From 8ffc831c6bf37a73961e22efc145be4e8c8f1241 Mon Sep 17 00:00:00 2001
From: mrDarker <mr.darker@163.com>
Date: 星期四, 19 六月 2025 10:05:07 +0800
Subject: [PATCH] Merge branch 'clh' into liuyang
---
SourceCode/Bond/Servo/CEquipment.cpp | 2
SourceCode/Bond/Servo/CEFEM.cpp | 19 ++++
SourceCode/Bond/Servo/CMaster.cpp | 117 +++++++++++++++++++++++++++++
SourceCode/Bond/Servo/CMaster.h | 10 ++
SourceCode/Bond/Servo/CEquipment.h | 2
SourceCode/Bond/Servo/ServoCommo.h | 5 +
SourceCode/Bond/Servo/ServoDlg.cpp | 28 ++++++-
SourceCode/Bond/Servo/Common.h | 2
8 files changed, 175 insertions(+), 10 deletions(-)
diff --git a/SourceCode/Bond/Servo/CEFEM.cpp b/SourceCode/Bond/Servo/CEFEM.cpp
index c9f4f2e..d6a357d 100644
--- a/SourceCode/Bond/Servo/CEFEM.cpp
+++ b/SourceCode/Bond/Servo/CEFEM.cpp
@@ -611,7 +611,7 @@
CEqReadStep* pStep = new CEqReadStep(0x6301, 108 * 2,
[&](void* pFrom, int code, const char* pszData, size_t size) -> int {
if (code == ROK && pszData != nullptr && size > 0) {
- decodePanelDataReport((CStep*)pFrom, pszData, size);
+ decodeFacDataReport((CStep*)pFrom, pszData, size);
}
return -1;
});
@@ -622,6 +622,23 @@
delete pStep;
}
}
+
+ {
+ // Panel Data Request xxx
+ CEqReadStep* pStep = new CEqReadStep(0x6301, 108 * 2,
+ [&](void* pFrom, int code, const char* pszData, size_t size) -> int {
+ if (code == ROK && pszData != nullptr && size > 0) {
+ decodeFacDataReport((CStep*)pFrom, pszData, size);
+ }
+ return -1;
+ });
+ pStep->setName(STEP_EQ_FAC_DATA_REPORT);
+ pStep->setProp("Port", (void*)1);
+ pStep->setWriteSignalDev(0x04d);
+ if (addStep(STEP_ID_PANEL_DATA_REQUEST, pStep) != 0) {
+ delete pStep;
+ }
+ }
}
// 必须要实现的虚函数，在此初始化Slot信息
diff --git a/SourceCode/Bond/Servo/CEquipment.cpp b/SourceCode/Bond/Servo/CEquipment.cpp
index ef24f61..2038e25 100644
--- a/SourceCode/Bond/Servo/CEquipment.cpp
+++ b/SourceCode/Bond/Servo/CEquipment.cpp
@@ -1021,7 +1021,7 @@
unsigned short operationMode = (unsigned short)((unsigned short)mode + getIndexerOperationModeBaseValue());
LOGI("<CEquipment-%s>准备设置indexerOperationMode<%d>", m_strName.c_str(), (int)mode);
- pStep->writeShort(operationMode, [&, mode](int code) -> int {
+ pStep->writeShort(operationMode, [&, mode, onWritedRetBlock](int code) -> int {
int retCode = 0;
if (code == WOK) {
LOGI("<CEquipment-%s>设置indexerOperationMode成功.", m_strName.c_str());
diff --git a/SourceCode/Bond/Servo/CEquipment.h b/SourceCode/Bond/Servo/CEquipment.h
index 76e78b0..8108f02 100644
--- a/SourceCode/Bond/Servo/CEquipment.h
+++ b/SourceCode/Bond/Servo/CEquipment.h
@@ -43,7 +43,7 @@
#define SIGNAL_UPSTREAM_TROUBLE 1
#define SIGNAL_INTERLOCK 2
#define SIGNAL_SEND_ABLE 3
- typedef std::function<int(int writeCode, int retCode)> ONWRITEDRET;
+ typedef std::function<void(int writeCode, int retCode)> ONWRITEDRET;
typedef std::function<void(void* pEiuipment, BOOL bAlive)> ONALIVE;
typedef std::function<void(void* pEiuipment, int code)> ONDATACHANGED;
diff --git a/SourceCode/Bond/Servo/CMaster.cpp b/SourceCode/Bond/Servo/CMaster.cpp
index a751764..bcc0ea2 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 +50,7 @@
m_ullRunTime = 0;
m_state = MASTERSTATE::READY;
m_pActiveRobotTask = nullptr;
+ m_nLastError = 0;
InitializeCriticalSection(&m_criticalSection);
}
@@ -264,6 +267,13 @@
return 0;
}
+ void CMaster::clearError()
+ {
+ m_nLastError = 0;
+ m_strLastError = "";
+ setState(MASTERSTATE::READY);
+ }
+
ULONGLONG CMaster::getRunTime()
{
if (m_state == MASTERSTATE::RUNNING)
@@ -325,8 +335,113 @@
// 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, FALSE, FALSE, FALSE, FALSE, FALSE, 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;
}
diff --git a/SourceCode/Bond/Servo/CMaster.h b/SourceCode/Bond/Servo/CMaster.h
index 2f8577d..28e2f5f 100644
--- a/SourceCode/Bond/Servo/CMaster.h
+++ b/SourceCode/Bond/Servo/CMaster.h
@@ -16,11 +16,12 @@
namespace SERVO {
- enum MASTERSTATE {
+ enum class MASTERSTATE {
READY = 0,
STARTING,
RUNNING,
- STOPPING
+ STOPPING,
+ MSERROR
};
typedef std::function<void(void* pMaster, MASTERSTATE state)> ONMASTERSTATECHANGED;
@@ -55,6 +56,7 @@
int term();
int start();
int stop();
+ void clearError();
ULONGLONG getRunTime();
MASTERSTATE getState();
unsigned DispatchProc();
@@ -122,6 +124,10 @@
// 当前任务和已完成任务列表
CRobotTask* m_pActiveRobotTask;
std::list< CRobotTask* > m_listTask;
+
+ // 错误代码
+ int m_nLastError;
+ std::string m_strLastError;
};
}
diff --git a/SourceCode/Bond/Servo/Common.h b/SourceCode/Bond/Servo/Common.h
index 3a3055d..6a12cae 100644
--- a/SourceCode/Bond/Servo/Common.h
+++ b/SourceCode/Bond/Servo/Common.h
@@ -41,6 +41,7 @@
#define CR_MSGBOX_MESSAGE RGB(200, 216, 246)
#define TOP_TOOLBAR_BACKGROUND RGB(240, 240, 240)
#define STATUSBAR_BK_NORMAL RGB(195, 195, 195)
+#define STATUSBAR_BK_STARTING RGB(58, 127, 78)
#define STATUSBAR_BK_RUNNING RGB(34, 177, 76)
#define STATUSBAR_BK_ALARM RGB(255, 127, 39)
@@ -318,6 +319,7 @@
#define STEP_ID_FETCHED_OUT_JOB_REPORT13 0x5BB
#define STEP_ID_FETCHED_OUT_JOB_REPORT14 0x5BC
#define STEP_ID_FETCHED_OUT_JOB_REPORT15 0x5BD
+#define STEP_ID_PANEL_DATA_REQUEST 0x5D0
#define STEP_ID_PANEL_DATA_REPORT 0x5D1
#define STEP_ID_IN_OP_CMD_REPLY 0x5F0
#define STEP_ID_DISPATCHING_MODE_CHANGE_REPLY 0x5F1
diff --git a/SourceCode/Bond/Servo/ServoCommo.h b/SourceCode/Bond/Servo/ServoCommo.h
index 20e4434..979aabc 100644
--- a/SourceCode/Bond/Servo/ServoCommo.h
+++ b/SourceCode/Bond/Servo/ServoCommo.h
@@ -9,6 +9,11 @@
#define SIGNAL_MAX 8
#define ARM_ALL 99
+ enum class RET {
+ OK = 1,
+ NG,
+ };
+
enum class PortType {
Loading = 1,
Unloading,
diff --git a/SourceCode/Bond/Servo/ServoDlg.cpp b/SourceCode/Bond/Servo/ServoDlg.cpp
index 5fd7af6..bc56882 100644
--- a/SourceCode/Bond/Servo/ServoDlg.cpp
+++ b/SourceCode/Bond/Servo/ServoDlg.cpp
@@ -190,6 +190,18 @@
GetRuntimeFormatText(strText, "");
m_pMyStatusbar->setRunTimeText((LPTSTR)(LPCTSTR)strText);
}
+ else if (state == SERVO::MASTERSTATE::STARTING) {
+ m_pMyStatusbar->setBackgroundColor(STATUSBAR_BK_STARTING);
+ m_pMyStatusbar->setForegroundColor(RGB(0, 0, 0));
+ m_pMyStatusbar->setRunTimeText("正在启动...");
+ }
+ else if (state == SERVO::MASTERSTATE::MSERROR) {
+ m_pTopToolbar->GetBtn(IDC_BUTTON_RUN)->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) {
m_pTopToolbar->GetBtn(IDC_BUTTON_RUN)->EnableWindow(FALSE);
m_pTopToolbar->GetBtn(IDC_BUTTON_STOP)->EnableWindow(TRUE);
@@ -856,14 +868,22 @@
{
int id = (int)lParam;
if (id == IDC_BUTTON_RUN) {
- theApp.m_model.getMaster().start();
- m_pTopToolbar->GetBtn(IDC_BUTTON_RUN)->EnableWindow(FALSE);
+ 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().start() == 0) {
+ m_pTopToolbar->GetBtn(IDC_BUTTON_RUN)->EnableWindow(FALSE);
+ }
+ }
}
else if (id == IDC_BUTTON_STOP) {
- theApp.m_model.getMaster().stop();
- m_pTopToolbar->GetBtn(IDC_BUTTON_STOP)->EnableWindow(FALSE);
+ if (theApp.m_model.getMaster().stop() == 0) {
+ m_pTopToolbar->GetBtn(IDC_BUTTON_STOP)->EnableWindow(FALSE);
+ }
}
else if (id == IDC_BUTTON_ROBOT) {
+ theApp.m_model.getMaster().clearError();
SERVO::CEFEM* pEFEM = (SERVO::CEFEM*)theApp.m_model.getMaster().getEquipment(EQ_ID_EFEM);
CRobotCmdTestDlg dlg;
dlg.SetEFEM(pEFEM);
--
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