From e731e05bb712765bf85a359ff4d505e39ca09c02 Mon Sep 17 00:00:00 2001
From: LAPTOP-SNT8I5JK\Boounion <Chenluhua@qq.com>
Date: 星期二, 01 七月 2025 14:19:01 +0800
Subject: [PATCH] 1.Port Status 测试； 2.Cassette ctrl cmd测试和修改地址；
---
SourceCode/Bond/Servo/CMaster.cpp | 554 +++++++++++++++++++++++++++++++++++++++---------------
1 files changed, 399 insertions(+), 155 deletions(-)
diff --git a/SourceCode/Bond/Servo/CMaster.cpp b/SourceCode/Bond/Servo/CMaster.cpp
index 4eca70d..cba74ae 100644
--- a/SourceCode/Bond/Servo/CMaster.cpp
+++ b/SourceCode/Bond/Servo/CMaster.cpp
@@ -1,6 +1,8 @@
#include "stdafx.h"
#include "Common.h"
#include "CMaster.h"
+#include <future>
+#include <vector>
namespace SERVO {
@@ -48,6 +50,7 @@
m_ullRunTime = 0;
m_state = MASTERSTATE::READY;
m_pActiveRobotTask = nullptr;
+ m_nLastError = 0;
InitializeCriticalSection(&m_criticalSection);
}
@@ -160,9 +163,9 @@
ASSERT(pMeasurement);
pEfem->setPort(0, pPort1);
- pEfem->setPort(1, pPort1);
- pEfem->setPort(2, pPort1);
- pEfem->setPort(3, pPort1);
+ pEfem->setPort(1, pPort2);
+ pEfem->setPort(2, pPort3);
+ pEfem->setPort(3, pPort4);
pEfem->setFliper(pFliper);
pEfem->setAligner(pAligner);
pEfem->setArmTray(0, pArmTray1);
@@ -264,6 +267,13 @@
return 0;
}
+ void CMaster::clearError()
+ {
+ m_nLastError = 0;
+ m_strLastError = "";
+ setState(MASTERSTATE::READY);
+ }
+
ULONGLONG CMaster::getRunTime()
{
if (m_state == MASTERSTATE::RUNNING)
@@ -325,8 +335,114 @@
// 如果状态为STARTING，开始工作并切换到RUNNING状态
lock();
if (m_state == MASTERSTATE::STARTING) {
+ // 发送indexerOperationModeChange到各个机台，成功后切换到RUNNING状态
+ // 否则切换到MSERROR状态
+ int nRet;
+ CEquipment* pEq[6] = { pEFEM, pBonder1, pBonder2, pBakeCooling,
+ pVacuumBake, pMeasurement};
+ BOOL bIomcOk[7] = {FALSE, TRUE, TRUE, TRUE, TRUE, TRUE, TRUE};
+ std::vector<std::promise<void>> promises(6);
+ std::vector<std::future<void>> futures;
+
+ nRet = pEq[0]->indexerOperationModeChange(IDNEXER_OPERATION_MODE::Start,
+ [&](int writeCode, int retCode) -> void {
+ bIomcOk[0] = retCode == (int)RET::OK;
+ promises[0].set_value();
+ TRACE("a0001\n", writeCode, retCode);
+ });
+ if (nRet != 0) {
+ LOGI("<Master>EFEM切换Start状态失败");
+ m_strLastError = "EFEM切换Start状态失败.";
+ goto WAIT;
+ }
+ futures.push_back(promises[0].get_future());
+ /*
+ nRet = pEq[1]->indexerOperationModeChange(IDNEXER_OPERATION_MODE::Start,
+ [&](int writeCode, int retCode) -> void {
+ bIomcOk[1] = retCode == (int)RET::OK;
+ promises[1].set_value();
+ TRACE("a0002\n");
+ });
+ if (nRet != 0) {
+ LOGI("<Master>Bonder1切换Start状态失败");
+ m_strLastError = "Bonder1切换Start状态失败.";
+ goto WAIT;
+ }
+ futures.push_back(promises[1].get_future());
+
+ nRet = pEq[2]->indexerOperationModeChange(IDNEXER_OPERATION_MODE::Start,
+ [&](int writeCode, int retCode) -> void {
+ bIomcOk[2] = retCode == (int)RET::OK;
+ promises[2].set_value();
+ TRACE("a0003\n");
+ });
+ if (nRet != 0) {
+ LOGI("<Master>Bonder2切换Start状态失败");
+ m_strLastError = "Bonder2切换Start状态失败.";
+ goto WAIT;
+ }
+ futures.push_back(promises[2].get_future());
+
+ nRet = pEq[3]->indexerOperationModeChange(IDNEXER_OPERATION_MODE::Start,
+ [&](int writeCode, int retCode) -> void {
+ bIomcOk[3] = retCode == (int)RET::OK;
+ promises[3].set_value();
+ TRACE("a0004\n");
+ });
+ if (nRet != 0) {
+ LOGI("<Master>BakeCooling切换Start状态失败");
+ m_strLastError = "BakeCooling切换Start状态失败.";
+ goto WAIT;
+ }
+ futures.push_back(promises[3].get_future());
+
+ nRet = pEq[4]->indexerOperationModeChange(IDNEXER_OPERATION_MODE::Start,
+ [&](int writeCode, int retCode) -> void {
+ bIomcOk[4] = retCode == (int)RET::OK;
+ promises[4].set_value();
+ TRACE("a0005\n");
+ });
+ if (nRet != 0) {
+ LOGI("<Master>VacuumBake切换Start状态失败");
+ m_strLastError = "VacuumBake切换Start状态失败.";
+ goto WAIT;
+ }
+ futures.push_back(promises[4].get_future());
+
+ nRet = pEq[5]->indexerOperationModeChange(IDNEXER_OPERATION_MODE::Start,
+ [&](int writeCode, int retCode) -> void {
+ bIomcOk[5] = retCode == (int)RET::OK;
+ promises[5].set_value();
+ TRACE("a0006\n");
+ });
+ if (nRet != 0) {
+ LOGI("<Master>Measurement切换Start状态失败");
+ m_strLastError = "Measurement切换Start状态失败.";
+ goto WAIT;
+ }
+ futures.push_back(promises[5].get_future());
+ */
+
+WAIT:
+ for (auto& f : futures) {
+ f.wait(); // 阻塞等待对应设备完成
+ }
+ for (int i = 0; i < 6; i++) {
+ if (!bIomcOk[i]) {
+ bIomcOk[6] = FALSE;
+ LOGI("<Master>%s切换Start状态失败", pEq[i]->getName().c_str());
+ }
+ }
+
+ // 检查看是否都已经切换到START状态
+ if (!bIomcOk[6]) {
+ unlock();
+ setState(MASTERSTATE::MSERROR);
+ continue;
+ }
+
+
unlock();
- Sleep(1000);
setState(MASTERSTATE::RUNNING);
continue;
}
@@ -335,7 +451,49 @@
// 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);
+ LOGI("<Master>开始切换各设备到 Stop 模式...");
+
+ std::vector<std::promise<void>> promises(6);
+ std::vector<std::future<void>> futures;
+ BOOL bIomcOk[7] = { FALSE, TRUE, TRUE, TRUE, TRUE, TRUE, TRUE };
+
+ int nRet;
+ CEquipment* pEq[6] = { pEFEM, pBonder1, pBonder2, pBakeCooling,
+ pVacuumBake, pMeasurement };
+
+ for (int i = 0; i < 1; ++i) {
+ nRet = pEq[i]->indexerOperationModeChange(IDNEXER_OPERATION_MODE::Stop,
+ [i, &promises, &bIomcOk](int writeCode, int retCode) -> void {
+ bIomcOk[i] = retCode == (int)RET::OK;
+ promises[i].set_value();
+ TRACE("s000%d: ret=%d\n", i + 1, retCode);
+ });
+ if (nRet != 0) {
+ LOGI("<Master>%s切换Stop状态发送失败", pEq[i]->getName().c_str());
+ m_strLastError = pEq[i]->getName() + "切换Stop状态发送失败.";
+ bIomcOk[i] = FALSE;
+ promises[i].set_value(); // 避免 wait 阻塞
+ }
+ futures.push_back(promises[i].get_future());
+ }
+
+ for (auto& f : futures) {
+ f.wait(); // 等待所有完成
+ }
+
+ for (int i = 0; i < 6; ++i) {
+ if (!bIomcOk[i]) {
+ bIomcOk[6] = FALSE;
+ LOGI("<Master>%s切换Stop状态失败", pEq[i]->getName().c_str());
+ }
+ }
+
+ if (!bIomcOk[6]) {
+ setState(MASTERSTATE::MSERROR);
+ continue;
+ }
+
+ LOGI("<Master>所有设备成功切换到 Stop 模式");
setState(MASTERSTATE::READY);
continue;
}
@@ -343,11 +501,17 @@
// 调度逻辑处理
else if (m_state == MASTERSTATE::RUNNING) {
- unlock();
- // LOGI("调度处理中...");
+ // 检测判断robot状态
+ RMDATA& rmd = pEFEM->getRobotMonitoringData();
+ if (rmd.status != ROBOT_STATUS::Idle && rmd.status != ROBOT_STATUS::Run) {
+ unlock();
+ continue;
+ }
- lock();
if (m_pActiveRobotTask != nullptr) {
+ if (m_pActiveRobotTask->isPicked()) {
+ m_pActiveRobotTask->place();
+ }
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...");
@@ -376,6 +540,10 @@
// Measurement -> LoadPort
+ if (rmd.armState[0] || rmd.armState[1]) {
+ 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) {
@@ -383,7 +551,7 @@
pEqTar[1] = pVacuumBake;
}
for (int s = 0; s < 4; s++) {
- if (pEqLoadPort[s]->isEnable()
+ 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);
@@ -395,7 +563,7 @@
PORT_PUT:
if (m_pActiveRobotTask != nullptr) {
- m_pActiveRobotTask->run();
+ m_pActiveRobotTask->pick();
std::string strDescription = m_pActiveRobotTask->getDescription();
unlock();
if (m_listener.onRobotTaskEvent != nullptr) {
@@ -407,143 +575,166 @@
// BakeCooling ->Measurement
- m_pActiveRobotTask = createTransferTask_bakecooling_to_measurement(pBakeCooling, pMeasurement);
- if (m_pActiveRobotTask != nullptr) {
- m_pActiveRobotTask->run();
- std::string strDescription = m_pActiveRobotTask->getDescription();
- unlock();
- if (m_listener.onRobotTaskEvent != nullptr) {
- m_listener.onRobotTaskEvent(this, m_pActiveRobotTask, ROBOT_EVENT_CREATE);
+ 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;
}
- LOGI("创建新任务<%s>...", strDescription.c_str());
- continue;
}
+
// BakeCooling内部
// Bake -> Cooling
- m_pActiveRobotTask = createTransferTask_bake_to_cooling(pBakeCooling);
- if (m_pActiveRobotTask != nullptr) {
- m_pActiveRobotTask->run();
- std::string strDescription = m_pActiveRobotTask->getDescription();
- unlock();
- if (m_listener.onRobotTaskEvent != nullptr) {
- m_listener.onRobotTaskEvent(this, m_pActiveRobotTask, ROBOT_EVENT_CREATE);
+ 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;
}
- LOGI("创建新任务<%s>...", strDescription.c_str());
- continue;
}
// Bonder -> BakeCooling
- m_pActiveRobotTask = createTransferTask_bonder_to_bakecooling(pBonder1, pBakeCooling);
- if (m_pActiveRobotTask != nullptr) {
- m_pActiveRobotTask->run();
- std::string strDescription = m_pActiveRobotTask->getDescription();
- unlock();
- if (m_listener.onRobotTaskEvent != nullptr) {
- m_listener.onRobotTaskEvent(this, m_pActiveRobotTask, ROBOT_EVENT_CREATE);
+ 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;
}
- LOGI("创建新任务<%s>...", strDescription.c_str());
- continue;
}
- m_pActiveRobotTask = createTransferTask_bonder_to_bakecooling(pBonder2, pBakeCooling);
- if (m_pActiveRobotTask != nullptr) {
- m_pActiveRobotTask->run();
- std::string strDescription = m_pActiveRobotTask->getDescription();
- unlock();
- if (m_listener.onRobotTaskEvent != nullptr) {
- m_listener.onRobotTaskEvent(this, m_pActiveRobotTask, ROBOT_EVENT_CREATE);
+ 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;
}
- LOGI("创建新任务<%s>...", strDescription.c_str());
- continue;
}
+
// Fliper(G2) -> Bonder
// VacuumBake(G1) -> Bonder
- m_pActiveRobotTask = createTransferTask(pFliper, pBonder1, primaryType, secondaryType, 2);
- if (m_pActiveRobotTask != nullptr) {
- m_pActiveRobotTask->run();
- std::string strDescription = m_pActiveRobotTask->getDescription();
- unlock();
- if (m_listener.onRobotTaskEvent != nullptr) {
- m_listener.onRobotTaskEvent(this, m_pActiveRobotTask, ROBOT_EVENT_CREATE);
+ if (!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;
}
- LOGI("创建新任务<%s>...", strDescription.c_str());
- continue;
}
- m_pActiveRobotTask = createTransferTask(pFliper, pBonder2, primaryType, secondaryType, 2);
- if (m_pActiveRobotTask != nullptr) {
- m_pActiveRobotTask->run();
- std::string strDescription = m_pActiveRobotTask->getDescription();
- unlock();
- if (m_listener.onRobotTaskEvent != nullptr) {
- m_listener.onRobotTaskEvent(this, m_pActiveRobotTask, ROBOT_EVENT_CREATE);
+ if (!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;
}
- LOGI("创建新任务<%s>...", strDescription.c_str());
- continue;
}
- m_pActiveRobotTask = createTransferTask(pVacuumBake, pBonder1, primaryType, secondaryType);
- if (m_pActiveRobotTask != nullptr) {
- m_pActiveRobotTask->run();
- std::string strDescription = m_pActiveRobotTask->getDescription();
- unlock();
- if (m_listener.onRobotTaskEvent != nullptr) {
- m_listener.onRobotTaskEvent(this, m_pActiveRobotTask, ROBOT_EVENT_CREATE);
+ 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;
}
- LOGI("创建新任务<%s>...", strDescription.c_str());
- continue;
}
- m_pActiveRobotTask = createTransferTask(pVacuumBake, pBonder2, primaryType, secondaryType);
- if (m_pActiveRobotTask != nullptr) {
- m_pActiveRobotTask->run();
- std::string strDescription = m_pActiveRobotTask->getDescription();
- unlock();
- if (m_listener.onRobotTaskEvent != nullptr) {
- m_listener.onRobotTaskEvent(this, m_pActiveRobotTask, ROBOT_EVENT_CREATE);
+ 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;
}
- LOGI("创建新任务<%s>...", strDescription.c_str());
- continue;
}
+
// Aligner -> Fliper(G2)
// Aligner -> VacuumBake(G1)
- m_pActiveRobotTask = createTransferTask(pAligner, pFliper, primaryType, secondaryType, 2);
- if (m_pActiveRobotTask != nullptr) {
- m_pActiveRobotTask->run();
- std::string strDescription = m_pActiveRobotTask->getDescription();
- unlock();
- if (m_listener.onRobotTaskEvent != nullptr) {
- m_listener.onRobotTaskEvent(this, m_pActiveRobotTask, ROBOT_EVENT_CREATE);
+ 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;
}
- LOGI("创建新任务<%s>...", strDescription.c_str());
- continue;
}
- m_pActiveRobotTask = createTransferTask(pAligner, pVacuumBake, primaryType, secondaryType);
- if (m_pActiveRobotTask != nullptr) {
- m_pActiveRobotTask->run();
- std::string strDescription = m_pActiveRobotTask->getDescription();
- unlock();
- if (m_listener.onRobotTaskEvent != nullptr) {
- m_listener.onRobotTaskEvent(this, m_pActiveRobotTask, ROBOT_EVENT_CREATE);
+ 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;
}
- LOGI("创建新任务<%s>...", strDescription.c_str());
- continue;
}
-
// LoadPort -> Aligner
for (int s = 0; s < 4; s++) {
- if (pEqLoadPort[s]->isEnable()
+ 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 (m_pActiveRobotTask != nullptr) {
+ pEFEM->setContext(m_pActiveRobotTask->getContext());
goto PORT_GET;
}
}
@@ -551,7 +742,7 @@
PORT_GET:
if (m_pActiveRobotTask != nullptr) {
- m_pActiveRobotTask->run();
+ m_pActiveRobotTask->pick();
std::string strDescription = m_pActiveRobotTask->getDescription();
unlock();
if (m_listener.onRobotTaskEvent != nullptr) {
@@ -586,11 +777,9 @@
// 读标志位
for (auto item : m_listEquipment) {
- if (item->getID() == EQ_ID_Bonder1 ||
- item->getID() == EQ_ID_Bonder2) {
- const StationIdentifier& station = item->getStation();
- MemoryBlock& block = item->getReadBitBlock();
-
+ const StationIdentifier& station = item->getStation();
+ MemoryBlock& block = item->getReadBitBlock();
+ if (block.end > block.start) {
int nRet = m_cclink.ReadData2(station, (DeviceType)block.type,
block.start, block.size, block.buffer);
if (0 == nRet) {
@@ -636,7 +825,7 @@
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;
@@ -647,10 +836,10 @@
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()) {
+ CJobDataS* pJobDataS = pGlass->getJobDataS();
+ if (pJobDataS != nullptr
+ && pJobDataS->getCassetteSequenceNo() == pJobDataB->getCassetteSequenceNo()
+ && pJobDataS->getJobSequenceNo() == pJobDataB->getJobSequenceNo()) {
bOk = TRUE;
LOGI("<CMaster>onPreFethedOutJob, 已校验数据一致性.");
}
@@ -669,7 +858,7 @@
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;
@@ -677,7 +866,18 @@
BOOL bOk = FALSE;
lock();
if (m_pActiveRobotTask != nullptr) {
- if (m_pActiveRobotTask->getTarPosition() == p->getID()) {
+ // 是否已经进入手臂(即取片完成),进入下一步，放片
+ if (m_pActiveRobotTask->isPicking() &&
+ ((m_pActiveRobotTask->getArmNo() == 1 && p->getID() == EQ_ID_ARM_TRAY1)
+ || (m_pActiveRobotTask->getArmNo() == 2 && p->getID() == EQ_ID_ARM_TRAY2))
+ ) {
+ slot = 1;
+ bOk = TRUE;
+ }
+
+ // 是否放片完成
+ else if (m_pActiveRobotTask->isPlacing() &&
+ m_pActiveRobotTask->getTarPosition() == p->getID()) {
CGlass* pGlass = p->getGlassFromSlot(m_pActiveRobotTask->getTarSlot());
if (pGlass == nullptr) {
bOk = TRUE;
@@ -685,15 +885,22 @@
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;
+
+ // 是否回撤
+ else if (m_pActiveRobotTask->isRestoring() &&
+ m_pActiveRobotTask->getSrcPosition() == p->getID()) {
+ CGlass* pGlass = p->getGlassFromSlot(m_pActiveRobotTask->getSrcSlot());
+ if (pGlass == nullptr && m_pActiveRobotTask->getSrcSlot() == port) {
+ bOk = TRUE;
+ slot = m_pActiveRobotTask->getSrcSlot();
+ LOGI("<CMaster>onPreFethedOutJob, 已校验数据一致性.");
+ }
}
}
unlock();
if (!bOk) {
- LOGE("<CMaster>onPreFethedOutJob, 数据校验失败.");
+ LOGE("<CMaster>onPreStoredJob, 数据校验失败.");
}
return bOk;
@@ -710,21 +917,30 @@
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()) {
+ if (m_pActiveRobotTask != nullptr
+ && m_pActiveRobotTask->isPicking()
+ && ((m_pActiveRobotTask->getArmNo() == 1 && p->getID() == EQ_ID_ARM_TRAY1)
+ || (m_pActiveRobotTask->getArmNo() == 2 && p->getID() == EQ_ID_ARM_TRAY2))
+ ) {
+ LOGI("取片完成.");
+ m_pActiveRobotTask->fetchOut();
+ m_pActiveRobotTask->picked();
+ }
+
+ else if (m_pActiveRobotTask != nullptr
+ && m_pActiveRobotTask->isPlacing()
+ && 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();
@@ -734,10 +950,31 @@
delete m_pActiveRobotTask;
m_pActiveRobotTask = nullptr;
}
+
+ else if (m_pActiveRobotTask != nullptr
+ && m_pActiveRobotTask->isRestoring()
+ && m_pActiveRobotTask->getSrcPosition() == p->getID()) {
+ m_pActiveRobotTask->stored();
+ m_pActiveRobotTask->restored();
+ LOGI("回撤完成...");
+ // 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, ROBOT_EVENT_RESTORE);
+ }
+ delete m_pActiveRobotTask;
+ m_pActiveRobotTask = nullptr;
+ stop();
+ }
unlock();
}
};
-
+ listener.onProcessStateChanged = [&](void* pEquipment, PROCESS_STATE state) -> void {
+ LOGI("<Master>onProcessStateChanged<%d>", (int)state);
+ };
pEquipment->setListener(listener);
pEquipment->setCcLink(&m_cclink);
m_listEquipment.push_back(pEquipment);
@@ -792,7 +1029,7 @@
pEquipment->setBaseAlarmId(BASE_ALARM_EFEM);
pEquipment->setName("Fliper(G2)");
pEquipment->setDescription("Fliper(G2).");
- pEquipment->setReadBitBlock(0x4000, 0x45ff);
+ pEquipment->setReadBitBlock(0x0, 0x0);
pEquipment->setStation(0, 255);
addToEquipmentList(pEquipment);
@@ -809,7 +1046,7 @@
pEquipment->setBaseAlarmId(BASE_ALARM_EFEM);
pEquipment->setName("VacuumBake(G1)");
pEquipment->setDescription("VacuumBake(G1).");
- pEquipment->setReadBitBlock(0x4000, 0x45ff);
+ pEquipment->setReadBitBlock(0x5c00, 0x66ff);
pEquipment->setStation(0, 255);
addToEquipmentList(pEquipment);
@@ -827,7 +1064,7 @@
pEquipment->setBaseAlarmId(BASE_ALARM_EFEM);
pEquipment->setName("Aligner");
pEquipment->setDescription("Aligner.");
- pEquipment->setReadBitBlock(0x4000, 0x45ff);
+ pEquipment->setReadBitBlock(0x0, 0x0);
pEquipment->setStation(0, 255);
addToEquipmentList(pEquipment);
@@ -920,7 +1157,7 @@
pEquipment->setBaseAlarmId(BASE_ALARM_EFEM);
pEquipment->setName("BakeCooling");
pEquipment->setDescription("BakeCooling.");
- pEquipment->setReadBitBlock(0x4000, 0x45ff);
+ pEquipment->setReadBitBlock(0x5100, 0x5bff);
pEquipment->setStation(0, 255);
addToEquipmentList(pEquipment);
@@ -954,27 +1191,8 @@
}
- // 按一定频率扫描LB数据
static int i = 0;
i++;
- /*
- if (i % (4 * 1) == 0) {
-
- for (auto item : m_listEquipment) {
- if (item->getID() == EQ_ID_Bonder1) {
- const StationIdentifier& station = item->getStation();
- MemoryBlock& block = item->getReadBitBlock();
-
- int nRet = m_cclink.ReadData2(station, (DeviceType)block.type,
- block.start, block.size, block.buffer);
- if (0 == nRet) {
- item->onReceiveLBData(block.buffer, block.size);
- }
- }
- }
- }
- */
-
// 自动保存缓存
if (i % (4 * 2) == 0) {
@@ -1164,7 +1382,7 @@
pTask = new CRobotTask();
pTask->setContext(pSrcSlot->getContext());
pTask->setEFEM((CEFEM*)getEquipment(EQ_ID_EFEM));
- pTask->setRobotTransferParam(++taskSeqNo, armNo, pSrcSlot->getPosition(),
+ taskSeqNo = pTask->setRobotTransferParam(taskSeqNo, armNo, pSrcSlot->getPosition(),
pTarSlot->getPosition(), pSrcSlot->getNo(), pTarSlot->getNo());
}
@@ -1174,7 +1392,7 @@
CRobotTask* CMaster::createTransferTask_bonder_to_bakecooling(CEquipment* pSrcEq, CEquipment* pTarEq)
{
- std::vector<int> slots = {1, 2};
+ std::vector<int> slots = {1, 3};
CRobotTask* pTask = nullptr;
CSlot* pSrcSlot, * pTarSlot;
@@ -1185,7 +1403,7 @@
pTask = new CRobotTask();
pTask->setContext(pSrcSlot->getContext());
pTask->setEFEM((CEFEM*)getEquipment(EQ_ID_EFEM));
- pTask->setRobotTransferParam(++taskSeqNo, 1, pSrcSlot->getPosition(),
+ taskSeqNo = pTask->setRobotTransferParam(taskSeqNo, 1, pSrcSlot->getPosition(),
pTarSlot->getPosition(), pSrcSlot->getNo(), pTarSlot->getNo());
}
@@ -1195,8 +1413,8 @@
CRobotTask* CMaster::createTransferTask_bake_to_cooling(CEquipment* pSrcEq)
{
- std::vector<int> slotsTar = { 3, 4 };
- std::vector<int> slotsSrc = { 1, 2 };
+ std::vector<int> slotsTar = { 2, 4 };
+ std::vector<int> slotsSrc = { 1, 3 };
CRobotTask* pTask = nullptr;
CSlot* pSrcSlot, * pTarSlot;
@@ -1207,7 +1425,7 @@
pTask = new CRobotTask();
pTask->setContext(pSrcSlot->getContext());
pTask->setEFEM((CEFEM*)getEquipment(EQ_ID_EFEM));
- pTask->setRobotTransferParam(++taskSeqNo, 1, pSrcSlot->getPosition(),
+ taskSeqNo = pTask->setRobotTransferParam(taskSeqNo, 1, pSrcSlot->getPosition(),
pTarSlot->getPosition(), pSrcSlot->getNo(), pTarSlot->getNo());
}
@@ -1217,7 +1435,7 @@
CRobotTask* CMaster::createTransferTask_bakecooling_to_measurement(CEquipment* pSrcEq, CEquipment* pTarEq)
{
- std::vector<int> slots = { 3, 4 };
+ std::vector<int> slots = { 2, 4 };
CRobotTask* pTask = nullptr;
CSlot* pSrcSlot, * pTarSlot;
@@ -1228,7 +1446,7 @@
pTask = new CRobotTask();
pTask->setContext(pSrcSlot->getContext());
pTask->setEFEM((CEFEM*)getEquipment(EQ_ID_EFEM));
- pTask->setRobotTransferParam(++taskSeqNo, 1, pSrcSlot->getPosition(),
+ taskSeqNo = pTask->setRobotTransferParam(taskSeqNo, 1, pSrcSlot->getPosition(),
pTarSlot->getPosition(), pSrcSlot->getNo(), pTarSlot->getNo());
}
@@ -1260,4 +1478,30 @@
return 0;
}
+
+ int CMaster::restoreCurrentTask()
+ {
+ lock();
+ if (m_pActiveRobotTask != nullptr) {
+ m_pActiveRobotTask->restore();
+ }
+ unlock();
+
+
+ return 0;
+ }
+
+ void CMaster::setPortType(unsigned int index, BOOL enable, int type, int mode,
+ int cassetteType, int transferMode, BOOL autoChangeEnable)
+ {
+ ASSERT(index < 4);
+ int eqid[] = { EQ_ID_LOADPORT1, EQ_ID_LOADPORT2, EQ_ID_LOADPORT3, EQ_ID_LOADPORT4};
+ CLoadPort* pPort = (CLoadPort*)getEquipment(eqid[index]);
+ pPort->localEanblePort(enable);
+ pPort->localSetPortType((SERVO::PortType)type);
+ pPort->localSetPortMode((SERVO::PortMode)mode);
+ pPort->localSetCessetteType((SERVO::CassetteType)cassetteType);
+ pPort->localSetTransferMode((SERVO::TransferMode)transferMode);
+ pPort->localAutoChangeEnable(autoChangeEnable);
+ }
}
--
Gitblit v1.9.3