1.修改调度逻辑，增加G0，第二类型，增加TestFlag, 用于必要时输出指定日志；

LAPTOP-SNT8I5JK\Boounion

2025-08-27 38f2ff1e5bc6c4434875e03b8cadc8f3f4e39bf6

 SourceCode/Bond/Servo/CMaster.cpp

@@ -63,6 +63,7 @@
      m_nContinuousTransferCount = 0;
      m_nContinuousTransferStep = CTStep_Unknow;
      m_pControlJob = nullptr;
      m_nTestFlag = 0;
      InitializeCriticalSection(&m_criticalSection);
   }

@@ -598,23 +599,38 @@

            // 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;
            }
            primaryType = MaterialsType::G2;
            secondaryType = MaterialsType::G1;


            if (!pBonder1->canPlaceGlassInSlot(0) && pBonder1->canPlaceGlassInSlot(1)) {
               // 如果Bonder1有G2了，则取G1
               primaryType = MaterialsType::G1;
               secondaryType = MaterialsType::G0;
            }
            else if (!pBonder2->canPlaceGlassInSlot(0) && pBonder2->canPlaceGlassInSlot(1)) {
               // 如果Bonder2有G2了，则取G1
               primaryType = MaterialsType::G1;
               secondaryType = MaterialsType::G0;
            }
            else if (!pFliper->canPlaceGlassInSlot(0)) {
               primaryType = MaterialsType::G1;
               secondaryType = MaterialsType::G0;
            }
            else if (pBonder1->canPlaceGlassInSlot(0)) {
               // 如果Bonder1没有G2, 则先G2
               primaryType = MaterialsType::G2;
               secondaryType = MaterialsType::G0;
            }
            else if (pBonder2->canPlaceGlassInSlot(0)) {
               // 如果Bonder2没有G2, 则先G2
               primaryType = MaterialsType::G2;
               secondaryType = MaterialsType::G0;
            }
            else {
               primaryType = MaterialsType::G2;
               secondaryType = MaterialsType::G0;
            }

            // Measurement -> LoadPort
            if (rmd.armState[0] || rmd.armState[1]) {
@@ -674,24 +690,29 @@

            // Fliper(G2) -> Bonder
            auto pSrcSlot = pVacuumBake->getProcessedSlot(primaryType);
            if (pSrcSlot != nullptr && !rmd.armState[1] && !pBonder1->hasBondClass()) {
               m_pActiveRobotTask = createTransferTask(pFliper, pBonder1, primaryType, secondaryType, 2);
            //LOGI("<Master>pSrcSlot = %x, primaryType:%d", pSrcSlot, primaryType);
            if (pSrcSlot != nullptr && !rmd.armState[1]
               && pBonder1->canPlaceGlassInSlot(0)
               && !pBonder1->hasBondClass()) {
               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)
               && !pBonder2->hasBondClass()) {
               m_pActiveRobotTask = createTransferTask(pFliper, pBonder2, MaterialsType::G2, MaterialsType::G0, 2);
               CHECK_RUN_ACTIVE_ROBOT_TASK(m_pActiveRobotTask);
            }


            // VacuumBake(G1) -> Bonder
            if (!rmd.armState[0] && !pBonder1->hasBondClass()) {
               m_pActiveRobotTask = createTransferTask(pVacuumBake, pBonder1, primaryType, secondaryType);
               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);
               m_pActiveRobotTask = createTransferTask(pVacuumBake, pBonder2, MaterialsType::G1, MaterialsType::G0);
               CHECK_RUN_ACTIVE_ROBOT_TASK(m_pActiveRobotTask);
            }

@@ -704,8 +725,11 @@
            }

            if (!rmd.armState[0]) {
               // m_nTestFlag = 1;
               if (m_nTestFlag == 1) LOGI("createTransferTask 004df %d, %d", primaryType, secondaryType);
               m_pActiveRobotTask = createTransferTask(pAligner, pVacuumBake, primaryType, secondaryType);
               CHECK_RUN_ACTIVE_ROBOT_TASK(m_pActiveRobotTask);
               m_nTestFlag = 0;
            }


@@ -761,6 +785,10 @@
            if (m_pControlJob->state() == CJState::Queued) {
               LOGI("<Master>ControlJob已经启动");
               m_pControlJob->start();

               if (m_listener.onCjStart != nullptr) {
                  m_listener.onCjStart(this, m_pControlJob);
               }
            }
            if (m_pControlJob->state() == CJState::Paused) {
               LOGI("<Master>ControlJob已经恢复运行");
@@ -939,15 +967,22 @@
                  && pLoadPorts[s]->getPortStatus() == PORT_INUSE) {
                  m_pActiveRobotTask = createTransferTask(pLoadPorts[s], pAligner, primaryType, secondaryType, m_bJobMode);
                  if (m_pActiveRobotTask != nullptr) {
                     pEFEM->setContext(m_pActiveRobotTask->getContext());
                     bool bMoved = glassFromQueueToInPorcess((CGlass*)m_pActiveRobotTask->getContext());
                     CGlass* pGlass = (CGlass*)m_pActiveRobotTask->getContext();
                     pEFEM->setContext(pGlass);
                     pGlass->start();
                     bool bMoved = glassFromQueueToInPorcess(pGlass);
                     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());
                           pGlass->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());
                           pGlass->getID().c_str());
                     }

                     // 这里上报Panel Start事件
                     if (m_listener.onPanelStart != nullptr) {
                        m_listener.onPanelStart(this, pGlass);
                     }

                     goto BATCH_PORT_GET;
@@ -1258,6 +1293,15 @@
                     bOk = TRUE;
                     LOGI("<CMaster>onPreFethedOutJob, 已校验数据一致性.");
                  }
                  LOGI("<CMaster>onPreFethedOutJob 0004.");
                  if (pJobDataS != nullptr) {
                     LOGI("<CMaster>onPreFethedOutJob 0005. %d,%d,%d,%d", 
                        pJobDataS->getCassetteSequenceNo(),
                        pJobDataB->getCassetteSequenceNo(),
                        pJobDataS->getJobSequenceNo(),
                        pJobDataB->getJobSequenceNo()
                        );
                  }
               }
            }
            else if (p->getID() == EQ_ID_ARM_TRAY1 || p->getID() == EQ_ID_ARM_TRAY2) {
@@ -1299,7 +1343,7 @@
               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 +1354,7 @@
               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 +1415,32 @@

               // 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();
                  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)) {
                     LOGE("<Master>ProcessJob(%s)完成.",
                        pJob->id().c_str());
                     if (m_listener.onPjEnd != nullptr) {
                        m_listener.onPjEnd(this, pJob);
                     }
                  }
               }



               unlock();
@@ -1684,6 +1744,46 @@
         }
      }



      // 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);

            // 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();
            glassFromInPorcessToComplete(pGlass);

            // 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)) {
               LOGE("<Master>ProcessJob(%s)完成.",
                  pJob->id().c_str());
               if (m_listener.onPjEnd != nullptr) {
                  m_listener.onPjEnd(this, pJob);
               }
            }
         }
      }
		
   }

   void CMaster::connectEquipments()
@@ -1853,16 +1953,17 @@
      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) LOGI("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) LOGI("createTransferTask 004 %x, %x", pTarSlot, pSrcSlot);

      if (pSrcSlot != nullptr && nullptr != pTarSlot) {
         pTask = new CRobotTask();
@@ -2456,4 +2557,36 @@
      }
      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) {
            CGlass* pGlass = (CGlass*)g;
            if (pGlass->state() != GlsState::Aborted
               && pGlass->state() != GlsState::Completed
               && pGlass->state() != GlsState::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;
   }
}