From e42e8364112e97d89eeaecd13f043dff42179949 Mon Sep 17 00:00:00 2001
From: LAPTOP-SNT8I5JK\Boounion <Chenluhua@qq.com>
Date: 星期二, 27 五月 2025 17:19:02 +0800
Subject: [PATCH] 1.enum修改为enum class, 理顺CLoadPort各成员变量在调度中的判定作用；
---
SourceCode/Bond/Servo/CMaster.cpp | 223 ++++++++++++++++++++++++++++++++++++++++++++++++++++---
1 files changed, 211 insertions(+), 12 deletions(-)
diff --git a/SourceCode/Bond/Servo/CMaster.cpp b/SourceCode/Bond/Servo/CMaster.cpp
index 7331415..3bd5d26 100644
--- a/SourceCode/Bond/Servo/CMaster.cpp
+++ b/SourceCode/Bond/Servo/CMaster.cpp
@@ -6,6 +6,15 @@
namespace SERVO {
CMaster* g_pMaster = NULL;
+ unsigned __stdcall DispatchThreadFunction(LPVOID lpParam)
+ {
+ if (g_pMaster != NULL) {
+ return g_pMaster->DispatchProc();
+ }
+
+ return 0;
+ }
+
unsigned __stdcall ReadBitsThreadFunction(LPVOID lpParam)
{
if (g_pMaster != NULL) {
@@ -24,21 +33,26 @@
CMaster::CMaster()
{
- m_listener = {nullptr, nullptr, nullptr, nullptr, nullptr};
+ m_listener = {nullptr, nullptr, nullptr, nullptr, nullptr, nullptr};
m_bDataModify = FALSE;
m_hEventReadBitsThreadExit[0] = ::CreateEvent(NULL, TRUE, FALSE, NULL);
m_hEventReadBitsThreadExit[1] = ::CreateEvent(NULL, TRUE, FALSE, NULL);
m_hReadBitsThreadHandle = nullptr;
m_nReadBitsThreadAddr = 0;
+ m_hDispatchEvent = ::CreateEvent(NULL, TRUE, FALSE, NULL);
+ m_hEventDispatchThreadExit[0] = ::CreateEvent(NULL, TRUE, FALSE, NULL);
+ m_hEventDispatchThreadExit[1] = ::CreateEvent(NULL, TRUE, FALSE, NULL);
+ m_hDispatchThreadHandle = nullptr;
+ m_nDispatchThreadAddr = 0;
+ m_ullStartTime = 0;
+ m_ullRunTime = 0;
+ m_state = MASTERSTATE::READY;
+ m_pActiveRobotTask = nullptr;
+ InitializeCriticalSection(&m_criticalSection);
}
CMaster::~CMaster()
{
- for (auto item : m_listEquipment) {
- delete item;
- }
- m_listEquipment.clear();
-
if (m_hEventReadBitsThreadExit[0] != nullptr) {
::CloseHandle(m_hEventReadBitsThreadExit[0]);
m_hEventReadBitsThreadExit[0] = nullptr;
@@ -48,15 +62,38 @@
::CloseHandle(m_hEventReadBitsThreadExit[1]);
m_hEventReadBitsThreadExit[1] = nullptr;
}
+
+ if (m_hDispatchEvent != nullptr) {
+ ::CloseHandle(m_hDispatchEvent);
+ m_hDispatchEvent = nullptr;
+ }
+
+ if (m_hEventDispatchThreadExit[0] != nullptr) {
+ ::CloseHandle(m_hEventDispatchThreadExit[0]);
+ m_hEventDispatchThreadExit[0] = nullptr;
+ }
+
+ if (m_hEventDispatchThreadExit[1] != nullptr) {
+ ::CloseHandle(m_hEventDispatchThreadExit[1]);
+ m_hEventDispatchThreadExit[1] = nullptr;
+ }
+
+ DeleteCriticalSection(&m_criticalSection);
}
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;
+ }
+
+ CRobotTask* CMaster::getActiveRobotTask()
+ {
+ return m_pActiveRobotTask;
}
int CMaster::init()
@@ -100,6 +137,7 @@
CVacuumBake* pVacuumBake;
CAligner* pAligner;
CBakeCooling* pBakeCooling;
+ CMeasurement* pMeasurement;
pPort1 = addLoadPort(0);
pPort2 = addLoadPort(1);
@@ -115,6 +153,7 @@
pBonder1 = addBonder(0);
pBonder2 = addBonder(1);
pBakeCooling = addBakeCooling();
+ pMeasurement = addMeasurement();
ASSERT(pEfem);
ASSERT(pFliper);
@@ -123,6 +162,7 @@
ASSERT(pBonder1);
ASSERT(pBonder2);
ASSERT(pBakeCooling);
+ ASSERT(pMeasurement);
pEfem->setPort(0, pPort1);
pEfem->setPort(1, pPort1);
@@ -144,6 +184,7 @@
pBonder1->setArm(pArm);
pBonder2->setArm(pArm);
pBakeCooling->setArm(pArm);
+ pMeasurement->setArm(pArm);
connectEquipments();
@@ -160,6 +201,12 @@
SetTimer(NULL, 1, 250, (TIMERPROC)MasterTimerProc);
+ // 调度线程
+ m_hDispatchThreadHandle = (HANDLE)_beginthreadex(NULL, 0, SERVO::DispatchThreadFunction, this,
+ 0, &m_nDispatchThreadAddr);
+
+
+ // 监控bit线程
m_hReadBitsThreadHandle = (HANDLE)_beginthreadex(NULL, 0, SERVO::ReadBitsThreadFunction, this,
0, &m_nReadBitsThreadAddr);
@@ -171,7 +218,9 @@
int CMaster::term()
{
SetEvent(m_hEventReadBitsThreadExit[0]);
+ SetEvent(m_hEventDispatchThreadExit[0]);
::WaitForSingleObject(m_hEventReadBitsThreadExit[1], INFINITE);
+ ::WaitForSingleObject(m_hEventDispatchThreadExit[1], INFINITE);
LOGI("<Master>正在结束程序.");
for (auto item : m_listEquipment) {
@@ -180,7 +229,126 @@
saveCache();
+ for (auto item : m_listEquipment) {
+ delete item;
+ }
+ m_listEquipment.clear();
+
+ return 0;
+ }
+
+ int CMaster::start()
+ {
+ if (m_state != MASTERSTATE::READY) {
+ return -1;
+ }
+
+ setState(MASTERSTATE::STARTING);
+ m_ullStartTime = GetTickCount64();
+
+ return 0;
+ }
+
+ int CMaster::stop()
+ {
+ // 运行时间为累加结果，本次停止时刷新；
+ if (m_state != MASTERSTATE::RUNNING) {
+ return -1;
+ }
+
+ m_ullRunTime += (GetTickCount64() - m_ullStartTime);
+ setState(MASTERSTATE::STOPPING);
+
+ return 0;
+ }
+
+ ULONGLONG CMaster::getRunTime()
+ {
+ if (m_state == MASTERSTATE::RUNNING)
+ return m_ullRunTime + (GetTickCount64() - m_ullStartTime);
+ else
+ return m_ullRunTime;
+ }
+
+ MASTERSTATE CMaster::getState()
+ {
+ return m_state;
+ }
+
+ unsigned CMaster::DispatchProc()
+ {
+ while (1) {
+ // 待退出信号或时间到
+ HANDLE hEvents[] = { m_hEventDispatchThreadExit[0], m_hDispatchEvent };
+ int nRet = WaitForMultipleObjects(2, hEvents, FALSE, 1000);
+ if (nRet == WAIT_OBJECT_0) {
+ break;
+ }
+
+
+ // 如果状态为STARTING，开始工作并切换到RUNNING状态
+ lock();
+ if (m_state == MASTERSTATE::STARTING) {
+ unlock();
+ Sleep(1000);
+ setState(MASTERSTATE::RUNNING);
+ continue;
+ }
+
+
+ // 处理完成当前事务后，切换到停止或就绪状态
+ else if (m_state == MASTERSTATE::STOPPING) {
+ unlock();
+ Sleep(1000);
+ setState(MASTERSTATE::READY);
+ continue;
+ }
+
+
+ // 调度逻辑处理
+ else if (m_state == MASTERSTATE::RUNNING) {
+ unlock();
+ LOGI("调度处理中...");
+ Sleep(1000);
+
+
+ // LoadPort -> Fliper(G2)
+
+
+ // LoadPort -> VacuumBake(G1)
+
+
+ // Fliper(G2) -> Aligner
+
+
+ // VacuumBake(G1) -> Aligner
+
+
+ // Aligner -> Bonder
+
+
+ // Bonder -> BakeCooling
+
+
+ // BakeCooling ->Measurement
+
+
+ // Measurement -> LoadPort
+
+
+
+
+
+ }
+ unlock();
+ }
+
+ SetEvent(m_hEventDispatchThreadExit[1]);
+
+
+ // _endthreadex(0);
+ TRACE("CMaster::DispatchProc 线程退出\n");
return 0;
}
@@ -304,8 +472,8 @@
CFliper* pEquipment = new CFliper();
pEquipment->setID(EQ_ID_FLIPER);
pEquipment->setBaseAlarmId(BASE_ALARM_EFEM);
- pEquipment->setName("Fliper");
- pEquipment->setDescription("Fliper.");
+ pEquipment->setName("Fliper(G2)");
+ pEquipment->setDescription("Fliper(G2).");
pEquipment->setReadBitBlock(0x4000, 0x45ff);
pEquipment->setStation(0, 255);
addToEquipmentList(pEquipment);
@@ -321,8 +489,8 @@
CVacuumBake* pEquipment = new CVacuumBake();
pEquipment->setID(EQ_ID_VACUUMBAKE);
pEquipment->setBaseAlarmId(BASE_ALARM_EFEM);
- pEquipment->setName("VacuumBake");
- pEquipment->setDescription("VacuumBake.");
+ pEquipment->setName("VacuumBake(G1)");
+ pEquipment->setDescription("VacuumBake(G1).");
pEquipment->setReadBitBlock(0x4000, 0x45ff);
pEquipment->setStation(0, 255);
addToEquipmentList(pEquipment);
@@ -444,6 +612,23 @@
return pEquipment;
}
+ CMeasurement* CMaster::addMeasurement()
+ {
+ CMeasurement* pEquipment = new CMeasurement();
+ pEquipment->setID(EQ_ID_MEASUREMENT);
+ pEquipment->setBaseAlarmId(BASE_ALARM_EFEM);
+ pEquipment->setName("Measurement");
+ pEquipment->setDescription("Measurement.");
+ pEquipment->setReadBitBlock(0x6700, 0x6e00);
+ pEquipment->setStation(0, 255);
+ addToEquipmentList(pEquipment);
+
+ pEquipment->init();
+ LOGE("已添加“Measurement”.");
+
+ return pEquipment;
+ }
+
void CMaster::onTimer(UINT nTimerid)
{
for (auto item : m_listEquipment) {
@@ -496,6 +681,7 @@
CBonder* pBonder1 = (CBonder*)getEquipment(EQ_ID_Bonder1);
CBonder* pBonder2 = (CBonder*)getEquipment(EQ_ID_Bonder2);
CBakeCooling* pBakeCooling = (CBakeCooling*)getEquipment(EQ_ID_BAKE_COOLING);
+ CMeasurement* pMeasurement = (CMeasurement*)getEquipment(EQ_ID_MEASUREMENT);
nRet = pLoadPort1->getPin("Out1")->connectPin(pFliper->getPin("In1"));
if (nRet < 0) {
@@ -545,12 +731,17 @@
LOGE("连接Bonder2-BakeCooling失败");
}
- nRet = pBakeCooling->getPin("Out1")->connectPin(pLoadPort3->getPin("In"));
+ nRet = pBakeCooling->getPin("Out")->connectPin(pMeasurement->getPin("In"));
if (nRet < 0) {
LOGE("连接BakeCooling-LoadPort3失败");
}
- nRet = pBakeCooling->getPin("Out2")->connectPin(pLoadPort4->getPin("In"));
+ nRet = pMeasurement->getPin("Out1")->connectPin(pLoadPort3->getPin("In"));
+ if (nRet < 0) {
+ LOGE("连接BakeCooling-LoadPort3失败");
+ }
+
+ nRet = pMeasurement->getPin("Out2")->connectPin(pLoadPort4->getPin("In"));
if (nRet < 0) {
LOGE("连接BakeCooling-LoadPort4失败");
}
@@ -629,4 +820,12 @@
item->serialize(ar);
}
}
+
+ void CMaster::setState(MASTERSTATE state)
+ {
+ m_state = state;
+ if (m_listener.onMasterStateChanged != nullptr) {
+ m_listener.onMasterStateChanged(this, m_state);
+ }
+ }
}
--
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