From e51c6d1360f9679dd8e4dd3379ce0db1886badbf Mon Sep 17 00:00:00 2001
From: LAPTOP-SNT8I5JK\Boounion <Chenluhua@qq.com>
Date: 星期一, 28 七月 2025 17:36:57 +0800
Subject: [PATCH] Merge branch 'EAPSimulator' into clh
---
SourceCode/Bond/Servo/CMaster.cpp | 257 +++++++++++++++++++++------------------------------
1 files changed, 106 insertions(+), 151 deletions(-)
diff --git a/SourceCode/Bond/Servo/CMaster.cpp b/SourceCode/Bond/Servo/CMaster.cpp
index 6fd1c50..f1b3b26 100644
--- a/SourceCode/Bond/Servo/CMaster.cpp
+++ b/SourceCode/Bond/Servo/CMaster.cpp
@@ -51,6 +51,9 @@
m_state = MASTERSTATE::READY;
m_pActiveRobotTask = nullptr;
m_nLastError = 0;
+ m_isCompareMapsBeforeProceeding = FALSE;
+ m_bEnableEventReport = true;
+ m_bEnableAlarmReport = true;
InitializeCriticalSection(&m_criticalSection);
}
@@ -562,157 +565,65 @@
}
PORT_PUT:
- if (m_pActiveRobotTask != nullptr) {
- m_pActiveRobotTask->pick();
- std::string strDescription = m_pActiveRobotTask->getDescription();
- unlock();
- if (m_listener.onRobotTaskEvent != nullptr) {
- m_listener.onRobotTaskEvent(this, m_pActiveRobotTask, ROBOT_EVENT_CREATE);
- }
- LOGI("创建新任务<%s>...", strDescription.c_str());
- continue;
- }
+ CHECK_RUN_ACTIVE_ROBOT_TASK(m_pActiveRobotTask);
// Measurement NG -> LoadPort
// NG回原位
if (!rmd.armState[1]) {
m_pActiveRobotTask = createTransferTask_restore(pMeasurement, pLoadPorts);
- if (m_pActiveRobotTask != nullptr) {
- m_pActiveRobotTask->pick();
- std::string strDescription = m_pActiveRobotTask->getDescription();
- unlock();
- if (m_listener.onRobotTaskEvent != nullptr) {
- m_listener.onRobotTaskEvent(this, m_pActiveRobotTask, ROBOT_EVENT_CREATE);
- }
- LOGI("创建Measurement回退任务<%s>...", strDescription.c_str());
- continue;
- }
+ CHECK_RUN_ACTIVE_ROBOT_TASK(m_pActiveRobotTask);
}
-
-
// BakeCooling ->Measurement
if (!rmd.armState[0]) {
m_pActiveRobotTask = createTransferTask_bakecooling_to_measurement(pBakeCooling, pMeasurement);
- if (m_pActiveRobotTask != nullptr) {
- m_pActiveRobotTask->pick();
- std::string strDescription = m_pActiveRobotTask->getDescription();
- unlock();
- if (m_listener.onRobotTaskEvent != nullptr) {
- m_listener.onRobotTaskEvent(this, m_pActiveRobotTask, ROBOT_EVENT_CREATE);
- }
- LOGI("创建新任务<%s>...", strDescription.c_str());
- continue;
- }
+ CHECK_RUN_ACTIVE_ROBOT_TASK(m_pActiveRobotTask);
}
-
// BakeCooling内部
// Bake -> Cooling
if (!rmd.armState[0]) {
m_pActiveRobotTask = createTransferTask_bake_to_cooling(pBakeCooling);
- if (m_pActiveRobotTask != nullptr) {
- m_pActiveRobotTask->pick();
- std::string strDescription = m_pActiveRobotTask->getDescription();
- unlock();
- if (m_listener.onRobotTaskEvent != nullptr) {
- m_listener.onRobotTaskEvent(this, m_pActiveRobotTask, ROBOT_EVENT_CREATE);
- }
- LOGI("创建新任务<%s>...", strDescription.c_str());
- continue;
- }
+ CHECK_RUN_ACTIVE_ROBOT_TASK(m_pActiveRobotTask);
}
// Bonder -> BakeCooling
if (!rmd.armState[0]) {
m_pActiveRobotTask = createTransferTask_bonder_to_bakecooling(pBonder1, pBakeCooling);
- if (m_pActiveRobotTask != nullptr) {
- m_pActiveRobotTask->pick();
- std::string strDescription = m_pActiveRobotTask->getDescription();
- unlock();
- if (m_listener.onRobotTaskEvent != nullptr) {
- m_listener.onRobotTaskEvent(this, m_pActiveRobotTask, ROBOT_EVENT_CREATE);
- }
- LOGI("创建新任务<%s>...", strDescription.c_str());
- continue;
- }
+ CHECK_RUN_ACTIVE_ROBOT_TASK(m_pActiveRobotTask);
}
if (!rmd.armState[0]) {
m_pActiveRobotTask = createTransferTask_bonder_to_bakecooling(pBonder2, pBakeCooling);
- if (m_pActiveRobotTask != nullptr) {
- m_pActiveRobotTask->pick();
- std::string strDescription = m_pActiveRobotTask->getDescription();
- unlock();
- if (m_listener.onRobotTaskEvent != nullptr) {
- m_listener.onRobotTaskEvent(this, m_pActiveRobotTask, ROBOT_EVENT_CREATE);
- }
- LOGI("创建新任务<%s>...", strDescription.c_str());
- continue;
- }
+ CHECK_RUN_ACTIVE_ROBOT_TASK(m_pActiveRobotTask);
}
// Fliper(G2) -> Bonder
- // VacuumBake(G1) -> Bonder
- if (!rmd.armState[1] && !pBonder1->hasBondClass()) {
+ auto pSrcSlot = pVacuumBake->getProcessedSlot(primaryType);
+ if (pSrcSlot != nullptr && !rmd.armState[1] && !pBonder1->hasBondClass()) {
m_pActiveRobotTask = createTransferTask(pFliper, pBonder1, primaryType, secondaryType, 2);
- if (m_pActiveRobotTask != nullptr) {
- m_pActiveRobotTask->pick();
- std::string strDescription = m_pActiveRobotTask->getDescription();
- unlock();
- if (m_listener.onRobotTaskEvent != nullptr) {
- m_listener.onRobotTaskEvent(this, m_pActiveRobotTask, ROBOT_EVENT_CREATE);
- }
- LOGI("创建新任务<%s>...", strDescription.c_str());
- continue;
- }
+ CHECK_RUN_ACTIVE_ROBOT_TASK(m_pActiveRobotTask);
}
-
- if (!rmd.armState[1] && !pBonder2->hasBondClass()) {
+ if (pSrcSlot != nullptr && !rmd.armState[1] && !pBonder2->hasBondClass()) {
m_pActiveRobotTask = createTransferTask(pFliper, pBonder2, primaryType, secondaryType, 2);
- if (m_pActiveRobotTask != nullptr) {
- m_pActiveRobotTask->pick();
- std::string strDescription = m_pActiveRobotTask->getDescription();
- unlock();
- if (m_listener.onRobotTaskEvent != nullptr) {
- m_listener.onRobotTaskEvent(this, m_pActiveRobotTask, ROBOT_EVENT_CREATE);
- }
- LOGI("创建新任务<%s>...", strDescription.c_str());
- continue;
- }
+ CHECK_RUN_ACTIVE_ROBOT_TASK(m_pActiveRobotTask);
}
+
+ // VacuumBake(G1) -> Bonder
if (!rmd.armState[0] && !pBonder1->hasBondClass()) {
m_pActiveRobotTask = createTransferTask(pVacuumBake, pBonder1, primaryType, secondaryType);
- if (m_pActiveRobotTask != nullptr) {
- m_pActiveRobotTask->pick();
- std::string strDescription = m_pActiveRobotTask->getDescription();
- unlock();
- if (m_listener.onRobotTaskEvent != nullptr) {
- m_listener.onRobotTaskEvent(this, m_pActiveRobotTask, ROBOT_EVENT_CREATE);
- }
- LOGI("创建新任务<%s>...", strDescription.c_str());
- continue;
- }
+ CHECK_RUN_ACTIVE_ROBOT_TASK(m_pActiveRobotTask);
}
if (!rmd.armState[0] && !pBonder2->hasBondClass()) {
m_pActiveRobotTask = createTransferTask(pVacuumBake, pBonder2, primaryType, secondaryType);
- if (m_pActiveRobotTask != nullptr) {
- m_pActiveRobotTask->pick();
- std::string strDescription = m_pActiveRobotTask->getDescription();
- unlock();
- if (m_listener.onRobotTaskEvent != nullptr) {
- m_listener.onRobotTaskEvent(this, m_pActiveRobotTask, ROBOT_EVENT_CREATE);
- }
- LOGI("创建新任务<%s>...", strDescription.c_str());
- continue;
- }
+ CHECK_RUN_ACTIVE_ROBOT_TASK(m_pActiveRobotTask);
}
@@ -720,48 +631,20 @@
// Aligner -> VacuumBake(G1)
if (!rmd.armState[1]) {
m_pActiveRobotTask = createTransferTask(pAligner, pFliper, primaryType, secondaryType);
- if (m_pActiveRobotTask != nullptr) {
- m_pActiveRobotTask->pick();
- std::string strDescription = m_pActiveRobotTask->getDescription();
- unlock();
- if (m_listener.onRobotTaskEvent != nullptr) {
- m_listener.onRobotTaskEvent(this, m_pActiveRobotTask, ROBOT_EVENT_CREATE);
- }
- LOGI("创建新任务<%s>...", strDescription.c_str());
- continue;
- }
+ CHECK_RUN_ACTIVE_ROBOT_TASK(m_pActiveRobotTask);
}
if (!rmd.armState[0]) {
m_pActiveRobotTask = createTransferTask(pAligner, pVacuumBake, primaryType, secondaryType);
- if (m_pActiveRobotTask != nullptr) {
- m_pActiveRobotTask->pick();
- std::string strDescription = m_pActiveRobotTask->getDescription();
- unlock();
- if (m_listener.onRobotTaskEvent != nullptr) {
- m_listener.onRobotTaskEvent(this, m_pActiveRobotTask, ROBOT_EVENT_CREATE);
- }
- LOGI("创建新任务<%s>...", strDescription.c_str());
- continue;
- }
+ CHECK_RUN_ACTIVE_ROBOT_TASK(m_pActiveRobotTask);
}
+
// Aligner -> LoadPort
if (!rmd.armState[1]) {
m_pActiveRobotTask = createTransferTask_restore(pAligner, pLoadPorts);
- if (m_pActiveRobotTask != nullptr) {
- m_pActiveRobotTask->pick();
- std::string strDescription = m_pActiveRobotTask->getDescription();
- unlock();
- if (m_listener.onRobotTaskEvent != nullptr) {
- m_listener.onRobotTaskEvent(this, m_pActiveRobotTask, ROBOT_EVENT_CREATE);
- }
- LOGI("创建Aligner回退任务<%s>...", strDescription.c_str());
- continue;
- }
+ CHECK_RUN_ACTIVE_ROBOT_TASK(m_pActiveRobotTask);
}
-
-
// LoadPort -> Aligner
@@ -778,19 +661,11 @@
}
PORT_GET:
- if (m_pActiveRobotTask != nullptr) {
- m_pActiveRobotTask->pick();
- std::string strDescription = m_pActiveRobotTask->getDescription();
- unlock();
- if (m_listener.onRobotTaskEvent != nullptr) {
- m_listener.onRobotTaskEvent(this, m_pActiveRobotTask, ROBOT_EVENT_CREATE);
- }
- LOGI("创建新任务<%s>...", strDescription.c_str());
- continue;
- }
+ CHECK_RUN_ACTIVE_ROBOT_TASK(m_pActiveRobotTask);
+
unlock();
-
+ continue;
}
unlock();
}
@@ -1012,6 +887,16 @@
listener.onProcessStateChanged = [&](void* pEquipment, PROCESS_STATE state) -> void {
LOGI("<Master>onProcessStateChanged<%d>", (int)state);
};
+ listener.onMapMismatch = [&](void* pEquipment, short scanMap, short downMap) {
+ LOGE("<Master-%s>Port InUse, map(%d!=%d)不一致，请检查。",
+ ((CEquipment*)pEquipment)->getName().c_str(), scanMap, downMap);
+ };
+ listener.onPortInUse = [&](void* pEquipment, short scanMap) {
+ LOGE("<Master-%s>Port InUse。scanMap=%d", ((CEquipment*)pEquipment)->getName().c_str(), scanMap);
+ if (m_listener.onLoadPortInUse != nullptr) {
+ m_listener.onLoadPortInUse(this, (CEquipment*)pEquipment, scanMap);
+ }
+ };
pEquipment->setListener(listener);
pEquipment->setCcLink(&m_cclink);
m_listEquipment.push_back(pEquipment);
@@ -1049,6 +934,7 @@
pEquipment->setID(EQ_ID_LOADPORT1 + index);
pEquipment->setName(szName);
pEquipment->setDescription(szName);
+ pEquipment->setCompareMapsBeforeProceeding(m_isCompareMapsBeforeProceeding);
addToEquipmentList(pEquipment);
@@ -1405,6 +1291,10 @@
MaterialsType primaryType/* = MaterialsType::G1*/, MaterialsType secondaryType/* = MaterialsType::G2*/,
int armNo/* = 1*/)
{
+ if (!pSrcEq->IsEnabled()) {
+ return nullptr;
+ }
+
CRobotTask* pTask = nullptr;
CSlot* pSrcSlot, * pTarSlot;
pTarSlot = pTarEq->getAvailableSlotForGlass(primaryType);
@@ -1429,6 +1319,10 @@
CRobotTask* CMaster::createTransferTask_bonder_to_bakecooling(CEquipment* pSrcEq, CEquipment* pTarEq)
{
+ if (!pSrcEq->IsEnabled()) {
+ return nullptr;
+ }
+
std::vector<int> slots = {1, 3};
CRobotTask* pTask = nullptr;
@@ -1450,6 +1344,10 @@
CRobotTask* CMaster::createTransferTask_bake_to_cooling(CEquipment* pSrcEq)
{
+ if (!pSrcEq->IsEnabled()) {
+ return nullptr;
+ }
+
std::vector<int> slotsTar = { 2, 4 };
std::vector<int> slotsSrc = { 1, 3 };
@@ -1472,6 +1370,10 @@
CRobotTask* CMaster::createTransferTask_bakecooling_to_measurement(CEquipment* pSrcEq, CEquipment* pTarEq)
{
+ if (!pSrcEq->IsEnabled()) {
+ return nullptr;
+ }
+
std::vector<int> slots = { 2, 4 };
CRobotTask* pTask = nullptr;
@@ -1493,6 +1395,10 @@
CRobotTask* CMaster::createTransferTask_restore(CEquipment* pEqSrc, CLoadPort** pPorts)
{
+ if (!pEqSrc->IsEnabled()) {
+ return nullptr;
+ }
+
CRobotTask* pTask = nullptr;
CSlot* pSrcSlot, * pTarSlot = nullptr, * pTempSlot;
pSrcSlot = pEqSrc->getInspFailSlot();
@@ -1543,7 +1449,8 @@
unlock();
// 当前任务手动中止后，停止调度，需要操作员在解决问题后，重新启动
- stop();
+ // 25年7月23日后修改为不停止任务
+ // stop();
return 0;
}
@@ -1553,6 +1460,18 @@
lock();
if (m_pActiveRobotTask != nullptr) {
m_pActiveRobotTask->restore();
+ }
+ unlock();
+
+
+ return 0;
+ }
+
+ int CMaster::resendCurrentTask()
+ {
+ lock();
+ if (m_pActiveRobotTask != nullptr) {
+ m_pActiveRobotTask->resend();
}
unlock();
@@ -1573,4 +1492,40 @@
pPort->localSetTransferMode((SERVO::TransferMode)transferMode);
pPort->localAutoChangeEnable(autoChangeEnable);
}
+
+ void CMaster::setPortCassetteType(unsigned int index, SERVO::CassetteType type)
+ {
+ ASSERT(index < 4);
+ int eqid[] = { EQ_ID_LOADPORT1, EQ_ID_LOADPORT2, EQ_ID_LOADPORT3, EQ_ID_LOADPORT4 };
+ CLoadPort* pPort = (CLoadPort*)getEquipment(eqid[index]);
+ pPort->localSetCessetteType(type);
+ }
+
+ void CMaster::setCompareMapsBeforeProceeding(BOOL bCompare)
+ {
+ m_isCompareMapsBeforeProceeding = bCompare;
+ }
+
+ void CMaster::datetimeSync(SYSTEMTIME& time)
+ {
+ for (auto item : m_listEquipment) {
+ item->setDateTime(time.wYear, time.wMonth, time.wDay,
+ time.wHour, time.wMinute, time.wSecond);
+ }
+ }
+
+ void CMaster::enableEventReport(bool bEnable)
+ {
+ m_bEnableEventReport = bEnable;
+ }
+
+ void CMaster::enableAlarmReport(bool bEnable)
+ {
+ m_bEnableAlarmReport = bEnable;
+ }
+
+ bool CMaster::isAlarmReportEnable()
+ {
+ return m_bEnableAlarmReport;
+ }
}
--
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