From a79fcf6a937e1bfe57014d2c99f1bb9f98bfa892 Mon Sep 17 00:00:00 2001
From: chenluhua1980 <Chenluhua@qq.com>
Date: 星期二, 10 二月 2026 10:20:17 +0800
Subject: [PATCH] 1.完善日志； 2.背景图表配置 3.更改EAP通讯端口和设备名；
---
SourceCode/Bond/Servo/CMaster.cpp | 272 ++++++++++++++++++++++++++++++++++++++++++++++--------
1 files changed, 231 insertions(+), 41 deletions(-)
diff --git a/SourceCode/Bond/Servo/CMaster.cpp b/SourceCode/Bond/Servo/CMaster.cpp
index df5bff5..7ab8e30 100644
--- a/SourceCode/Bond/Servo/CMaster.cpp
+++ b/SourceCode/Bond/Servo/CMaster.cpp
@@ -63,6 +63,7 @@
m_ullRunTime = 0;
m_state = MASTERSTATE::READY;
m_curveMode = CurveMode::Production;
+ m_schedulingMode = SchedulingMode::Production;
m_pActiveRobotTask = nullptr;
m_nLastError = ER_CODE_NOERROR;
m_isCompareMapsBeforeProceeding = FALSE;
@@ -119,13 +120,6 @@
m_hEventDispatchThreadExit[1] = nullptr;
}
- // 閲婃斁浜哄伐鎼嚭缂撳啿鍖洪噷鐨勭幓鐠�
- for (auto* pGlass : m_bufGlass) {
- if (pGlass != nullptr) {
- pGlass->release();
- }
- }
- m_bufGlass.clear();
DeleteCriticalSection(&m_criticalSection);
}
@@ -319,6 +313,17 @@
return m_curveMode;
}
+ void CMaster::setSchedulingMode(SchedulingMode mode)
+ {
+ m_schedulingMode = mode;
+ LOGI("<Master>SchedulingMode=%s", mode == SchedulingMode::Production ? "Production" : "Tuning");
+ }
+
+ SchedulingMode CMaster::getSchedulingMode() const
+ {
+ return m_schedulingMode;
+ }
+
int CMaster::term()
{
SetEvent(m_hEventReadBitsThreadExit[0]);
@@ -344,6 +349,13 @@
}
m_listEquipment.clear();
+ // release manual-remove buffer before glass pool is torn down
+ for (auto* pGlass : m_bufGlass) {
+ if (pGlass != nullptr) {
+ pGlass->release();
+ }
+ }
+ m_bufGlass.clear();
if (m_pCollector != nullptr) {
m_pCollector->stopLoop();
@@ -746,14 +758,22 @@
// 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) {
- m_pActiveRobotTask = createTransferTask(pMeasurement, pLoadPorts[s], MaterialsType::G1, secondaryType);
- if (m_pActiveRobotTask != nullptr) {
- goto PORT_PUT;
+ if (m_schedulingMode == SchedulingMode::Production) {
+ if (!rmd.armState[0]) {
+ m_pActiveRobotTask = createTransferTask_returnOrigin(pMeasurement, pLoadPorts);
+ CHECK_RUN_ACTIVE_ROBOT_TASK(m_pActiveRobotTask);
+ }
+ }
+ else {
+ 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], MaterialsType::G1, secondaryType);
+ if (m_pActiveRobotTask != nullptr) {
+ goto PORT_PUT;
+ }
}
}
}
@@ -1008,19 +1028,27 @@
// 缁勬暟闂ㄩ檺锛氣墺2 缁勬椂涓嶅啀浠� LP 涓婄墖锛岄伩鍏嶅爢绉紙涓庡崟鐗囦竴鑷达級
bool blockLoadFromLP = (nGlassGroup >= 2);
- // 7) Measurement -> LoadPort锛堝浐瀹氾細G1 浼樺厛鍥� LP锛�
+ // 7) Measurement -> LoadPort
if (rmd.armState[0] || rmd.armState[1]) {
LOGD("Arm1 %s, Arm2 %s.",
rmd.armState[0] ? _T("涓嶅彲鐢�") : _T("鍙敤"),
rmd.armState[1] ? _T("涓嶅彲鐢�") : _T("鍙敤"));
}
- 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], MaterialsType::G1, secondaryType);
- if (m_pActiveRobotTask != nullptr) { goto BATCH_PORT_PUT; }
+ if (m_schedulingMode == SchedulingMode::Production) {
+ if (!rmd.armState[0]) {
+ m_pActiveRobotTask = createTransferTask_returnOrigin(pMeasurement, pLoadPorts);
+ CHECK_RUN_ACTIVE_ROBOT_TASK(m_pActiveRobotTask);
+ }
+ }
+ else {
+ 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], MaterialsType::G1, secondaryType);
+ if (m_pActiveRobotTask != nullptr) { goto BATCH_PORT_PUT; }
+ }
}
}
@@ -1793,18 +1821,23 @@
int paramIndex = mapping.first;
int channel = mapping.second;
- if (paramIndex < params.size() && channel - 1 < vacuumbakeTypes.size()) {
+ if (paramIndex < params.size()) {
auto& param = params.at(paramIndex);
double value = param.getDoubleValue();
- const std::string& dataType = vacuumbakeTypes[channel - 1];
const std::string& paramName = param.getName();
const char slotTag = !paramName.empty() ? paramName[0] : '\0';
+ const int typeIndex = (slotTag == 'B') ? (channel - 8) : (channel - 1);
+ if (typeIndex < 0 || typeIndex >= (int)vacuumbakeTypes.size()) {
+ continue;
+ }
+ const int pushChannel = typeIndex + 1;
+ const std::string& dataType = vacuumbakeTypes[typeIndex];
if (m_pCollector != nullptr) {
if (slotTag == 'A')
- m_pCollector->buffersPush(SlotToMid(eqid, 1), channel, ts, value);
+ m_pCollector->buffersPush(SlotToMid(eqid, 1), pushChannel, ts, value);
else if (slotTag == 'B')
- m_pCollector->buffersPush(SlotToMid(eqid, 2), channel, ts, value);
+ m_pCollector->buffersPush(SlotToMid(eqid, 2), pushChannel, ts, value);
}
// 鏍规嵁鑵斾綋鍓嶇紑鍐欏叆瀵瑰簲 Slot 鐨勭幓鐠�
@@ -1838,20 +1871,25 @@
int paramIndex = mapping.first;
int channel = mapping.second;
- if (paramIndex < params.size() && channel - 1 < coolingTypes.size()) {
+ if (paramIndex < params.size()) {
auto& param = params.at(paramIndex);
double value = param.getDoubleValue();
- const std::string& dataType = coolingTypes[channel - 1];
const std::string& paramName = param.getName();
const char slotTag = !paramName.empty() ? paramName[0] : '\0';
const bool paramIsBake = paramName.find("鐑樼儰") != std::string::npos;
const bool paramIsCooling = paramName.find("鍐峰嵈") != std::string::npos;
+ const int typeIndex = (slotTag == 'B') ? (channel - 7) : (channel - 1);
+ if (typeIndex < 0 || typeIndex >= (int)coolingTypes.size()) {
+ continue;
+ }
+ const int pushChannel = typeIndex + 1;
+ const std::string& dataType = coolingTypes[typeIndex];
if (m_pCollector != nullptr && paramIsBake) {
if (slotTag == 'A')
- m_pCollector->buffersPush(SlotToMid(eqid, 1), channel, ts, value);
+ m_pCollector->buffersPush(SlotToMid(eqid, 1), pushChannel, ts, value);
else if (slotTag == 'B')
- m_pCollector->buffersPush(SlotToMid(eqid, 3), channel, ts, value);
+ m_pCollector->buffersPush(SlotToMid(eqid, 3), pushChannel, ts, value);
}
if (!dataType.empty()) {
@@ -1918,6 +1956,16 @@
listener.onReceivedJob = [&](void* pEquipment, int port, CJobDataS* pJobDataS) {
if (m_listener.onJobReceived != nullptr) {
m_listener.onJobReceived(this, (CEquipment*)pEquipment, port, pJobDataS);
+ }
+ };
+ listener.onSentOutJob = [&](void* pEquipment, int port, CJobDataS* pJobDataS) {
+ if (m_listener.onJobSentOut != nullptr) {
+ m_listener.onJobSentOut(this, (CEquipment*)pEquipment, port, pJobDataS);
+ }
+ };
+ listener.onEqStatusChanged = [&](void* pEquipment, int unitId, int status, int reason) {
+ if (m_listener.onEqStatusChanged != nullptr) {
+ m_listener.onEqStatusChanged(this, (CEquipment*)pEquipment, unitId, status, reason);
}
};
pEquipment->setListener(listener);
@@ -2429,11 +2477,19 @@
nRet = pLoadPort1->getPin("Out")->connectPin(pAligner->getPin("In1"));
if (nRet < 0) {
- LOGE("杩炴帴LoadPort1-Fliper澶辫触");
+ LOGE("杩炴帴LoadPort1-Aligner澶辫触");
}
nRet = pLoadPort2->getPin("Out")->connectPin(pAligner->getPin("In2"));
if (nRet < 0) {
- LOGE("杩炴帴LoadPort1-Fliper澶辫触");
+ LOGE("杩炴帴LoadPort2-Aligner澶辫触");
+ }
+ nRet = pLoadPort3->getPin("Out")->connectPin(pAligner->getPin("In3"));
+ if (nRet < 0) {
+ LOGE("杩炴帴LoadPort3-Aligner澶辫触");
+ }
+ nRet = pLoadPort4->getPin("Out")->connectPin(pAligner->getPin("In4"));
+ if (nRet < 0) {
+ LOGE("杩炴帴LoadPort4-Aligner澶辫触");
}
nRet = pAligner->getPin("Out1")->connectPin(pFliper->getPin("In"));
@@ -2478,14 +2534,29 @@
LOGE("杩炴帴BakeCooling-LoadPort3澶辫触");
}
- nRet = pMeasurement->getPin("Out1")->connectPin(pLoadPort3->getPin("In"));
- if (nRet < 0) {
- LOGE("杩炴帴BakeCooling-LoadPort3澶辫触");
- }
+ if (m_schedulingMode == SchedulingMode::Production) {
+ // 鐢熶骇妯″紡锛氭祴閲忚緭鍑哄洖鍒� G1 鍘熶綅锛堥粯璁� Port1 / Port3锛�
+ nRet = pMeasurement->getPin("Out1")->connectPin(pLoadPort1->getPin("In"));
+ if (nRet < 0) {
+ LOGE("杩炴帴Measurement-LoadPort1澶辫触");
+ }
- nRet = pMeasurement->getPin("Out2")->connectPin(pLoadPort4->getPin("In"));
- if (nRet < 0) {
- LOGE("杩炴帴BakeCooling-LoadPort4澶辫触");
+ nRet = pMeasurement->getPin("Out2")->connectPin(pLoadPort3->getPin("In"));
+ if (nRet < 0) {
+ LOGE("杩炴帴Measurement-LoadPort3澶辫触");
+ }
+ }
+ else {
+ // 璋冩満妯″紡锛氱淮鎸佸師杩炴帴锛圤ut1->Port3, Out2->Port4锛�
+ nRet = pMeasurement->getPin("Out1")->connectPin(pLoadPort3->getPin("In"));
+ if (nRet < 0) {
+ LOGE("杩炴帴Measurement-LoadPort3澶辫触");
+ }
+
+ nRet = pMeasurement->getPin("Out2")->connectPin(pLoadPort4->getPin("In"));
+ if (nRet < 0) {
+ LOGE("杩炴帴Measurement-LoadPort4澶辫触");
+ }
}
}
@@ -2715,6 +2786,57 @@
return pTask;
}
+ CRobotTask* CMaster::createTransferTask_returnOrigin(CEquipment* pEqSrc, CLoadPort** pPorts)
+ {
+ if (!pEqSrc->IsEnabled()) {
+ return nullptr;
+ }
+
+ CSlot* pSrcSlot = pEqSrc->getProcessedSlot(MaterialsType::G1, m_bJobMode);
+ if (pSrcSlot == nullptr) {
+ return nullptr;
+ }
+
+ CGlass* pGlass = (CGlass*)pSrcSlot->getContext();
+ if (pGlass == nullptr) {
+ return nullptr;
+ }
+
+ int port = 0, slot = 0;
+ pGlass->getOrginPort(port, slot);
+ if (port < 0 || port >= 4 || slot < 0 || slot >= SLOT_MAX) {
+ return nullptr;
+ }
+
+ CLoadPort* pPort = pPorts[port];
+ if (pPort == nullptr || !pPort->isEnable()) {
+ return nullptr;
+ }
+ PortType pt = pPort->getPortType();
+ if (!(pt == PortType::Unloading || pt == PortType::Both)) {
+ return nullptr;
+ }
+ if (pPort->getPortStatus() != PORT_INUSE) {
+ return nullptr;
+ }
+
+ CSlot* pTarSlot = pPort->getSlot(slot);
+ if (pTarSlot == nullptr) {
+ return nullptr;
+ }
+ if (!pTarSlot->isEnable() || pTarSlot->isLock() || pTarSlot->getContext() != nullptr) {
+ return nullptr;
+ }
+
+ CRobotTask* 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;
+ }
+
CRobotTask* CMaster::createTransferTask_continuous_transfer(CEquipment* pSrcEq, int nSrcSlot,
CEquipment* pTarEq, int nTarSlot, int armNo/* = 1*/)
{
@@ -2824,6 +2946,19 @@
pPort->localSetCessetteType(type);
}
+ void CMaster::applySchedulingModePortMapping()
+ {
+ // 鐢熶骇妯″紡锛氬浐瀹� Port1/Port3 涓� G1锛孭ort2/Port4 涓� G2锛圙4 鏈畾涔夛紝鎸� G2 澶勭悊锛�
+ if (m_schedulingMode != SchedulingMode::Production) {
+ return;
+ }
+
+ setPortCassetteType(0, SERVO::CassetteType::G1);
+ setPortCassetteType(1, SERVO::CassetteType::G2);
+ setPortCassetteType(2, SERVO::CassetteType::G1);
+ setPortCassetteType(3, SERVO::CassetteType::G2);
+ }
+
void CMaster::setPortEnable(unsigned int index, BOOL bEnable)
{
ASSERT(index < 4);
@@ -2887,7 +3022,57 @@
static int pid[] = { EQ_ID_LOADPORT1, EQ_ID_LOADPORT2, EQ_ID_LOADPORT3, EQ_ID_LOADPORT4};
CLoadPort* pPort = (CLoadPort*)getEquipment(pid[port]);
- pPort->sendCassetteCtrlCmd(CCC_PROCESS_START, nullptr, 0, 0, 0, nullptr, nullptr);
+ if (pPort == nullptr) return -1;
+
+ short jobExistence[12] = { 0 };
+ short slotProcess = 0;
+ short jobCount = 0; // 0 = Process All Glass
+ bool anyScheduled = false;
+
+ // Prefer hardware scan map for job existence (first 16 slots).
+ const short scanMap = pPort->getScanCassetteMap();
+ if (scanMap != 0) {
+ jobExistence[0] = scanMap;
+ }
+
+ const int maxSlots = 12 * 16;
+ const int totalSlots = (SLOT_MAX < maxSlots) ? SLOT_MAX : maxSlots;
+ for (int slot = 1; slot <= totalSlots; ++slot) {
+ CGlass* pGlass = pPort->getGlassFromSlot(slot);
+ if (pGlass == nullptr) continue;
+
+ const int wordIndex = (slot - 1) / 16;
+ const int bitIndex = (slot - 1) % 16;
+ jobExistence[wordIndex] = (short)(jobExistence[wordIndex] | (1 << bitIndex));
+
+ if (slot <= 16 && pGlass->isScheduledForProcessing()) {
+ slotProcess = (short)(slotProcess | (1 << bitIndex));
+ anyScheduled = true;
+ }
+ }
+
+ if (!anyScheduled) {
+ slotProcess = jobExistence[0];
+ }
+
+ bool hasExistence = false;
+ for (short w : jobExistence) {
+ if (w != 0) { hasExistence = true; break; }
+ }
+ const int portStatus = pPort->getPortStatus();
+ if (!hasExistence) {
+ LOGE("ProcessStart blocked (ProceedWithCarrier): no JobExistence map (port=%u, portStatus=%d, scanMap=%d, cassetteId=%s).",
+ port + 1, portStatus, scanMap, pPort->getCassetteId().c_str());
+ return -2;
+ }
+ if (portStatus != PORT_INUSE) {
+ LOGW("ProcessStart warning (ProceedWithCarrier): port status is %d (expected INUSE).", portStatus);
+ }
+ LOGI("ProcessStart payload (ProceedWithCarrier): port=%u, cassetteId=%s, scanMap=%d, jobExistence0=%d, jobExistence1=%d, slotProcess=%d, anyScheduled=%d",
+ port + 1, pPort->getCassetteId().c_str(), scanMap,
+ (int)jobExistence[0], (int)jobExistence[1], (int)slotProcess, anyScheduled ? 1 : 0);
+
+ pPort->sendCassetteCtrlCmd(CCC_PROCESS_START, jobExistence, 12, slotProcess, jobCount, nullptr, nullptr);
return 0;
}
@@ -3475,6 +3660,11 @@
}
m_pControlJob->abort(description);
+ // 鍏堜笂鎶ヤ竴娆＄姸鎬佸彉鍖栵紙渚夸簬 PrJobAbort 瑙﹀彂锛�
+ if (m_listener.onControlJobChanged) {
+ notifyControlJobChanged();
+ }
+
// 閲婃斁Job鐩稿叧
for (auto item : m_processJobs) {
--
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