Merge branch 'clh'

LAPTOP-SNT8I5JK\Boounion

2025-09-01 63686244746925d43248ceaf8d9e31f50df68a72

 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);
   }

@@ -505,13 +506,11 @@
            }
            
            // 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)
@@ -596,37 +595,62 @@
            }


            // 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++;
               }
            if (pBonder1->slotHasGlass(1)) {
               nG1Count++;
            }
            else if ((pBonder1->canPlaceGlassInSlot(0) && !pBonder1->canPlaceGlassInSlot(1))
               || (pBonder2->canPlaceGlassInSlot(0) && !pBonder2->canPlaceGlassInSlot(1))) {
               primaryType = MaterialsType::G2;
               secondaryType = MaterialsType::G1;

            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 +697,30 @@


            // 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 +728,16 @@
            // 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) LOGI("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 +749,17 @@


            // 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()
@@ -761,6 +804,10 @@
            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");
@@ -889,23 +936,23 @@

            // Fliper(G2) -> Bonder
            auto pSrcSlot = pVacuumBake->getProcessedSlot(primaryType);
            if (pSrcSlot != nullptr && !rmd.armState[1] && !pBonder1->hasBondClass()) {
            if (pSrcSlot != nullptr && !rmd.armState[1] && !pBonder1->hasBondGlass()) {
               m_pActiveRobotTask = createTransferTask(pFliper, pBonder1, primaryType, secondaryType, 2);
               CHECK_RUN_ACTIVE_ROBOT_TASK(m_pActiveRobotTask);
            }
            if (pSrcSlot != nullptr && !rmd.armState[1] && !pBonder2->hasBondClass()) {
            if (pSrcSlot != nullptr && !rmd.armState[1] && !pBonder2->hasBondGlass()) {
               m_pActiveRobotTask = createTransferTask(pFliper, pBonder2, primaryType, secondaryType, 2);
               CHECK_RUN_ACTIVE_ROBOT_TASK(m_pActiveRobotTask);
            }


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

            if (!rmd.armState[0] && !pBonder2->hasBondClass()) {
            if (!rmd.armState[0] && !pBonder2->hasBondGlass()) {
               m_pActiveRobotTask = createTransferTask(pVacuumBake, pBonder2, primaryType, secondaryType);
               CHECK_RUN_ACTIVE_ROBOT_TASK(m_pActiveRobotTask);
            }
@@ -950,6 +997,11 @@
                     else {
                        LOGE("<Master>Glass(%s)从等待列队到工艺列队转移失败.",
                           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;
@@ -1090,7 +1142,7 @@
            
            // 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) {
@@ -1102,7 +1154,7 @@

            // 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) {
@@ -1310,7 +1362,7 @@
               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.");
               }
            }

@@ -1321,7 +1373,7 @@
               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.");
               }
            }
         }
@@ -1384,6 +1436,7 @@
               if (m_pActiveRobotTask->getSrcPosition() == EQ_ID_MEASUREMENT) {
                  CGlass* pGlass = (CGlass*)m_pActiveRobotTask->getContext();
                  pGlass->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.",
@@ -1393,14 +1446,29 @@
                     LOGE("<Master>Glass(%s)从工艺列队到完成列队转移失败.",
                        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);
                        }
                     }
                  }
               }
@@ -1711,7 +1779,6 @@


      // 模拟测试
      /*
      static int aaa = 0;
      aaa++;
      if (aaa % 30 == 0) {
@@ -1719,6 +1786,12 @@
            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);
            }
         }
      }

@@ -1727,19 +1800,37 @@
            CGlass* pGlass = m_inProcesGlasses.front();
            pGlass->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()
@@ -1909,16 +2000,17 @@
      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();
@@ -2438,8 +2530,8 @@
      for (const auto pj : pjs) {
         if (pj->state() == PJState::Queued) {
            pj->start();
         }
         return pj;
         }
      }


@@ -2513,6 +2605,17 @@
      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);
@@ -2521,10 +2624,26 @@

      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;
            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;
         }
      }