From ae6ef5e9343aba44b7547ecc4afab935ebdf4806 Mon Sep 17 00:00:00 2001
From: mrDarker <mr.darker@163.com>
Date: 星期四, 19 六月 2025 09:13:09 +0800
Subject: [PATCH] Merge branch 'clh' into liuyang
---
SourceCode/Bond/Servo/CMaster.cpp | 115 +++++++++++++--------------------------------------------
1 files changed, 26 insertions(+), 89 deletions(-)
diff --git a/SourceCode/Bond/Servo/CMaster.cpp b/SourceCode/Bond/Servo/CMaster.cpp
index 79da60d..a751764 100644
--- a/SourceCode/Bond/Servo/CMaster.cpp
+++ b/SourceCode/Bond/Servo/CMaster.cpp
@@ -160,9 +160,9 @@
ASSERT(pMeasurement);
pEfem->setPort(0, pPort1);
- pEfem->setPort(1, pPort1);
- pEfem->setPort(2, pPort1);
- pEfem->setPort(3, pPort1);
+ pEfem->setPort(1, pPort2);
+ pEfem->setPort(2, pPort3);
+ pEfem->setPort(3, pPort4);
pEfem->setFliper(pFliper);
pEfem->setAligner(pAligner);
pEfem->setArmTray(0, pArmTray1);
@@ -477,7 +477,7 @@
// Fliper(G2) -> Bonder
// VacuumBake(G1) -> Bonder
- if (!rmd.armState[1]) {
+ if (!rmd.armState[1] && !pBonder1->hasBondClass()) {
m_pActiveRobotTask = createTransferTask(pFliper, pBonder1, primaryType, secondaryType, 2);
if (m_pActiveRobotTask != nullptr) {
m_pActiveRobotTask->pick();
@@ -491,7 +491,7 @@
}
}
- if (!rmd.armState[1]) {
+ if (!rmd.armState[1] && !pBonder2->hasBondClass()) {
m_pActiveRobotTask = createTransferTask(pFliper, pBonder2, primaryType, secondaryType, 2);
if (m_pActiveRobotTask != nullptr) {
m_pActiveRobotTask->pick();
@@ -505,7 +505,7 @@
}
}
- if (!rmd.armState[0]) {
+ if (!rmd.armState[0] && !pBonder1->hasBondClass()) {
m_pActiveRobotTask = createTransferTask(pVacuumBake, pBonder1, primaryType, secondaryType);
if (m_pActiveRobotTask != nullptr) {
m_pActiveRobotTask->pick();
@@ -519,7 +519,7 @@
}
}
- if (!rmd.armState[0]) {
+ if (!rmd.armState[0] && !pBonder2->hasBondClass()) {
m_pActiveRobotTask = createTransferTask(pVacuumBake, pBonder2, primaryType, secondaryType);
if (m_pActiveRobotTask != nullptr) {
m_pActiveRobotTask->pick();
@@ -613,16 +613,13 @@
// 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();
+ 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);
- }
+ int nRet = m_cclink.ReadData2(station, (DeviceType)block.type,
+ block.start, block.size, block.buffer);
+ if (0 == nRet) {
+ item->onReceiveLBData(block.buffer, block.size);
}
}
}
@@ -780,7 +777,9 @@
unlock();
}
};
-
+ listener.onProcessStateChanged = [&](void* pEquipment, PROCESS_STATE state) -> void {
+ LOGI("<Master>onProcessStateChanged<%d>", (int)state);
+ };
pEquipment->setListener(listener);
pEquipment->setCcLink(&m_cclink);
m_listEquipment.push_back(pEquipment);
@@ -852,7 +851,7 @@
pEquipment->setBaseAlarmId(BASE_ALARM_EFEM);
pEquipment->setName("VacuumBake(G1)");
pEquipment->setDescription("VacuumBake(G1).");
- pEquipment->setReadBitBlock(0x4000, 0x45ff);
+ pEquipment->setReadBitBlock(0x5c00, 0x66ff);
pEquipment->setStation(0, 255);
addToEquipmentList(pEquipment);
@@ -963,7 +962,7 @@
pEquipment->setBaseAlarmId(BASE_ALARM_EFEM);
pEquipment->setName("BakeCooling");
pEquipment->setDescription("BakeCooling.");
- pEquipment->setReadBitBlock(0x4000, 0x45ff);
+ pEquipment->setReadBitBlock(0x5100, 0x5bff);
pEquipment->setStation(0, 255);
addToEquipmentList(pEquipment);
@@ -1204,14 +1203,11 @@
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());
}
@@ -1228,14 +1224,11 @@
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());
}
@@ -1253,14 +1246,11 @@
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());
}
@@ -1277,68 +1267,15 @@
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)
- {
- 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;
- }
- 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;
- }
}
int CMaster::abortCurrentTask()
--
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