From b099ab8b7c83dc957bd9777a0bb90c1d8202056b Mon Sep 17 00:00:00 2001
From: chenluhua1980 <Chenluhua@qq.com>
Date: 星期一, 09 二月 2026 13:40:17 +0800
Subject: [PATCH] 1.点一下Port时，连接线重新计算后有重叠。增加防抖功能
---
SourceCode/Bond/Servo/CMaster.cpp | 179 +++++++++++++++++++++++++++++++++++++++++++++++++++--------
1 files changed, 154 insertions(+), 25 deletions(-)
diff --git a/SourceCode/Bond/Servo/CMaster.cpp b/SourceCode/Bond/Servo/CMaster.cpp
index d9fb326..492e813 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;
@@ -310,6 +311,17 @@
CurveMode CMaster::getCurveMode() const
{
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()
@@ -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; }
+ }
}
}
@@ -2449,11 +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"));
@@ -2498,14 +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");
+ }
}
}
@@ -2735,6 +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*/)
{
@@ -2844,6 +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);
@@ -2940,6 +3055,20 @@
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);
+ }
+
pPort->sendCassetteCtrlCmd(CCC_PROCESS_START, jobExistence, 12, slotProcess, jobCount, nullptr, nullptr);
return 0;
}
--
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