From d801f8999ad7cdbee7a5652b4bb512c47b9a2668 Mon Sep 17 00:00:00 2001
From: LAPTOP-SNT8I5JK\Boounion <Chenluhua@qq.com>
Date: 星期三, 04 六月 2025 18:05:01 +0800
Subject: [PATCH] 1.搬送条件检测，增加一个条件，必须是已加工处理完成的Glass才符合搬出条件。 2.根据1，为CGlass增加相应工位的处理标志位，及标志位在后processDataReport修改为TRUE，以符合搬出条件；
---
SourceCode/Bond/Servo/CMaster.cpp | 355 +++++++++++++++++++++++++++++++++++++++++++++++++++++++---
1 files changed, 332 insertions(+), 23 deletions(-)
diff --git a/SourceCode/Bond/Servo/CMaster.cpp b/SourceCode/Bond/Servo/CMaster.cpp
index 3bd5d26..4bee7eb 100644
--- a/SourceCode/Bond/Servo/CMaster.cpp
+++ b/SourceCode/Bond/Servo/CMaster.cpp
@@ -33,7 +33,7 @@
CMaster::CMaster()
{
- m_listener = {nullptr, nullptr, nullptr, nullptr, nullptr, nullptr};
+ m_listener = {};
m_bDataModify = FALSE;
m_hEventReadBitsThreadExit[0] = ::CreateEvent(NULL, TRUE, FALSE, NULL);
m_hEventReadBitsThreadExit[1] = ::CreateEvent(NULL, TRUE, FALSE, NULL);
@@ -83,12 +83,7 @@
void CMaster::setListener(MasterListener listener)
{
- m_listener.onMasterStateChanged = listener.onMasterStateChanged;
- m_listener.onEqAlive = listener.onEqAlive;
- m_listener.onEqCimStateChanged = listener.onEqCimStateChanged;
- m_listener.onEqAlarm = listener.onEqAlarm;
- m_listener.onEqVcrEventReport = listener.onEqVcrEventReport;
- m_listener.onEqDataChanged = listener.onEqDataChanged;
+ m_listener = listener;
}
CRobotTask* CMaster::getActiveRobotTask()
@@ -228,6 +223,12 @@
}
saveCache();
+ lock();
+ if (m_pActiveRobotTask != nullptr) {
+ delete m_pActiveRobotTask;
+ m_pActiveRobotTask = nullptr;
+ }
+ unlock();
for (auto item : m_listEquipment) {
delete item;
@@ -278,6 +279,32 @@
unsigned CMaster::DispatchProc()
{
+ // 优先考虑的类型和次要类型
+ // 一种情况，如果不分主次，一直搬G1, 等到Bonder1和Bonder2都放了G1, Aligner也放了G1,
+ // Bonder1和Bonder2需要的G2就过不来了
+ // 最基本的实现，可以G2和G2轮流搬送，但最好根据Bonder的需求来决定
+ MaterialsType primaryType, secondaryType;
+
+
+ // 各种机器
+ CLoadPort* pLoadPort1 = (CLoadPort*)getEquipment(EQ_ID_LOADPORT1);
+ CLoadPort* pLoadPort2 = (CLoadPort*)getEquipment(EQ_ID_LOADPORT2);
+ CFliper* pFliper = (CFliper*)getEquipment(EQ_ID_FLIPER);
+ CVacuumBake* pVacuumBack = (CVacuumBake*)getEquipment(EQ_ID_VACUUMBAKE);
+ CAligner* pAligner = (CAligner*)getEquipment(EQ_ID_ALIGNER);
+ CBonder* pBonder1 = (CBonder*)getEquipment(EQ_ID_Bonder1);
+ CBonder* pBonder2 = (CBonder*)getEquipment(EQ_ID_Bonder2);
+ CBakeCooling* pBakeCooling = (CBakeCooling*)getEquipment(EQ_ID_BAKE_COOLING);
+
+ ASSERT(pLoadPort1);
+ ASSERT(pLoadPort2);
+ ASSERT(pFliper);
+ ASSERT(pVacuumBack);
+ ASSERT(pAligner);
+ ASSERT(pBonder1);
+ ASSERT(pBonder2);
+ ASSERT(pBakeCooling);
+
while (1) {
// 待退出信号或时间到
HANDLE hEvents[] = { m_hEventDispatchThreadExit[0], m_hDispatchEvent };
@@ -309,26 +336,163 @@
// 调度逻辑处理
else if (m_state == MASTERSTATE::RUNNING) {
unlock();
- LOGI("调度处理中...");
- Sleep(1000);
+ // LOGI("调度处理中...");
+
+ lock();
+ if (m_pActiveRobotTask != nullptr) {
+ unlock();
+ // 检测到当前有正在下午的任务，确保当前任务完成或中止后继续
+ // LOGI("检测到当前有正在下午的任务，确保当前任务完成或中止后继续...");
+ continue;
+ }
- // LoadPort -> Fliper(G2)
-
-
- // LoadPort -> VacuumBake(G1)
-
-
- // Fliper(G2) -> Aligner
-
-
- // VacuumBake(G1) -> Aligner
-
-
- // Aligner -> Bonder
+ // 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::G1;
+ secondaryType = MaterialsType::G2;
+ if ((!pBonder1->canPlaceGlassInSlot(0) && !pBonder1->canPlaceGlassInSlot(1))
+ && (!pBonder2->canPlaceGlassInSlot(0) && !pBonder2->canPlaceGlassInSlot(1))) {
+ // 如果G1和G2都满了，那就看Aligner, 如果Aligner有玻璃为G1, 则取G2
+ CGlass* pGlass = pAligner->getGlassFromSlot(1);
+ if (pGlass != nullptr && pGlass->getType() == MaterialsType::G1) {
+ primaryType = MaterialsType::G2;
+ secondaryType = MaterialsType::G1;
+ }
+ }
+ else if ((pBonder1->canPlaceGlassInSlot(0) && !pBonder1->canPlaceGlassInSlot(1))
+ || (pBonder2->canPlaceGlassInSlot(0) && !pBonder2->canPlaceGlassInSlot(1))) {
+ primaryType = MaterialsType::G2;
+ secondaryType = MaterialsType::G1;
+ }
// Bonder -> BakeCooling
+ m_pActiveRobotTask = createTransferTask_bonder_to_bakecooling(pBonder1, pBakeCooling, primaryType, secondaryType);
+ if (m_pActiveRobotTask != nullptr) {
+ std::string strDescription = m_pActiveRobotTask->getDescription();
+ unlock();
+ if (m_listener.onRobotTaskEvent != nullptr) {
+ m_listener.onRobotTaskEvent(this, m_pActiveRobotTask, 0);
+ }
+ LOGI("创建新任务<%s>...", strDescription.c_str());
+ continue;
+ }
+
+ m_pActiveRobotTask = createTransferTask_bonder_to_bakecooling(pBonder2, pBakeCooling, primaryType, secondaryType);
+ if (m_pActiveRobotTask != nullptr) {
+ std::string strDescription = m_pActiveRobotTask->getDescription();
+ unlock();
+ if (m_listener.onRobotTaskEvent != nullptr) {
+ m_listener.onRobotTaskEvent(this, m_pActiveRobotTask, 0);
+ }
+ LOGI("创建新任务<%s>...", strDescription.c_str());
+ continue;
+ }
+
+ // Aligner -> Bonder
+ m_pActiveRobotTask = createTransferTask(pAligner, pBonder1, primaryType, secondaryType);
+ if (m_pActiveRobotTask != nullptr) {
+ std::string strDescription = m_pActiveRobotTask->getDescription();
+ unlock();
+ if (m_listener.onRobotTaskEvent != nullptr) {
+ m_listener.onRobotTaskEvent(this, m_pActiveRobotTask, 0);
+ }
+ LOGI("创建新任务<%s>...", strDescription.c_str());
+ continue;
+ }
+
+ m_pActiveRobotTask = createTransferTask(pAligner, pBonder2, primaryType, secondaryType);
+ if (m_pActiveRobotTask != nullptr) {
+ std::string strDescription = m_pActiveRobotTask->getDescription();
+ unlock();
+ if (m_listener.onRobotTaskEvent != nullptr) {
+ m_listener.onRobotTaskEvent(this, m_pActiveRobotTask, 0);
+ }
+ LOGI("创建新任务<%s>...", strDescription.c_str());
+ continue;
+ }
+
+
+ // Fliper(G2) -> Aligner
+ // VacuumBake(G1) -> Aligner
+ m_pActiveRobotTask = createTransferTask(pFliper, pAligner, primaryType, secondaryType);
+ if (m_pActiveRobotTask != nullptr) {
+ std::string strDescription = m_pActiveRobotTask->getDescription();
+ unlock();
+ if (m_listener.onRobotTaskEvent != nullptr) {
+ m_listener.onRobotTaskEvent(this, m_pActiveRobotTask, 0);
+ }
+ LOGI("创建新任务<%s>...", strDescription.c_str());
+ continue;
+ }
+
+ m_pActiveRobotTask = createTransferTask(pVacuumBack, pAligner, primaryType, secondaryType);
+ if (m_pActiveRobotTask != nullptr) {
+ std::string strDescription = m_pActiveRobotTask->getDescription();
+ unlock();
+ if (m_listener.onRobotTaskEvent != nullptr) {
+ m_listener.onRobotTaskEvent(this, m_pActiveRobotTask, 0);
+ }
+ LOGI("创建新任务<%s>...", strDescription.c_str());
+ continue;
+ }
+
+
+ // LoadPort -> Fliper(G2)
+ // LoadPort -> VacuumBake(G1)
+ CEquipment* pEqTar1 = pVacuumBack;
+ CEquipment* pEqTar2 = pFliper;
+ if (primaryType == MaterialsType::G2) {
+ pEqTar1 = pFliper;
+ pEqTar2 = pVacuumBack;
+ }
+ m_pActiveRobotTask = createTransferTask(pLoadPort1, pEqTar1, primaryType, secondaryType);
+ if (m_pActiveRobotTask != nullptr) {
+ std::string strDescription = m_pActiveRobotTask->getDescription();
+ unlock();
+ if (m_listener.onRobotTaskEvent != nullptr) {
+ m_listener.onRobotTaskEvent(this, m_pActiveRobotTask, 0);
+ }
+ LOGI("创建新任务<%s>...", strDescription.c_str());
+ continue;
+ }
+
+ m_pActiveRobotTask = createTransferTask(pLoadPort2, pEqTar1, primaryType, secondaryType);
+ if (m_pActiveRobotTask != nullptr) {
+ std::string strDescription = m_pActiveRobotTask->getDescription();
+ unlock();
+ if (m_listener.onRobotTaskEvent != nullptr) {
+ m_listener.onRobotTaskEvent(this, m_pActiveRobotTask, 0);
+ }
+ LOGI("创建新任务<%s>...", strDescription.c_str());
+ continue;
+ }
+
+
+
+ // LoadPort -> VacuumBake(G1)
+ m_pActiveRobotTask = createTransferTask(pLoadPort1, pEqTar2, primaryType, secondaryType);
+ if (m_pActiveRobotTask != nullptr) {
+ std::string strDescription = m_pActiveRobotTask->getDescription();
+ unlock();
+ if (m_listener.onRobotTaskEvent != nullptr) {
+ m_listener.onRobotTaskEvent(this, m_pActiveRobotTask, 0);
+ }
+ LOGI("创建新任务<%s>...", strDescription.c_str());
+ continue;
+ }
+
+ m_pActiveRobotTask = createTransferTask(pLoadPort2, pEqTar2, primaryType, secondaryType);
+ if (m_pActiveRobotTask != nullptr) {
+ std::string strDescription = m_pActiveRobotTask->getDescription();
+ unlock();
+ if (m_listener.onRobotTaskEvent != nullptr) {
+ m_listener.onRobotTaskEvent(this, m_pActiveRobotTask, 0);
+ }
+ LOGI("创建新任务<%s>...", strDescription.c_str());
+ continue;
+ }
// BakeCooling ->Measurement
@@ -338,7 +502,7 @@
-
+ unlock();
}
unlock();
@@ -412,11 +576,105 @@
m_listener.onEqVcrEventReport(this, p, p2);
}
};
+ listener.onPreFethedOutJob = [&](void* pEquipment, CJobDataB* pJobDataB) -> BOOL {
+ CEquipment* p = (CEquipment*)pEquipment;
+
+
+ // 取片，更新当前搬送任务
+ BOOL bOk = FALSE;
+ lock();
+ if (m_pActiveRobotTask != nullptr) {
+ 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()) {
+ bOk = TRUE;
+ LOGI("<CMaster>onPreFethedOutJob, 已校验数据一致性.");
+ }
+ }
+ }
+ else if (p->getID() == EQ_ID_ARM_TRAY1 || p->getID() == EQ_ID_ARM_TRAY2) {
+ bOk = TRUE;
+ }
+ }
+ unlock();
+
+ if (!bOk) {
+ LOGE("<CMaster>onPreFethedOutJob, 数据校验失败.");
+ }
+
+ return bOk;
+
+ };
+ listener.onPreStoredJob = [&](void* pEquipment, CJobDataB* pJobDataB, short& slot) -> BOOL {
+ CEquipment* p = (CEquipment*)pEquipment;
+
+
+ // 放片，更新当前搬送任务
+ BOOL bOk = FALSE;
+ lock();
+ if (m_pActiveRobotTask != nullptr) {
+ if (m_pActiveRobotTask->getTarPosition() == p->getID()) {
+ CGlass* pGlass = p->getGlassFromSlot(m_pActiveRobotTask->getTarSlot());
+ if (pGlass == nullptr) {
+ bOk = TRUE;
+ slot = m_pActiveRobotTask->getTarSlot();
+ LOGI("<CMaster>onPreFethedOutJob, 已校验数据一致性.");
+ }
+ }
+ else if (p->getID() == EQ_ID_ARM_TRAY1 || p->getID() == EQ_ID_ARM_TRAY2) {
+ slot = 1;
+ bOk = TRUE;
+ }
+ }
+ unlock();
+
+ if (!bOk) {
+ LOGE("<CMaster>onPreFethedOutJob, 数据校验失败.");
+ }
+
+ return bOk;
+
+ };
listener.onDataChanged = [&](void* pEquipment, int code) -> void {
m_bDataModify = TRUE;
CEquipment* p = (CEquipment*)pEquipment;
if (m_listener.onEqDataChanged != nullptr) {
m_listener.onEqDataChanged(this, p, 0);
+ }
+
+ // 取放片，更新当前搬送任务
+ if (code == EDCC_FETCHOUT_JOB) {
+ lock();
+ if (m_pActiveRobotTask != nullptr && m_pActiveRobotTask->getSrcPosition() == p->getID()) {
+ m_pActiveRobotTask->fetchOut();
+ LOGI("开始取片...");
+ }
+ unlock();
+ }
+ else if (code == EDCC_STORED_JOB) {
+ lock();
+ if (m_pActiveRobotTask != nullptr && m_pActiveRobotTask->getTarPosition() == p->getID()) {
+ m_pActiveRobotTask->stored();
+ m_pActiveRobotTask->completed();
+ LOGI("放片完成...");
+
+ // 完成此条搬送任务，但要把数据和消息上抛应用层
+ unlock();
+
+
+
+ lock();
+ if (m_listener.onRobotTaskEvent != nullptr) {
+ m_listener.onRobotTaskEvent(this, m_pActiveRobotTask, 0);
+ }
+ delete m_pActiveRobotTask;
+ m_pActiveRobotTask = nullptr;
+ }
+ unlock();
}
};
@@ -828,4 +1086,55 @@
m_listener.onMasterStateChanged(this, m_state);
}
}
+
+ static int taskSeqNo = 0;
+ CRobotTask* CMaster::createTransferTask(CEquipment* pSrcEq, CEquipment* pTarEq,
+ MaterialsType primaryType/* = MaterialsType::G1*/, MaterialsType secondaryType/* = MaterialsType::G2*/)
+ {
+ CRobotTask* pTask = nullptr;
+ CSlot* pSrcSlot, * pTarSlot;
+ pTarSlot = pTarEq->getAvailableSlotForGlass(primaryType);
+ pSrcSlot = pSrcEq->getProcessedSlot(primaryType);
+ if (pSrcSlot == nullptr || nullptr == pTarSlot) {
+ pTarSlot = pTarEq->getAvailableSlotForGlass(secondaryType);
+ pSrcSlot = pSrcEq->getProcessedSlot(secondaryType);
+ }
+
+
+ if (pSrcSlot != nullptr && nullptr != pTarSlot) {
+ pTask = new CRobotTask();
+ pTask->setContext(pSrcSlot->getContext());
+ pTask->setRobotTransferParam(++taskSeqNo, 1, pSrcSlot->getPosition(),
+ pTarSlot->getPosition(), pSrcSlot->getNo(), pTarSlot->getNo());
+ }
+
+
+ return pTask;
+ }
+
+ CRobotTask* CMaster::createTransferTask_bonder_to_bakecooling(CEquipment* pSrcEq, CEquipment* pTarEq,
+ MaterialsType primaryType/* = MaterialsType::G1*/, MaterialsType secondaryType/* = MaterialsType::G2*/)
+ {
+ std::vector<int> slots = {1, 2};
+
+ CRobotTask* pTask = nullptr;
+ CSlot* pSrcSlot, * pTarSlot;
+ pTarSlot = pTarEq->getAvailableSlotForGlass2(primaryType, slots);
+ pSrcSlot = pSrcEq->getProcessedSlot(primaryType);
+ if (pSrcSlot == nullptr || nullptr == pTarSlot) {
+ pTarSlot = pTarEq->getAvailableSlotForGlass(secondaryType);
+ pSrcSlot = pSrcEq->getProcessedSlot(secondaryType);
+ }
+
+
+ if (pSrcSlot != nullptr && nullptr != pTarSlot) {
+ pTask = new CRobotTask();
+ pTask->setContext(pSrcSlot->getContext());
+ pTask->setRobotTransferParam(++taskSeqNo, 1, pSrcSlot->getPosition(),
+ pTarSlot->getPosition(), pSrcSlot->getNo(), pTarSlot->getNo());
+ }
+
+
+ return pTask;
+ }
}
--
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