From be01318968aed5e55c511eedc6c1f72a961c3f13 Mon Sep 17 00:00:00 2001
From: LAPTOP-SNT8I5JK\Boounion <Chenluhua@qq.com>
Date: 星期四, 19 六月 2025 14:49:02 +0800
Subject: [PATCH] 1.重新梳理JobDataS的传递和更新；
---
SourceCode/Bond/Servo/CMaster.cpp | 140 +++++++++++++++++++++++++++++++++++++++++-----
1 files changed, 123 insertions(+), 17 deletions(-)
diff --git a/SourceCode/Bond/Servo/CMaster.cpp b/SourceCode/Bond/Servo/CMaster.cpp
index 96ad405..6efd863 100644
--- a/SourceCode/Bond/Servo/CMaster.cpp
+++ b/SourceCode/Bond/Servo/CMaster.cpp
@@ -1,6 +1,8 @@
#include "stdafx.h"
#include "Common.h"
#include "CMaster.h"
+#include <future>
+#include <vector>
namespace SERVO {
@@ -48,6 +50,7 @@
m_ullRunTime = 0;
m_state = MASTERSTATE::READY;
m_pActiveRobotTask = nullptr;
+ m_nLastError = 0;
InitializeCriticalSection(&m_criticalSection);
}
@@ -264,6 +267,13 @@
return 0;
}
+ void CMaster::clearError()
+ {
+ m_nLastError = 0;
+ m_strLastError = "";
+ setState(MASTERSTATE::READY);
+ }
+
ULONGLONG CMaster::getRunTime()
{
if (m_state == MASTERSTATE::RUNNING)
@@ -325,8 +335,113 @@
// 如果状态为STARTING，开始工作并切换到RUNNING状态
lock();
if (m_state == MASTERSTATE::STARTING) {
+ // 发送indexerOperationModeChange到各个机台，成功后切换到RUNNING状态
+ // 否则切换到MSERROR状态
+ int nRet;
+ CEquipment* pEq[6] = { pEFEM, pBonder1, pBonder2, pBakeCooling,
+ pVacuumBake, pMeasurement};
+ BOOL bIomcOk[7] = {FALSE, FALSE, FALSE, FALSE, FALSE, FALSE, TRUE};
+ std::vector<std::promise<void>> promises(6);
+ std::vector<std::future<void>> futures;
+
+ nRet = pEq[0]->indexerOperationModeChange(IDNEXER_OPERATION_MODE::Start,
+ [&](int writeCode, int retCode) -> void {
+ bIomcOk[0] = retCode == (int)RET::OK;
+ promises[0].set_value();
+ TRACE("a0001\n", writeCode, retCode);
+ });
+ if (nRet != 0) {
+ LOGI("<Master>EFEM切换Start状态失败");
+ m_strLastError = "EFEM切换Start状态失败.";
+ goto WAIT;
+ }
+ futures.push_back(promises[0].get_future());
+
+ nRet = pEq[1]->indexerOperationModeChange(IDNEXER_OPERATION_MODE::Start,
+ [&](int writeCode, int retCode) -> void {
+ bIomcOk[1] = retCode == (int)RET::OK;
+ promises[1].set_value();
+ TRACE("a0002\n");
+ });
+ if (nRet != 0) {
+ LOGI("<Master>Bonder1切换Start状态失败");
+ m_strLastError = "Bonder1切换Start状态失败.";
+ goto WAIT;
+ }
+ futures.push_back(promises[1].get_future());
+
+ nRet = pEq[2]->indexerOperationModeChange(IDNEXER_OPERATION_MODE::Start,
+ [&](int writeCode, int retCode) -> void {
+ bIomcOk[2] = retCode == (int)RET::OK;
+ promises[2].set_value();
+ TRACE("a0003\n");
+ });
+ if (nRet != 0) {
+ LOGI("<Master>Bonder2切换Start状态失败");
+ m_strLastError = "Bonder2切换Start状态失败.";
+ goto WAIT;
+ }
+ futures.push_back(promises[2].get_future());
+
+ nRet = pEq[3]->indexerOperationModeChange(IDNEXER_OPERATION_MODE::Start,
+ [&](int writeCode, int retCode) -> void {
+ bIomcOk[3] = retCode == (int)RET::OK;
+ promises[3].set_value();
+ TRACE("a0004\n");
+ });
+ if (nRet != 0) {
+ LOGI("<Master>BakeCooling切换Start状态失败");
+ m_strLastError = "BakeCooling切换Start状态失败.";
+ goto WAIT;
+ }
+ futures.push_back(promises[3].get_future());
+
+ nRet = pEq[4]->indexerOperationModeChange(IDNEXER_OPERATION_MODE::Start,
+ [&](int writeCode, int retCode) -> void {
+ bIomcOk[4] = retCode == (int)RET::OK;
+ promises[4].set_value();
+ TRACE("a0005\n");
+ });
+ if (nRet != 0) {
+ LOGI("<Master>VacuumBake切换Start状态失败");
+ m_strLastError = "VacuumBake切换Start状态失败.";
+ goto WAIT;
+ }
+ futures.push_back(promises[4].get_future());
+
+ nRet = pEq[5]->indexerOperationModeChange(IDNEXER_OPERATION_MODE::Start,
+ [&](int writeCode, int retCode) -> void {
+ bIomcOk[5] = retCode == (int)RET::OK;
+ promises[5].set_value();
+ TRACE("a0006\n");
+ });
+ if (nRet != 0) {
+ LOGI("<Master>Measurement切换Start状态失败");
+ m_strLastError = "Measurement切换Start状态失败.";
+ goto WAIT;
+ }
+ futures.push_back(promises[5].get_future());
+
+WAIT:
+ for (auto& f : futures) {
+ f.wait(); // 阻塞等待对应设备完成
+ }
+ for (int i = 0; i < 6; i++) {
+ if (!bIomcOk[i]) {
+ bIomcOk[6] = FALSE;
+ LOGI("<Master>%s切换Start状态失败", pEq[i]->getName().c_str());
+ }
+ }
+
+ // 检查看是否都已经切换到START状态
+ if (!bIomcOk[6]) {
+ unlock();
+ setState(MASTERSTATE::MSERROR);
+ continue;
+ }
+
+
unlock();
- Sleep(1000);
setState(MASTERSTATE::RUNNING);
continue;
}
@@ -613,17 +728,6 @@
// 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();
-
- // int nRet = m_cclink.ReadData2(station, (DeviceType)block.type,
- // block.start, block.size, block.buffer);
- // if (0 == nRet) {
- // item->onReceiveLBData(block.buffer, block.size);
- // }
- //}
const StationIdentifier& station = item->getStation();
MemoryBlock& block = item->getReadBitBlock();
@@ -682,10 +786,10 @@
if (m_pActiveRobotTask->getSrcPosition() == p->getID()) {
CGlass* pGlass = p->getGlassFromSlot(m_pActiveRobotTask->getSrcSlot());
if (pGlass != nullptr) {
- CJobDataB* pJobDataBSrc = pGlass->getJobDataB();
- if (pJobDataBSrc != nullptr
- && pJobDataBSrc->getCassetteSequenceNo() == pJobDataB->getCassetteSequenceNo()
- && pJobDataBSrc->getJobSequenceNo() == pJobDataB->getJobSequenceNo()) {
+ CJobDataS* pJobDataS = pGlass->getJobDataS();
+ if (pJobDataS != nullptr
+ && pJobDataS->getCassetteSequenceNo() == pJobDataB->getCassetteSequenceNo()
+ && pJobDataS->getJobSequenceNo() == pJobDataB->getJobSequenceNo()) {
bOk = TRUE;
LOGI("<CMaster>onPreFethedOutJob, 已校验数据一致性.");
}
@@ -788,7 +892,9 @@
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);
--
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