~chenluhua/Bond2.git

			@@ -12,14 +12,16 @@
			#include "CArm.h"
			#include "CArmTray.h"
			#include "CCLinkIEControl.h"
			#include "CRobotTask.h"


			namespace SERVO {
			enum MASTERSTATE {
			enum class MASTERSTATE {
			READY = 0,
			STARTING,
			RUNNING,
			STOPPING
			STOPPING,
			MSERROR
			};

			typedef std::function<void(void* pMaster, MASTERSTATE state)> ONMASTERSTATECHANGED;
			@@ -28,6 +30,7 @@
			typedef std::function<void(void* pMaster, CEquipment* pEquipment, int state, int alarmId, int unitId, int level)> ONEQALARM;
			typedef std::function<void(void* pMaster, CEquipment* pEquipment, CVcrEventReport* pReport)> ONEQVCREVENTREPORT;
			typedef std::function<void(void* pMaster, CEquipment* pEquipment, int code)> ONEQDATACHANGED;
			typedef std::function<void(void* pMaster, CRobotTask* pTask, int code)> ONROBOTTASKEVENT;
			typedef struct _MasterListener
			{
			ONMASTERSTATECHANGED onMasterStateChanged;
			@@ -36,21 +39,24 @@
			ONEQALARM onEqAlarm;
			ONEQVCREVENTREPORT onEqVcrEventReport;
			ONEQDATACHANGED onEqDataChanged;
			ONROBOTTASKEVENT onRobotTaskEvent;
			} MasterListener;

			class CMaster
			{
			public:
			CMaster();
			~CMaster();
			virtual ~CMaster();


			public:
			void setListener(MasterListener listener);
			CRobotTask* getActiveRobotTask();
			int init();
			int term();
			int start();
			int stop();
			void clearError();
			ULONGLONG getRunTime();
			MASTERSTATE getState();
			unsigned DispatchProc();
			@@ -59,6 +65,10 @@
			std::list<CEquipment*>& getEquipmentList();
			CEquipment* getEquipment(int id);
			void setCacheFilepath(const char* pszFilepath);
			int abortCurrentTask();
			int restoreCurrentTask();
			void setPortType(unsigned int index, BOOL enable, int type, int mode,
			int cassetteType, int transferMode, BOOL autoChangeEnable);

			private:
			inline void lock() { EnterCriticalSection(&m_criticalSection); }
			@@ -80,7 +90,14 @@
			int readCache();
			void serialize(CArchive& ar);
			void setState(MASTERSTATE state);

			CRobotTask* createTransferTask(CEquipment* pSrcEq, CEquipment* pTarEq,
			MaterialsType primaryType = MaterialsType::G1, MaterialsType secondaryType = MaterialsType::G2,
			int armNo = 1);
			CRobotTask* createTransferTask_bonder_to_bakecooling(CEquipment* pSrcEq, CEquipment* pTarEq);
			CRobotTask* createTransferTask_bake_to_cooling(CEquipment* pSrcEq);
			CRobotTask* createTransferTask_bakecooling_to_measurement(CEquipment* pSrcEq, CEquipment* pTarEq);
			CRobotTask* createTransferTask_restore(CEquipment* pEqSrc, CLoadPort** pPorts);

			private:
			CRITICAL_SECTION m_criticalSection;
			MasterListener m_listener;
			@@ -105,6 +122,14 @@
			ULONGLONG m_ullStartTime;
			ULONGLONG m_ullRunTime;
			MASTERSTATE m_state;

			// 当前任务和已完成任务列表
			CRobotTask* m_pActiveRobotTask;
			std::list< CRobotTask* > m_listTask;

			// 错误代码
			int m_nLastError;
			std::string m_strLastError;
			};
			}