiveRobotTask = createTransferTask(pVacuumBake, pBonder2, primaryType, secondaryType);
- if (m_pActiveRobotTask != nullptr) {
- m_pActiveRobotTask->pick();
- std::string strDescription = m_pActiveRobotTask->getDescription();
- unlock();
- if (m_listener.onRobotTaskEvent != nullptr) {
- m_listener.onRobotTaskEvent(this, m_pActiveRobotTask, ROBOT_EVENT_CREATE);
+ if (!rmd.armState[0] && !pBonder2->hasBondClass()) {
+ m_pActiveRobotTask = createTransferTask(pVacuumBake, pBonder2, primaryType, secondaryType);
+ if (m_pActiveRobotTask != nullptr) {
+ m_pActiveRobotTask->pick();
+ 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;
}
- 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->pick();
- std::string strDescription = m_pActiveRobotTask->getDescription();
- unlock();
- if (m_listener.onRobotTaskEvent != nullptr) {
- m_listener.onRobotTaskEvent(this, m_pActiveRobotTask, ROBOT_EVENT_CREATE);
+ if (!rmd.armState[1]) {
+ m_pActiveRobotTask = createTransferTask(pAligner, pFliper, primaryType, secondaryType);
+ if (m_pActiveRobotTask != nullptr) {
+ m_pActiveRobotTask->pick();
+ 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;
}
- LOGI("创建新任务<%s>...", strDescription.c_str());
- continue;
}
- m_pActiveRobotTask = createTransferTask(pAligner, pVacuumBake, primaryType, secondaryType);
- if (m_pActiveRobotTask != nullptr) {
- m_pActiveRobotTask->pick();
- std::string strDescription = m_pActiveRobotTask->getDescription();
- unlock();
- if (m_listener.onRobotTaskEvent != nullptr) {
- m_listener.onRobotTaskEvent(this, m_pActiveRobotTask, ROBOT_EVENT_CREATE);
+ if (!rmd.armState[0]) {
+ m_pActiveRobotTask = createTransferTask(pAligner, pVacuumBake, primaryType, secondaryType);
+ if (m_pActiveRobotTask != nullptr) {
+ m_pActiveRobotTask->pick();
+ 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;
}
- LOGI("创建新任务<%s>...", strDescription.c_str());
- continue;
}
+
+ // Aligner -> LoadPort
+ if (!rmd.armState[1]) {
+ m_pActiveRobotTask = createTransferTask_restore(pAligner, pLoadPorts);
+ if (m_pActiveRobotTask != nullptr) {
+ m_pActiveRobotTask->pick();
+ std::string strDescription = m_pActiveRobotTask->getDescription();
+ unlock();
+ if (m_listener.onRobotTaskEvent != nullptr) {
+ m_listener.onRobotTaskEvent(this, m_pActiveRobotTask, ROBOT_EVENT_CREATE);
+ }
+ LOGI("创建Aligner回退任务<%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 (!rmd.armState[0] && pLoadPorts[s]->isEnable()
+ && pLoadPorts[s]->getPortType() == PortType::Loading
+ && pLoadPorts[s]->getPortMode() == PortMode::ReadyToLoad) {
+ m_pActiveRobotTask = createTransferTask(pLoadPorts[s], pAligner, primaryType, secondaryType);
if (m_pActiveRobotTask != nullptr) {
+ pEFEM->setContext(m_pActiveRobotTask->getContext());
goto PORT_GET;
}
}
@@ -586,24 +816,14 @@
// 读标志位
for (auto item : m_listEquipment) {
- //if (item->getID() == EQ_ID_Bonder1 ||
- // item->getID() == EQ_ID_Bonder2) {
- // const StationIdentifier& station = item->getStation();
- // MemoryBlock& block = item->getReadBitBlock();
-
- // int nRet = m_cclink.ReadData2(station, (DeviceType)block.type,
- // block.start, block.size, block.buffer);
- // if (0 == nRet) {
- // item->onReceiveLBData(block.buffer, block.size);
- // }
- //}
const StationIdentifier& station = item->getStation();
MemoryBlock& block = item->getReadBitBlock();
-
- int nRet = m_cclink.ReadData2(station, (DeviceType)block.type,
- block.start, block.size, block.buffer);
- if (0 == nRet) {
- item->onReceiveLBData(block.buffer, block.size);
+ if (block.end > block.start) {
+ int nRet = m_cclink.ReadData2(station, (DeviceType)block.type,
+ block.start, block.size, block.buffer);
+ if (0 == nRet) {
+ item->onReceiveLBData(block.buffer, block.size);
+ }
}
}
}
@@ -644,7 +864,7 @@
m_listener.onEqVcrEventReport(this, p, p2);
}
};
- listener.onPreFethedOutJob = [&](void* pEquipment, CJobDataB* pJobDataB) -> BOOL {
+ listener.onPreFethedOutJob = [&](void* pEquipment, int port, CJobDataB* pJobDataB) -> BOOL {
CEquipment* p = (CEquipment*)pEquipment;
@@ -655,10 +875,10 @@
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()) {
+ CJobDataS* pJobDataS = pGlass->getJobDataS();
+ if (pJobDataS != nullptr
+ && pJobDataS->getCassetteSequenceNo() == pJobDataB->getCassetteSequenceNo()
+ && pJobDataS->getJobSequenceNo() == pJobDataB->getJobSequenceNo()) {
bOk = TRUE;
LOGI("<CMaster>onPreFethedOutJob, 已校验数据一致性.");
}
@@ -677,7 +897,7 @@
return bOk;
};
- listener.onPreStoredJob = [&](void* pEquipment, CJobDataB* pJobDataB, short& slot) -> BOOL {
+ listener.onPreStoredJob = [&](void* pEquipment, int port, CJobDataB* pJobDataB, short& slot) -> BOOL {
CEquipment* p = (CEquipment*)pEquipment;
@@ -704,11 +924,22 @@
LOGI("<CMaster>onPreFethedOutJob, 已校验数据一致性.");
}
}
+
+ // 是否回撤
+ else if (m_pActiveRobotTask->isRestoring() &&
+ m_pActiveRobotTask->getSrcPosition() == p->getID()) {
+ CGlass* pGlass = p->getGlassFromSlot(m_pActiveRobotTask->getSrcSlot());
+ if (pGlass == nullptr && m_pActiveRobotTask->getSrcSlot() == port) {
+ bOk = TRUE;
+ slot = m_pActiveRobotTask->getSrcSlot();
+ LOGI("<CMaster>onPreFethedOutJob, 已校验数据一致性.");
+ }
+ }
}
unlock();
if (!bOk) {
- LOGE("<CMaster>onPreFethedOutJob, 数据校验失败.");
+ LOGE("<CMaster>onPreStoredJob, 数据校验失败.");
}
return bOk;
@@ -738,7 +969,7 @@
) {
LOGI("取片完成.");
m_pActiveRobotTask->fetchOut();
- m_pActiveRobotTask->place();
+ m_pActiveRobotTask->picked();
}
else if (m_pActiveRobotTask != nullptr
@@ -758,10 +989,35 @@
delete m_pActiveRobotTask;
m_pActiveRobotTask = nullptr;
}
+
+ else if (m_pActiveRobotTask != nullptr
+ && m_pActiveRobotTask->isRestoring()
+ && m_pActiveRobotTask->getSrcPosition() == p->getID()) {
+ m_pActiveRobotTask->stored();
+ m_pActiveRobotTask->restored();
+ LOGI("回撤完成...");
+ // 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_RESTORE);
+ }
+ delete m_pActiveRobotTask;
+ m_pActiveRobotTask = nullptr;
+ stop();
+ }
unlock();
}
};
-
+ listener.onProcessStateChanged = [&](void* pEquipment, PROCESS_STATE state) -> void {
+ LOGI("<Master>onProcessStateChanged<%d>", (int)state);
+ };
+ listener.onMapMismatch = [&](void* pEquipment, short scanMap, short downMap) {
+ LOGE("<Master-%s>Port InUse, map(%d!=%d)不一致，请检查。",
+ ((CEquipment*)pEquipment)->getName().c_str(), scanMap, downMap);
+ };
pEquipment->setListener(listener);
pEquipment->setCcLink(&m_cclink);
m_listEquipment.push_back(pEquipment);
@@ -816,7 +1072,7 @@
pEquipment->setBaseAlarmId(BASE_ALARM_EFEM);
pEquipment->setName("Fliper(G2)");
pEquipment->setDescription("Fliper(G2).");
- pEquipment->setReadBitBlock(0x4000, 0x45ff);
+ pEquipment->setReadBitBlock(0x0, 0x0);
pEquipment->setStation(0, 255);
addToEquipmentList(pEquipment);
@@ -851,7 +1107,7 @@
pEquipment->setBaseAlarmId(BASE_ALARM_EFEM);
pEquipment->setName("Aligner");
pEquipment->setDescription("Aligner.");
- pEquipment->setReadBitBlock(0x4000, 0x45ff);
+ pEquipment->setReadBitBlock(0x0, 0x0);
pEquipment->setStation(0, 255);
addToEquipmentList(pEquipment);
@@ -978,27 +1234,8 @@
}
- // 按一定频率扫描LB数据
static int i = 0;
i++;
- /*
- if (i % (4 * 1) == 0) {
-
- for (auto item : m_listEquipment) {
- if (item->getID() == EQ_ID_Bonder1) {
- const StationIdentifier& station = item->getStation();
- MemoryBlock& block = item->getReadBitBlock();
-
- int nRet = m_cclink.ReadData2(station, (DeviceType)block.type,
- block.start, block.size, block.buffer);
- if (0 == nRet) {
- item->onReceiveLBData(block.buffer, block.size);
- }
- }
- }
- }
- */
-
// 自动保存缓存
if (i % (4 * 2) == 0) {
@@ -1185,14 +1422,11 @@
if (pSrcSlot != nullptr && nullptr != pTarSlot) {
- int srcPos, srcSlot, tarPos, tarSlot;
- transformPosAndSlot(pSrcSlot->getPosition(), pSrcSlot->getNo(), srcPos, srcSlot);
- transformPosAndSlot(pTarSlot->getPosition(), pTarSlot->getNo(), tarPos, tarSlot);
pTask = new CRobotTask();
pTask->setContext(pSrcSlot->getContext());
pTask->setEFEM((CEFEM*)getEquipment(EQ_ID_EFEM));
- taskSeqNo = pTask->setRobotTransferParam(taskSeqNo, armNo, srcPos,
- tarPos, srcSlot, tarSlot);
+ taskSeqNo = pTask->setRobotTransferParam(taskSeqNo, armNo, pSrcSlot->getPosition(),
+ pTarSlot->getPosition(), pSrcSlot->getNo(), pTarSlot->getNo());
}
@@ -1201,7 +1435,7 @@
CRobotTask* CMaster::createTransferTask_bonder_to_bakecooling(CEquipment* pSrcEq, CEquipment* pTarEq)
{
- std::vector<int> slots = {1, 2};
+ std::vector<int> slots = {1, 3};
CRobotTask* pTask = nullptr;
CSlot* pSrcSlot, * pTarSlot;
@@ -1209,14 +1443,11 @@
pSrcSlot = pSrcEq->getProcessedSlot(MaterialsType::G1);
if (pSrcSlot != nullptr && nullptr != pTarSlot) {
- int srcPos, srcSlot, tarPos, tarSlot;
- transformPosAndSlot(pSrcSlot->getPosition(), pSrcSlot->getNo(), srcPos, srcSlot);
- transformPosAndSlot(pTarSlot->getPosition(), pTarSlot->getNo(), tarPos, tarSlot);
pTask = new CRobotTask();
pTask->setContext(pSrcSlot->getContext());
pTask->setEFEM((CEFEM*)getEquipment(EQ_ID_EFEM));
- taskSeqNo = pTask->setRobotTransferParam(taskSeqNo, 1, srcPos,
- tarPos, srcSlot, tarSlot);
+ taskSeqNo = pTask->setRobotTransferParam(taskSeqNo, 1, pSrcSlot->getPosition(),
+ pTarSlot->getPosition(), pSrcSlot->getNo(), pTarSlot->getNo());
}
@@ -1225,8 +1456,8 @@
CRobotTask* CMaster::createTransferTask_bake_to_cooling(CEquipment* pSrcEq)
{
- std::vector<int> slotsTar = { 3, 4 };
- std::vector<int> slotsSrc = { 1, 2 };
+ std::vector<int> slotsTar = { 2, 4 };
+ std::vector<int> slotsSrc = { 1, 3 };
CRobotTask* pTask = nullptr;
CSlot* pSrcSlot, * pTarSlot;
@@ -1234,14 +1465,11 @@
pSrcSlot = pSrcEq->getProcessedSlot2(MaterialsType::G1, slotsSrc);
if (pSrcSlot != nullptr && nullptr != pTarSlot) {
- int srcPos, srcSlot, tarPos, tarSlot;
- transformPosAndSlot(pSrcSlot->getPosition(), pSrcSlot->getNo(), srcPos, srcSlot);
- transformPosAndSlot(pTarSlot->getPosition(), pTarSlot->getNo(), tarPos, tarSlot);
pTask = new CRobotTask();
pTask->setContext(pSrcSlot->getContext());
pTask->setEFEM((CEFEM*)getEquipment(EQ_ID_EFEM));
- taskSeqNo = pTask->setRobotTransferParam(taskSeqNo, 1, srcPos,
- tarPos, srcSlot, tarSlot);
+ taskSeqNo = pTask->setRobotTransferParam(taskSeqNo, 1, pSrcSlot->getPosition(),
+ pTarSlot->getPosition(), pSrcSlot->getNo(), pTarSlot->getNo());
}
@@ -1250,7 +1478,7 @@
CRobotTask* CMaster::createTransferTask_bakecooling_to_measurement(CEquipment* pSrcEq, CEquipment* pTarEq)
{
- std::vector<int> slots = { 3, 4 };
+ std::vector<int> slots = { 2, 4 };
CRobotTask* pTask = nullptr;
CSlot* pSrcSlot, * pTarSlot;
@@ -1258,68 +1486,47 @@
pSrcSlot = pSrcEq->getProcessedSlot2(MaterialsType::G1, slots);
if (pSrcSlot != nullptr && nullptr != pTarSlot) {
- int srcPos, srcSlot, tarPos, tarSlot;
- transformPosAndSlot(pSrcSlot->getPosition(), pSrcSlot->getNo(), srcPos, srcSlot);
- transformPosAndSlot(pTarSlot->getPosition(), pTarSlot->getNo(), tarPos, tarSlot);
pTask = new CRobotTask();
pTask->setContext(pSrcSlot->getContext());
pTask->setEFEM((CEFEM*)getEquipment(EQ_ID_EFEM));
- taskSeqNo = pTask->setRobotTransferParam(taskSeqNo, 1, srcPos,
- tarPos, srcSlot, tarSlot);
+ taskSeqNo = pTask->setRobotTransferParam(taskSeqNo, 1, pSrcSlot->getPosition(),
+ pTarSlot->getPosition(), pSrcSlot->getNo(), pTarSlot->getNo());
}
return pTask;
}
- void CMaster::transformPosAndSlot(int srcPos, int srcSlot, int& tarPos, int& tarSlot)
+ CRobotTask* CMaster::createTransferTask_restore(CEquipment* pEqSrc, CLoadPort** pPorts)
{
- switch (srcPos)
- {
- case EQ_ID_LOADPORT1:
- case EQ_ID_LOADPORT2:
- case EQ_ID_LOADPORT3:
- case EQ_ID_LOADPORT4:
- case EQ_ID_ARM_TRAY1:
- case EQ_ID_ARM_TRAY2:
- case EQ_ID_ALIGNER:
- case EQ_ID_FLIPER:
- tarPos = srcPos;
- tarSlot = 1;
- break;
- case EQ_ID_Bonder1:
- if (1 <= srcSlot && srcSlot <= 2) {
- tarPos = 9 + srcSlot;
- tarSlot = 1;
+ CRobotTask* pTask = nullptr;
+ CSlot* pSrcSlot, * pTarSlot = nullptr, * pTempSlot;
+ pSrcSlot = pEqSrc->getInspFailSlot();
+ if (pSrcSlot != nullptr) {
+ CGlass* pGlass = (CGlass*)pSrcSlot->getContext();
+ ASSERT(pGlass);
+ int port, slot;
+ pGlass->getOrginPort(port, slot);
+ pGlass->setInspResult(pPorts[port]->getID(), 0, InspResult::Fail);
+ ASSERT(0 <= port && port < 4);
+ ASSERT(0 <= slot && slot < 8);
+ pTempSlot = pPorts[port]->getSlot(slot);
+ if (pTempSlot->getContext() == nullptr) {
+ pTarSlot = pTempSlot;
}
- break;
- case EQ_ID_Bonder2:
- if (1 <= srcSlot && srcSlot <= 2) {
- tarPos = 11 + srcSlot;
- tarSlot = 1;
- }
- break;
- case EQ_ID_VACUUMBAKE:
- if (1 <= srcSlot && srcSlot <= 2) {
- tarPos = 13 + srcSlot;
- tarSlot = 1;
- }
- break;
- case EQ_ID_BAKE_COOLING:
- if (1 <= srcSlot && srcSlot <= 4) {
- tarPos = 15 + srcSlot;
- tarSlot = 1;
- }
- break;
- case EQ_ID_MEASUREMENT:
- tarPos = 19;
- tarSlot = 1;
- break;
- default:
- tarPos = srcPos;
- tarSlot = srcSlot;
- break;
}
+
+
+ if (pSrcSlot != nullptr && nullptr != pTarSlot) {
+ pTask = new CRobotTask();
+ pTask->setContext(pSrcSlot->getContext());
+ pTask->setEFEM((CEFEM*)getEquipment(EQ_ID_EFEM));
+ taskSeqNo = pTask->setRobotTransferParam(taskSeqNo, 1, pSrcSlot->getPosition(),
+ pTarSlot->getPosition(), pSrcSlot->getNo(), pTarSlot->getNo());
+ }
+
+
+ return pTask;
}
int CMaster::abortCurrentTask()
@@ -1347,6 +1554,18 @@
return 0;
}
+ int CMaster::restoreCurrentTask()
+ {
+ lock();
+ if (m_pActiveRobotTask != nullptr) {
+ m_pActiveRobotTask->restore();
+ }
+ unlock();
+
+
+ return 0;
+ }
+
void CMaster::setPortType(unsigned int index, BOOL enable, int type, int mode,
int cassetteType, int transferMode, BOOL autoChangeEnable)
{
@@ -1360,4 +1579,27 @@
pPort->localSetTransferMode((SERVO::TransferMode)transferMode);
pPort->localAutoChangeEnable(autoChangeEnable);
}
+
+ void CMaster::datetimeSync(SYSTEMTIME& time)
+ {
+ for (auto item : m_listEquipment) {
+ item->setDateTime(time.wYear, time.wMonth, time.wDay,
+ time.wHour, time.wMinute, time.wSecond);
+ }
+ }
+
+ void CMaster::enableEventReport(bool bEnable)
+ {
+ m_bEnableEventReport = bEnable;
+ }
+
+ void CMaster::enableAlarmReport(bool bEnable)
+ {
+ m_bEnableAlarmReport = bEnable;
+ }
+
+ bool CMaster::isAlarmReportEnable()
+ {
+ return m_bEnableAlarmReport;
+ }
}
--
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