Merge branch 'clh'

LAPTOP-SNT8I5JK\Boounion

2025-05-30 405bd36e812c3645e8d9d84700777e2eaeb036ec

 SourceCode/Bond/Servo/CMaster.h

@@ -12,9 +12,18 @@
#include "CArm.h"
#include "CArmTray.h"
#include "CCLinkIEControl.h"
#include "CRobotTask.h"


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

    typedef std::function<void(void* pMaster, MASTERSTATE state)> ONMASTERSTATECHANGED;
    typedef std::function<void(void* pMaster, CEquipment* pEiuipment, BOOL bAlive)> ONEQALIVE;
    typedef std::function<void(CStep* pStep, int code, void* pData)> ONEQSTEPEVENT;
    typedef std::function<void(void* pMaster, CEquipment* pEquipment, int state, int alarmId, int unitId, int level)> ONEQALARM;
@@ -22,6 +31,7 @@
    typedef std::function<void(void* pMaster, CEquipment* pEquipment, int code)> ONEQDATACHANGED;
    typedef struct _MasterListener
    {
        ONMASTERSTATECHANGED    onMasterStateChanged;
        ONEQALIVE            onEqAlive;
        ONEQALIVE              onEqCimStateChanged;
        ONEQALARM               onEqAlarm;
@@ -33,13 +43,19 @@
    {
    public:
        CMaster();
        ~CMaster();
        virtual ~CMaster();


    public:
        void setListener(MasterListener listener);
        CRobotTask* getActiveRobotTask();
        int init();
        int term();
        int start();
        int stop();
        ULONGLONG getRunTime();
        MASTERSTATE getState();
        unsigned DispatchProc();
        unsigned ReadBitsProc();
        void onTimer(UINT nTimerid);
        std::list<CEquipment*>& getEquipmentList();
@@ -47,6 +63,8 @@
        void setCacheFilepath(const char* pszFilepath);

    private:
        inline void lock() { EnterCriticalSection(&m_criticalSection); }
        inline void unlock() { LeaveCriticalSection(&m_criticalSection); }
        int addToEquipmentList(CEquipment* pEquipment);
        CLoadPort* addLoadPort(int index);
        CFliper* addFliper();
@@ -63,8 +81,11 @@
        int saveCacheAndBackups();
        int readCache();
        void serialize(CArchive& ar);
        void setState(MASTERSTATE state);
        CRobotTask* createTransferTask(CEquipment* pSrcEq, CEquipment* pTarEq);

    private:
        CRITICAL_SECTION m_criticalSection;
        MasterListener m_listener;
        CCCLinkIEControl m_cclink;
        std::list<CEquipment*> m_listEquipment;
@@ -72,9 +93,25 @@
        BOOL m_bDataModify;

    private:
        /* 监控比特位的线程*/
        HANDLE m_hEventReadBitsThreadExit[2];
        HANDLE m_hReadBitsThreadHandle;
        unsigned m_nReadBitsThreadAddr;

        // 调度线程
        HANDLE m_hDispatchEvent;
        HANDLE m_hEventDispatchThreadExit[2];
        HANDLE m_hDispatchThreadHandle;
        unsigned m_nDispatchThreadAddr;

        // 启动时间，运行时间，状态
        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;
    };
}