From a1bf060d50da3c27b54bcc349e8b53769b39ef89 Mon Sep 17 00:00:00 2001
From: LAPTOP-SNT8I5JK\Boounion <Chenluhua@qq.com>
Date: 星期二, 03 六月 2025 17:31:33 +0800
Subject: [PATCH] 1.增加Aligner --> Bonder1 | Bonder2的搬送检测逻辑； 2.优化搬送逻辑。搬送要分优先考虑的主类型和次要类型。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（在Aligner阻塞了）。另外从生产效率上来说，也应该根据需求，尽快使其中一台Bonder的两片玻璃匹配以使其能尽快开始生产加工。
---
SourceCode/Bond/Servo/CMaster.cpp | 133 ++++++++++++++++++++++++++++++++------------
SourceCode/Bond/Servo/CMaster.h | 3
SourceCode/Bond/Servo/CBonder.cpp | 8 +-
3 files changed, 102 insertions(+), 42 deletions(-)
diff --git a/SourceCode/Bond/Servo/CBonder.cpp b/SourceCode/Bond/Servo/CBonder.cpp
index 8be694e..c7bd953 100644
--- a/SourceCode/Bond/Servo/CBonder.cpp
+++ b/SourceCode/Bond/Servo/CBonder.cpp
@@ -342,13 +342,13 @@
m_slot[0].enable();
m_slot[0].setPosition(m_nID);
m_slot[0].setNo(1);
- m_slot[0].setName("Slot 1(G1)");
- m_slot[0].setType(MaterialsType::G1);
+ m_slot[0].setName("Slot 1(G2)");
+ m_slot[0].setType(MaterialsType::G2);
m_slot[1].enable();
m_slot[1].setPosition(m_nID);
m_slot[1].setNo(2);
- m_slot[1].setName("Slot 2(G2)");
- m_slot[1].setType(MaterialsType::G2);
+ m_slot[1].setName("Slot 2(G1)");
+ m_slot[1].setType(MaterialsType::G1);
}
void CBonder::onTimer(UINT nTimerid)
diff --git a/SourceCode/Bond/Servo/CMaster.cpp b/SourceCode/Bond/Servo/CMaster.cpp
index 7a30bfa..2783329 100644
--- a/SourceCode/Bond/Servo/CMaster.cpp
+++ b/SourceCode/Bond/Servo/CMaster.cpp
@@ -279,18 +279,29 @@
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
CLoadPort* pLoadPort1 = (CLoadPort*)getEquipment(EQ_ID_LOADPORT1);
CLoadPort* pLoadPort2 = (CLoadPort*)getEquipment(EQ_ID_LOADPORT2);
CFliper* pFliper = (CFliper*)getEquipment(EQ_ID_FLIPER);
CVacuumBake* pVacuumBack = (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);
ASSERT(pLoadPort1);
ASSERT(pLoadPort2);
ASSERT(pFliper);
ASSERT(pVacuumBack);
ASSERT(pAligner);
+ ASSERT(pBonder1);
+ ASSERT(pBonder2);
while (1) {
// 待退出信号或时间到
@@ -333,8 +344,30 @@
continue;
}
- // LoadPort -> Fliper(G2)
- m_pActiveRobotTask = createTransferTask(pLoadPort1, pFliper);
+
+ // 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;
+ }
+
+
+
+ // Aligner -> Bonder
+ m_pActiveRobotTask = createTransferTask(pAligner, pBonder1, primaryType, secondaryType);
if (m_pActiveRobotTask != nullptr) {
std::string strDescription = m_pActiveRobotTask->getDescription();
unlock();
@@ -345,32 +378,7 @@
continue;
}
- m_pActiveRobotTask = createTransferTask(pLoadPort2, pFliper);
- if (m_pActiveRobotTask != nullptr) {
- std::string strDescription = m_pActiveRobotTask->getDescription();
- unlock();
- if (m_listener.onRobotTaskEvent != nullptr) {
- m_listener.onRobotTaskEvent(this, m_pActiveRobotTask, 0);
- }
- LOGI("创建新任务<%s>...", strDescription.c_str());
- continue;
- }
-
-
-
- // LoadPort -> VacuumBake(G1)
- m_pActiveRobotTask = createTransferTask(pLoadPort1, pVacuumBack);
- if (m_pActiveRobotTask != nullptr) {
- std::string strDescription = m_pActiveRobotTask->getDescription();
- unlock();
- if (m_listener.onRobotTaskEvent != nullptr) {
- m_listener.onRobotTaskEvent(this, m_pActiveRobotTask, 0);
- }
- LOGI("创建新任务<%s>...", strDescription.c_str());
- continue;
- }
-
- m_pActiveRobotTask = createTransferTask(pLoadPort2, pVacuumBack);
+ m_pActiveRobotTask = createTransferTask(pAligner, pBonder2, primaryType, secondaryType);
if (m_pActiveRobotTask != nullptr) {
std::string strDescription = m_pActiveRobotTask->getDescription();
unlock();
@@ -384,7 +392,7 @@
// Fliper(G2) -> Aligner
// VacuumBake(G1) -> Aligner
- m_pActiveRobotTask = createTransferTask(pFliper, pAligner);
+ m_pActiveRobotTask = createTransferTask(pFliper, pAligner, primaryType, secondaryType);
if (m_pActiveRobotTask != nullptr) {
std::string strDescription = m_pActiveRobotTask->getDescription();
unlock();
@@ -395,7 +403,38 @@
continue;
}
- m_pActiveRobotTask = createTransferTask(pVacuumBack, pAligner);
+ m_pActiveRobotTask = createTransferTask(pVacuumBack, pAligner, primaryType, secondaryType);
+ if (m_pActiveRobotTask != nullptr) {
+ std::string strDescription = m_pActiveRobotTask->getDescription();
+ unlock();
+ if (m_listener.onRobotTaskEvent != nullptr) {
+ m_listener.onRobotTaskEvent(this, m_pActiveRobotTask, 0);
+ }
+ LOGI("创建新任务<%s>...", strDescription.c_str());
+ continue;
+ }
+
+
+ // LoadPort -> Fliper(G2)
+ // LoadPort -> VacuumBake(G1)
+ CEquipment* pEqTar1 = pVacuumBack;
+ CEquipment* pEqTar2 = pFliper;
+ if (primaryType == MaterialsType::G2) {
+ pEqTar1 = pFliper;
+ pEqTar2 = pVacuumBack;
+ }
+ m_pActiveRobotTask = createTransferTask(pLoadPort1, pEqTar1, primaryType, secondaryType);
+ if (m_pActiveRobotTask != nullptr) {
+ std::string strDescription = m_pActiveRobotTask->getDescription();
+ unlock();
+ if (m_listener.onRobotTaskEvent != nullptr) {
+ m_listener.onRobotTaskEvent(this, m_pActiveRobotTask, 0);
+ }
+ LOGI("创建新任务<%s>...", strDescription.c_str());
+ continue;
+ }
+
+ m_pActiveRobotTask = createTransferTask(pLoadPort2, pEqTar1, primaryType, secondaryType);
if (m_pActiveRobotTask != nullptr) {
std::string strDescription = m_pActiveRobotTask->getDescription();
unlock();
@@ -408,9 +447,28 @@
+ // LoadPort -> VacuumBake(G1)
+ m_pActiveRobotTask = createTransferTask(pLoadPort1, pEqTar2, primaryType, secondaryType);
+ if (m_pActiveRobotTask != nullptr) {
+ std::string strDescription = m_pActiveRobotTask->getDescription();
+ unlock();
+ if (m_listener.onRobotTaskEvent != nullptr) {
+ m_listener.onRobotTaskEvent(this, m_pActiveRobotTask, 0);
+ }
+ LOGI("创建新任务<%s>...", strDescription.c_str());
+ continue;
+ }
-
- // Aligner -> Bonder
+ m_pActiveRobotTask = createTransferTask(pLoadPort2, pEqTar2, primaryType, secondaryType);
+ if (m_pActiveRobotTask != nullptr) {
+ std::string strDescription = m_pActiveRobotTask->getDescription();
+ unlock();
+ if (m_listener.onRobotTaskEvent != nullptr) {
+ m_listener.onRobotTaskEvent(this, m_pActiveRobotTask, 0);
+ }
+ LOGI("创建新任务<%s>...", strDescription.c_str());
+ continue;
+ }
// Bonder -> BakeCooling
@@ -1010,15 +1068,16 @@
}
static int taskSeqNo = 0;
- CRobotTask* CMaster::createTransferTask(CEquipment* pSrcEq, CEquipment* pTarEq)
+ CRobotTask* CMaster::createTransferTask(CEquipment* pSrcEq, CEquipment* pTarEq,
+ MaterialsType primaryType/* = MaterialsType::G1*/, MaterialsType secondaryType/* = MaterialsType::G2*/)
{
CRobotTask* pTask = nullptr;
CSlot* pSrcSlot, * pTarSlot;
- pTarSlot = pTarEq->getAvailableSlotForGlass(MaterialsType::G1);
- pSrcSlot = pSrcEq->getNonEmptySlot(MaterialsType::G1);
+ pTarSlot = pTarEq->getAvailableSlotForGlass(primaryType);
+ pSrcSlot = pSrcEq->getNonEmptySlot(primaryType);
if (pSrcSlot == nullptr || nullptr == pTarSlot) {
- pTarSlot = pTarEq->getAvailableSlotForGlass(MaterialsType::G2);
- pSrcSlot = pSrcEq->getNonEmptySlot(MaterialsType::G2);
+ pTarSlot = pTarEq->getAvailableSlotForGlass(secondaryType);
+ pSrcSlot = pSrcEq->getNonEmptySlot(secondaryType);
}
diff --git a/SourceCode/Bond/Servo/CMaster.h b/SourceCode/Bond/Servo/CMaster.h
index ba4fd04..621a773 100644
--- a/SourceCode/Bond/Servo/CMaster.h
+++ b/SourceCode/Bond/Servo/CMaster.h
@@ -84,7 +84,8 @@
int readCache();
void serialize(CArchive& ar);
void setState(MASTERSTATE state);
- CRobotTask* createTransferTask(CEquipment* pSrcEq, CEquipment* pTarEq);
+ CRobotTask* createTransferTask(CEquipment* pSrcEq, CEquipment* pTarEq,
+ MaterialsType primaryType = MaterialsType::G1, MaterialsType secondaryType = MaterialsType::G2);
private:
CRITICAL_SECTION m_criticalSection;
--
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