From b0184248350b34c0f90f36db8d2ad3b89095e74f Mon Sep 17 00:00:00 2001
From: LAPTOP-SNT8I5JK\Boounion <Chenluhua@qq.com>
Date: 星期一, 01 九月 2025 11:15:41 +0800
Subject: [PATCH] 1.调整调度算法逻辑，根据G1G2数量及配对确定取片类型，空闲等； 2.重命名两个和玻璃相关函数：Class修改为Glass
---
SourceCode/Bond/Servo/CMaster.cpp | 121 +++++++++++++++++++++++-----------------
1 files changed, 70 insertions(+), 51 deletions(-)
diff --git a/SourceCode/Bond/Servo/CMaster.cpp b/SourceCode/Bond/Servo/CMaster.cpp
index 1716f9a..f88f104 100644
--- a/SourceCode/Bond/Servo/CMaster.cpp
+++ b/SourceCode/Bond/Servo/CMaster.cpp
@@ -506,13 +506,11 @@
}
// 检查看是否都已经切换到START状态
- /*
if (!bIomcOk[6]) {
unlock();
setState(MASTERSTATE::MSERROR);
continue;
}
- */
unlock();
if(m_bContinuousTransfer)
@@ -597,52 +595,62 @@
}
- // 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::G2;
- secondaryType = MaterialsType::G1;
+ // Bonder1、Bonder2、Fliper、VacuumBake、Aligner，统计G2和G1的数量, 配对组数, 多出的类型
+ int nG2Count = 0, nG1Count = 0, nGlassGroup, nExtraType;
+ if (pBonder1->slotHasGlass(0)) {
+ nG2Count++;
+ }
+ if (pBonder1->slotHasGlass(1)) {
+ nG1Count++;
+ }
+ if (pBonder2->slotHasGlass(0)) {
+ nG2Count++;
+ }
+ if (pBonder2->slotHasGlass(1)) {
+ nG1Count++;
+ }
- if (!pBonder1->canPlaceGlassInSlot(0) && pBonder1->canPlaceGlassInSlot(1)) {
- // 如果Bonder1有G2了，则取G1
- primaryType = MaterialsType::G1;
- secondaryType = MaterialsType::G0;
+ if (pFliper->slotHasGlass(0)) {
+ nG2Count++;
}
- else if (!pBonder2->canPlaceGlassInSlot(0) && pBonder2->canPlaceGlassInSlot(1)) {
- // 如果Bonder2有G2了，则取G1
- primaryType = MaterialsType::G1;
- secondaryType = MaterialsType::G0;
+
+ if (pVacuumBake->slotHasGlass(0)) {
+ nG1Count++;
}
- else if (!pFliper->canPlaceGlassInSlot(0)) {
- primaryType = MaterialsType::G1;
- secondaryType = MaterialsType::G0;
+ if (pVacuumBake->slotHasGlass(1)) {
+ nG1Count++;
}
- else if (pBonder1->canPlaceGlassInSlot(0)) {
- // 如果Bonder1没有G2, 则先G2
- primaryType = MaterialsType::G2;
- secondaryType = MaterialsType::G0;
+
+ CGlass* pTempGlass = pAligner->getGlassFromSlot(0);
+ if (pTempGlass != nullptr) {
+ MaterialsType type = pTempGlass->getType();
+ if(type == MaterialsType::G1)
+ nG1Count++;
+ else if (type == MaterialsType::G2)
+ nG2Count++;
}
- else if (pBonder2->canPlaceGlassInSlot(0)) {
- // 如果Bonder2没有G2, 则先G2
- primaryType = MaterialsType::G2;
- secondaryType = MaterialsType::G0;
+ nGlassGroup = min(nG1Count, nG2Count);
+
+ if (nG1Count == nG2Count) {
+ nExtraType = 0;
+ }
+ else if (nG1Count > nG2Count) {
+ nExtraType = 1;
}
else {
- primaryType = MaterialsType::G2;
- secondaryType = MaterialsType::G0;
+ nExtraType = 2;
}
+ secondaryType = MaterialsType::G0;
+
// Measurement -> LoadPort
- if (rmd.armState[0] || rmd.armState[1]) {
- LOGI("Arm1 %s, Arm2 %s.", rmd.armState[0] ? _T("不可用") : _T("可用"),
- rmd.armState[1] ? _T("不可用") : _T("可用"));
- }
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], primaryType, secondaryType);
+ m_pActiveRobotTask = createTransferTask(pMeasurement, pLoadPorts[s], MaterialsType::G1, secondaryType);
if (m_pActiveRobotTask != nullptr) {
goto PORT_PUT;
}
@@ -689,29 +697,29 @@
// Fliper(G2) -> Bonder
- auto pSrcSlot = pVacuumBake->getProcessedSlot(primaryType);
- //LOGI("<Master>pSrcSlot = %x, primaryType:%d", pSrcSlot, primaryType);
+ //m_nTestFlag = 1;
+ //pVacuumBake->m_nTestFlag = 1;
+ auto pSrcSlot = pVacuumBake->getProcessedSlot(MaterialsType::G1);
+ //LOGI("<Master>pSrcSlot = %x", pSrcSlot,);
if (pSrcSlot != nullptr && !rmd.armState[1]
- && pBonder1->canPlaceGlassInSlot(0)
- && !pBonder1->hasBondClass()) {
+ && pBonder1->canPlaceGlassInSlot(0)) {
m_pActiveRobotTask = createTransferTask(pFliper, pBonder1, MaterialsType::G2, MaterialsType::G0, 2);
CHECK_RUN_ACTIVE_ROBOT_TASK(m_pActiveRobotTask);
}
if (pSrcSlot != nullptr && !rmd.armState[1]
- && pBonder2->canPlaceGlassInSlot(0)
- && !pBonder2->hasBondClass()) {
+ && pBonder2->canPlaceGlassInSlot(0)) {
m_pActiveRobotTask = createTransferTask(pFliper, pBonder2, MaterialsType::G2, MaterialsType::G0, 2);
CHECK_RUN_ACTIVE_ROBOT_TASK(m_pActiveRobotTask);
}
-
-
+ //m_nTestFlag = 0
+ ;
// VacuumBake(G1) -> Bonder
- if (!rmd.armState[0] && !pBonder1->hasBondClass()) {
+ if (!rmd.armState[0] && pBonder1->slotHasGlass(0) && !pBonder1->slotHasGlass(1)) {
m_pActiveRobotTask = createTransferTask(pVacuumBake, pBonder1, MaterialsType::G1, MaterialsType::G0);
CHECK_RUN_ACTIVE_ROBOT_TASK(m_pActiveRobotTask);
}
- if (!rmd.armState[0] && !pBonder2->hasBondClass()) {
+ if (!rmd.armState[0] && pBonder2->slotHasGlass(0) && !pBonder2->slotHasGlass(1)) {
m_pActiveRobotTask = createTransferTask(pVacuumBake, pBonder2, MaterialsType::G1, MaterialsType::G0);
CHECK_RUN_ACTIVE_ROBOT_TASK(m_pActiveRobotTask);
}
@@ -720,14 +728,14 @@
// Aligner -> Fliper(G2)
// Aligner -> VacuumBake(G1)
if (!rmd.armState[1]) {
- m_pActiveRobotTask = createTransferTask(pAligner, pFliper, primaryType, secondaryType);
+ m_pActiveRobotTask = createTransferTask(pAligner, pFliper, MaterialsType::G2, secondaryType);
CHECK_RUN_ACTIVE_ROBOT_TASK(m_pActiveRobotTask);
}
if (!rmd.armState[0]) {
// m_nTestFlag = 1;
- if (m_nTestFlag == 1) LOGI("createTransferTask 004df %d, %d", primaryType, secondaryType);
- m_pActiveRobotTask = createTransferTask(pAligner, pVacuumBake, primaryType, secondaryType);
+ if (m_nTestFlag == 1) LOGI("createTransferTask 004df %d, %d", MaterialsType::G1, secondaryType);
+ m_pActiveRobotTask = createTransferTask(pAligner, pVacuumBake, MaterialsType::G1, secondaryType);
CHECK_RUN_ACTIVE_ROBOT_TASK(m_pActiveRobotTask);
m_nTestFlag = 0;
}
@@ -741,6 +749,17 @@
// LoadPort -> Aligner
+ if (nGlassGroup >= 2) {
+ unlock();
+ continue;
+ }
+
+ if(nExtraType == 0)
+ primaryType = MaterialsType::G2;
+ else {
+ primaryType = MaterialsType::G1;
+ }
+
for (int s = 0; s < 4; s++) {
PortType pt = pLoadPorts[s]->getPortType();
if (!rmd.armState[0] && pLoadPorts[s]->isEnable()
@@ -917,23 +936,23 @@
// Fliper(G2) -> Bonder
auto pSrcSlot = pVacuumBake->getProcessedSlot(primaryType);
- if (pSrcSlot != nullptr && !rmd.armState[1] && !pBonder1->hasBondClass()) {
+ if (pSrcSlot != nullptr && !rmd.armState[1] && !pBonder1->hasBondGlass()) {
m_pActiveRobotTask = createTransferTask(pFliper, pBonder1, primaryType, secondaryType, 2);
CHECK_RUN_ACTIVE_ROBOT_TASK(m_pActiveRobotTask);
}
- if (pSrcSlot != nullptr && !rmd.armState[1] && !pBonder2->hasBondClass()) {
+ if (pSrcSlot != nullptr && !rmd.armState[1] && !pBonder2->hasBondGlass()) {
m_pActiveRobotTask = createTransferTask(pFliper, pBonder2, primaryType, secondaryType, 2);
CHECK_RUN_ACTIVE_ROBOT_TASK(m_pActiveRobotTask);
}
// VacuumBake(G1) -> Bonder
- if (!rmd.armState[0] && !pBonder1->hasBondClass()) {
+ if (!rmd.armState[0] && !pBonder1->hasBondGlass()) {
m_pActiveRobotTask = createTransferTask(pVacuumBake, pBonder1, primaryType, secondaryType);
CHECK_RUN_ACTIVE_ROBOT_TASK(m_pActiveRobotTask);
}
- if (!rmd.armState[0] && !pBonder2->hasBondClass()) {
+ if (!rmd.armState[0] && !pBonder2->hasBondGlass()) {
m_pActiveRobotTask = createTransferTask(pVacuumBake, pBonder2, primaryType, secondaryType);
CHECK_RUN_ACTIVE_ROBOT_TASK(m_pActiveRobotTask);
}
@@ -1123,7 +1142,7 @@
// Bonder1 -> Bonder2
if ((m_nContinuousTransferStep == CTStep_Unknow || m_nContinuousTransferStep == CTStep_Fliper_Bonder1)
- && !rmd.armState[0] && !pBonder2->hasBondClass()) {
+ && !rmd.armState[0] && !pBonder2->hasBondGlass()) {
m_pActiveRobotTask = createTransferTask_continuous_transfer(pBonder1,
1, pBonder2, 1);
if (m_pActiveRobotTask != nullptr) {
@@ -1135,7 +1154,7 @@
// Fliper(G2) -> Bonder1
if ((m_nContinuousTransferStep == CTStep_Unknow || m_nContinuousTransferStep == CTStep_Aligner_Fliper)
- &&!rmd.armState[0] && !pBonder1->hasBondClass()) {
+ &&!rmd.armState[0] && !pBonder1->hasBondGlass()) {
m_pActiveRobotTask = createTransferTask_continuous_transfer(pFliper,
0, pBonder1, 1);
if (m_pActiveRobotTask != nullptr) {
--
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