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 | 324 +++++++++++++++++++++++++++++-------------------------
1 files changed, 174 insertions(+), 150 deletions(-)
diff --git a/SourceCode/Bond/Servo/CMaster.cpp b/SourceCode/Bond/Servo/CMaster.cpp
index 9cbcbd7..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);
}
@@ -297,11 +300,12 @@
// 各种机器
+ CLoadPort* pLoadPorts[4];
CEFEM* pEFEM = (CEFEM*)getEquipment(EQ_ID_EFEM);
- CLoadPort* pLoadPort1 = (CLoadPort*)getEquipment(EQ_ID_LOADPORT1);
- CLoadPort* pLoadPort2 = (CLoadPort*)getEquipment(EQ_ID_LOADPORT2);
- CLoadPort* pLoadPort3 = (CLoadPort*)getEquipment(EQ_ID_LOADPORT3);
- CLoadPort* pLoadPort4 = (CLoadPort*)getEquipment(EQ_ID_LOADPORT4);
+ pLoadPorts[0] = (CLoadPort*)getEquipment(EQ_ID_LOADPORT1);
+ pLoadPorts[1] = (CLoadPort*)getEquipment(EQ_ID_LOADPORT2);
+ pLoadPorts[2] = (CLoadPort*)getEquipment(EQ_ID_LOADPORT3);
+ pLoadPorts[3] = (CLoadPort*)getEquipment(EQ_ID_LOADPORT4);
CFliper* pFliper = (CFliper*)getEquipment(EQ_ID_FLIPER);
CVacuumBake* pVacuumBake = (CVacuumBake*)getEquipment(EQ_ID_VACUUMBAKE);
CAligner* pAligner = (CAligner*)getEquipment(EQ_ID_ALIGNER);
@@ -311,10 +315,10 @@
CMeasurement* pMeasurement = (CMeasurement*)getEquipment(EQ_ID_MEASUREMENT);
ASSERT(pEFEM);
- ASSERT(pLoadPort1);
- ASSERT(pLoadPort2);
- ASSERT(pLoadPort3);
- ASSERT(pLoadPort4);
+ ASSERT(pLoadPorts[0]);
+ ASSERT(pLoadPorts[1]);
+ ASSERT(pLoadPorts[2]);
+ ASSERT(pLoadPorts[3]);
ASSERT(pFliper);
ASSERT(pVacuumBake);
ASSERT(pAligner);
@@ -544,17 +548,16 @@
LOGI("Arm1 %s, Arm2 %s.", rmd.armState[0] ? _T("不可用") : _T("可用"),
rmd.armState[1] ? _T("不可用") : _T("可用"));
}
- CLoadPort* pEqLoadPort[] = { pLoadPort1, pLoadPort2, pLoadPort3, pLoadPort4 };
CEquipment* pEqTar[] = { pVacuumBake, pFliper };
if (primaryType == MaterialsType::G2) {
pEqTar[0] = pFliper;
pEqTar[1] = pVacuumBake;
}
for (int s = 0; s < 4; s++) {
- if (!rmd.armState[0] && pEqLoadPort[s]->isEnable()
- && pEqLoadPort[s]->getPortType() == PortType::Unloading
- && pEqLoadPort[s]->getPortMode() == PortMode::ReadyToUnload) {
- m_pActiveRobotTask = createTransferTask(pMeasurement, pEqLoadPort[s], primaryType, secondaryType);
+ if (!rmd.armState[0] && pLoadPorts[s]->isEnable()
+ && pLoadPorts[s]->getPortType() == PortType::Unloading
+ && pLoadPorts[s]->getPortMode() == PortMode::ReadyToUnload) {
+ m_pActiveRobotTask = createTransferTask(pMeasurement, pLoadPorts[s], primaryType, secondaryType);
if (m_pActiveRobotTask != nullptr) {
goto PORT_PUT;
}
@@ -562,138 +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);
+ 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);
}
@@ -701,38 +631,28 @@
// 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);
+ CHECK_RUN_ACTIVE_ROBOT_TASK(m_pActiveRobotTask);
+ }
+
// LoadPort -> Aligner
for (int s = 0; s < 4; s++) {
- if (!rmd.armState[0] && pEqLoadPort[s]->isEnable()
- && pEqLoadPort[s]->getPortType() == PortType::Loading
- && pEqLoadPort[s]->getPortMode() == PortMode::ReadyToLoad) {
- m_pActiveRobotTask = createTransferTask(pEqLoadPort[s], pAligner, primaryType, secondaryType);
+ if (!rmd.armState[0] && pLoadPorts[s]->isEnable()
+ && pLoadPorts[s]->getPortType() == PortType::Loading
+ && pLoadPorts[s]->getPortMode() == PortMode::ReadyToLoad) {
+ m_pActiveRobotTask = createTransferTask(pLoadPorts[s], pAligner, primaryType, secondaryType);
if (m_pActiveRobotTask != nullptr) {
pEFEM->setContext(m_pActiveRobotTask->getContext());
goto PORT_GET;
@@ -741,19 +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();
}
@@ -825,7 +737,7 @@
m_listener.onEqVcrEventReport(this, p, p2);
}
};
- listener.onPreFethedOutJob = [&](void* pEquipment, CJobDataB* pJobDataB) -> BOOL {
+ listener.onPreFethedOutJob = [&](void* pEquipment, int port, CJobDataB* pJobDataB) -> BOOL {
CEquipment* p = (CEquipment*)pEquipment;
@@ -858,7 +770,7 @@
return bOk;
};
- listener.onPreStoredJob = [&](void* pEquipment, CJobDataB* pJobDataB, short& slot) -> BOOL {
+ listener.onPreStoredJob = [&](void* pEquipment, int port, CJobDataB* pJobDataB, short& slot) -> BOOL {
CEquipment* p = (CEquipment*)pEquipment;
@@ -890,7 +802,7 @@
else if (m_pActiveRobotTask->isRestoring() &&
m_pActiveRobotTask->getSrcPosition() == p->getID()) {
CGlass* pGlass = p->getGlassFromSlot(m_pActiveRobotTask->getSrcSlot());
- if (pGlass == nullptr) {
+ if (pGlass == nullptr && m_pActiveRobotTask->getSrcSlot() == port) {
bOk = TRUE;
slot = m_pActiveRobotTask->getSrcSlot();
LOGI("<CMaster>onPreFethedOutJob, 已校验数据一致性.");
@@ -975,6 +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);
@@ -1012,6 +934,7 @@
pEquipment->setID(EQ_ID_LOADPORT1 + index);
pEquipment->setName(szName);
pEquipment->setDescription(szName);
+ pEquipment->setCompareMapsBeforeProceeding(m_isCompareMapsBeforeProceeding);
addToEquipmentList(pEquipment);
@@ -1368,6 +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);
@@ -1392,7 +1319,11 @@
CRobotTask* CMaster::createTransferTask_bonder_to_bakecooling(CEquipment* pSrcEq, CEquipment* pTarEq)
{
- std::vector<int> slots = {1, 2};
+ if (!pSrcEq->IsEnabled()) {
+ return nullptr;
+ }
+
+ std::vector<int> slots = {1, 3};
CRobotTask* pTask = nullptr;
CSlot* pSrcSlot, * pTarSlot;
@@ -1413,8 +1344,12 @@
CRobotTask* CMaster::createTransferTask_bake_to_cooling(CEquipment* pSrcEq)
{
- std::vector<int> slotsTar = { 3, 4 };
- std::vector<int> slotsSrc = { 1, 2 };
+ if (!pSrcEq->IsEnabled()) {
+ return nullptr;
+ }
+
+ std::vector<int> slotsTar = { 2, 4 };
+ std::vector<int> slotsSrc = { 1, 3 };
CRobotTask* pTask = nullptr;
CSlot* pSrcSlot, * pTarSlot;
@@ -1435,12 +1370,52 @@
CRobotTask* CMaster::createTransferTask_bakecooling_to_measurement(CEquipment* pSrcEq, CEquipment* pTarEq)
{
- std::vector<int> slots = { 3, 4 };
+ if (!pSrcEq->IsEnabled()) {
+ return nullptr;
+ }
+
+ std::vector<int> slots = { 2, 4 };
CRobotTask* pTask = nullptr;
CSlot* pSrcSlot, * pTarSlot;
pTarSlot = pTarEq->getAvailableSlotForGlass(MaterialsType::G1);
pSrcSlot = pSrcEq->getProcessedSlot2(MaterialsType::G1, slots);
+
+ if (pSrcSlot != nullptr && nullptr != pTarSlot) {
+ pTask = new CRobotTask();
+ pTask->setContext(pSrcSlot->getContext());
+ pTask->setEFEM((CEFEM*)getEquipment(EQ_ID_EFEM));
+ taskSeqNo = pTask->setRobotTransferParam(taskSeqNo, 1, pSrcSlot->getPosition(),
+ pTarSlot->getPosition(), pSrcSlot->getNo(), pTarSlot->getNo());
+ }
+
+
+ return pTask;
+ }
+
+ CRobotTask* CMaster::createTransferTask_restore(CEquipment* pEqSrc, CLoadPort** pPorts)
+ {
+ if (!pEqSrc->IsEnabled()) {
+ return nullptr;
+ }
+
+ CRobotTask* pTask = nullptr;
+ CSlot* pSrcSlot, * pTarSlot = nullptr, * pTempSlot;
+ pSrcSlot = pEqSrc->getInspFailSlot();
+ if (pSrcSlot != nullptr) {
+ CGlass* pGlass = (CGlass*)pSrcSlot->getContext();
+ ASSERT(pGlass);
+ int port, slot;
+ pGlass->getOrginPort(port, slot);
+ pGlass->setInspResult(pPorts[port]->getID(), 0, InspResult::Fail);
+ ASSERT(0 <= port && port < 4);
+ ASSERT(0 <= slot && slot < 8);
+ pTempSlot = pPorts[port]->getSlot(slot);
+ if (pTempSlot->getContext() == nullptr) {
+ pTarSlot = pTempSlot;
+ }
+ }
+
if (pSrcSlot != nullptr && nullptr != pTarSlot) {
pTask = new CRobotTask();
@@ -1474,7 +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;
}
@@ -1484,6 +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();
@@ -1504,4 +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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