From fac102938562e13dd4e4e4914d0fde9b1cd05d8b Mon Sep 17 00:00:00 2001
From: LAPTOP-SNT8I5JK\Boounion <Chenluhua@qq.com>
Date: 星期一, 09 六月 2025 09:47:37 +0800
Subject: [PATCH] 1.CMaster调度线程中添加任务运行发送到EFEM;
---
SourceCode/Bond/Servo/CMaster.cpp | 597 +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1 files changed, 591 insertions(+), 6 deletions(-)
diff --git a/SourceCode/Bond/Servo/CMaster.cpp b/SourceCode/Bond/Servo/CMaster.cpp
index e148025..6a7437a 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) {
@@ -24,12 +33,22 @@
CMaster::CMaster()
{
- m_listener = {nullptr, nullptr, nullptr, nullptr, nullptr};
+ m_listener = {};
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()
@@ -43,15 +62,33 @@
::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.onEqAlive = listener.onEqAlive;
- m_listener.onEqCimStateChanged = listener.onEqCimStateChanged;
- m_listener.onEqAlarm = listener.onEqAlarm;
- m_listener.onEqVcrEventReport = listener.onEqVcrEventReport;
- m_listener.onEqDataChanged = listener.onEqDataChanged;
+ m_listener = listener;
+ }
+
+ CRobotTask* CMaster::getActiveRobotTask()
+ {
+ return m_pActiveRobotTask;
}
int CMaster::init()
@@ -159,6 +196,12 @@
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);
@@ -170,7 +213,9 @@
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) {
@@ -178,6 +223,12 @@
}
saveCache();
+ lock();
+ if (m_pActiveRobotTask != nullptr) {
+ delete m_pActiveRobotTask;
+ m_pActiveRobotTask = nullptr;
+ }
+ unlock();
for (auto item : m_listEquipment) {
delete item;
@@ -185,6 +236,323 @@
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()
+ {
+ // 优先考虑的类型和次要类型
+ // 一种情况，如果不分主次，一直搬G1, 等到Bonder1和Bonder2都放了G1, Aligner也放了G1,
+ // Bonder1和Bonder2需要的G2就过不来了
+ // 最基本的实现，可以G2和G2轮流搬送，但最好根据Bonder的需求来决定
+ MaterialsType primaryType, secondaryType;
+
+
+ // 各种机器
+ CEFEM* pEFEM = (CEFEM*)getEquipment(EQ_ID_EFEM);
+ CLoadPort* pLoadPort1 = (CLoadPort*)getEquipment(EQ_ID_LOADPORT1);
+ CLoadPort* pLoadPort2 = (CLoadPort*)getEquipment(EQ_ID_LOADPORT2);
+ CFliper* pFliper = (CFliper*)getEquipment(EQ_ID_FLIPER);
+ CVacuumBake* pVacuumBack = (CVacuumBake*)getEquipment(EQ_ID_VACUUMBAKE);
+ CAligner* pAligner = (CAligner*)getEquipment(EQ_ID_ALIGNER);
+ 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);
+
+ ASSERT(pEFEM);
+ ASSERT(pLoadPort1);
+ ASSERT(pLoadPort2);
+ ASSERT(pFliper);
+ ASSERT(pVacuumBack);
+ ASSERT(pAligner);
+ ASSERT(pBonder1);
+ ASSERT(pBonder2);
+ ASSERT(pBakeCooling);
+ ASSERT(pMeasurement);
+
+ 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...");
+
+ lock();
+ if (m_pActiveRobotTask != nullptr) {
+ 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...");
+ continue;
+ }
+
+
+ // 此处检测优先类型和次要类型（G1或G2）
+ // 如果其中一Bonder有单个玻璃，优先取它的配对类型，否则无所谓了
+ primaryType = MaterialsType::G1;
+ secondaryType = MaterialsType::G2;
+ if ((!pBonder1->canPlaceGlassInSlot(0) && !pBonder1->canPlaceGlassInSlot(1))
+ && (!pBonder2->canPlaceGlassInSlot(0) && !pBonder2->canPlaceGlassInSlot(1))) {
+ // 如果G1和G2都满了，那就看Aligner, 如果Aligner有玻璃为G1, 则取G2
+ CGlass* pGlass = pAligner->getGlassFromSlot(1);
+ if (pGlass != nullptr && pGlass->getType() == MaterialsType::G1) {
+ primaryType = MaterialsType::G2;
+ secondaryType = MaterialsType::G1;
+ }
+ }
+ else if ((pBonder1->canPlaceGlassInSlot(0) && !pBonder1->canPlaceGlassInSlot(1))
+ || (pBonder2->canPlaceGlassInSlot(0) && !pBonder2->canPlaceGlassInSlot(1))) {
+ primaryType = MaterialsType::G2;
+ secondaryType = MaterialsType::G1;
+ }
+
+
+ // 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);
+ }
+ 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);
+ }
+ 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);
+ }
+ 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);
+ }
+ LOGI("创建新任务<%s>...", strDescription.c_str());
+ continue;
+ }
+
+ // Aligner -> Bonder
+ m_pActiveRobotTask = createTransferTask(pAligner, 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);
+ }
+ LOGI("创建新任务<%s>...", strDescription.c_str());
+ continue;
+ }
+
+ m_pActiveRobotTask = createTransferTask(pAligner, 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);
+ }
+ LOGI("创建新任务<%s>...", strDescription.c_str());
+ continue;
+ }
+
+
+ // Fliper(G2) -> Aligner
+ // VacuumBake(G1) -> Aligner
+ m_pActiveRobotTask = createTransferTask(pFliper, pAligner, 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);
+ }
+ LOGI("创建新任务<%s>...", strDescription.c_str());
+ continue;
+ }
+
+ m_pActiveRobotTask = createTransferTask(pVacuumBack, pAligner, 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);
+ }
+ LOGI("创建新任务<%s>...", strDescription.c_str());
+ continue;
+ }
+
+
+ // LoadPort -> Fliper(G2)
+ // LoadPort -> VacuumBake(G1)
+ CEquipment* pEqTar1 = pVacuumBack;
+ CEquipment* pEqTar2 = pFliper;
+ if (primaryType == MaterialsType::G2) {
+ pEqTar1 = pFliper;
+ pEqTar2 = pVacuumBack;
+ }
+ m_pActiveRobotTask = createTransferTask(pLoadPort1, pEqTar1, 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);
+ }
+ LOGI("创建新任务<%s>...", strDescription.c_str());
+ continue;
+ }
+
+ m_pActiveRobotTask = createTransferTask(pLoadPort2, pEqTar1, 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);
+ }
+ LOGI("创建新任务<%s>...", strDescription.c_str());
+ continue;
+ }
+
+
+
+ // LoadPort -> VacuumBake(G1)
+ m_pActiveRobotTask = createTransferTask(pLoadPort1, pEqTar2, 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);
+ }
+ LOGI("创建新任务<%s>...", strDescription.c_str());
+ continue;
+ }
+
+ m_pActiveRobotTask = createTransferTask(pLoadPort2, pEqTar2, 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);
+ }
+ LOGI("创建新任务<%s>...", strDescription.c_str());
+ continue;
+ }
+
+
+ // Measurement -> LoadPort
+
+
+
+ unlock();
+
+ }
+ unlock();
+ }
+
+ SetEvent(m_hEventDispatchThreadExit[1]);
+
+
+ // _endthreadex(0);
+ TRACE("CMaster::DispatchProc 线程退出\n");
return 0;
}
@@ -197,6 +565,7 @@
break;
}
+ // 读标志位
for (auto item : m_listEquipment) {
if (item->getID() == EQ_ID_Bonder1 ||
item->getID() == EQ_ID_Bonder2) {
@@ -248,11 +617,105 @@
m_listener.onEqVcrEventReport(this, p, p2);
}
};
+ listener.onPreFethedOutJob = [&](void* pEquipment, CJobDataB* pJobDataB) -> BOOL {
+ CEquipment* p = (CEquipment*)pEquipment;
+
+
+ // 取片，更新当前搬送任务
+ BOOL bOk = FALSE;
+ lock();
+ if (m_pActiveRobotTask != nullptr) {
+ 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()) {
+ bOk = TRUE;
+ 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) {
+ bOk = TRUE;
+ }
+ }
+ unlock();
+
+ if (!bOk) {
+ LOGE("<CMaster>onPreFethedOutJob, 数据校验失败.");
+ }
+
+ return bOk;
+
+ };
+ listener.onPreStoredJob = [&](void* pEquipment, CJobDataB* pJobDataB, short& slot) -> BOOL {
+ CEquipment* p = (CEquipment*)pEquipment;
+
+
+ // 放片，更新当前搬送任务
+ BOOL bOk = FALSE;
+ lock();
+ if (m_pActiveRobotTask != nullptr) {
+ if (m_pActiveRobotTask->getTarPosition() == p->getID()) {
+ CGlass* pGlass = p->getGlassFromSlot(m_pActiveRobotTask->getTarSlot());
+ if (pGlass == nullptr) {
+ bOk = TRUE;
+ slot = m_pActiveRobotTask->getTarSlot();
+ 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;
+ }
+ }
+ unlock();
+
+ if (!bOk) {
+ LOGE("<CMaster>onPreFethedOutJob, 数据校验失败.");
+ }
+
+ return bOk;
+
+ };
listener.onDataChanged = [&](void* pEquipment, int code) -> void {
m_bDataModify = TRUE;
CEquipment* p = (CEquipment*)pEquipment;
if (m_listener.onEqDataChanged != nullptr) {
m_listener.onEqDataChanged(this, p, 0);
+ }
+
+ // 取放片，更新当前搬送任务
+ 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()) {
+ 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();
+ if (m_listener.onRobotTaskEvent != nullptr) {
+ m_listener.onRobotTaskEvent(this, m_pActiveRobotTask, ROBOT_EVENT_FINISH);
+ }
+ delete m_pActiveRobotTask;
+ m_pActiveRobotTask = nullptr;
+ }
+ unlock();
}
};
@@ -656,4 +1119,126 @@
item->serialize(ar);
}
}
+
+ void CMaster::setState(MASTERSTATE state)
+ {
+ m_state = state;
+ if (m_listener.onMasterStateChanged != nullptr) {
+ m_listener.onMasterStateChanged(this, m_state);
+ }
+ }
+
+ static int taskSeqNo = 0;
+ CRobotTask* CMaster::createTransferTask(CEquipment* pSrcEq, CEquipment* pTarEq,
+ MaterialsType primaryType/* = MaterialsType::G1*/, MaterialsType secondaryType/* = MaterialsType::G2*/)
+ {
+ CRobotTask* pTask = nullptr;
+ CSlot* pSrcSlot, * pTarSlot;
+ pTarSlot = pTarEq->getAvailableSlotForGlass(primaryType);
+ pSrcSlot = pSrcEq->getProcessedSlot(primaryType);
+ if (pSrcSlot == nullptr || nullptr == pTarSlot) {
+ pTarSlot = pTarEq->getAvailableSlotForGlass(secondaryType);
+ pSrcSlot = pSrcEq->getProcessedSlot(secondaryType);
+ }
+
+
+ if (pSrcSlot != nullptr && nullptr != pTarSlot) {
+ pTask = new CRobotTask();
+ pTask->setContext(pSrcSlot->getContext());
+ pTask->setEFEM((CEFEM*)getEquipment(EQ_ID_EFEM));
+ pTask->setRobotTransferParam(++taskSeqNo, 1, pSrcSlot->getPosition(),
+ pTarSlot->getPosition(), pSrcSlot->getNo(), pTarSlot->getNo());
+ }
+
+
+ return pTask;
+ }
+
+ CRobotTask* CMaster::createTransferTask_bonder_to_bakecooling(CEquipment* pSrcEq, CEquipment* pTarEq)
+ {
+ std::vector<int> slots = {1, 2};
+
+ CRobotTask* pTask = nullptr;
+ CSlot* pSrcSlot, * pTarSlot;
+ pTarSlot = pTarEq->getAvailableSlotForGlass2(MaterialsType::G1, slots);
+ pSrcSlot = pSrcEq->getProcessedSlot(MaterialsType::G1);
+
+ if (pSrcSlot != nullptr && nullptr != pTarSlot) {
+ pTask = new CRobotTask();
+ pTask->setContext(pSrcSlot->getContext());
+ pTask->setEFEM((CEFEM*)getEquipment(EQ_ID_EFEM));
+ pTask->setRobotTransferParam(++taskSeqNo, 1, pSrcSlot->getPosition(),
+ pTarSlot->getPosition(), pSrcSlot->getNo(), pTarSlot->getNo());
+ }
+
+
+ return pTask;
+ }
+
+ CRobotTask* CMaster::createTransferTask_bake_to_cooling(CEquipment* pSrcEq)
+ {
+ std::vector<int> slotsTar = { 3, 4 };
+ std::vector<int> slotsSrc = { 1, 2 };
+
+ CRobotTask* pTask = nullptr;
+ CSlot* pSrcSlot, * pTarSlot;
+ pTarSlot = pSrcEq->getAvailableSlotForGlass2(MaterialsType::G1, slotsTar);
+ pSrcSlot = pSrcEq->getProcessedSlot2(MaterialsType::G1, slotsSrc);
+
+ if (pSrcSlot != nullptr && nullptr != pTarSlot) {
+ pTask = new CRobotTask();
+ pTask->setContext(pSrcSlot->getContext());
+ pTask->setEFEM((CEFEM*)getEquipment(EQ_ID_EFEM));
+ pTask->setRobotTransferParam(++taskSeqNo, 1, pSrcSlot->getPosition(),
+ pTarSlot->getPosition(), pSrcSlot->getNo(), pTarSlot->getNo());
+ }
+
+
+ return pTask;
+ }
+
+ CRobotTask* CMaster::createTransferTask_bakecooling_to_measurement(CEquipment* pSrcEq, CEquipment* pTarEq)
+ {
+ std::vector<int> slots = { 3, 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->setRobotTransferParam(++taskSeqNo, 1, pSrcSlot->getPosition(),
+ pTarSlot->getPosition(), pSrcSlot->getNo(), pTarSlot->getNo());
+ }
+
+
+ return pTask;
+ }
+
+ int CMaster::abortCurrentTask()
+ {
+ lock();
+ if (m_pActiveRobotTask != nullptr) {
+ m_pActiveRobotTask->abort();
+ }
+ unlock();
+
+ if (m_listener.onRobotTaskEvent != nullptr) {
+ m_listener.onRobotTaskEvent(this, m_pActiveRobotTask, ROBOT_EVENT_ABORT);
+ }
+
+ lock();
+ if (m_pActiveRobotTask != nullptr) {
+ delete m_pActiveRobotTask;
+ m_pActiveRobotTask = nullptr;
+ }
+ 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();
+
+ return 0;
+ }
}
--
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