From a7df0e1d5521248302e5437a1cf7b14c29b3cbaa Mon Sep 17 00:00:00 2001
From: LAPTOP-SNT8I5JK\Boounion <Chenluhua@qq.com>
Date: 星期五, 05 九月 2025 13:55:31 +0800
Subject: [PATCH] 1.CParam增加站点名称，以便将来知道Glass的工艺参数来自哪台机；
---
SourceCode/Bond/Servo/CEFEM.cpp | 710 ++++++++++++++++++++++++++++++++++++++++++++++------------
1 files changed, 560 insertions(+), 150 deletions(-)
diff --git a/SourceCode/Bond/Servo/CEFEM.cpp b/SourceCode/Bond/Servo/CEFEM.cpp
index 32e9233..39df4b4 100644
--- a/SourceCode/Bond/Servo/CEFEM.cpp
+++ b/SourceCode/Bond/Servo/CEFEM.cpp
@@ -1,8 +1,9 @@
#include "stdafx.h"
#include "CEFEM.h"
+#include "Log.h"
-#define ADD_EQ_CASSETTE_TRANSFER_STATE_STEP(name,ws,index,psd) { \
+#define ADD_EQ_PORT_STATUS_STEP(name,ws,index,psd) { \
CEqCassetteTransferStateStep* pStep = new CEqCassetteTransferStateStep(); \
pStep->setName(name); \
pStep->setWriteSignalDev(ws); \
@@ -21,17 +22,34 @@
m_pPort[3] = nullptr;
m_pAligner = nullptr;
m_pFliper = nullptr;
+ m_robotData.status = ROBOT_STATUS::Setup;
+ m_robotData.position = ROBOT_POSITION::Port1;
+ m_robotData.armState[0] = FALSE;
+ m_robotData.armState[1] = FALSE;
+ m_pActiveContext = nullptr;
}
CEFEM::~CEFEM()
{
-
+ if (m_pActiveContext != nullptr) {
+ m_pActiveContext->release();
+ m_pActiveContext = nullptr;
+ }
}
const char* CEFEM::getClassName()
{
static char* pszName = "CEFEM";
return pszName;
+ }
+
+ void CEFEM::setContext(CContext* pContext)
+ {
+ if (m_pActiveContext != nullptr) {
+ m_pActiveContext->release();
+ }
+ m_pActiveContext = pContext;
+ m_pActiveContext->addRef();
}
void CEFEM::setPort(unsigned int index, CLoadPort* pPort)
@@ -56,6 +74,283 @@
if (index < 2) {
m_pArmTray[index] = pArmTray;
}
+ }
+
+ int CEFEM::robotCmd(ROBOT_CMD_PARAM& robotCmdParam, ONWRITED onWritedBlock/* = nullptr*/)
+ {
+ SERVO::CEqWriteStep* pStep = (SERVO::CEqWriteStep*)getStepWithName(STEP_EFEM_ROBOT_CMD);
+ if (pStep == nullptr) {
+ return -1;
+ }
+
+ LOGI("<CEFEM-%s>准备发送RobotCmd<%d>", m_strName.c_str(), (int)robotCmdParam.rcmd);
+ if (onWritedBlock != nullptr) {
+ pStep->writeDataEx((const char*)&robotCmdParam, ROBOT_CMD_PARAM_SIZE, onWritedBlock);
+ }
+ else {
+ pStep->writeDataEx((const char*)&robotCmdParam, ROBOT_CMD_PARAM_SIZE, [&](int code) -> int {
+ if (code == WOK) {
+ LOGI("<CEFEM-%s>发送RobotCmd成功.", m_strName.c_str());
+ }
+ else {
+ LOGI("<CEFEM-%s>发送RobotCmd失败，code:%d", m_strName.c_str(), code);
+ }
+
+ return 0;
+ });
+ }
+
+ return 0;
+ }
+
+ int CEFEM::robotCmds(ROBOT_CMD_PARAM* robotCmdParam, unsigned int count, ONWRITED onWritedBlock/* = nullptr*/)
+ {
+ SERVO::CEqWriteStep* pStep = (SERVO::CEqWriteStep*)getStepWithName(STEP_EFEM_ROBOT_CMD);
+ if (pStep == nullptr) {
+ return -1;
+ }
+
+
+ // 平铺到内存中，如果ROBOT_CMD_PARAM不是4的整数倍，只能一个一个复制
+ std::string strLog = "准备发送RobotCmds<";
+ char szBuffer[ROBOT_CMD_PARAM_SIZE * 4];
+ for (int i = 0; i < min(4, count); i++) {
+ memcpy(&szBuffer[i * ROBOT_CMD_PARAM_SIZE], (robotCmdParam + i), ROBOT_CMD_PARAM_SIZE);
+ strLog += std::to_string((robotCmdParam + i)->rcmd);
+ strLog += ",";
+ LOGI("%d", (robotCmdParam + 1)->rcmd);
+ }
+ strLog += ">.";
+ LOGI("<CEFEM-%s>%s", m_strName.c_str(), strLog.c_str());
+
+
+ if (onWritedBlock != nullptr) {
+ pStep->writeDataEx(szBuffer, ROBOT_CMD_PARAM_SIZE * min(4, count), onWritedBlock);
+ }
+ else {
+ pStep->writeDataEx(szBuffer, ROBOT_CMD_PARAM_SIZE * min(4, count), [&](int code) -> int {
+ if (code == WOK) {
+ LOGI("<CEquipment-%s>发送RobotCmdS成功.", m_strName.c_str());
+ }
+ else {
+ LOGI("<CEquipment-%s>发送RobotCmds失败，code:%d", m_strName.c_str(), code);
+ }
+
+ return 0;
+ });
+ }
+
+ return 0;
+ }
+
+ int CEFEM::robotSendHome(int seq, ONWRITED onWritedBlock/* = nullptr*/)
+ {
+ SERVO::ROBOT_CMD_PARAM cmd = {};
+ cmd.sequenceNo = static_cast<short>(seq);
+ cmd.rcmd = static_cast<short>(SERVO::RCMD::Robot_home);
+ return robotCmd(cmd, onWritedBlock);
+ }
+
+ int CEFEM::robotSendTransfer(int seq, int armNo, int fromPos, int toPos, int fromSlot, int toSlot, ONWRITED onWritedBlock/* = nullptr*/)
+ {
+ SERVO::ROBOT_CMD_PARAM cmd = {};
+ cmd.sequenceNo = static_cast<short>(seq);
+ cmd.rcmd = static_cast<short>(SERVO::RCMD::Transfer);
+ cmd.armNo = static_cast<short>(armNo);
+ cmd.getPosition = static_cast<short>(fromPos);
+ cmd.getSlotNo = static_cast<short>(fromSlot);
+ cmd.putPosition = static_cast<short>(toPos);
+ cmd.putSlotNo = static_cast<short>(toSlot);
+ return robotCmd(cmd, onWritedBlock);
+ }
+
+ int CEFEM::robotSendMoveToGet(int seq, int armNo, int pos, int slot, ONWRITED onWritedBlock/* = nullptr*/)
+ {
+ SERVO::ROBOT_CMD_PARAM cmd = {};
+ cmd.sequenceNo = static_cast<short>(seq);
+ cmd.rcmd = static_cast<short>(SERVO::RCMD::Move);
+ cmd.armNo = static_cast<short>(armNo);
+ cmd.getPosition = static_cast<short>(pos);
+ cmd.getSlotNo = static_cast<short>(slot);
+ cmd.subCmd = 1;
+ return robotCmd(cmd, onWritedBlock);
+ }
+
+ int CEFEM::robotSendMoveToPut(int seq, int armNo, int pos, int slot, ONWRITED onWritedBlock/* = nullptr*/)
+ {
+ SERVO::ROBOT_CMD_PARAM cmd = {};
+ cmd.sequenceNo = static_cast<short>(seq);
+ cmd.rcmd = static_cast<short>(SERVO::RCMD::Move);
+ cmd.armNo = static_cast<short>(armNo);
+ cmd.putPosition = static_cast<short>(pos);
+ cmd.putSlotNo = static_cast<short>(slot);
+ cmd.subCmd = 2;
+ return robotCmd(cmd, onWritedBlock);
+ }
+
+ int CEFEM::robotSendGet(int seq, int armNo, int pos, int slot, ONWRITED onWritedBlock/* = nullptr*/)
+ {
+ SERVO::ROBOT_CMD_PARAM cmd = {};
+ cmd.sequenceNo = static_cast<short>(seq);
+ cmd.rcmd = static_cast<short>(SERVO::RCMD::Get);
+ cmd.armNo = static_cast<short>(armNo);
+ cmd.getPosition = static_cast<short>(pos);
+ cmd.getSlotNo = static_cast<short>(slot);
+ return robotCmd(cmd, onWritedBlock);
+ }
+
+ int CEFEM::robotSendPut(int seq, int armNo, int pos, int slot, ONWRITED onWritedBlock/* = nullptr*/)
+ {
+ SERVO::ROBOT_CMD_PARAM cmd = {};
+ cmd.sequenceNo = static_cast<short>(seq);
+ cmd.rcmd = static_cast<short>(SERVO::RCMD::Put);
+ cmd.armNo = static_cast<short>(armNo);
+ cmd.putPosition = static_cast<short>(pos);
+ cmd.putSlotNo = static_cast<short>(slot);
+ return robotCmd(cmd, onWritedBlock);
+ }
+
+ int CEFEM::robotSendExchange(int seq, int armNo, int pos, int getSlot, int putSlot, ONWRITED onWritedBlock/* = nullptr*/)
+ {
+ SERVO::ROBOT_CMD_PARAM cmd = {};
+ cmd.sequenceNo = static_cast<short>(seq);
+ cmd.rcmd = static_cast<short>(SERVO::RCMD::One_Action_Exchange);
+ cmd.armNo = static_cast<short>(armNo);
+ cmd.getPosition = static_cast<short>(pos);
+ cmd.putPosition = static_cast<short>(pos);
+ cmd.getSlotNo = static_cast<short>(getSlot);
+ cmd.putSlotNo = static_cast<short>(putSlot);
+ return robotCmd(cmd, onWritedBlock);
+ }
+
+ int CEFEM::robotSendCommandClear(int seq, ONWRITED onWritedBlock/* = nullptr*/)
+ {
+ SERVO::ROBOT_CMD_PARAM cmd = {};
+ cmd.sequenceNo = static_cast<short>(seq);
+ cmd.rcmd = static_cast<short>(SERVO::RCMD::Command_Clear);
+ return robotCmd(cmd, onWritedBlock);
+ }
+
+ int CEFEM::robotSendBatchGet(int seq, int getPos, int getSlot, ONWRITED onWritedBlock/* = nullptr*/)
+ {
+ SERVO::ROBOT_CMD_PARAM cmd = {};
+ cmd.sequenceNo = static_cast<short>(seq);
+ cmd.rcmd = static_cast<short>(SERVO::RCMD::Batch_get);
+ cmd.armNo = ARM_ALL;
+ cmd.getPosition = static_cast<short>(getPos);
+ cmd.getSlotNo = static_cast<short>(getSlot);
+ return robotCmd(cmd, onWritedBlock);
+ }
+
+ int CEFEM::robotSendBatchPut(int seq, int putPos, int putSlot, ONWRITED onWritedBlock/* = nullptr*/)
+ {
+ SERVO::ROBOT_CMD_PARAM cmd = {};
+ cmd.sequenceNo = static_cast<short>(seq);
+ cmd.rcmd = static_cast<short>(SERVO::RCMD::Batch_put);
+ cmd.armNo = ARM_ALL;
+ cmd.putPosition = static_cast<short>(putPos);
+ cmd.putSlotNo = static_cast<short>(putSlot);
+ return robotCmd(cmd, onWritedBlock);
+ }
+
+ int CEFEM::robotSendMoveToGetAndHome(int seq, int armNo, int getPos, int getSlot, ONWRITED onWritedBlock/* = nullptr*/)
+ {
+ SERVO::ROBOT_CMD_PARAM cmds[2] = {};
+
+ // Move to Get
+ cmds[0].sequenceNo = static_cast<short>(seq);
+ cmds[0].rcmd = static_cast<short>(SERVO::RCMD::Move);
+ cmds[0].armNo = static_cast<short>(armNo);
+ cmds[0].getPosition = static_cast<short>(getPos);
+ cmds[0].getSlotNo = static_cast<short>(getSlot);
+ cmds[0].subCmd = 1;
+
+ // Home
+ cmds[1].sequenceNo = static_cast<short>(seq + 1);
+ cmds[1].rcmd = static_cast<short>(SERVO::RCMD::Robot_home);
+
+ return robotCmds(cmds, 2, onWritedBlock);
+ }
+
+ int CEFEM::robotSendMoveToPutAndHome(int seq, int armNo, int putPos, int putSlot, ONWRITED onWritedBlock/* = nullptr*/)
+ {
+ SERVO::ROBOT_CMD_PARAM cmds[2] = {};
+
+ // Move to Put
+ cmds[0].sequenceNo = static_cast<short>(seq);
+ cmds[0].rcmd = static_cast<short>(SERVO::RCMD::Move);
+ cmds[0].armNo = static_cast<short>(armNo);
+ cmds[0].putPosition = static_cast<short>(putPos);
+ cmds[0].putSlotNo = static_cast<short>(putSlot);
+ cmds[0].subCmd = 2;
+
+ // Home
+ cmds[1].sequenceNo = static_cast<short>(seq + 1);
+ cmds[1].rcmd = static_cast<short>(SERVO::RCMD::Robot_home);
+
+ return robotCmds(cmds, 2, onWritedBlock);
+ }
+
+ int CEFEM::robotSendTransferAndHome(int seq, int armNo, int fromPos, int toPos, int fromSlot, int toSlot, ONWRITED onWritedBlock/* = nullptr*/)
+ {
+ SERVO::ROBOT_CMD_PARAM cmds[2] = {};
+
+ // Transfer
+ cmds[0].sequenceNo = static_cast<short>(seq);
+ cmds[0].rcmd = static_cast<short>(SERVO::RCMD::Transfer);
+ cmds[0].armNo = static_cast<short>(armNo);
+ cmds[0].getPosition = static_cast<short>(fromPos);
+ cmds[0].getSlotNo = static_cast<short>(fromSlot);
+ cmds[0].putPosition = static_cast<short>(toPos);
+ cmds[0].putSlotNo = static_cast<short>(toSlot);
+
+ // Home
+ cmds[1].sequenceNo = static_cast<short>(seq + 1);
+ cmds[1].rcmd = static_cast<short>(SERVO::RCMD::Robot_home);
+
+ return robotCmds(cmds, 2, onWritedBlock);
+ }
+
+ int CEFEM::robotSendGetAndPut(int seq, int armNo, int getPos, int getSlot, int putPos, int putSlot, ONWRITED onWritedBlock/* = nullptr*/)
+ {
+ SERVO::ROBOT_CMD_PARAM cmds[2] = {};
+
+ cmds[0].sequenceNo = static_cast<short>(seq);
+ cmds[0].rcmd = static_cast<short>(SERVO::RCMD::Get);
+ cmds[0].armNo = static_cast<short>(armNo);
+ cmds[0].getPosition = static_cast<short>(getPos);
+ cmds[0].getSlotNo = static_cast<short>(getSlot);
+
+ cmds[1].sequenceNo = static_cast<short>(seq + 1);
+ cmds[1].rcmd = static_cast<short>(SERVO::RCMD::Put);
+ cmds[1].armNo = static_cast<short>(armNo);
+ cmds[1].putPosition = static_cast<short>(putPos);
+ cmds[1].putSlotNo = static_cast<short>(putSlot);
+
+ return robotCmds(cmds, 2, onWritedBlock);
+ }
+
+ int CEFEM::robotSendPutAndHome(int seq, int armNo, int putPos, int putSlot, ONWRITED onWritedBlock/* = nullptr*/)
+ {
+ SERVO::ROBOT_CMD_PARAM cmds[2] = {};
+
+ // Put
+ cmds[0].sequenceNo = static_cast<short>(seq);
+ cmds[0].rcmd = static_cast<short>(SERVO::RCMD::Put);
+ cmds[0].armNo = static_cast<short>(armNo);
+ cmds[0].putPosition = static_cast<short>(putPos);
+ cmds[0].putSlotNo = static_cast<short>(putSlot);
+
+ // Home
+ cmds[1].sequenceNo = static_cast<short>(seq + 1);
+ cmds[1].rcmd = static_cast<short>(SERVO::RCMD::Robot_home);
+
+ return robotCmds(cmds, 2, onWritedBlock);
+ }
+
+ RMDATA& CEFEM::getRobotMonitoringData()
+ {
+ return m_robotData;
}
void CEFEM::init()
@@ -84,7 +379,7 @@
// Eq mode
CEqModeStep* pStep = new CEqModeStep();
pStep->setName(STEP_MODE);
- pStep->setWriteSignalDev(0x50);
+ pStep->setWriteSignalDev(0x40);
pStep->setModeDev(0x5d7d);
if (addStep(STEP_ID_EQMODE_CHANGED, pStep) != 0) {
delete pStep;
@@ -95,7 +390,7 @@
// Eq Status
CEqStatusStep* pStep = new CEqStatusStep();
pStep->setName(STEP_STATUS);
- pStep->setWriteSignalDev(0x51);
+ pStep->setWriteSignalDev(0x41);
pStep->setStatusDev(0x5d59);
if (addStep(STEP_ID_EQSTATUS_CHANGED, pStep) != 0) {
delete pStep;
@@ -106,7 +401,7 @@
// Eq Alarm
static char* pszName[] = { STEP_ALARM_BLOCK1, STEP_ALARM_BLOCK2, STEP_ALARM_BLOCK3, STEP_ALARM_BLOCK4, STEP_ALARM_BLOCK5 };
static int dev[] = { 0x5f0e , 0x5f3b, 0x5f68, 0x5f95, 0x5fc2 };
- static int writeSignalDev[] = { 0x52, 0x53, 0x54, 0x55, 0x56 };
+ static int writeSignalDev[] = { 0x42, 0x43, 0x44, 0x45, 0x46 };
static int addr[] = { STEP_ID_EQALARM1, STEP_ID_EQALARM2, STEP_ID_EQALARM3, STEP_ID_EQALARM4, STEP_ID_EQALARM5 };
for (int i = 0; i < 5; i++) {
@@ -125,7 +420,7 @@
// eq process
CEqProcessStep* pStep = new CEqProcessStep();
pStep->setName(STEP_PROCESS);
- pStep->setWriteSignalDev(0x57);
+ pStep->setWriteSignalDev(0x47);
pStep->setProcessDev(0x6b55);
if (addStep(STEP_ID_PROCESS_DATA_REPORT, pStep) != 0) {
delete pStep;
@@ -136,7 +431,7 @@
// eq cim mode change
CEqCimModeChangeStep* pStep = new CEqCimModeChangeStep();
pStep->setName(STEP_CIM_MODE_CHANGE);
- pStep->setWriteSignalDev(0x70);
+ pStep->setWriteSignalDev(0x60);
pStep->setCimModeDev(0x15);
if (addStep(STEP_ID_CIMMODE_CHANGED_CMD_REPLY, pStep) != 0) {
delete pStep;
@@ -147,7 +442,7 @@
// eq cim message
CEqCimMessageCmdStep* pStep = new CEqCimMessageCmdStep();
pStep->setName(STEP_CIM_MESSAGE_CMD);
- pStep->setWriteSignalDev(0x71);
+ pStep->setWriteSignalDev(0x61);
pStep->setCimMessageDev(0x0);
if (addStep(STEP_ID_CIM_MSG_SET_CMD_REPLY, pStep) != 0) {
delete pStep;
@@ -157,21 +452,28 @@
{
// CIM Message Confirm
- CEqReadIntStep* pStep = new CEqReadIntStep(__INT32, 0x5f80);
+ CEqReadIntStep* pStep = new CEqReadIntStep(__INT32, 0x5d80);
pStep->setName(STEP_EQ_CIM_MESSAGE_CONFIRM);
- pStep->setWriteSignalDev(0x59);
+ pStep->setWriteSignalDev(0x49);
if (addStep(STEP_ID_CIM_MSG_CONFIRM_REPORT, pStep) != 0) {
delete pStep;
}
}
{
- // VCR1 Event Report
- CEqVcrEventStep* pStep = new CEqVcrEventStep();
+ // VCR Event Report
+ // 机器上报扫码结果，扫码器预计安装在巡边检机器上
+ CEqReadStep* pStep = new CEqReadStep(0x5fef, 15 * 2,
+ [&](void* pFrom, int code, const char* pszData, size_t size) -> int {
+ if (code == ROK && pszData != nullptr && size > 0) {
+ decodeVCREventReport((CStep*)pFrom, pszData, size);
+ }
+ return -1;
+ });
pStep->setName(STEP_EQ_VCR1_EVENT_REPORT);
+ pStep->setProp("Port", (void*)1);
pStep->setWriteSignalDev(0x4a);
pStep->setReturnDev(0x91e);
- pStep->setVcrEventReportDev(0x5fef);
if (addStep(STEP_ID_VCR1_EVENT_REPORT, pStep) != 0) {
delete pStep;
}
@@ -181,7 +483,7 @@
// eq cim message clear
CEqCimMessageClearStep* pStep = new CEqCimMessageClearStep();
pStep->setName(STEP_CIM_MESSAGE_CLEAR);
- pStep->setWriteSignalDev(0x72);
+ pStep->setWriteSignalDev(0x62);
pStep->setClearCimMessageDev(0x13);
if (addStep(STEP_ID_CIM_MSG_CLEAR_CMD_REPLY, pStep) != 0) {
delete pStep;
@@ -192,7 +494,7 @@
// datetime set cmd
CEqDateTimeSetCmdStep* pStep = new CEqDateTimeSetCmdStep();
pStep->setName(STEP_DATETIME_SET_CMD);
- pStep->setWriteSignalDev(0x73);
+ pStep->setWriteSignalDev(0x63);
pStep->setDateTimeDev(0x16);
if (addStep(STEP_ID_DATETIME_SET_CMD_REPLY, pStep) != 0) {
delete pStep;
@@ -203,7 +505,7 @@
// vcr enable
CEqVCREnableStep* pStep = new CEqVCREnableStep();
pStep->setName(STEP_EQ_VCR_ENABLE);
- pStep->setWriteSignalDev(0x74);
+ pStep->setWriteSignalDev(0x64);
pStep->setEqVCRModeDev(0x1F);
if (addStep(STEP_ID_VCR_ENABLE_CMD_REPLY, pStep) != 0) {
delete pStep;
@@ -214,7 +516,7 @@
// eq mode change
CEqModeChangeStep* pStep = new CEqModeChangeStep();
pStep->setName(STEP_EQ_MODE_CHANGE);
- pStep->setWriteSignalDev(0x75);
+ pStep->setWriteSignalDev(0x40);
pStep->setEqModeDev(0x1E);
if (addStep(STEP_ID_EQMODE_CHANGE_CMD_REPLY, pStep) != 0) {
delete pStep;
@@ -243,75 +545,70 @@
}
}
- // CEqCassetteTranserStateStep
- ADD_EQ_CASSETTE_TRANSFER_STATE_STEP(STEP_EQ_P1_CASSETTE_EMPTY, 0xd8,
- STEP_ID_PORT1_CASSETTIE_EMPTY, 0x6050);
- ADD_EQ_CASSETTE_TRANSFER_STATE_STEP(STEP_EQ_P1_CASSETTE_LOAD_EADY, 0xe0,
- STEP_ID_PORT1_CASSETTIE_LOAD_READY, 0x6050);
- ADD_EQ_CASSETTE_TRANSFER_STATE_STEP(STEP_EQ_P1_CASSETTE_LOADED, 0xe8,
- STEP_ID_PORT1_CASSETTIE_LOADED, 0x6050);
- ADD_EQ_CASSETTE_TRANSFER_STATE_STEP(STEP_EQ_P1_CASSETTE_INUSE, 0xf0,
- STEP_ID_PORT1_CASSETTIE_INUSE, 0x6050);
- ADD_EQ_CASSETTE_TRANSFER_STATE_STEP(STEP_EQ_P1_CASSETTE_UNLOAD_EADY, 0xf8,
- STEP_ID_PORT1_CASSETTIE_UNLOAD_READY, 0x60f50);
- ADD_EQ_CASSETTE_TRANSFER_STATE_STEP(STEP_EQ_P1_CASSETTE_BLOCKED, 0x100,
- STEP_ID_PORT1_CASSETTIE_BLOCKED, 0x6050);
- ADD_EQ_CASSETTE_TRANSFER_STATE_STEP(STEP_EQ_P2_CASSETTE_EMPTY, 0xd9,
- STEP_ID_PORT2_CASSETTIE_EMPTY, 0x6070);
- ADD_EQ_CASSETTE_TRANSFER_STATE_STEP(STEP_EQ_P2_CASSETTE_LOAD_EADY, 0xe1,
- STEP_ID_PORT2_CASSETTIE_LOAD_READY, 0x6070);
- ADD_EQ_CASSETTE_TRANSFER_STATE_STEP(STEP_EQ_P2_CASSETTE_LOADED, 0xe9,
- STEP_ID_PORT2_CASSETTIE_LOADED, 0x6070);
- ADD_EQ_CASSETTE_TRANSFER_STATE_STEP(STEP_EQ_P2_CASSETTE_INUSE, 0xf1,
- STEP_ID_PORT2_CASSETTIE_INUSE, 0x6070);
- ADD_EQ_CASSETTE_TRANSFER_STATE_STEP(STEP_EQ_P2_CASSETTE_UNLOAD_EADY, 0xf9,
- STEP_ID_PORT2_CASSETTIE_UNLOAD_READY, 0x6070);
- ADD_EQ_CASSETTE_TRANSFER_STATE_STEP(STEP_EQ_P2_CASSETTE_BLOCKED, 0x101,
- STEP_ID_PORT2_CASSETTIE_BLOCKED, 0x6070);
- ADD_EQ_CASSETTE_TRANSFER_STATE_STEP(STEP_EQ_P3_CASSETTE_EMPTY, 0xda,
- STEP_ID_PORT3_CASSETTIE_EMPTY, 0x6090);
- ADD_EQ_CASSETTE_TRANSFER_STATE_STEP(STEP_EQ_P3_CASSETTE_LOAD_EADY, 0xe2,
- STEP_ID_PORT3_CASSETTIE_LOAD_READY, 0x6090);
- ADD_EQ_CASSETTE_TRANSFER_STATE_STEP(STEP_EQ_P3_CASSETTE_LOADED, 0xea,
- STEP_ID_PORT3_CASSETTIE_INUSE, 0x6090);
- ADD_EQ_CASSETTE_TRANSFER_STATE_STEP(STEP_EQ_P3_CASSETTE_INUSE, 0xf2,
- STEP_ID_PORT3_CASSETTIE_INUSE, 0x6090);
- ADD_EQ_CASSETTE_TRANSFER_STATE_STEP(STEP_EQ_P3_CASSETTE_UNLOAD_EADY, 0xfa,
- STEP_ID_PORT3_CASSETTIE_UNLOAD_READY, 0x6090);
- ADD_EQ_CASSETTE_TRANSFER_STATE_STEP(STEP_EQ_P3_CASSETTE_BLOCKED, 0x102,
- STEP_ID_PORT3_CASSETTIE_BLOCKED, 0x6090);
- ADD_EQ_CASSETTE_TRANSFER_STATE_STEP(STEP_EQ_P4_CASSETTE_EMPTY, 0xdb,
- STEP_ID_PORT4_CASSETTIE_EMPTY, 0x60b0);
- ADD_EQ_CASSETTE_TRANSFER_STATE_STEP(STEP_EQ_P4_CASSETTE_LOAD_EADY, 0xe3,
- STEP_ID_PORT4_CASSETTIE_LOAD_READY, 0x60b0);
- ADD_EQ_CASSETTE_TRANSFER_STATE_STEP(STEP_EQ_P4_CASSETTE_LOADED, 0xeb,
- STEP_ID_PORT4_CASSETTIE_LOADED, 0x60b0);
- ADD_EQ_CASSETTE_TRANSFER_STATE_STEP(STEP_EQ_P4_CASSETTE_INUSE, 0xf3,
- STEP_ID_PORT4_CASSETTIE_INUSE, 0x60b0);
- ADD_EQ_CASSETTE_TRANSFER_STATE_STEP(STEP_EQ_P4_CASSETTE_UNLOAD_EADY, 0xfb,
- STEP_ID_PORT4_CASSETTIE_UNLOAD_READY, 0x60b0);
- ADD_EQ_CASSETTE_TRANSFER_STATE_STEP(STEP_EQ_P4_CASSETTE_BLOCKED, 0x103,
- STEP_ID_PORT4_CASSETTIE_BLOCKED, 0x60b0);
-
{
- // Received Job Report Upstream#1~9
+ // master recipe list report
+ CEqReadStep* pStep = new CEqReadStep(0x6955, 255 * 2,
+ [&](void* pFrom, int code, const char* pszData, size_t size) -> int {
+ CEqReadStep* pTmpStep = (CEqReadStep*)pFrom;
+ short ret = MRLRC_OK;
+ if (code == ROK && pszData != nullptr && size > 0) {
+ // 此处解释配方数据
+ ret = decodeRecipeListReport(pszData, size);
+ }
+ pTmpStep->setReturnCode(ret);
+ return -1;
+ });
+ pStep->setName(STEP_EQ_MASTER_RECIPE_LIST);
+ pStep->setWriteSignalDev(0x4b);
+ pStep->setReturnDev(0x91d);
+ if (addStep(STEP_ID_MASTER_RECIPE_LIST_REPORT, pStep) != 0) {
+ delete pStep;
+ }
+ }
+
+ // 使用CEqReadStep替换CEqJobEventStep
+ {
+ // Received Job Report Upstream #1~9
char szBuffer[256];
- for (int i = 0; i < 9; i++) {
+ for (int i = 0; i < 8; i++) {
CEqReadStep* pStep = new CEqReadStep(0x4c90 + 320 * i, 320 * 2,
[&](void* pFrom, int code, const char* pszData, size_t size) -> int {
if (code == ROK && pszData != nullptr && size > 0) {
int port = (int)(__int64)((CEqReadStep*)pFrom)->getProp("Port");
if (port > 0) {
- decodeFetchedOutJobReport((CStep*)pFrom, port, pszData, size);
+ decodeReceivedJobReport((CStep*)pFrom, port, pszData, size);
}
}
return -1;
});
- sprintf_s(szBuffer, "%s%d", STEP_EQ_RECEIVED_JOBn, i + 1);
+ sprintf_s(szBuffer, "%s%d", STEP_EQ_RECEIVED_JOB_UPSn, i + 1);
pStep->setName(szBuffer);
- pStep->setProp("Upstream", (void*)(__int64)(i + 1));
+ pStep->setProp("Port", (void*)(__int64)(i + 1));
pStep->setWriteSignalDev(0x0 + i);
- if (addStep(STEP_ID_FETCHED_OUT_JOB_REPORT1 + i, pStep) != 0) {
+ if (addStep(STEP_ID_RECIVE_JOB_UPS1 + i, pStep) != 0) {
+ delete pStep;
+ }
+ }
+ }
+ {
+ // Sent Out Job Report Downstream #1~9
+ char szBuffer[256];
+ for (int i = 0; i < 8; i++) {
+ CEqReadStep* pStep = new CEqReadStep(0x4000 + 320 * i, 320 * 2,
+ [&](void* pFrom, int code, const char* pszData, size_t size) -> int {
+ if (code == ROK && pszData != nullptr && size > 0) {
+ int port = (int)(__int64)((CEqReadStep*)pFrom)->getProp("Port");
+ if (port > 0) {
+ decodeSentOutJobReport((CStep*)pFrom, port, pszData, size);
+ }
+ }
+ return -1;
+ });
+ sprintf_s(szBuffer, "%s%d", STEP_EQ_SENT_OUT_JOB_DOWNSn, i + 1);
+ pStep->setName(szBuffer);
+ pStep->setProp("Port", (void*)(__int64)(i + 1));
+ pStep->setWriteSignalDev(0x00a + i);
+ if (addStep(STEP_ID_SENT_OUT_JOB_DOWNS1 + i, pStep) != 0) {
delete pStep;
}
}
@@ -320,7 +617,7 @@
{
// Fetched Out Job Report #1~15
char szBuffer[256];
- for (int i = 0; i < 15; i++) {
+ for (int i = 0; i < 8; i++) {
CEqReadStep* pStep = new CEqReadStep(0x5c31 + 18 * i, 18 * 2,
[&](void* pFrom, int code, const char* pszData, size_t size) -> int {
if (code == ROK && pszData != nullptr && size > 0) {
@@ -331,7 +628,7 @@
}
return -1;
});
- sprintf_s(szBuffer, "%s%d", STEP_EQ_FETCHED_OUT_JOBn, i+1);
+ sprintf_s(szBuffer, "%s%d", STEP_EQ_FETCHED_OUT_JOBn, i + 1);
pStep->setName(szBuffer);
pStep->setProp("Port", (void*)(__int64)(i + 1));
pStep->setWriteSignalDev(0x023 + i);
@@ -342,9 +639,9 @@
}
{
- // Store Job Report #1~15
+ // Stored Job Report #1~15
char szBuffer[256];
- for (int i = 0; i < 15; i++) {
+ for (int i = 0; i < 8; i++) {
CEqReadStep* pStep = new CEqReadStep(0x5b23 + 18 * i, 18 * 2,
[&](void* pFrom, int code, const char* pszData, size_t size) -> int {
if (code == ROK && pszData != nullptr && size > 0) {
@@ -364,25 +661,100 @@
}
}
}
- }
- int CEFEM::onStepEvent(CStep* pStep, int code)
- {
- int nRet = CEquipment::onStepEvent(pStep, code);
- if (nRet > 0) return nRet;
- if (code == STEP_EVENT_READDATA) {
- if (isCassetteTransferStateStep(pStep)) {
- SERVO::CEqCassetteTransferStateStep* pEqCassetteStep = (SERVO::CEqCassetteTransferStateStep*)pStep;
- int id = pEqCassetteStep->getID();
- if (id == STEP_ID_PORT1_CASSETTIE_EMPTY) {
-
- }
+ {
+ // Dispatching Mode Change Command
+ CEqWriteStep* pStep = new CEqWriteStep();
+ pStep->setName(STEP_EQ_DISPATCHINT_MODE_CHANGE);
+ pStep->setWriteSignalDev(0x071);
+ pStep->setDataDev(0x5c6);
+ if (addStep(STEP_ID_DISPATCHING_MODE_CHANGE_REPLY, pStep) != 0) {
+ delete pStep;
}
}
+ {
+ // Robot CMD
+ CEqWriteStep* pStep = new CEqWriteStep();
+ pStep->setName(STEP_EFEM_ROBOT_CMD);
+ pStep->setWriteSignalDev(0x14D);
+ pStep->setDataDev(0x5c7);
+ if (addStep(STEP_ID_ROBOT_CMD_REPLY, pStep) != 0) {
+ delete pStep;
+ }
+ }
- return 0;
+ {
+ // Indexer Operation Mode Change
+ CEqWriteStep* pStep = new CEqWriteStep();
+ pStep->setName(STEP_EQ_IN_OP_MODE_CHANGE);
+ pStep->setWriteSignalDev(0x070);
+ pStep->setDataDev(0x023);
+ pStep->setRetDataDev(0x600e, 2);
+ if (addStep(STEP_ID_IN_OP_CMD_REPLY, pStep) != 0) {
+ delete pStep;
+ }
+ }
+
+ {
+ // FAC Data Report
+ 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_FAC_DATA_REPORT, pStep) != 0) {
+ delete pStep;
+ }
+ }
+
+ {
+ // JOB Data Request
+ CEqReadStep* pStep = new CEqReadStep(0x0, 0,
+ [&](void* pFrom, int code, const char* pszData, size_t size) -> int {
+ if (code == ROK /* && pszData != nullptr && size > 0*/) {
+ // 由于EFEM没有发送参数到master, 我们只需要返回数据
+ // Cassette Sequence No和Job Sequence No根据上一次调试缓存而来
+ // decodeJobDataRequest((CStep*)pFrom, pszData, size);
+
+ // 获取数据后返回给EFEM
+ // Job DataS 320W
+ // ACK 1W
+ // Reserved 15W
+ short ack = (short)JobDataRequestAck::NG; // 不存在jobData
+ char szBuffer[1024] = { 0 };
+ if (m_pActiveContext != nullptr) {
+ CJobDataS* pJobDataS = ((CGlass*)m_pActiveContext)->getJobDataS();
+ if (pJobDataS != nullptr) {
+ pJobDataS->serialize(szBuffer, 1024);
+ ack = (short)JobDataRequestAck::OK;
+ }
+ }
+ memcpy(&szBuffer[320 * 2], &ack, sizeof(short));
+ ((CEqReadStep*)pFrom)->setReturnData(szBuffer, 336 * 2);
+ }
+ return -1;
+ });
+ pStep->setName(STEP_EFEM_PANEL_DATA_REQUEST);
+ pStep->setProp("Port", (void*)1);
+ pStep->setWriteSignalDev(0x35);
+ pStep->setReturnDev(0x5EA);
+ if (addStep(STEP_ID_JOB_DATA_REQUEST, pStep) != 0) {
+ delete pStep;
+ }
+ }
+ }
+
+ // 必须要实现的虚函数，在此初始化Slot信息
+ void CEFEM::initSlots()
+ {
+
}
void CEFEM::onTimer(UINT nTimerid)
@@ -405,84 +777,122 @@
return __super::recvIntent(pPin, pIntent);
}
- BOOL CEFEM::glassWillArrive(CGlass* pGlass)
- {
- BOOL bRet = __super::glassWillArrive(pGlass);
- if (!bRet) {
- return FALSE;
- }
-
- return m_glassList.empty();
- }
-
void CEFEM::onReceiveLBData(const char* pszData, size_t size)
{
__super::onReceiveLBData(pszData, size);
+
+ // 解释得到Robot状态
+ // 地址从(0x3500 - 0x3000)开始
+ int index = 0x500;
+ for (int i = 0; i < 6; i++) {
+ if (isBitOn(pszData, size, index + i)) {
+ m_robotData.status = (ROBOT_STATUS)i;
+ break;
+ }
+ }
+ index += 8;
+
+ for (int i = 0; i < 11; i++) {
+ if (isBitOn(pszData, size, index + i)) {
+ m_robotData.position = (ROBOT_POSITION)i;
+ break;
+ }
+ }
+ index += 16;
+ m_robotData.armState[0] = isBitOn(pszData, size, index);
+ m_robotData.armState[1] = isBitOn(pszData, size, index + 1);
+
for (unsigned int i = 0; i < 4; i++) {
if (m_pPort[i] != nullptr) {
m_pPort[i]->onReceiveLBData(pszData, size);
}
}
+ m_pAligner->onReceiveLBData(pszData, size);
+
+
+ // 更新信号到LoadPort, Robot, Aligner, Fliper
+ m_pPort[0]->setLinkSignalUpstreamBlock(0, &m_bLinkSignalToUpstream[0][0]);
+ m_pPort[1]->setLinkSignalUpstreamBlock(0, &m_bLinkSignalToUpstream[1][0]);
+ m_pPort[2]->setLinkSignalUpstreamBlock(0, &m_bLinkSignalToUpstream[2][0]);
+ m_pPort[3]->setLinkSignalUpstreamBlock(0, &m_bLinkSignalToUpstream[3][0]);
+ m_pArmTray[0]->setLinkSignalUpstreamBlock(0, &m_bLinkSignalToUpstream[4][0]);
+ m_pArmTray[1]->setLinkSignalUpstreamBlock(0, &m_bLinkSignalToUpstream[5][0]);
+ m_pAligner->setLinkSignalUpstreamBlock(0, &m_bLinkSignalToUpstream[6][0]);
+ m_pFliper->setLinkSignalUpstreamBlock(0, &m_bLinkSignalToUpstream[7][0]);
+
+ m_pPort[0]->setLinkSignalDownstreamBlock(0, &m_bLinkSignalToDownstream[0][0]);
+ m_pPort[1]->setLinkSignalDownstreamBlock(0, &m_bLinkSignalToDownstream[1][0]);
+ m_pPort[2]->setLinkSignalDownstreamBlock(0, &m_bLinkSignalToDownstream[2][0]);
+ m_pPort[3]->setLinkSignalDownstreamBlock(0, &m_bLinkSignalToDownstream[3][0]);
+ m_pArmTray[0]->setLinkSignalDownstreamBlock(0, &m_bLinkSignalToDownstream[4][0]);
+ m_pArmTray[1]->setLinkSignalDownstreamBlock(0, &m_bLinkSignalToDownstream[5][0]);
+ m_pAligner->setLinkSignalDownstreamBlock(0, &m_bLinkSignalToDownstream[6][0]);
+ m_pFliper->setLinkSignalDownstreamBlock(0, &m_bLinkSignalToDownstream[7][0]);
}
- int CEFEM::onFetchedOut(int port, const char* pszGlassId)
+ int CEFEM::onReceivedJob(int port, CJobDataS* pJobDataS)
{
- if (port == 1) {
- return m_pPort[0]->fetchedOut(pszGlassId);
- }
- if (port == 2) {
- return m_pPort[1]->fetchedOut(pszGlassId);
- }
- if (port == 3) {
- return m_pPort[2]->fetchedOut(pszGlassId);
- }
- if (port == 4) {
- return m_pPort[3]->fetchedOut(pszGlassId);
- }
- if (port == 5) {
- return m_pArmTray[0]->fetchedOut(pszGlassId);
- }
- if (port == 6) {
- return m_pArmTray[1]->fetchedOut(pszGlassId);
- }
- if (port == 7) {
- return m_pAligner->fetchedOut(pszGlassId);
- }
- if (port == 8) {
- return m_pFliper->fetchedOut(pszGlassId);
+ // 转发到子单元设备
+ CEquipment* pEqs[] = { m_pPort[0], m_pPort[1], m_pPort[2], m_pPort[3], m_pArmTray[0], m_pArmTray[1],
+ m_pAligner, m_pFliper };
+ if (1 <= port && port <= 8) {
+ pEqs[port - 1]->onReceivedJob(port, pJobDataS);
}
- return -1;
+
+ return 0;
}
- int CEFEM::onStore(int port, const char* pszGlassId)
+ int CEFEM::onSentOutJob(int port, CJobDataS* pJobDataS)
{
- if (port == 1) {
- return m_pPort[0]->storedJob(pszGlassId);
- }
- if (port == 2) {
- return m_pPort[1]->storedJob(pszGlassId);
- }
- if (port == 3) {
- return m_pPort[2]->storedJob(pszGlassId);
- }
- if (port == 4) {
- return m_pPort[3]->storedJob(pszGlassId);
- }
- if (port == 5) {
- return m_pArmTray[0]->storedJob(pszGlassId);
- }
- if (port == 6) {
- return m_pArmTray[1]->storedJob(pszGlassId);
- }
- if (port == 7) {
- return m_pAligner->storedJob(pszGlassId);
- }
- if (port == 8) {
- return m_pFliper->storedJob(pszGlassId);
+ // 转发到子单元设备
+ CEquipment* pEqs[] = { m_pPort[0], m_pPort[1], m_pPort[2], m_pPort[3], m_pArmTray[0], m_pArmTray[1],
+ m_pAligner, m_pFliper };
+ if (1 <= port && port <= 8) {
+ pEqs[port - 1]->onSentOutJob(port, pJobDataS);
}
- return -1;
+
+ return 0;
+ }
+
+ int CEFEM::onFetchedOutJob(int port, CJobDataB* pJobDataB)
+ {
+ // 转发到子单元设备
+ CEquipment* pEqs[] = { m_pPort[0], m_pPort[1], m_pPort[2], m_pPort[3], m_pArmTray[0], m_pArmTray[1],
+ m_pAligner, m_pFliper };
+ if (1 <= port && port <= 8) {
+ pEqs[port - 1]->onFetchedOutJob(port, pJobDataB);
+ }
+
+
+ return 0;
+ }
+
+ int CEFEM::onStoredJob(int port, CJobDataB* pJobDataB)
+ {
+ // 转发到子单元设备
+ CEquipment* pEqs[] = { m_pPort[0], m_pPort[1], m_pPort[2], m_pPort[3], m_pArmTray[0], m_pArmTray[1],
+ m_pAligner, m_pFliper };
+ if (1 <= port && port <= 8) {
+ pEqs[port - 1]->onStoredJob(port, pJobDataB);
+ }
+
+
+ return 0;
+ }
+
+ int CEFEM::getIndexerOperationModeBaseValue()
+ {
+ return 10000;
+ }
+
+ void CEFEM::printDebugRobotState()
+ {
+ LOGI("<CEFEM>Robot status:%d, ARM1:%s, ARM2:%s",
+ m_robotData.status,
+ m_robotData.armState[0] ? _T("ON") : _T("OFF"),
+ m_robotData.armState[1] ? _T("ON") : _T("OFF"));
}
}
--
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