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 | 190 ++++++++++++++++++++++++++++++++++++++++++-----
1 files changed, 170 insertions(+), 20 deletions(-)
diff --git a/SourceCode/Bond/Servo/CMaster.cpp b/SourceCode/Bond/Servo/CMaster.cpp
index 2783329..6a7437a 100644
--- a/SourceCode/Bond/Servo/CMaster.cpp
+++ b/SourceCode/Bond/Servo/CMaster.cpp
@@ -287,6 +287,7 @@
// 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);
@@ -294,7 +295,10 @@
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);
@@ -302,6 +306,8 @@
ASSERT(pAligner);
ASSERT(pBonder1);
ASSERT(pBonder2);
+ ASSERT(pBakeCooling);
+ ASSERT(pMeasurement);
while (1) {
// 待退出信号或时间到
@@ -365,14 +371,68 @@
}
+ // 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, 0);
+ m_listener.onRobotTaskEvent(this, m_pActiveRobotTask, ROBOT_EVENT_CREATE);
}
LOGI("创建新任务<%s>...", strDescription.c_str());
continue;
@@ -380,10 +440,11 @@
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, 0);
+ m_listener.onRobotTaskEvent(this, m_pActiveRobotTask, ROBOT_EVENT_CREATE);
}
LOGI("创建新任务<%s>...", strDescription.c_str());
continue;
@@ -394,10 +455,11 @@
// 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, 0);
+ m_listener.onRobotTaskEvent(this, m_pActiveRobotTask, ROBOT_EVENT_CREATE);
}
LOGI("创建新任务<%s>...", strDescription.c_str());
continue;
@@ -405,10 +467,11 @@
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, 0);
+ m_listener.onRobotTaskEvent(this, m_pActiveRobotTask, ROBOT_EVENT_CREATE);
}
LOGI("创建新任务<%s>...", strDescription.c_str());
continue;
@@ -425,10 +488,11 @@
}
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, 0);
+ m_listener.onRobotTaskEvent(this, m_pActiveRobotTask, ROBOT_EVENT_CREATE);
}
LOGI("创建新任务<%s>...", strDescription.c_str());
continue;
@@ -436,10 +500,11 @@
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, 0);
+ m_listener.onRobotTaskEvent(this, m_pActiveRobotTask, ROBOT_EVENT_CREATE);
}
LOGI("创建新任务<%s>...", strDescription.c_str());
continue;
@@ -450,10 +515,11 @@
// 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, 0);
+ m_listener.onRobotTaskEvent(this, m_pActiveRobotTask, ROBOT_EVENT_CREATE);
}
LOGI("创建新任务<%s>...", strDescription.c_str());
continue;
@@ -461,20 +527,15 @@
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, 0);
+ m_listener.onRobotTaskEvent(this, m_pActiveRobotTask, ROBOT_EVENT_CREATE);
}
LOGI("创建新任务<%s>...", strDescription.c_str());
continue;
}
-
-
- // Bonder -> BakeCooling
-
-
- // BakeCooling ->Measurement
// Measurement -> LoadPort
@@ -504,6 +565,7 @@
break;
}
+ // 读标志位
for (auto item : m_listEquipment) {
if (item->getID() == EQ_ID_Bonder1 ||
item->getID() == EQ_ID_Bonder2) {
@@ -647,12 +709,11 @@
lock();
+ if (m_listener.onRobotTaskEvent != nullptr) {
+ m_listener.onRobotTaskEvent(this, m_pActiveRobotTask, ROBOT_EVENT_FINISH);
+ }
delete m_pActiveRobotTask;
m_pActiveRobotTask = nullptr;
-
- if (m_listener.onRobotTaskEvent != nullptr) {
- m_listener.onRobotTaskEvent(this, m_pActiveRobotTask, 0);
- }
}
unlock();
}
@@ -1074,12 +1135,76 @@
CRobotTask* pTask = nullptr;
CSlot* pSrcSlot, * pTarSlot;
pTarSlot = pTarEq->getAvailableSlotForGlass(primaryType);
- pSrcSlot = pSrcEq->getNonEmptySlot(primaryType);
+ pSrcSlot = pSrcEq->getProcessedSlot(primaryType);
if (pSrcSlot == nullptr || nullptr == pTarSlot) {
pTarSlot = pTarEq->getAvailableSlotForGlass(secondaryType);
- pSrcSlot = pSrcEq->getNonEmptySlot(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();
@@ -1091,4 +1216,29 @@
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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