From e8a27bb203fe2aff70390a5eca002d7438da9b0f Mon Sep 17 00:00:00 2001
From: mrDarker <mr.darker@163.com>
Date: 星期三, 22 十月 2025 14:24:34 +0800
Subject: [PATCH] Merge branch 'clh' into liuyang
---
SourceCode/Bond/Servo/CMaster.cpp | 1097 +++++++++++++++++++++++++++++++++++++++++++++++----------
1 files changed, 901 insertions(+), 196 deletions(-)
diff --git a/SourceCode/Bond/Servo/CMaster.cpp b/SourceCode/Bond/Servo/CMaster.cpp
index e6ed125..d36f540 100644
--- a/SourceCode/Bond/Servo/CMaster.cpp
+++ b/SourceCode/Bond/Servo/CMaster.cpp
@@ -6,9 +6,15 @@
#include "RecipeManager.h"
#include <fstream>
#include "SerializeUtil.h"
+#include "CServoUtilsTool.h"
namespace SERVO {
+ static inline int64_t now_ms_epoch() {
+ using namespace std::chrono;
+ return duration_cast<milliseconds>(system_clock::now().time_since_epoch()).count();
+ }
+
CMaster* g_pMaster = NULL;
unsigned __stdcall DispatchThreadFunction(LPVOID lpParam)
@@ -53,7 +59,7 @@
m_ullRunTime = 0;
m_state = MASTERSTATE::READY;
m_pActiveRobotTask = nullptr;
- m_nLastError = 0;
+ m_nLastError = ER_CODE_NOERROR;
m_isCompareMapsBeforeProceeding = FALSE;
m_bJobMode = FALSE;
m_bEnableEventReport = true;
@@ -62,7 +68,10 @@
m_bBatch = false;
m_nContinuousTransferCount = 0;
m_nContinuousTransferStep = CTStep_Unknow;
+ m_nContinuousWorkingPort = 0;
+ m_nContinuousWorkingSlot = 0;
m_pControlJob = nullptr;
+ m_nTestFlag = 0;
InitializeCriticalSection(&m_criticalSection);
}
@@ -130,7 +139,7 @@
BoardVersion version{};
int nRet = m_cclink.GetBoardVersion(version);
if (nRet == 0) {
- LOGI("版本信息：%s.", version.toString().c_str());
+ LOGD("版本信息：%s.", version.toString().c_str());
}
else {
LOGE("获取CC-Link版本信息失败.");
@@ -139,7 +148,7 @@
BoardStatus status;
nRet = m_cclink.GetBoardStatus(status);
if (nRet == 0) {
- LOGI("状态：%s.", status.toString().c_str());
+ LOGD("状态：%s.", status.toString().c_str());
}
else {
LOGE("获取CC-Link状态失败.");
@@ -210,10 +219,9 @@
-
-
// 读缓存数据
readCache();
+ loadState();
// 定时器
@@ -229,6 +237,10 @@
// 监控bit线程
m_hReadBitsThreadHandle = (HANDLE)_beginthreadex(NULL, 0, SERVO::ReadBitsThreadFunction, this,
0, &m_nReadBitsThreadAddr);
+
+
+ // 曲线服务
+ CreateDAQBridgeServer();
LOGI("<Master>初始化完成.");
@@ -260,6 +272,12 @@
}
m_listEquipment.clear();
+
+ if (m_pCollector != nullptr) {
+ m_pCollector->stopLoop();
+ delete m_pCollector;
+ m_pCollector = nullptr;
+ }
return 0;
}
@@ -306,7 +324,7 @@
return 0;
}
- int CMaster::stop()
+ int CMaster::stop(int nErCode/* = ER_CODE_NOERROR*/)
{
// 运行时间为累加结果，本次停止时刷新；
lock();
@@ -320,6 +338,7 @@
// 更新状态
+ m_nLastError = nErCode;
setState(MASTERSTATE::STOPPING);
@@ -421,7 +440,8 @@
TRACE("a0001\n", writeCode, retCode);
});
if (nRet != 0) {
- LOGI("<Master>EFEM切换Start状态失败");
+ LOGE("<Master>EFEM切换Start状态失败");
+ m_nLastError = ER_CODE_OPERATION_MODE_FAIL;
m_strLastError = "EFEM切换Start状态失败.";
goto WAIT;
}
@@ -434,7 +454,8 @@
TRACE("a0002\n");
});
if (nRet != 0) {
- LOGI("<Master>Bonder1切换Start状态失败");
+ LOGE("<Master>Bonder1切换Start状态失败");
+ m_nLastError = ER_CODE_BONDER_OPERATION_MODE_FAIL;
m_strLastError = "Bonder1切换Start状态失败.";
goto WAIT;
}
@@ -447,7 +468,8 @@
TRACE("a0003\n");
});
if (nRet != 0) {
- LOGI("<Master>Bonder2切换Start状态失败");
+ LOGE("<Master>Bonder2切换Start状态失败");
+ m_nLastError = ER_CODE_BONDER_OPERATION_MODE_FAIL;
m_strLastError = "Bonder2切换Start状态失败.";
goto WAIT;
}
@@ -460,7 +482,8 @@
TRACE("a0004\n");
});
if (nRet != 0) {
- LOGI("<Master>BakeCooling切换Start状态失败");
+ LOGE("<Master>BakeCooling切换Start状态失败");
+ m_nLastError = ER_CODE_OPERATION_MODE_FAIL;
m_strLastError = "BakeCooling切换Start状态失败.";
goto WAIT;
}
@@ -473,7 +496,8 @@
TRACE("a0005\n");
});
if (nRet != 0) {
- LOGI("<Master>VacuumBake切换Start状态失败");
+ LOGE("<Master>VacuumBake切换Start状态失败");
+ m_nLastError = ER_CODE_OPERATION_MODE_FAIL;
m_strLastError = "VacuumBake切换Start状态失败.";
goto WAIT;
}
@@ -486,7 +510,8 @@
TRACE("a0006\n");
});
if (nRet != 0) {
- LOGI("<Master>Measurement切换Start状态失败");
+ LOGE("<Master>Measurement切换Start状态失败");
+ m_nLastError = ER_CODE_OPERATION_MODE_FAIL;
m_strLastError = "Measurement切换Start状态失败.";
goto WAIT;
}
@@ -500,18 +525,16 @@
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());
+ LOGE("<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();
if(m_bContinuousTransfer)
@@ -546,7 +569,8 @@
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());
+ LOGE("<Master>%s切换Stop状态发送失败", pEq[i]->getName().c_str());
+ m_nLastError = ER_CODE_OPERATION_MODE_FAIL;
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
@@ -561,7 +585,7 @@
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());
+ LOGE("<Master>%s切换Stop状态失败", pEq[i]->getName().c_str());
}
}
@@ -571,7 +595,11 @@
}
LOGI("<Master>所有设备成功切换到 Stop 模式");
- setState(MASTERSTATE::READY);
+ if(m_nLastError == ER_CODE_NOERROR)
+ setState(MASTERSTATE::READY);
+ else
+ setState(MASTERSTATE::ATHERERROR);
+
continue;
}
@@ -596,37 +624,62 @@
}
- // 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;
- }
+ // Bonder1、Bonder2、Fliper、VacuumBake、Aligner，统计G2和G1的数量, 配对组数, 多出的类型
+ int nG2Count = 0, nG1Count = 0, nGlassGroup, nExtraType;
+ if (pBonder1->slotHasGlass(0)) {
+ nG2Count++;
}
- else if ((pBonder1->canPlaceGlassInSlot(0) && !pBonder1->canPlaceGlassInSlot(1))
- || (pBonder2->canPlaceGlassInSlot(0) && !pBonder2->canPlaceGlassInSlot(1))) {
- primaryType = MaterialsType::G2;
- secondaryType = MaterialsType::G1;
+ if (pBonder1->slotHasGlass(1)) {
+ nG1Count++;
}
+
+ if (pBonder2->slotHasGlass(0)) {
+ nG2Count++;
+ }
+ if (pBonder2->slotHasGlass(1)) {
+ nG1Count++;
+ }
+
+ if (pFliper->slotHasGlass(0)) {
+ nG2Count++;
+ }
+
+ if (pVacuumBake->slotHasGlass(0)) {
+ nG1Count++;
+ }
+ if (pVacuumBake->slotHasGlass(1)) {
+ nG1Count++;
+ }
+
+ CGlass* pTempGlass = pAligner->getGlassFromSlot(0);
+ if (pTempGlass != nullptr) {
+ MaterialsType type = pTempGlass->getType();
+ if(type == MaterialsType::G1)
+ nG1Count++;
+ else if (type == MaterialsType::G2)
+ nG2Count++;
+ }
+ nGlassGroup = min(nG1Count, nG2Count);
+
+ if (nG1Count == nG2Count) {
+ nExtraType = 0;
+ }
+ else if (nG1Count > nG2Count) {
+ nExtraType = 1;
+ }
+ else {
+ nExtraType = 2;
+ }
+ secondaryType = MaterialsType::G0;
// 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"));
- }
for (int s = 0; s < 4; s++) {
PortType pt = pLoadPorts[s]->getPortType();
if (!rmd.armState[0] && pLoadPorts[s]->isEnable()
&& (pt == PortType::Unloading || pt == PortType::Both)
&& pLoadPorts[s]->getPortStatus() == PORT_INUSE) {
- m_pActiveRobotTask = createTransferTask(pMeasurement, pLoadPorts[s], primaryType, secondaryType);
+ m_pActiveRobotTask = createTransferTask(pMeasurement, pLoadPorts[s], MaterialsType::G1, secondaryType);
if (m_pActiveRobotTask != nullptr) {
goto PORT_PUT;
}
@@ -673,25 +726,30 @@
// Fliper(G2) -> Bonder
- auto pSrcSlot = pVacuumBake->getProcessedSlot(primaryType);
- if (pSrcSlot != nullptr && !rmd.armState[1] && !pBonder1->hasBondClass()) {
- m_pActiveRobotTask = createTransferTask(pFliper, pBonder1, primaryType, secondaryType, 2);
+ //m_nTestFlag = 1;
+ //pVacuumBake->m_nTestFlag = 1;
+ auto pSrcSlot = pVacuumBake->getProcessedSlot(MaterialsType::G1);
+ //LOGI("<Master>pSrcSlot = %x", pSrcSlot,);
+ if (pSrcSlot != nullptr && !rmd.armState[1]
+ && pBonder1->canPlaceGlassInSlot(0)) {
+ m_pActiveRobotTask = createTransferTask(pFliper, pBonder1, MaterialsType::G2, MaterialsType::G0, 2);
CHECK_RUN_ACTIVE_ROBOT_TASK(m_pActiveRobotTask);
}
- if (pSrcSlot != nullptr && !rmd.armState[1] && !pBonder2->hasBondClass()) {
- m_pActiveRobotTask = createTransferTask(pFliper, pBonder2, primaryType, secondaryType, 2);
+ if (pSrcSlot != nullptr && !rmd.armState[1]
+ && pBonder2->canPlaceGlassInSlot(0)) {
+ m_pActiveRobotTask = createTransferTask(pFliper, pBonder2, MaterialsType::G2, MaterialsType::G0, 2);
CHECK_RUN_ACTIVE_ROBOT_TASK(m_pActiveRobotTask);
}
-
-
+ //m_nTestFlag = 0
+ ;
// VacuumBake(G1) -> Bonder
- if (!rmd.armState[0] && !pBonder1->hasBondClass()) {
- m_pActiveRobotTask = createTransferTask(pVacuumBake, pBonder1, primaryType, secondaryType);
+ if (!rmd.armState[0] && pBonder1->slotHasGlass(0) && !pBonder1->slotHasGlass(1)) {
+ m_pActiveRobotTask = createTransferTask(pVacuumBake, pBonder1, MaterialsType::G1, MaterialsType::G0);
CHECK_RUN_ACTIVE_ROBOT_TASK(m_pActiveRobotTask);
}
- if (!rmd.armState[0] && !pBonder2->hasBondClass()) {
- m_pActiveRobotTask = createTransferTask(pVacuumBake, pBonder2, primaryType, secondaryType);
+ if (!rmd.armState[0] && pBonder2->slotHasGlass(0) && !pBonder2->slotHasGlass(1)) {
+ m_pActiveRobotTask = createTransferTask(pVacuumBake, pBonder2, MaterialsType::G1, MaterialsType::G0);
CHECK_RUN_ACTIVE_ROBOT_TASK(m_pActiveRobotTask);
}
@@ -699,13 +757,16 @@
// Aligner -> Fliper(G2)
// Aligner -> VacuumBake(G1)
if (!rmd.armState[1]) {
- m_pActiveRobotTask = createTransferTask(pAligner, pFliper, primaryType, secondaryType);
+ m_pActiveRobotTask = createTransferTask(pAligner, pFliper, MaterialsType::G2, secondaryType);
CHECK_RUN_ACTIVE_ROBOT_TASK(m_pActiveRobotTask);
}
if (!rmd.armState[0]) {
- m_pActiveRobotTask = createTransferTask(pAligner, pVacuumBake, primaryType, secondaryType);
+ // m_nTestFlag = 1;
+ if (m_nTestFlag == 1) LOGD("createTransferTask 004df %d, %d", MaterialsType::G1, secondaryType);
+ m_pActiveRobotTask = createTransferTask(pAligner, pVacuumBake, MaterialsType::G1, secondaryType);
CHECK_RUN_ACTIVE_ROBOT_TASK(m_pActiveRobotTask);
+ m_nTestFlag = 0;
}
@@ -717,6 +778,17 @@
// LoadPort -> Aligner
+ if (nGlassGroup >= 2) {
+ unlock();
+ continue;
+ }
+
+ if(nExtraType == 0)
+ primaryType = MaterialsType::G2;
+ else {
+ primaryType = MaterialsType::G1;
+ }
+
for (int s = 0; s < 4; s++) {
PortType pt = pLoadPorts[s]->getPortType();
if (!rmd.armState[0] && pLoadPorts[s]->isEnable()
@@ -724,6 +796,15 @@
&& pLoadPorts[s]->getPortStatus() == PORT_INUSE) {
m_pActiveRobotTask = createTransferTask(pLoadPorts[s], pAligner, primaryType, secondaryType, 1, m_bJobMode);
if (m_pActiveRobotTask != nullptr) {
+ CGlass* pGlass = (CGlass*)m_pActiveRobotTask->getContext();
+ if (pGlass->getBuddy() != nullptr) {
+ delete m_pActiveRobotTask;
+ m_pActiveRobotTask = nullptr;
+ continue;
+ }
+
+ pGlass->queue();
+ pGlass->start();
pEFEM->setContext(m_pActiveRobotTask->getContext());
goto PORT_GET;
}
@@ -740,100 +821,98 @@
// 批处理模式，最终以此为准，但先保留之前的单片模式
else if (m_state == MASTERSTATE::RUNNING_BATCH) {
- // 首选检查有没有CControlJob, 状态等
- if (m_pControlJob == nullptr) {
+ // 1) 控制作业生命周期保障
+ if (m_pControlJob == nullptr) { unlock(); continue; }
+ CJState cjst = m_pControlJob->state();
+ if (cjst == CJState::Completed || cjst == CJState::Aborted || cjst == CJState::Failed) {
unlock();
continue;
}
- CJState state = m_pControlJob->state();
- if (state == CJState::Completed || state == CJState::Aborted || state == CJState::Failed) {
- // ConrolJpb已完成
- LOGI("<Master>ControlJob已经完成或失败中断");
- unlock();
- continue;
- }
-
-
- if (m_pControlJob->state() == CJState::NoState) {
+ if (cjst == CJState::NoState) {
LOGI("<Master>ControlJob已经进入列队");
m_pControlJob->queue();
}
if (m_pControlJob->state() == CJState::Queued) {
LOGI("<Master>ControlJob已经启动");
m_pControlJob->start();
+ if (m_listener.onCjStart) m_listener.onCjStart(this, m_pControlJob);
}
if (m_pControlJob->state() == CJState::Paused) {
LOGI("<Master>ControlJob已经恢复运行");
m_pControlJob->resume();
}
-
- // 如果当前未选择CProcessJob, 选择一个
+ // 2) 若当前无 PJ，则选择一个并上报
if (m_inProcesJobs.empty()) {
- auto pj = acquireNextProcessJob();
- if (pj != nullptr) {
+ if (auto pj = acquireNextProcessJob()) {
m_inProcesJobs.push_back(pj);
-
- // 这里上报PJ Start事件
- if (m_listener.onPjStart != nullptr) {
- m_listener.onPjStart(this, pj);
- }
+ if (m_listener.onPjStart) m_listener.onPjStart(this, pj);
}
}
if (m_inProcesJobs.empty()) {
- LOGI("<Master>选择当前ProcessJob失败！");
+ LOGE("<Master>选择当前ProcessJob失败！");
unlock();
continue;
}
- // 如果当前没有Glass, 选择
+ // 3) 若队列无 Glass，拉取到等待队列
if (m_queueGlasses.empty()) {
int nCount = acquireGlassToQueue();
- LOGI("<Master>已加入 %d 块Glass到工艺列队！", nCount);
+ if (nCount > 0) {
+ LOGI("<Master>已加入 %d 块Glass到工艺列队！", nCount);
+ }
}
-
- // 检测判断robot状态
+ // 4) 机器人状态
RMDATA& rmd = pEFEM->getRobotMonitoringData();
if (rmd.status != ROBOT_STATUS::Idle && rmd.status != ROBOT_STATUS::Run) {
- unlock();
- continue;
+ unlock(); continue;
}
+ // 5) 正在执行的 RobotTask 先让它跑完一拍
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...");
+ unlock(); // 等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;
+ // 6) ——关键：全局统计 G1/G2 与组数门限（与单片分支对齐）——
+ auto countG1G2 = [&]() {
+ int g1 = 0, g2 = 0;
+ if (pBonder1->slotHasGlass(0)) g2++;
+ if (pBonder1->slotHasGlass(1)) g1++;
+ if (pBonder2->slotHasGlass(0)) g2++;
+ if (pBonder2->slotHasGlass(1)) g1++;
+ if (pFliper->slotHasGlass(0)) g2++;
+ if (pVacuumBake->slotHasGlass(0)) g1++;
+ if (pVacuumBake->slotHasGlass(1)) g1++;
+ if (auto g = pAligner->getGlassFromSlot(0)) {
+ auto t = g->getType();
+ if (t == MaterialsType::G1) g1++; else if (t == MaterialsType::G2) g2++;
}
- }
- else if ((pBonder1->canPlaceGlassInSlot(0) && !pBonder1->canPlaceGlassInSlot(1))
- || (pBonder2->canPlaceGlassInSlot(0) && !pBonder2->canPlaceGlassInSlot(1))) {
- primaryType = MaterialsType::G2;
- secondaryType = MaterialsType::G1;
- }
+ return std::pair<int, int>(g1, g2);
+ };
+ int g1Count = 0, g2Count = 0;
+ std::tie(g1Count, g2Count) = countG1G2();
+ int nGlassGroup = min(g1Count, g2Count);
+ int nExtraType = (g1Count == g2Count ? 0 : (g1Count > g2Count ? 1 : 2));
- // Measurement -> LoadPort
+ // primary/secondary 统一定义（secondary 默认 G0）
+ MaterialsType primaryType = MaterialsType::G1;
+ MaterialsType secondaryType = MaterialsType::G0;
+ if (nExtraType == 0) primaryType = MaterialsType::G2; // 与单片分支一致
+ else primaryType = MaterialsType::G1;
+
+ // 组数门限：≥2 组时不再从 LP 上片，避免堆积（与单片一致）
+ bool blockLoadFromLP = (nGlassGroup >= 2);
+
+ // 7) Measurement -> LoadPort（固定：G1 优先回 LP）
if (rmd.armState[0] || rmd.armState[1]) {
- LOGI("Arm1 %s, Arm2 %s.", rmd.armState[0] ? _T("不可用") : _T("可用"),
+ LOGD("Arm1 %s, Arm2 %s.",
+ rmd.armState[0] ? _T("不可用") : _T("可用"),
rmd.armState[1] ? _T("不可用") : _T("可用"));
}
for (int s = 0; s < 4; s++) {
@@ -841,127 +920,123 @@
if (!rmd.armState[0] && pLoadPorts[s]->isEnable()
&& (pt == PortType::Unloading || pt == PortType::Both)
&& pLoadPorts[s]->getPortStatus() == PORT_INUSE) {
- m_pActiveRobotTask = createTransferTask(pMeasurement, pLoadPorts[s], primaryType, secondaryType);
- if (m_pActiveRobotTask != nullptr) {
- goto BATCH_PORT_PUT;
- }
+ m_pActiveRobotTask = createTransferTask(pMeasurement, pLoadPorts[s], MaterialsType::G1, secondaryType);
+ if (m_pActiveRobotTask != nullptr) { goto BATCH_PORT_PUT; }
}
}
- BATCH_PORT_PUT:
+ BATCH_PORT_PUT:
CHECK_RUN_ACTIVE_ROBOT_TASK(m_pActiveRobotTask);
-
- // Measurement NG -> LoadPort
- // NG回原位
+ // 8) Measurement NG -> LoadPort（原位回退）
if (!rmd.armState[1]) {
m_pActiveRobotTask = createTransferTask_restore(pMeasurement, pLoadPorts);
CHECK_RUN_ACTIVE_ROBOT_TASK(m_pActiveRobotTask);
}
-
- // BakeCooling ->Measurement
+ // 9) BakeCooling -> Measurement
if (!rmd.armState[0]) {
m_pActiveRobotTask = createTransferTask_bakecooling_to_measurement(pBakeCooling, pMeasurement);
CHECK_RUN_ACTIVE_ROBOT_TASK(m_pActiveRobotTask);
}
-
- // BakeCooling内部
- // Bake -> Cooling
+ // 10) BakeCooling 内部（Bake -> Cooling）
if (!rmd.armState[0]) {
m_pActiveRobotTask = createTransferTask_bake_to_cooling(pBakeCooling);
CHECK_RUN_ACTIVE_ROBOT_TASK(m_pActiveRobotTask);
}
-
- // Bonder -> BakeCooling
+ // 11) Bonder -> BakeCooling
if (!rmd.armState[0]) {
m_pActiveRobotTask = createTransferTask_bonder_to_bakecooling(pBonder1, pBakeCooling);
CHECK_RUN_ACTIVE_ROBOT_TASK(m_pActiveRobotTask);
}
-
if (!rmd.armState[0]) {
m_pActiveRobotTask = createTransferTask_bonder_to_bakecooling(pBonder2, pBakeCooling);
CHECK_RUN_ACTIVE_ROBOT_TASK(m_pActiveRobotTask);
}
+ // 12) Fliper(G2) -> Bonder（前置：VacuumBake 有 processed G1；输出 G2 到 Bonder slot0）
+ if (auto pSrcSlot = pVacuumBake->getProcessedSlot(MaterialsType::G1)) {
+ if (!rmd.armState[1] && pBonder1->canPlaceGlassInSlot(0)) {
+ m_pActiveRobotTask = createTransferTask(pFliper, pBonder1, MaterialsType::G2, MaterialsType::G0, 2);
+ CHECK_RUN_ACTIVE_ROBOT_TASK(m_pActiveRobotTask);
+ }
+ if (!rmd.armState[1] && pBonder2->canPlaceGlassInSlot(0)) {
+ m_pActiveRobotTask = createTransferTask(pFliper, pBonder2, MaterialsType::G2, MaterialsType::G0, 2);
+ CHECK_RUN_ACTIVE_ROBOT_TASK(m_pActiveRobotTask);
+ }
+ }
- // Fliper(G2) -> Bonder
- auto pSrcSlot = pVacuumBake->getProcessedSlot(primaryType);
- if (pSrcSlot != nullptr && !rmd.armState[1] && !pBonder1->hasBondClass()) {
- m_pActiveRobotTask = createTransferTask(pFliper, pBonder1, primaryType, secondaryType, 2);
+ // 13) VacuumBake(G1) -> Bonder（槽级判定：slot0(G2) 已有且 slot1(G1) 为空）
+ if (!rmd.armState[0] && pBonder1->slotHasGlass(0) && !pBonder1->slotHasGlass(1)) {
+ m_pActiveRobotTask = createTransferTask(pVacuumBake, pBonder1, MaterialsType::G1, MaterialsType::G0);
CHECK_RUN_ACTIVE_ROBOT_TASK(m_pActiveRobotTask);
}
- if (pSrcSlot != nullptr && !rmd.armState[1] && !pBonder2->hasBondClass()) {
- m_pActiveRobotTask = createTransferTask(pFliper, pBonder2, primaryType, secondaryType, 2);
+ if (!rmd.armState[0] && pBonder2->slotHasGlass(0) && !pBonder2->slotHasGlass(1)) {
+ m_pActiveRobotTask = createTransferTask(pVacuumBake, pBonder2, MaterialsType::G1, MaterialsType::G0);
CHECK_RUN_ACTIVE_ROBOT_TASK(m_pActiveRobotTask);
}
-
- // VacuumBake(G1) -> Bonder
- if (!rmd.armState[0] && !pBonder1->hasBondClass()) {
- m_pActiveRobotTask = createTransferTask(pVacuumBake, pBonder1, primaryType, secondaryType);
- CHECK_RUN_ACTIVE_ROBOT_TASK(m_pActiveRobotTask);
- }
-
- if (!rmd.armState[0] && !pBonder2->hasBondClass()) {
- m_pActiveRobotTask = createTransferTask(pVacuumBake, pBonder2, primaryType, secondaryType);
- CHECK_RUN_ACTIVE_ROBOT_TASK(m_pActiveRobotTask);
- }
-
-
- // Aligner -> Fliper(G2)
- // Aligner -> VacuumBake(G1)
+ // 14) Aligner -> Fliper(G2) 以及 -> VacuumBake(G1)（固定映射）
if (!rmd.armState[1]) {
- m_pActiveRobotTask = createTransferTask(pAligner, pFliper, primaryType, secondaryType);
+ m_pActiveRobotTask = createTransferTask(pAligner, pFliper, MaterialsType::G2, MaterialsType::G0);
CHECK_RUN_ACTIVE_ROBOT_TASK(m_pActiveRobotTask);
}
-
if (!rmd.armState[0]) {
- m_pActiveRobotTask = createTransferTask(pAligner, pVacuumBake, primaryType, secondaryType);
+ m_pActiveRobotTask = createTransferTask(pAligner, pVacuumBake, MaterialsType::G1, MaterialsType::G0);
CHECK_RUN_ACTIVE_ROBOT_TASK(m_pActiveRobotTask);
}
-
- // Aligner -> LoadPort
+ // 15) Aligner -> LoadPort（restore）
if (!rmd.armState[1]) {
m_pActiveRobotTask = createTransferTask_restore(pAligner, pLoadPorts);
CHECK_RUN_ACTIVE_ROBOT_TASK(m_pActiveRobotTask);
}
+ // 16) LoadPort -> Aligner（受组数门限控制；统一 buddy/状态时序）
+ if (blockLoadFromLP) { unlock(); continue; }
- // LoadPort -> Aligner
for (int s = 0; s < 4; s++) {
PortType pt = pLoadPorts[s]->getPortType();
if (!rmd.armState[0] && pLoadPorts[s]->isEnable()
&& (pt == PortType::Loading || pt == PortType::Both)
&& pLoadPorts[s]->getPortStatus() == PORT_INUSE) {
- m_pActiveRobotTask = createTransferTask(pLoadPorts[s], pAligner, primaryType, secondaryType, m_bJobMode);
+
+ m_pActiveRobotTask = createTransferTask(pLoadPorts[s], pAligner, primaryType, secondaryType, 1, m_bJobMode);
if (m_pActiveRobotTask != nullptr) {
- pEFEM->setContext(m_pActiveRobotTask->getContext());
- bool bMoved = glassFromQueueToInPorcess((CGlass*)m_pActiveRobotTask->getContext());
- if (bMoved) {
- LOGI("<Master>Glass(%s)从等待列队到工艺列队转移成功.",
- ((CGlass*)m_pActiveRobotTask->getContext())->getID().c_str());
- }
- else {
- LOGE("<Master>Glass(%s)从等待列队到工艺列队转移失败.",
- ((CGlass*)m_pActiveRobotTask->getContext())->getID().c_str());
+ auto* pGlass = static_cast<CGlass*>(m_pActiveRobotTask->getContext());
+ if (pGlass->getBuddy() != nullptr) {
+ delete m_pActiveRobotTask; m_pActiveRobotTask = nullptr;
+ continue;
}
+ // 统一：queue -> start -> setContext -> move queue→inProcess -> onPanelStart
+ pGlass->queue();
+ pGlass->start();
+ pEFEM->setContext(pGlass);
+
+ bool bMoved = glassFromQueueToInPorcess(pGlass);
+ if (bMoved) {
+ LOGI("<Master>Glass(%s)从等待列队到工艺列队转移成功.", pGlass->getID().c_str());
+ }
+ else {
+ LOGE("<Master>Glass(%s)从等待列队到工艺列队转移失败.", pGlass->getID().c_str());
+ }
+
+ if (m_listener.onPanelStart) m_listener.onPanelStart(this, pGlass);
goto BATCH_PORT_GET;
}
}
}
- BATCH_PORT_GET:
+ BATCH_PORT_GET:
CHECK_RUN_ACTIVE_ROBOT_TASK(m_pActiveRobotTask);
-
unlock();
continue;
}
+
// 千传模式调度逻辑
else if (m_state == MASTERSTATE::RUNNING_CONTINUOUS_TRANSFER) {
@@ -983,15 +1058,17 @@
}
// Measurement -> LoadPort
- for (int s = 0; s < 4; s++) {
- PortType pt = pLoadPorts[s]->getPortType();
+ for (int p = 0; p < 4; p++) {
+ if (p != m_nContinuousWorkingPort) continue;
+ PortType pt = pLoadPorts[p]->getPortType();
if ((m_nContinuousTransferStep == CTStep_Unknow || m_nContinuousTransferStep == CTStep_BakeCooling_Measurement)
- && !rmd.armState[0] && pLoadPorts[s]->isEnable()
+ && !rmd.armState[0] && pLoadPorts[p]->isEnable()
&& (pt == PortType::Unloading || pt == PortType::Both)
- && pLoadPorts[s]->getPortStatus() == PORT_INUSE) {
+ && pLoadPorts[p]->getPortStatus() == PORT_INUSE) {
for (int slot = 0; slot < SLOT_MAX; slot++) {
+ if (slot != m_nContinuousWorkingSlot) continue;
m_pActiveRobotTask = createTransferTask_continuous_transfer(pMeasurement,
- 0, pLoadPorts[s], slot);
+ 0, pLoadPorts[p], slot);
if (m_pActiveRobotTask != nullptr) {
m_nContinuousTransferStep = CTStep_Measurement_LoadPort;
m_nContinuousTransferStep = CTStep_end;
@@ -1088,7 +1165,7 @@
// Bonder1 -> Bonder2
if ((m_nContinuousTransferStep == CTStep_Unknow || m_nContinuousTransferStep == CTStep_Fliper_Bonder1)
- && !rmd.armState[0] && !pBonder2->hasBondClass()) {
+ && !rmd.armState[0] && !pBonder2->hasBondGlass()) {
m_pActiveRobotTask = createTransferTask_continuous_transfer(pBonder1,
1, pBonder2, 1);
if (m_pActiveRobotTask != nullptr) {
@@ -1100,7 +1177,7 @@
// Fliper(G2) -> Bonder1
if ((m_nContinuousTransferStep == CTStep_Unknow || m_nContinuousTransferStep == CTStep_Aligner_Fliper)
- &&!rmd.armState[0] && !pBonder1->hasBondClass()) {
+ &&!rmd.armState[0] && !pBonder1->hasBondGlass()) {
m_pActiveRobotTask = createTransferTask_continuous_transfer(pFliper,
0, pBonder1, 1);
if (m_pActiveRobotTask != nullptr) {
@@ -1123,17 +1200,19 @@
}
// LoadPort -> Aligner
- for (int s = 0; s < 4; s++) {
- PortType pt = pLoadPorts[s]->getPortType();
+ for (int p = 0; p < 4; p++) {
+ PortType pt = pLoadPorts[p]->getPortType();
if ((m_nContinuousTransferStep == CTStep_Unknow || m_nContinuousTransferStep == CTStep_end)
- && !rmd.armState[0] && pLoadPorts[s]->isEnable()
+ && !rmd.armState[0] && pLoadPorts[p]->isEnable()
&& (pt == PortType::Loading || pt == PortType::Both)
- && pLoadPorts[s]->getPortStatus() == PORT_INUSE) {
+ && pLoadPorts[p]->getPortStatus() == PORT_INUSE) {
for (int slot = 0; slot < SLOT_MAX; slot++) {
- m_pActiveRobotTask = createTransferTask_continuous_transfer(pLoadPorts[s],
+ m_pActiveRobotTask = createTransferTask_continuous_transfer(pLoadPorts[p],
slot, pAligner, 0);
if (m_pActiveRobotTask != nullptr) {
m_nContinuousTransferStep = CTStep_LoadPort_Aligner;
+ m_nContinuousWorkingPort = p;
+ m_nContinuousWorkingSlot = slot;
LOGI("<ContinuousTransfer>千传测试，开始搬送任务(LoadPort -> Aligner)...");
pEFEM->setContext(m_pActiveRobotTask->getContext());
goto CT_PORT_GET;
@@ -1245,18 +1324,27 @@
BOOL bOk = FALSE;
lock();
if (m_pActiveRobotTask != nullptr) {
- LOGI("<CMaster>onPreFethedOutJob 0001.");
+ LOGD("<CMaster>onPreFethedOutJob 0001.");
if (m_pActiveRobotTask->getSrcPosition() == p->getID()) {
- LOGI("<CMaster>onPreFethedOutJob 0002.");
+ LOGD("<CMaster>onPreFethedOutJob 0002.");
CGlass* pGlass = p->getGlassFromSlot(m_pActiveRobotTask->getSrcSlot());
if (pGlass != nullptr) {
- LOGI("<CMaster>onPreFethedOutJob 0003.");
+ LOGD("<CMaster>onPreFethedOutJob 0003.");
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.");
+ LOGD("<CMaster>onPreFethedOutJob, 已校验数据一致性.");
+ }
+ LOGD("<CMaster>onPreFethedOutJob 0004.");
+ if (pJobDataS != nullptr) {
+ LOGD("<CMaster>onPreFethedOutJob 0005. %d,%d,%d,%d",
+ pJobDataS->getCassetteSequenceNo(),
+ pJobDataB->getCassetteSequenceNo(),
+ pJobDataS->getJobSequenceNo(),
+ pJobDataB->getJobSequenceNo()
+ );
}
}
}
@@ -1299,7 +1387,7 @@
if (pGlass == nullptr) {
bOk = TRUE;
slot = m_pActiveRobotTask->getTarSlot();
- LOGI("<CMaster>onPreFethedOutJob, 已校验数据一致性.");
+ LOGI("<CMaster>onPreStoredJob, 已校验数据一致性.");
}
}
@@ -1310,7 +1398,7 @@
if (pGlass == nullptr && m_pActiveRobotTask->getSrcSlot() == port) {
bOk = TRUE;
slot = m_pActiveRobotTask->getSrcSlot();
- LOGI("<CMaster>onPreFethedOutJob, 已校验数据一致性.");
+ LOGI("<CMaster>onPreStoredJob, 已校验数据一致性.");
}
}
}
@@ -1371,16 +1459,49 @@
// 如果是搬送回从AOI搬送回Port, 则glass工艺完成
if (m_pActiveRobotTask->getSrcPosition() == EQ_ID_MEASUREMENT) {
- bool bMoved = glassFromInPorcessToComplete((CGlass*)m_pActiveRobotTask->getContext());
+ CGlass* pGlass = (CGlass*)m_pActiveRobotTask->getContext();
+ pGlass->complete();
+ CGlass* pBuddy = pGlass->getBuddy();
+ if (pBuddy != nullptr) pBuddy->complete();
+ this->saveState();
+ bool bMoved = glassFromInPorcessToComplete(pGlass);
if (bMoved) {
LOGI("<Master>Glass(%s)从工艺列队到完成列队转移成功.",
- ((CGlass*)m_pActiveRobotTask->getContext())->getID().c_str());
+ pGlass->getID().c_str());
}
else {
LOGE("<Master>Glass(%s)从工艺列队到完成列队转移失败.",
- ((CGlass*)m_pActiveRobotTask->getContext())->getID().c_str());
+ pGlass->getID().c_str());
+ }
+ if (m_listener.onPanelEnd != nullptr) {
+ m_listener.onPanelEnd(this, pGlass);
+ }
+
+ // 检查PJ是否已经完成
+ CProcessJob* pJob = getGlassProcessJob((CGlass*)m_pActiveRobotTask->getContext());
+ if (pJob != nullptr && checkAndUpdatePjComplete(pJob)) {
+ this->saveState();
+ LOGE("<Master>ProcessJob(%s)完成.",
+ pJob->id().c_str());
+ if (m_listener.onPjEnd != nullptr) {
+ m_listener.onPjEnd(this, pJob);
+ }
+
+ // 检查CJ是否已经完成
+ ASSERT(m_pControlJob);
+ if (checkAndUpdateCjComplete(m_pControlJob)) {
+ this->saveState();
+ LOGE("<Master>ControlJob(%s)完成.",
+ m_pControlJob->id().c_str());
+ if (m_listener.onCjEnd != nullptr) {
+ m_listener.onCjEnd(this, pJob);
+ }
+
+ completeControlJob();
+ }
}
}
+
unlock();
@@ -1415,8 +1536,20 @@
unlock();
}
};
- listener.onProcessStateChanged = [&](void* pEquipment, PROCESS_STATE state) -> void {
+ listener.onProcessStateChanged = [&](void* pEquipment, int slotNo, PROCESS_STATE state) -> void {
+ ASSERT(1 <= slotNo && slotNo <= 8);
+ int eqid = ((CEquipment*)pEquipment)->getID();
+ CGlass* pGlass = ((CEquipment*)pEquipment)->getGlassFromSlot(slotNo);
LOGI("<Master>onProcessStateChanged<%d>", (int)state);
+ if (state == PROCESS_STATE::Processing) {
+ if (pGlass != nullptr) {
+ m_pCollector->batchStart(eqid,
+ pGlass->getID().c_str(), 10 * 60 * 1000ULL);
+ }
+ }
+ else if (state == PROCESS_STATE::Complete) {
+ m_pCollector->batchStop(eqid);
+ }
};
listener.onMapMismatch = [&](void* pEquipment, short scanMap, short downMap) {
LOGE("<Master-%s>Port InUse, map(%d!=%d)不一致，请检查。",
@@ -1430,22 +1563,177 @@
for (auto pj : pjs) {
auto carrier = pj->getCarrier(pPort->getCassetteId());
if (carrier != nullptr) {
+ carrier->contexts.clear();
for (auto slot : carrier->slots) {
CGlass* pGlass = pPort->getGlassFromSlot(slot);
carrier->contexts.push_back((void*)pGlass);
if (pGlass != nullptr) {
pGlass->setProcessJob(pj);
+
+ PJWarp& jpWarp = pj->getPjWarp();
+ int nRecipeID = RecipeManager::getInstance().getIdByPPID(pj->recipeSpec());
+ RecipeInfo stRecipeInfo = RecipeManager::getInstance().getRecipeByPPID(pj->recipeSpec());
+ std::vector<DeviceRecipe> vecRecipeInfo = stRecipeInfo.vecDeviceList;
+
+ pGlass->setScheduledForProcessing(jpWarp.checkSlot[slot-1]);
+ pGlass->setType(static_cast<SERVO::MaterialsType>(jpWarp.material[slot-1]));
+
+ SERVO::CJobDataS* pJobDataS = pGlass->getJobDataS();
+ if (pJobDataS != nullptr) {
+ SERVO::CJobDataS* pJobDataS = pGlass->getJobDataS();
+ pJobDataS->setLotId(pj->getLotId().c_str());
+ pJobDataS->setProductId(pj->getProductId().c_str());
+ pJobDataS->setOperationId(pj->getOperationId().c_str());
+ pJobDataS->setMaterialsType(jpWarp.material[slot - 1]);
+ pJobDataS->setMasterRecipe(nRecipeID);
+ for (const auto& info : vecRecipeInfo) {
+ const std::string& name = info.strDeviceName;
+ short nRecipeID = (short)info.nRecipeID;
+
+ if (name == EQ_NAME_EFEM) {
+ pJobDataS->setDeviceRecipeId(0, nRecipeID);
+ }
+ else if (name == EQ_NAME_BONDER1) {
+ pJobDataS->setDeviceRecipeId(1, nRecipeID);
+ }
+ else if (name == EQ_NAME_BONDER2) {
+ pJobDataS->setDeviceRecipeId(2, nRecipeID);
+ }
+ else if (name == EQ_NAME_BAKE_COOLING) {
+ pJobDataS->setDeviceRecipeId(3, nRecipeID);
+ }
+ else if (name == EQ_NAME_VACUUMBAKE) {
+ pJobDataS->setDeviceRecipeId(4, nRecipeID);
+ }
+ else if (name == EQ_NAME_MEASUREMENT) {
+ pJobDataS->setDeviceRecipeId(5, nRecipeID);
+ }
+ }
+
+ }
}
}
}
}
-
-
}
if (m_listener.onLoadPortStatusChanged != nullptr) {
m_listener.onLoadPortStatusChanged(this, (CEquipment*)pEquipment, status, data);
}
+ };
+ listener.onSVDataReport = [&](void* pEquipment, void* pData) {
+ CSVData* pSVData = (CSVData*)pData;
+ auto rawData = pSVData->getSVRawData();
+ std::vector<CParam> params;
+ ((CEquipment*)pEquipment)->parsingSVData((const char*)rawData.data(), rawData.size(), params);
+
+
+ // 以下加入到曲线数据中
+
+
+ const int64_t ts = now_ms_epoch();
+ int eqid = ((CEquipment*)pEquipment)->getID();
+ if (eqid == EQ_ID_Bonder1 || eqid == EQ_ID_Bonder2) {
+ // 定义 Bonder 的特定映射
+ std::vector<std::pair<int, int>> bonderMapping = {
+ {1, 1}, {2, 2}, {3, 3}, {4, 4}, {5, 5}, {6, 6}, {7, 7},
+ {8, 8}, {9, 9}, {10, 10}, {11, 11}, {12, 12}, {13, 13}, {14, 14}, {15, 15}, {16, 16}
+ };
+
+ CGlass* pGlass = ((CEquipment*)pEquipment)->getGlassFromSlot(0);
+ auto& dataTypes = CServoUtilsTool::getEqDataTypes();
+ auto& bonderTypes = dataTypes[eqid];
+ for (const auto& mapping : bonderMapping) {
+ int paramIndex = mapping.first;
+ int channel = mapping.second;
+
+ if (paramIndex < params.size() && channel - 1 < bonderTypes.size()) {
+ if(m_pCollector != nullptr)
+ m_pCollector->buffersPush(eqid, channel, ts, params.at(paramIndex).getDoubleValue());
+ if(pGlass != nullptr)
+ pGlass->addSVData(eqid, bonderTypes[channel], ts, params.at(paramIndex).getDoubleValue());
+ }
+ }
+ }
+ else if (eqid == EQ_ID_VACUUMBAKE) {
+ // 定义 VACUUMBAKE 的特定映射
+ std::vector<std::pair<int, int>> vacuumMapping = {
+ {1, 1}, {2, 2}, {3, 3}, {4, 4}, {5, 5}, {6, 6}, {7, 7},
+ {10, 8}, {11, 9}, {12, 10}, {13, 11}, {14, 12}, {15, 13}, {16, 14}
+ };
+
+ CGlass* pGlass = ((CEquipment*)pEquipment)->getGlassFromSlot(0);
+ auto& dataTypes = CServoUtilsTool::getEqDataTypes();
+ auto& vacuumbakeTypes = dataTypes[eqid];
+ for (const auto& mapping : vacuumMapping) {
+ int paramIndex = mapping.first;
+ int channel = mapping.second;
+
+ if (paramIndex < params.size() && channel - 1 < vacuumbakeTypes.size()) {
+ if (m_pCollector != nullptr)
+ m_pCollector->buffersPush(eqid, channel, ts, params.at(paramIndex).getDoubleValue());
+ if (pGlass != nullptr)
+ pGlass->addSVData(eqid, vacuumbakeTypes[channel], ts, params.at(paramIndex).getDoubleValue());
+ }
+ }
+ }
+ else if (eqid == EQ_ID_BAKE_COOLING) {
+ // 定义 BAKE_COOLING 的特定映射
+ std::vector<std::pair<int, int>> coolingMapping = {
+ {1, 1}, {2, 2}, {3, 3}, {4, 4}, {5, 5}, {6, 6},
+ {11, 7}, {12, 8}, {13, 9}, {14, 10}, {15, 11}, {16, 12}
+ };
+
+ CGlass* pGlass = ((CEquipment*)pEquipment)->getGlassFromSlot(0);
+ auto& dataTypes = CServoUtilsTool::getEqDataTypes();
+ auto& coolingTypes = dataTypes[eqid];
+ for (const auto& mapping : coolingMapping) {
+ int paramIndex = mapping.first;
+ int channel = mapping.second;
+
+ if (paramIndex < params.size() && channel - 1 < coolingTypes.size()) {
+ if (m_pCollector != nullptr)
+ m_pCollector->buffersPush(eqid, channel, ts, params.at(paramIndex).getDoubleValue());
+ if (pGlass != nullptr)
+ pGlass->addSVData(eqid, coolingTypes[channel], ts, params.at(paramIndex).getDoubleValue());
+ }
+ }
+ }
+
+
+ // 以下是输出测试
+ std::string strOut;
+ char szBuffer[256];
+ for (auto p : params) {
+ if (!strOut.empty()) strOut.append(",");
+ if (p.getValueType() == PVT_INT) {
+ sprintf_s(szBuffer, 256, "%s:%d", p.getName().c_str(), p.getIntValue());
+ }
+ else if (p.getValueType() == PVT_DOUBLE) {
+ sprintf_s(szBuffer, 256, "%s:%f", p.getName().c_str(), p.getDoubleValue());
+ }
+ strOut.append(szBuffer);
+ }
+ LOGD("<CMaster-%s>SVDataReport:%s", ((CEquipment*)pEquipment)->getName().c_str(), strOut.c_str());
+ };
+ listener.onPanelDataReport = [&](void* pEquipment, void* pContext) {
+ LOGD("<CMaster-%s>onPanelDataReport", ((CEquipment*)pEquipment)->getName().c_str());
+
+ CEquipment* pEq = (CEquipment*)pEquipment;
+ CGlass* pGlass = (CGlass*)pContext;
+
+ // 如果AOI检测失败，要停机
+ if (pEq->getID() == EQ_ID_MEASUREMENT) {
+ LOGD("<CMaster-%s>onPanelDataReport 01", ((CEquipment*)pEquipment)->getName().c_str());
+ if (pGlass->getAOIInspResult() == InspResult::Fail) {
+ LOGD("<CMaster-%s>onPanelDataReport 02", ((CEquipment*)pEquipment)->getName().c_str());
+ if (stop() == 0) {
+ m_nLastError = ER_CODE_AOI_NG;
+ m_strLastError = "AOI检测未通过.";
+ }
+ }
+ }
+
};
pEquipment->setListener(listener);
pEquipment->setCcLink(&m_cclink);
@@ -1684,6 +1972,64 @@
}
}
+
+
+ // 模拟测试
+ /*
+ static int aaa = 0;
+ aaa++;
+ if (aaa % 30 == 0) {
+ if (!m_queueGlasses.empty()) {
+ CGlass* pGlass = m_queueGlasses.front();
+ pGlass->start();
+ glassFromQueueToInPorcess(pGlass);
+ this->saveState();
+
+ // 这里上报Panel Start事件
+ if (m_listener.onPanelStart != nullptr) {
+ m_listener.onPanelStart(this, pGlass);
+ }
+ }
+ }
+
+ if (aaa % 45 == 0) {
+ if (!m_inProcesGlasses.empty()) {
+ CGlass* pGlass = m_inProcesGlasses.front();
+ pGlass->complete();
+ CGlass* pBuddy = pGlass->getBuddy();
+ if (pBuddy != nullptr) pBuddy->complete();
+ glassFromInPorcessToComplete(pGlass);
+ this->saveState();
+
+ // 这里上报Panel End事件
+ if (m_listener.onPanelEnd != nullptr) {
+ m_listener.onPanelEnd(this, pGlass);
+ }
+
+ CProcessJob* pJob = getGlassProcessJob(pGlass);
+ if (pJob != nullptr && checkAndUpdatePjComplete(pJob)) {
+ processJobFromInPorcessToComplete(pJob);
+ this->saveState();
+ LOGE("<Master>ProcessJob(%s)完成.",
+ pJob->id().c_str());
+ if (m_listener.onPjEnd != nullptr) {
+ m_listener.onPjEnd(this, pJob);
+ }
+
+ // 检查CJ是否已经完成
+ ASSERT(m_pControlJob);
+ if (checkAndUpdateCjComplete(m_pControlJob)) {
+ this->saveState();
+ LOGE("<Master>ControlJob(%s)完成.",
+ m_pControlJob->id().c_str());
+ if (m_listener.onCjEnd != nullptr) {
+ m_listener.onCjEnd(this, pJob);
+ }
+ }
+ }
+ }
+ }
+ */
}
void CMaster::connectEquipments()
@@ -1853,16 +2199,17 @@
if (!pSrcEq->IsEnabled()) {
return nullptr;
}
-
CRobotTask* pTask = nullptr;
CSlot* pSrcSlot, * pTarSlot;
+ pSrcEq->m_nTestFlag = m_nTestFlag;
pTarSlot = pTarEq->getAvailableSlotForGlass(primaryType);
pSrcSlot = pSrcEq->getProcessedSlot(primaryType, bJobMode);
- if (pSrcSlot == nullptr || nullptr == pTarSlot) {
+ if (m_nTestFlag == 1) LOGD("createTransferTask 003 %x, %x", pTarSlot, pSrcSlot);
+ if ((pSrcSlot == nullptr || nullptr == pTarSlot) && secondaryType != SERVO::MaterialsType::G0) {
pTarSlot = pTarEq->getAvailableSlotForGlass(secondaryType);
pSrcSlot = pSrcEq->getProcessedSlot(secondaryType, bJobMode);
}
-
+ if (m_nTestFlag == 1) LOGD("createTransferTask 004 %x, %x", pTarSlot, pSrcSlot);
if (pSrcSlot != nullptr && nullptr != pTarSlot) {
pTask = new CRobotTask();
@@ -2067,11 +2414,19 @@
return 0;
}
- void CMaster::setPortType(unsigned int index, BOOL enable, int type, int mode,
- int cassetteType, int transferMode, BOOL autoChangeEnable)
+ void CMaster::setPortType(unsigned int index, int 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->localSetPortType((SERVO::PortType)type);
+ }
+
+ void CMaster::setPortTypeEx(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);
@@ -2095,6 +2450,22 @@
int eqid[] = { EQ_ID_LOADPORT1, EQ_ID_LOADPORT2, EQ_ID_LOADPORT3, EQ_ID_LOADPORT4 };
CLoadPort* pPort = (CLoadPort*)getEquipment(eqid[index]);
pPort->localEanblePort(bEnable);
+ }
+
+ int CMaster::getPortCassetteSnSeed(int port)
+ {
+ ASSERT(1 <= port && port <= 4);
+ int eqid[] = { EQ_ID_LOADPORT1, EQ_ID_LOADPORT2, EQ_ID_LOADPORT3, EQ_ID_LOADPORT4 };
+ CLoadPort* pPort = (CLoadPort*)getEquipment(eqid[port - 1]);
+ return pPort->getPortCassetteSnSeed();
+ }
+
+ void CMaster::setPortCassetteSnSeed(int port, int seed)
+ {
+ ASSERT(1 <= port && port <= 4);
+ int eqid[] = { EQ_ID_LOADPORT1, EQ_ID_LOADPORT2, EQ_ID_LOADPORT3, EQ_ID_LOADPORT4 };
+ CLoadPort* pPort = (CLoadPort*)getEquipment(eqid[port - 1]);
+ return pPort->setPortCassetteSnSeed(seed);
}
void CMaster::setCompareMapsBeforeProceeding(BOOL bCompare)
@@ -2169,8 +2540,31 @@
temp.push_back(p);
}
}
-
m_processJobs = temp;
+
+
+ // 更新context
+ std::vector<uint8_t> newSlots;
+ std::vector<void*> newContexts;
+ for (auto pj : m_processJobs) {
+ for (auto& c : pj->carriers()) {
+ auto pPort = getPortWithCarrierId(c.carrierId);
+ if (pPort == nullptr) continue;
+
+ for (auto s : c.slots) {
+ auto pGlass = pPort->getGlassFromSlot(s);
+ if (pGlass == nullptr) continue;
+
+ newSlots.push_back(s);
+ newContexts.push_back(pGlass);
+ }
+
+ pj->setCarrierSlotsAndContexts(c.carrierId, newSlots, newContexts);
+ }
+ }
+
+
+
this->saveState();
return (int)m_processJobs.size();
@@ -2313,13 +2707,9 @@
return true;
}
- bool CMaster::loadState(const std::string& path)
+ bool CMaster::loadState()
{
- // 保存文件路径
- m_strStatePath = path;
-
-
- std::ifstream ifs(path, std::ios::binary);
+ std::ifstream ifs(m_strStatePath, std::ios::binary);
if (!ifs) return false;
// 文件头
@@ -2345,7 +2735,9 @@
m_pControlJob = new CControlJob();
if (!CControlJob::deserialize(ifs, *m_pControlJob)) return false;
}
-
+ else {
+ return false;
+ }
// 读取 ProcessJob 列表
uint32_t count = 0;
@@ -2370,10 +2762,33 @@
m_pControlJob->setPJs(tempPjs);
+ // 更新contexts
+ auto pjs = m_pControlJob->getPjs();
+ for (auto pj : pjs) {
+ for (auto& c : pj->carriers()) {
+ auto p = getPortWithCarrierId(c.carrierId);
+ if (p == nullptr) continue;
+
+ std::vector<void*> contexts;
+ for (auto s : c.slots) {
+ auto g = getGlass(p->getIndex(), s - 1);
+ if (g == nullptr) continue;
+ contexts.push_back(g);
+ }
+ pj->setCarrierContexts(c.carrierId, contexts);
+ }
+ }
+
+
// 如果版本升级，可在这里判断 version 来加载新字段
return true;
+ }
+
+ void CMaster::setStateFile(const std::string& path)
+ {
+ m_strStatePath = path;
}
CProcessJob* CMaster::acquireNextProcessJob()
@@ -2382,8 +2797,8 @@
for (const auto pj : pjs) {
if (pj->state() == PJState::Queued) {
pj->start();
+ return pj;
}
- return pj;
}
@@ -2412,6 +2827,7 @@
int nCount = 0;
for (auto* pj : m_inProcesJobs) {
// 遍历 PJ 的 carriers 和 slots
+ if (pj->carriers().empty()) continue;
for (auto& cs : pj->carriers()) {
for (auto ctx : cs.contexts) {
CGlass* pGlass = (CGlass*)ctx;
@@ -2456,4 +2872,293 @@
}
return false;
}
+
+ bool CMaster::processJobFromInPorcessToComplete(CProcessJob* pProcessJob)
+ {
+ auto it = std::find(m_inProcesJobs.begin(), m_inProcesJobs.end(), pProcessJob);
+ if (it != m_inProcesJobs.end()) {
+ m_completeProcessJobs.push_back(*it);
+ m_inProcesJobs.erase(it);
+ return true;
+ }
+ return false;
+ }
+
+ bool CMaster::checkAndUpdatePjComplete(CProcessJob* pJob)
+ {
+ ASSERT(pJob);
+ auto state = pJob->state();
+ if (state != PJState::InProcess && state != PJState::Paused) return false;
+
+ for (auto c : pJob->carriers()) {
+ for (auto g : c.contexts) {
+ auto state = ((CGlass*)g)->state();
+ if (state != GlsState::Aborted && state != GlsState::Completed
+ && state != GlsState::Failed) return false;
+ }
+ }
+
+ return pJob->complete();
+ }
+
+ bool CMaster::checkAndUpdateCjComplete(CControlJob* pJob)
+ {
+ ASSERT(pJob);
+ auto state = pJob->state();
+ if (state != CJState::Executing && state != CJState::Paused) return false;
+
+ for (auto pj : pJob->getPjs()) {
+ auto state = pj->state();
+ if (state != PJState::Aborted && state != PJState::Completed
+ && state != PJState::Failed) {
+ return false;
+ }
+ }
+
+ return pJob->complete();
+ }
+
+ CProcessJob* CMaster::getGlassProcessJob(CGlass* pGlass)
+ {
+ if (m_pControlJob == nullptr) return nullptr;
+ for (auto pj : m_pControlJob->getPjs()) {
+ for (auto c : pj->carriers()) {
+ for (auto g : c.contexts) {
+ if (g == pGlass) return pj;
+ }
+ }
+ }
+
+ return nullptr;
+ }
+
+
+ bool CMaster::completeControlJob()
+ {
+ if (m_pControlJob == nullptr) {
+ return false;
+ }
+ for (auto item : m_processJobs) {
+ if (item->state() != PJState::Completed) return false;
+ }
+ if (m_pControlJob->state() != CJState::Completed)
+ return false;
+
+
+
+ // 释放Job相关
+ for (auto item : m_processJobs) {
+ delete item;
+ }
+ m_processJobs.clear();
+ if (m_pControlJob != nullptr) {
+ delete m_pControlJob;
+ m_pControlJob = nullptr;
+ }
+
+ // 注意要释放引用
+ m_inProcesJobs.clear();
+ m_completeProcessJobs.clear();
+ m_queueGlasses.clear();
+ m_inProcesGlasses.clear();
+ m_completeGlasses.clear();
+
+
+ saveState();
+
+ return true;
+ }
+
+ bool CMaster::forceCompleteControlJob(std::string description)
+ {
+ if (m_pControlJob == nullptr || m_state != SERVO::MASTERSTATE::READY) {
+ return false;
+ }
+ for (auto item : m_processJobs) {
+ item->abort(description);
+ }
+ m_pControlJob->abort(description);
+
+
+ // 释放Job相关
+ for (auto item : m_processJobs) {
+ delete item;
+ }
+ m_processJobs.clear();
+ if (m_pControlJob != nullptr) {
+ delete m_pControlJob;
+ m_pControlJob = nullptr;
+ }
+
+ // 注意要释放引用
+ m_inProcesJobs.clear();
+ m_completeProcessJobs.clear();
+ m_queueGlasses.clear();
+ m_inProcesGlasses.clear();
+ m_completeGlasses.clear();
+
+
+ saveState();
+
+ return true;
+ }
+
+ bool CMaster::canCreateControlJob()
+ {
+ return m_pControlJob == nullptr;
+ }
+
+ bool CMaster::canCompleteControlJob()
+ {
+ return m_pControlJob != nullptr && m_state == SERVO::MASTERSTATE::READY;
+ }
+
+ bool CMaster::canDeleteControlJob()
+ {
+ return m_pControlJob != nullptr
+ && m_pControlJob->state() == CJState::NoState
+ && m_state == SERVO::MASTERSTATE::READY;
+ }
+
+ int CMaster::getWipGlasses(std::vector<CGlass*>& glasses)
+ {
+ for (auto eq : m_listEquipment) {
+ auto p = dynamic_cast<CLoadPort*>(eq);
+ if (p == nullptr) {
+ eq->getAllGlass(glasses);
+ }
+
+ }
+
+ return (int)glasses.size();
+ }
+
+ int CMaster::getLastError()
+ {
+ return m_nLastError;
+ }
+
+ std::string& CMaster::getLastErrorText()
+ {
+ return m_strLastError;
+ }
+
+ void CMaster::test()
+ {
+ if (stop() == 0) {
+ m_nLastError = ER_CODE_AOI_NG;
+ m_strLastError = "AOI检测未通过.";
+ }
+ }
+
+ bool CMaster::moveGlassToBuf(int eqid, int slotNo)
+ {
+ CEquipment* pEquipment = getEquipment(eqid);
+ if (pEquipment == nullptr) return false;
+
+ CSlot* pSlot = pEquipment->getSlotWithNo(slotNo);
+ if (pSlot == nullptr) return false;
+
+ CGlass* pGlass = (CGlass*)pSlot->getContext();
+ m_bufGlass.push_back(pGlass);
+ pGlass->addRef();
+ pSlot->setContext(nullptr);
+
+ m_bDataModify = TRUE;
+ if (m_listener.onEqDataChanged != nullptr) {
+ m_listener.onEqDataChanged(this, pEquipment, 0);
+ }
+
+ return true;
+ }
+
+ bool CMaster::moveGlassToSlot(int eqid, int slotNo)
+ {
+ CEquipment* pEquipment = getEquipment(eqid);
+ if (pEquipment == nullptr) return false;
+
+ CSlot* pSlot = pEquipment->getSlotWithNo(slotNo);
+ if (pSlot == nullptr) return false;
+ if (m_bufGlass.empty()) return false;
+
+ CGlass* pGlass = m_bufGlass.front();
+ m_bufGlass.pop_front();
+ if (pGlass == nullptr) return false;
+ pSlot->setContext(pGlass);
+ pGlass->release();
+
+ m_bDataModify = TRUE;
+ if (m_listener.onEqDataChanged != nullptr) {
+ m_listener.onEqDataChanged(this, pEquipment, 0);
+ }
+
+ return true;
+ }
+
+ CGlass* CMaster::getGlass(int scrPort, int scrSlot)
+ {
+ for (auto eq : m_listEquipment) {
+ std::vector<CGlass*> glasses;
+ eq->getAllGlass(glasses);
+ for (auto g : glasses) {
+ int p, s;
+ g->getOrginPort(p, s);
+ if (p == scrPort && s == scrSlot) {
+ return g;
+ }
+ }
+ }
+
+ return nullptr;
+ }
+
+ void CMaster::CreateDAQBridgeServer()
+ {
+ auto connectionStatusCallback = [&](int code, const std::string& status) {
+ LOGI("<DAQBridge>status:", status.c_str());
+ };
+ auto rawDataCallback = [](const std::vector<uint8_t>& bytes) {
+
+ };
+
+ // 事件：有人连入/断开就上日志
+ auto clieintEventCallback = [](const std::string& ip, uint16_t port, bool connected) {
+ LOGI("<DAQBridge>[Client %s] %s:%u", connected ? _T("JOIN") : _T("LEAVE"), ip.c_str(), port);
+ };
+
+ if (m_pCollector == nullptr) {
+ m_pCollector = new Collector();
+ m_pCollector->setConnectionStatusCallback(connectionStatusCallback);
+ m_pCollector->setRawDataCallback(rawDataCallback);
+ m_pCollector->setClientEventCallback(clieintEventCallback);
+ m_pCollector->createServer(8081);
+ m_pCollector->startLoop(10);
+
+ // 1) 注册机台（推荐：先注册 id + 机器名称）
+ RetentionPolicy defP; defP.mode = RetainMode::ByCount; defP.maxSamples = 200;
+ m_pCollector->registryAddMachine(EQ_ID_Bonder1, "Bonder1", defP);
+ m_pCollector->registryAddMachine(EQ_ID_Bonder2, "Bonder2", defP);
+ m_pCollector->registryAddMachine(EQ_ID_VACUUMBAKE, "前烘烤", defP);
+ m_pCollector->registryAddMachine(EQ_ID_BAKE_COOLING, "烘烤冷却", defP);
+
+
+ // 2) 为通道设置“曲线名称”
+ auto& dataTypes = CServoUtilsTool::getEqDataTypes();
+ auto& bonderTypes = dataTypes[EQ_ID_Bonder1];
+ for (size_t i = 0; i < bonderTypes.size(); ++i) {
+ m_pCollector->buffersSetChannelName(EQ_ID_Bonder1, i + 1, bonderTypes[i].c_str());
+ m_pCollector->buffersSetChannelName(EQ_ID_Bonder2, i + 1, bonderTypes[i].c_str());
+ }
+
+ auto& vacuumbakeTypes = dataTypes[EQ_ID_VACUUMBAKE];
+ for (size_t i = 0; i < vacuumbakeTypes.size(); ++i) {
+ m_pCollector->buffersSetChannelName(EQ_ID_VACUUMBAKE, i + 1, vacuumbakeTypes[i].c_str());
+ }
+
+ auto& coolingTypes = dataTypes[EQ_ID_BAKE_COOLING];
+ for (size_t i = 0; i < coolingTypes.size(); ++i) {
+ m_pCollector->buffersSetChannelName(EQ_ID_VACUUMBAKE, i + 1, coolingTypes[i].c_str());
+ }
+ }
+ }
}
--
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