From ceb64b6612309fe384e096dcdc8b5a5e0dfe6cce Mon Sep 17 00:00:00 2001
From: chenluhua1980 <Chenluhua@qq.com>
Date: 星期五, 30 一月 2026 15:08:47 +0800
Subject: [PATCH] 1.增加日志，监控Efem的请求JobData事件；
---
SourceCode/Bond/Servo/CEFEM.cpp | 222 ++++++++++++++++++++++++++++---------------------------
1 files changed, 114 insertions(+), 108 deletions(-)
diff --git a/SourceCode/Bond/Servo/CEFEM.cpp b/SourceCode/Bond/Servo/CEFEM.cpp
index 4ef727c..1d8fb61 100644
--- a/SourceCode/Bond/Servo/CEFEM.cpp
+++ b/SourceCode/Bond/Servo/CEFEM.cpp
@@ -26,17 +26,30 @@
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)
@@ -120,11 +133,11 @@
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);
+ LOGE("<CEquipment-%s>发送RobotCmds失败，code:%d", m_strName.c_str(), code);
}
return 0;
- });
+ });
}
return 0;
@@ -354,7 +367,7 @@
void CEFEM::initPins()
{
// 加入Pin初始化代码
- LOGI("<CEFEM>initPins");
+ LOGD("<CEFEM>initPins");
}
void CEFEM::initSteps()
@@ -448,24 +461,6 @@
}
{
- // 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);
- if (addStep(STEP_ID_VCR1_EVENT_REPORT, pStep) != 0) {
- delete pStep;
- }
- }
-
- {
// eq cim message clear
CEqCimMessageClearStep* pStep = new CEqCimMessageClearStep();
pStep->setName(STEP_CIM_MESSAGE_CLEAR);
@@ -527,6 +522,27 @@
pStep->setWriteSignalDev(0x66);
pStep->setDataDev(0x90a);
if (addStep(STEP_ID_MASTER_RECIPE_LIST_CMD_REPLY, pStep) != 0) {
+ delete pStep;
+ }
+ }
+
+ {
+ // 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;
}
}
@@ -662,26 +678,11 @@
}
}
+ // FAC Data Report
+ addFacDataReportStep(0x6589, 0x04d, 1);
+ /*
{
- // Panel Data Report
- CEqReadStep* pStep = new CEqReadStep(0x617f, 386 * 2,
- [&](void* pFrom, int code, const char* pszData, size_t size) -> int {
- if (code == ROK && pszData != nullptr && size > 0) {
- decodePanelDataReport((CStep*)pFrom, pszData, size);
- }
- return -1;
- });
- pStep->setName(STEP_EQ_PANEL_DATA_REPORT);
- pStep->setProp("Port", (void*)1);
- pStep->setWriteSignalDev(0x15e);
- if (addStep(STEP_ID_PANEL_DATA_REPORT, pStep) != 0) {
- delete pStep;
- }
- }
-
- {
- // FAC Data Report
- CEqReadStep* pStep = new CEqReadStep(0x6301, 108 * 2,
+ CEqReadStep* pStep = new CEqReadStep(0x6589, 133 * 2,
[&](void* pFrom, int code, const char* pszData, size_t size) -> int {
if (code == ROK && pszData != nullptr && size > 0) {
decodeFacDataReport((CStep*)pFrom, pszData, size);
@@ -695,24 +696,44 @@
delete pStep;
}
}
+ */
{
// JOB Data Request
- CEqReadStep* pStep = new CEqReadStep(0x617d, 2 * 2,
+ CEqReadStep* pStep = new CEqReadStep(0x0, 0,
[&](void* pFrom, int code, const char* pszData, size_t size) -> int {
- if (code == ROK && pszData != nullptr && size > 0) {
- decodeJobDataRequest((CStep*)pFrom, pszData, size);
+ 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);
- // efme， 获取数据后返回
- // Cassette Sequence No 1W
- // Job Sequence No 1W
- // Job DataS 256W
+ // 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 };
- CJobDataS* pJobDataS = m_pPort[3]->getJobDataSWithCassette(4001, 1);
- if (pJobDataS != nullptr) {
- int size = pJobDataS->serialize(szBuffer, 1024);
- ((CEqReadStep*)pFrom)->setReturnData(szBuffer, size);
+ LOGI("<CEFEM-%s>JobDataRequest received (code=%d, size=%zu)", m_strName.c_str(), code, size);
+ if (m_pActiveContext != nullptr) {
+ CJobDataS* pJobDataS = ((CGlass*)m_pActiveContext)->getJobDataS();
+ if (pJobDataS != nullptr) {
+ pJobDataS->serialize(szBuffer, 1024);
+ ack = (short)JobDataRequestAck::OK;
+ LOGI("<CEFEM-%s>JobDataRequest OK (CassetteSeq=%d, JobSeq=%d)",
+ m_strName.c_str(),
+ pJobDataS->getCassetteSequenceNo(),
+ pJobDataS->getJobSequenceNo());
+ }
+ else {
+ LOGW("<CEFEM-%s>JobDataRequest NG (JobDataS is null)", m_strName.c_str());
+ }
}
+ else {
+ LOGW("<CEFEM-%s>JobDataRequest NG (ActiveContext is null)", m_strName.c_str());
+ }
+ memcpy(&szBuffer[320 * 2], &ack, sizeof(short));
+ LOGI("<CEFEM-%s>JobDataRequest response ack=%d", m_strName.c_str(), (int)ack);
+ ((CEqReadStep*)pFrom)->setReturnData(szBuffer, 336 * 2);
}
return -1;
});
@@ -783,16 +804,27 @@
m_pPort[i]->onReceiveLBData(pszData, size);
}
}
+ m_pAligner->onReceiveLBData(pszData, size);
+
// 更新信号到LoadPort, Robot, Aligner, Fliper
- m_pPort[0]->setLinkSignalBlock(0, &m_bLinkSignal[0][0]);
- m_pPort[1]->setLinkSignalBlock(0, &m_bLinkSignal[1][0]);
- m_pPort[2]->setLinkSignalBlock(0, &m_bLinkSignal[2][0]);
- m_pPort[3]->setLinkSignalBlock(0, &m_bLinkSignal[3][0]);
- m_pArmTray[0]->setLinkSignalBlock(0, &m_bLinkSignal[4][0]);
- m_pArmTray[1]->setLinkSignalBlock(0, &m_bLinkSignal[5][0]);
- m_pAligner->setLinkSignalBlock(0, &m_bLinkSignal[6][0]);
- m_pFliper->setLinkSignalBlock(0, &m_bLinkSignal[7][0]);
+ 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::onReceivedJob(int port, CJobDataS* pJobDataS)
@@ -823,66 +855,40 @@
int CEFEM::onFetchedOutJob(int port, CJobDataB* pJobDataB)
{
- if (port == 1) {
- return m_pPort[0]->onFetchedOutJob(port, pJobDataB);
- }
- if (port == 2) {
- return m_pPort[1]->onFetchedOutJob(port, pJobDataB);
- }
- if (port == 3) {
- return m_pPort[2]->onFetchedOutJob(port, pJobDataB);
- }
- if (port == 4) {
- return m_pPort[3]->onFetchedOutJob(port, pJobDataB);
- }
- if (port == 5) {
- return m_pArmTray[0]->onFetchedOutJob(port, pJobDataB);
- }
- if (port == 6) {
- return m_pArmTray[1]->onFetchedOutJob(port, pJobDataB);
- }
- if (port == 7) {
- return m_pAligner->onFetchedOutJob(port, pJobDataB);
- }
- if (port == 8) {
- return m_pFliper->onFetchedOutJob(port, 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 -1;
+
+ return 0;
}
int CEFEM::onStoredJob(int port, CJobDataB* pJobDataB)
{
- if (port == 1) {
- return m_pPort[0]->onStoredJob(port, pJobDataB);
- }
- if (port == 2) {
- return m_pPort[1]->onStoredJob(port, pJobDataB);
- }
- if (port == 3) {
- return m_pPort[2]->onStoredJob(port, pJobDataB);
- }
- if (port == 4) {
- return m_pPort[3]->onStoredJob(port, pJobDataB);
- }
- if (port == 5) {
- return m_pArmTray[0]->onStoredJob(port, pJobDataB);
- }
- if (port == 6) {
- return m_pArmTray[1]->onStoredJob(port, pJobDataB);
- }
- if (port == 7) {
- return m_pAligner->onStoredJob(port, pJobDataB);
- }
- if (port == 8) {
- return m_pFliper->onStoredJob(port, 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 -1;
+
+ return 0;
}
int CEFEM::getIndexerOperationModeBaseValue()
{
return 10000;
}
+
+ void CEFEM::printDebugRobotState()
+ {
+ LOGD("<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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