From f6347c91173823acf25d4fbea3acbe3abb37c83d Mon Sep 17 00:00:00 2001
From: LAPTOP-SNT8I5JK\Boounion <Chenluhua@qq.com>
Date: 星期一, 11 八月 2025 16:07:19 +0800
Subject: [PATCH] 1.千传测试功能，增加当前工序和工验证，确保千传测试按序进行；
---
SourceCode/Bond/Servo/CMaster.cpp | 50 ++++++++++++++++++------
SourceCode/Bond/Servo/CMaster.h | 18 ++++++++-
2 files changed, 53 insertions(+), 15 deletions(-)
diff --git a/SourceCode/Bond/Servo/CMaster.cpp b/SourceCode/Bond/Servo/CMaster.cpp
index 455804a..4cef8ea 100644
--- a/SourceCode/Bond/Servo/CMaster.cpp
+++ b/SourceCode/Bond/Servo/CMaster.cpp
@@ -56,7 +56,7 @@
m_bEnableAlarmReport = true;
m_bContinuousTransfer = false;
m_nContinuousTransferCount = 0;
- m_nContinuousTransferStep = CTStep_begin;
+ m_nContinuousTransferStep = CTStep_Unknow;
InitializeCriticalSection(&m_criticalSection);
}
@@ -708,13 +708,15 @@
// Measurement -> LoadPort
for (int s = 0; s < 4; s++) {
PortType pt = pLoadPorts[s]->getPortType();
- if (!rmd.armState[0] && pLoadPorts[s]->isEnable()
+ if ((m_nContinuousTransferStep == CTStep_Unknow || m_nContinuousTransferStep == CTStep_BakeCooling_Measurement)
+ && !rmd.armState[0] && pLoadPorts[s]->isEnable()
&& (pt == PortType::Unloading || pt == PortType::Both)
&& pLoadPorts[s]->getPortStatus() == PORT_INUSE) {
for (int slot = 0; slot < SLOT_MAX; slot++) {
m_pActiveRobotTask = createTransferTask_continuous_transfer(pMeasurement,
0, pLoadPorts[s], slot);
if (m_pActiveRobotTask != nullptr) {
+ m_nContinuousTransferStep = CTStep_Measurement_LoadPort;
m_nContinuousTransferStep = CTStep_end;
goto CT_PORT_PUT;
}
@@ -727,10 +729,12 @@
// BakeCooling ->Measurement
- if (!rmd.armState[0]) {
+ if ((m_nContinuousTransferStep == CTStep_Unknow || m_nContinuousTransferStep == CTStep_BakeCooling_BakeCooling3)
+ && !rmd.armState[0]) {
m_pActiveRobotTask = createTransferTask_continuous_transfer(pBakeCooling,
3, pMeasurement, 0);
if (m_pActiveRobotTask != nullptr) {
+ m_nContinuousTransferStep = CTStep_BakeCooling_Measurement;
LOGI("<ContinuousTransfer>千传测试，开始搬送任务(BakeCooling -> Measurement)...");
}
CHECK_RUN_ACTIVE_ROBOT_TASK(m_pActiveRobotTask);
@@ -738,86 +742,104 @@
// BakeCooling内部
- if (!rmd.armState[0]) {
+ if ((m_nContinuousTransferStep == CTStep_Unknow || m_nContinuousTransferStep == CTStep_BakeCooling_BakeCooling2)
+ && !rmd.armState[0]) {
m_pActiveRobotTask = createTransferTask_continuous_transfer(pBakeCooling,
2, pBakeCooling, 3);
if (m_pActiveRobotTask != nullptr) {
+ m_nContinuousTransferStep = CTStep_BakeCooling_BakeCooling3;
LOGI("<ContinuousTransfer>千传测试，开始搬送任务(BakeCooling-2 -> BakeCooling-3)...");
}
CHECK_RUN_ACTIVE_ROBOT_TASK(m_pActiveRobotTask);
}
- if (!rmd.armState[0]) {
+ if ((m_nContinuousTransferStep == CTStep_Unknow || m_nContinuousTransferStep == CTStep_BakeCooling_BakeCooling1)
+ && !rmd.armState[0]) {
m_pActiveRobotTask = createTransferTask_continuous_transfer(pBakeCooling,
1, pBakeCooling, 2);
if (m_pActiveRobotTask != nullptr) {
+ m_nContinuousTransferStep = CTStep_BakeCooling_BakeCooling2;
LOGI("<ContinuousTransfer>千传测试，开始搬送任务(BakeCooling-1 -> BakeCooling-2)...");
}
CHECK_RUN_ACTIVE_ROBOT_TASK(m_pActiveRobotTask);
}
- if (!rmd.armState[0]) {
+ if ((m_nContinuousTransferStep == CTStep_Unknow || m_nContinuousTransferStep == CTStep_VacuumBake_BakeCooling)
+ && !rmd.armState[0]) {
m_pActiveRobotTask = createTransferTask_continuous_transfer(pBakeCooling,
0, pBakeCooling, 1);
if (m_pActiveRobotTask != nullptr) {
+ m_nContinuousTransferStep = CTStep_BakeCooling_BakeCooling1;
LOGI("<ContinuousTransfer>千传测试，开始搬送任务(BakeCooling-0 -> BakeCooling-1)...");
}
CHECK_RUN_ACTIVE_ROBOT_TASK(m_pActiveRobotTask);
}
// VacuumBake(G1) -> BakeCooling
- if (!rmd.armState[0]) {
+ if ((m_nContinuousTransferStep == CTStep_Unknow || m_nContinuousTransferStep == CTStep_VacuumBake_VacuumBake)
+ && !rmd.armState[0]) {
m_pActiveRobotTask = createTransferTask_continuous_transfer(pVacuumBake,
1, pBakeCooling, 0);
if (m_pActiveRobotTask != nullptr) {
+ m_nContinuousTransferStep = CTStep_VacuumBake_BakeCooling;
LOGI("<ContinuousTransfer>千传测试，开始搬送任务(VacuumBake(G1) -> BakeCooling)...");
}
CHECK_RUN_ACTIVE_ROBOT_TASK(m_pActiveRobotTask);
}
// VacuumBake(G1) -> VacuumBake(G1)
- if (!rmd.armState[0]) {
+ if ((m_nContinuousTransferStep == CTStep_Unknow || m_nContinuousTransferStep == CTStep_Bonder2_VacuumBake)
+ && !rmd.armState[0]) {
m_pActiveRobotTask = createTransferTask_continuous_transfer(pVacuumBake,
0, pVacuumBake, 1);
if (m_pActiveRobotTask != nullptr) {
+ m_nContinuousTransferStep = CTStep_VacuumBake_VacuumBake;
LOGI("<ContinuousTransfer>千传测试，开始搬送任务(VacuumBake(G1-0) -> VacuumBake(G1-1))...");
}
CHECK_RUN_ACTIVE_ROBOT_TASK(m_pActiveRobotTask);
}
// Bonder2 -> VacuumBake(G1)
- if (!rmd.armState[0]) {
+ if ((m_nContinuousTransferStep == CTStep_Unknow || m_nContinuousTransferStep == CTStep_Bonder1_Bonder2)
+ && !rmd.armState[0]) {
m_pActiveRobotTask = createTransferTask_continuous_transfer(pBonder2,
1, pVacuumBake, 0);
if (m_pActiveRobotTask != nullptr) {
+ m_nContinuousTransferStep = CTStep_Bonder2_VacuumBake;
LOGI("<ContinuousTransfer>千传测试，开始搬送任务(Bonder2 -> VacuumBake(G1))...");
}
CHECK_RUN_ACTIVE_ROBOT_TASK(m_pActiveRobotTask);
}
// Bonder1 -> Bonder2
- if (!rmd.armState[0] && !pBonder2->hasBondClass()) {
+ if ((m_nContinuousTransferStep == CTStep_Unknow || m_nContinuousTransferStep == CTStep_Fliper_Bonder1)
+ && !rmd.armState[0] && !pBonder2->hasBondClass()) {
m_pActiveRobotTask = createTransferTask_continuous_transfer(pBonder1,
1, pBonder2, 1);
if (m_pActiveRobotTask != nullptr) {
+ m_nContinuousTransferStep = CTStep_Bonder1_Bonder2;
LOGI("<ContinuousTransfer>千传测试，开始搬送任务(Bonder1 -> Bonder2)...");
}
CHECK_RUN_ACTIVE_ROBOT_TASK(m_pActiveRobotTask);
}
// Fliper(G2) -> Bonder1
- if (!rmd.armState[0] && !pBonder1->hasBondClass()) {
+ if ((m_nContinuousTransferStep == CTStep_Unknow || m_nContinuousTransferStep == CTStep_Aligner_Fliper)
+ &&!rmd.armState[0] && !pBonder1->hasBondClass()) {
m_pActiveRobotTask = createTransferTask_continuous_transfer(pFliper,
0, pBonder1, 1, 2);
if (m_pActiveRobotTask != nullptr) {
+ m_nContinuousTransferStep = CTStep_Fliper_Bonder1;
LOGI("<ContinuousTransfer>千传测试，开始搬送任务(Fliper(G2) -> Bonder1)...");
}
CHECK_RUN_ACTIVE_ROBOT_TASK(m_pActiveRobotTask);
}
// Aligner -> Fliper(G2)
- if (!rmd.armState[1]) {
+ if ((m_nContinuousTransferStep == CTStep_Unknow || m_nContinuousTransferStep == CTStep_LoadPort_Aligner)
+ && !rmd.armState[1]) {
m_pActiveRobotTask = createTransferTask_continuous_transfer(pAligner,
0, pFliper, 0);
if (m_pActiveRobotTask != nullptr) {
+ m_nContinuousTransferStep = CTStep_Aligner_Fliper;
LOGI("<ContinuousTransfer>千传测试，开始搬送任务(Aligner -> Fliper(G2))...");
}
CHECK_RUN_ACTIVE_ROBOT_TASK(m_pActiveRobotTask);
@@ -826,13 +848,15 @@
// LoadPort -> Aligner
for (int s = 0; s < 4; s++) {
PortType pt = pLoadPorts[s]->getPortType();
- if (!rmd.armState[0] && pLoadPorts[s]->isEnable()
+ if ((m_nContinuousTransferStep == CTStep_Unknow || m_nContinuousTransferStep == CTStep_end)
+ && !rmd.armState[0] && pLoadPorts[s]->isEnable()
&& (pt == PortType::Loading || pt == PortType::Both)
&& pLoadPorts[s]->getPortStatus() == PORT_INUSE) {
for (int slot = 0; slot < SLOT_MAX; slot++) {
m_pActiveRobotTask = createTransferTask_continuous_transfer(pLoadPorts[s],
slot, pAligner, 0);
if (m_pActiveRobotTask != nullptr) {
+ m_nContinuousTransferStep = CTStep_LoadPort_Aligner;
LOGI("<ContinuousTransfer>千传测试，开始搬送任务(LoadPort -> Aligner)...");
pEFEM->setContext(m_pActiveRobotTask->getContext());
goto CT_PORT_GET;
diff --git a/SourceCode/Bond/Servo/CMaster.h b/SourceCode/Bond/Servo/CMaster.h
index e5f868d..cf687de 100644
--- a/SourceCode/Bond/Servo/CMaster.h
+++ b/SourceCode/Bond/Servo/CMaster.h
@@ -15,8 +15,22 @@
#include "CRobotTask.h"
-#define CTStep_begin 0
-#define CTStep_end 99
+
+#define CTStep_Unknow 0
+#define CTStep_LoadPort_Aligner 1
+#define CTStep_Aligner_Fliper 2
+#define CTStep_Fliper_Bonder1 3
+#define CTStep_Bonder1_Bonder2 4
+#define CTStep_Bonder2_VacuumBake 5
+#define CTStep_VacuumBake_VacuumBake 6
+#define CTStep_VacuumBake_BakeCooling 7
+#define CTStep_BakeCooling_BakeCooling1 8
+#define CTStep_BakeCooling_BakeCooling2 9
+#define CTStep_BakeCooling_BakeCooling3 10
+#define CTStep_BakeCooling_Measurement 11
+#define CTStep_Measurement_LoadPort 12
+#define CTStep_begin CTStep_LoadPort_Aligner
+#define CTStep_end CTStep_Measurement_LoadPort
namespace SERVO {
enum class MASTERSTATE {
--
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