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LAPTOP-SNT8I5JK\Boounion

2025-06-23 56d92f02caa0e5bffb36a8f46446d297b0baf730

 SourceCode/Bond/Servo/CMaster.cpp

@@ -340,7 +340,7 @@
            int nRet;
            CEquipment* pEq[6] = { pEFEM, pBonder1, pBonder2, pBakeCooling, 
               pVacuumBake, pMeasurement};
            BOOL bIomcOk[7] = {FALSE, FALSE, FALSE, FALSE, FALSE, FALSE, TRUE};
            BOOL bIomcOk[7] = {FALSE, TRUE, TRUE, TRUE, TRUE, TRUE, TRUE};
            std::vector<std::promise<void>> promises(6);
            std::vector<std::future<void>> futures;

@@ -356,7 +356,7 @@
               goto WAIT;
            }
            futures.push_back(promises[0].get_future());

            /*
            nRet = pEq[1]->indexerOperationModeChange(IDNEXER_OPERATION_MODE::Start,
               [&](int writeCode, int retCode) -> void {
                  bIomcOk[1] = retCode == (int)RET::OK;
@@ -421,6 +421,7 @@
               goto WAIT;
            }
            futures.push_back(promises[5].get_future());
            */

WAIT:
            for (auto& f : futures) {
@@ -450,7 +451,49 @@
         // 处理完成当前事务后，切换到停止或就绪状态
         else if (m_state == MASTERSTATE::STOPPING) {
            unlock();
            Sleep(1000);
            LOGI("<Master>开始切换各设备到 Stop 模式...");

            std::vector<std::promise<void>> promises(6);
            std::vector<std::future<void>> futures;
            BOOL bIomcOk[7] = { FALSE, TRUE, TRUE, TRUE, TRUE, TRUE, TRUE };

            int nRet;
            CEquipment* pEq[6] = { pEFEM, pBonder1, pBonder2, pBakeCooling,
               pVacuumBake, pMeasurement };

            for (int i = 0; i < 1; ++i) {
               nRet = pEq[i]->indexerOperationModeChange(IDNEXER_OPERATION_MODE::Stop,
                  [i, &promises, &bIomcOk](int writeCode, int retCode) -> void {
                     bIomcOk[i] = retCode == (int)RET::OK;
                     promises[i].set_value();
                     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());
                  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
               }
               futures.push_back(promises[i].get_future());
            }

            for (auto& f : futures) {
               f.wait();  // 等待所有完成
            }

            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());
               }
            }

            if (!bIomcOk[6]) {
               setState(MASTERSTATE::MSERROR);
               continue;
            }

            LOGI("<Master>所有设备成功切换到 Stop 模式");
            setState(MASTERSTATE::READY);
            continue;
         }
@@ -466,6 +509,9 @@
            }

            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...");
@@ -494,8 +540,10 @@


            // Measurement -> LoadPort
            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"));
            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"));
            }
            CLoadPort* pEqLoadPort[] = { pLoadPort1, pLoadPort2, pLoadPort3, pLoadPort4 };
            CEquipment* pEqTar[] = { pVacuumBake, pFliper };
            if (primaryType == MaterialsType::G2) {
@@ -652,7 +700,7 @@
            // Aligner -> Fliper(G2)
            // Aligner -> VacuumBake(G1)
            if (!rmd.armState[1]) {
               m_pActiveRobotTask = createTransferTask(pAligner, pFliper, primaryType, secondaryType, 2);
               m_pActiveRobotTask = createTransferTask(pAligner, pFliper, primaryType, secondaryType);
               if (m_pActiveRobotTask != nullptr) {
                  m_pActiveRobotTask->pick();
                  std::string strDescription = m_pActiveRobotTask->getDescription();
@@ -686,6 +734,7 @@
                  && pEqLoadPort[s]->getPortMode() == PortMode::ReadyToLoad) {
                  m_pActiveRobotTask = createTransferTask(pEqLoadPort[s], pAligner, primaryType, secondaryType);
                  if (m_pActiveRobotTask != nullptr) {
                     pEFEM->setContext(m_pActiveRobotTask->getContext());
                     goto PORT_GET;
                  }
               }
@@ -835,11 +884,22 @@
                  LOGI("<CMaster>onPreFethedOutJob, 已校验数据一致性.");
               }
            }

            // 是否回撤
            else if (m_pActiveRobotTask->isRestoring() &&
               m_pActiveRobotTask->getSrcPosition() == p->getID()) {
               CGlass* pGlass = p->getGlassFromSlot(m_pActiveRobotTask->getSrcSlot());
               if (pGlass == nullptr) {
                  bOk = TRUE;
                  slot = m_pActiveRobotTask->getSrcSlot();
                  LOGI("<CMaster>onPreFethedOutJob, 已校验数据一致性.");
               }
            }
         }
         unlock();

         if (!bOk) {
            LOGE("<CMaster>onPreFethedOutJob, 数据校验失败.");
            LOGE("<CMaster>onPreStoredJob, 数据校验失败.");
         }

         return bOk;
@@ -869,7 +929,7 @@
               ) {
               LOGI("取片完成.");
               m_pActiveRobotTask->fetchOut();
               m_pActiveRobotTask->place();
               m_pActiveRobotTask->picked();
            }

            else if (m_pActiveRobotTask != nullptr
@@ -888,6 +948,25 @@
               }
               delete m_pActiveRobotTask;
               m_pActiveRobotTask = nullptr;
            }

            else if (m_pActiveRobotTask != nullptr
               && m_pActiveRobotTask->isRestoring()
               && m_pActiveRobotTask->getSrcPosition() == p->getID()) {
               m_pActiveRobotTask->stored();
               m_pActiveRobotTask->restored();
               LOGI("回撤完成...");
               // 完成此条搬送任务，但要把数据和消息上抛应用层
               unlock();


               lock();
               if (m_listener.onRobotTaskEvent != nullptr) {
                  m_listener.onRobotTaskEvent(this, m_pActiveRobotTask, ROBOT_EVENT_RESTORE);
               }
               delete m_pActiveRobotTask;
               m_pActiveRobotTask = nullptr;
               stop();
            }
            unlock();
         }
@@ -1418,6 +1497,18 @@
      return 0;
   }

   int CMaster::restoreCurrentTask()
   {
      lock();
      if (m_pActiveRobotTask != nullptr) {
         m_pActiveRobotTask->restore();
      }
      unlock();


      return 0;
   }

   void CMaster::setPortType(unsigned int index, BOOL enable, int type, int mode,
      int cassetteType, int transferMode, BOOL autoChangeEnable)
   {