1.EAP模拟器，增加Link Report加载功能，列表展示功能，修改Report ID功能，但未真正下发到指令到Master.

LAPTOP-SNT8I5JK\Boounion

2025-07-24 8b96cadc838caf8d664e2d54576874bec299972a

 SourceCode/Bond/Servo/CMaster.cpp

@@ -51,6 +51,8 @@
      m_state = MASTERSTATE::READY;
      m_pActiveRobotTask = nullptr;
      m_nLastError = 0;
      m_bEnableEventReport = true;
      m_bEnableAlarmReport = true;
      InitializeCriticalSection(&m_criticalSection);
   }

@@ -297,11 +299,12 @@


      // 各种机器
      CLoadPort* pLoadPorts[4];
      CEFEM* pEFEM = (CEFEM*)getEquipment(EQ_ID_EFEM);
      CLoadPort* pLoadPort1 = (CLoadPort*)getEquipment(EQ_ID_LOADPORT1);
      CLoadPort* pLoadPort2 = (CLoadPort*)getEquipment(EQ_ID_LOADPORT2);
      CLoadPort* pLoadPort3 = (CLoadPort*)getEquipment(EQ_ID_LOADPORT3);
      CLoadPort* pLoadPort4 = (CLoadPort*)getEquipment(EQ_ID_LOADPORT4);
      pLoadPorts[0] = (CLoadPort*)getEquipment(EQ_ID_LOADPORT1);
      pLoadPorts[1] = (CLoadPort*)getEquipment(EQ_ID_LOADPORT2);
      pLoadPorts[2] = (CLoadPort*)getEquipment(EQ_ID_LOADPORT3);
      pLoadPorts[3] = (CLoadPort*)getEquipment(EQ_ID_LOADPORT4);
      CFliper* pFliper = (CFliper*)getEquipment(EQ_ID_FLIPER);
      CVacuumBake* pVacuumBake = (CVacuumBake*)getEquipment(EQ_ID_VACUUMBAKE);
      CAligner* pAligner = (CAligner*)getEquipment(EQ_ID_ALIGNER);
@@ -311,10 +314,10 @@
      CMeasurement* pMeasurement = (CMeasurement*)getEquipment(EQ_ID_MEASUREMENT);

      ASSERT(pEFEM);
      ASSERT(pLoadPort1);
      ASSERT(pLoadPort2);
      ASSERT(pLoadPort3);
      ASSERT(pLoadPort4);
      ASSERT(pLoadPorts[0]);
      ASSERT(pLoadPorts[1]);
      ASSERT(pLoadPorts[2]);
      ASSERT(pLoadPorts[3]);
      ASSERT(pFliper);
      ASSERT(pVacuumBake);
      ASSERT(pAligner);
@@ -509,6 +512,9 @@
            }

            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...");
@@ -537,19 +543,20 @@


            // 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"));
            CLoadPort* pEqLoadPort[] = { pLoadPort1, pLoadPort2, pLoadPort3, pLoadPort4 };
            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"));
            }
            CEquipment* pEqTar[] = { pVacuumBake, pFliper };
            if (primaryType == MaterialsType::G2) {
               pEqTar[0] = pFliper;
               pEqTar[1] = pVacuumBake;
            }
            for (int s = 0; s < 4; s++) {
               if (!rmd.armState[0] && pEqLoadPort[s]->isEnable()
                  && pEqLoadPort[s]->getPortType() == PortType::Unloading
                  && pEqLoadPort[s]->getPortMode() == PortMode::ReadyToUnload) {
                  m_pActiveRobotTask = createTransferTask(pMeasurement, pEqLoadPort[s], primaryType, secondaryType);
               if (!rmd.armState[0] && pLoadPorts[s]->isEnable()
                  && pLoadPorts[s]->getPortType() == PortType::Unloading
                  && pLoadPorts[s]->getPortMode() == PortMode::ReadyToUnload) {
                  m_pActiveRobotTask = createTransferTask(pMeasurement, pLoadPorts[s], primaryType, secondaryType);
                  if (m_pActiveRobotTask != nullptr) {
                     goto PORT_PUT;
                  }
@@ -567,6 +574,25 @@
               LOGI("创建新任务<%s>...", strDescription.c_str());
               continue;
            }


            // Measurement NG -> LoadPort
            // NG回原位
            if (!rmd.armState[1]) {
               m_pActiveRobotTask = createTransferTask_restore(pMeasurement, pLoadPorts);
               if (m_pActiveRobotTask != nullptr) {
                  m_pActiveRobotTask->pick();
                  std::string strDescription = m_pActiveRobotTask->getDescription();
                  unlock();
                  if (m_listener.onRobotTaskEvent != nullptr) {
                     m_listener.onRobotTaskEvent(this, m_pActiveRobotTask, ROBOT_EVENT_CREATE);
                  }
                  LOGI("创建Measurement回退任务<%s>...", strDescription.c_str());
                  continue;
               }
            }




            // BakeCooling ->Measurement
@@ -695,7 +721,7 @@
            // 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();
@@ -722,13 +748,32 @@
               }
            }

            // Aligner -> LoadPort
            if (!rmd.armState[1]) {
               m_pActiveRobotTask = createTransferTask_restore(pAligner, pLoadPorts);
               if (m_pActiveRobotTask != nullptr) {
                  m_pActiveRobotTask->pick();
                  std::string strDescription = m_pActiveRobotTask->getDescription();
                  unlock();
                  if (m_listener.onRobotTaskEvent != nullptr) {
                     m_listener.onRobotTaskEvent(this, m_pActiveRobotTask, ROBOT_EVENT_CREATE);
                  }
                  LOGI("创建Aligner回退任务<%s>...", strDescription.c_str());
                  continue;
               }
            }




            // LoadPort -> Aligner
            for (int s = 0; s < 4; s++) {
               if (!rmd.armState[0] && pEqLoadPort[s]->isEnable()
                  && pEqLoadPort[s]->getPortType() == PortType::Loading
                  && pEqLoadPort[s]->getPortMode() == PortMode::ReadyToLoad) {
                  m_pActiveRobotTask = createTransferTask(pEqLoadPort[s], pAligner, primaryType, secondaryType);
               if (!rmd.armState[0] && pLoadPorts[s]->isEnable()
                  && pLoadPorts[s]->getPortType() == PortType::Loading
                  && pLoadPorts[s]->getPortMode() == PortMode::ReadyToLoad) {
                  m_pActiveRobotTask = createTransferTask(pLoadPorts[s], pAligner, primaryType, secondaryType);
                  if (m_pActiveRobotTask != nullptr) {
                     pEFEM->setContext(m_pActiveRobotTask->getContext());
                     goto PORT_GET;
                  }
               }
@@ -773,11 +818,12 @@
         for (auto item : m_listEquipment) {
            const StationIdentifier& station = item->getStation();
            MemoryBlock& block = item->getReadBitBlock();

            int nRet = m_cclink.ReadData2(station, (DeviceType)block.type,
               block.start, block.size, block.buffer);
            if (0 == nRet) {
               item->onReceiveLBData(block.buffer, block.size);
            if (block.end > block.start) {
               int nRet = m_cclink.ReadData2(station, (DeviceType)block.type,
                  block.start, block.size, block.buffer);
               if (0 == nRet) {
                  item->onReceiveLBData(block.buffer, block.size);
               }
            }
         }
      }
@@ -818,7 +864,7 @@
            m_listener.onEqVcrEventReport(this, p, p2);
         }
      };
      listener.onPreFethedOutJob = [&](void* pEquipment, CJobDataB* pJobDataB) -> BOOL {
      listener.onPreFethedOutJob = [&](void* pEquipment, int port, CJobDataB* pJobDataB) -> BOOL {
         CEquipment* p = (CEquipment*)pEquipment;


@@ -851,7 +897,7 @@
         return bOk;

      };
      listener.onPreStoredJob = [&](void* pEquipment, CJobDataB* pJobDataB, short& slot) -> BOOL {
      listener.onPreStoredJob = [&](void* pEquipment, int port, CJobDataB* pJobDataB, short& slot) -> BOOL {
         CEquipment* p = (CEquipment*)pEquipment;


@@ -878,11 +924,22 @@
                  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 && m_pActiveRobotTask->getSrcSlot() == port) {
                  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;
@@ -912,7 +969,7 @@
               ) {
               LOGI("取片完成.");
               m_pActiveRobotTask->fetchOut();
               m_pActiveRobotTask->place();
               m_pActiveRobotTask->picked();
            }

            else if (m_pActiveRobotTask != nullptr
@@ -932,11 +989,34 @@
               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();
         }
      };
      listener.onProcessStateChanged = [&](void* pEquipment, PROCESS_STATE state) -> void {
         LOGI("<Master>onProcessStateChanged<%d>", (int)state);
      };
      listener.onMapMismatch = [&](void* pEquipment, short scanMap, short downMap) {
         LOGE("<Master-%s>Port InUse, map(%d!=%d)不一致，请检查。",
            ((CEquipment*)pEquipment)->getName().c_str(), scanMap, downMap);
      };
      pEquipment->setListener(listener);
      pEquipment->setCcLink(&m_cclink);
@@ -992,7 +1072,7 @@
      pEquipment->setBaseAlarmId(BASE_ALARM_EFEM);
      pEquipment->setName("Fliper(G2)");
      pEquipment->setDescription("Fliper(G2).");
      pEquipment->setReadBitBlock(0x4000, 0x45ff);
      pEquipment->setReadBitBlock(0x0, 0x0);
      pEquipment->setStation(0, 255);
      addToEquipmentList(pEquipment);

@@ -1027,7 +1107,7 @@
      pEquipment->setBaseAlarmId(BASE_ALARM_EFEM);
      pEquipment->setName("Aligner");
      pEquipment->setDescription("Aligner.");
      pEquipment->setReadBitBlock(0x4000, 0x45ff);
      pEquipment->setReadBitBlock(0x0, 0x0);
      pEquipment->setStation(0, 255);
      addToEquipmentList(pEquipment);

@@ -1154,27 +1234,8 @@
      }


      // 按一定频率扫描LB数据
      static int i = 0;
      i++;
      /*
      if (i % (4 * 1) == 0) {

         for (auto item : m_listEquipment) {
            if (item->getID() == EQ_ID_Bonder1) {
               const StationIdentifier& station = item->getStation();
               MemoryBlock& block = item->getReadBitBlock();

               int nRet = m_cclink.ReadData2(station, (DeviceType)block.type,
                  block.start, block.size, block.buffer);
               if (0 == nRet) {
                  item->onReceiveLBData(block.buffer, block.size);
               }
            }
         }
      }
      */


      // 自动保存缓存
      if (i % (4 * 2) == 0) {
@@ -1374,7 +1435,7 @@

   CRobotTask* CMaster::createTransferTask_bonder_to_bakecooling(CEquipment* pSrcEq, CEquipment* pTarEq)
   {
      std::vector<int> slots = {1, 2};
      std::vector<int> slots = {1, 3};

      CRobotTask* pTask = nullptr;
      CSlot* pSrcSlot, * pTarSlot;
@@ -1395,8 +1456,8 @@

   CRobotTask* CMaster::createTransferTask_bake_to_cooling(CEquipment* pSrcEq)
   {
      std::vector<int> slotsTar = { 3, 4 };
      std::vector<int> slotsSrc = { 1, 2 };
      std::vector<int> slotsTar = { 2, 4 };
      std::vector<int> slotsSrc = { 1, 3 };

      CRobotTask* pTask = nullptr;
      CSlot* pSrcSlot, * pTarSlot;
@@ -1417,12 +1478,44 @@

   CRobotTask* CMaster::createTransferTask_bakecooling_to_measurement(CEquipment* pSrcEq, CEquipment* pTarEq)
   {
      std::vector<int> slots = { 3, 4 };
      std::vector<int> slots = { 2, 4 };

      CRobotTask* pTask = nullptr;
      CSlot* pSrcSlot, * pTarSlot;
      pTarSlot = pTarEq->getAvailableSlotForGlass(MaterialsType::G1);
      pSrcSlot = pSrcEq->getProcessedSlot2(MaterialsType::G1, slots);

      if (pSrcSlot != nullptr && nullptr != pTarSlot) {
         pTask = new CRobotTask();
         pTask->setContext(pSrcSlot->getContext());
         pTask->setEFEM((CEFEM*)getEquipment(EQ_ID_EFEM));
         taskSeqNo = pTask->setRobotTransferParam(taskSeqNo, 1, pSrcSlot->getPosition(),
            pTarSlot->getPosition(), pSrcSlot->getNo(), pTarSlot->getNo());
      }


      return pTask;
   }

   CRobotTask* CMaster::createTransferTask_restore(CEquipment* pEqSrc, CLoadPort** pPorts)
   {
      CRobotTask* pTask = nullptr;
      CSlot* pSrcSlot, * pTarSlot = nullptr, * pTempSlot;
      pSrcSlot = pEqSrc->getInspFailSlot();
      if (pSrcSlot != nullptr) {
         CGlass* pGlass = (CGlass*)pSrcSlot->getContext();
         ASSERT(pGlass);
         int port, slot;
         pGlass->getOrginPort(port, slot);
         pGlass->setInspResult(pPorts[port]->getID(), 0, InspResult::Fail);
         ASSERT(0 <= port && port < 4);
         ASSERT(0 <= slot && slot < 8);
         pTempSlot = pPorts[port]->getSlot(slot);
         if (pTempSlot->getContext() == nullptr) {
            pTarSlot = pTempSlot;
         }
      }


      if (pSrcSlot != nullptr && nullptr != pTarSlot) {
         pTask = new CRobotTask();
@@ -1461,6 +1554,18 @@
      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)
   {
@@ -1474,4 +1579,27 @@
      pPort->localSetTransferMode((SERVO::TransferMode)transferMode);
      pPort->localAutoChangeEnable(autoChangeEnable);
   }

   void CMaster::datetimeSync(SYSTEMTIME& time)
   {
      for (auto item : m_listEquipment) {
         item->setDateTime(time.wYear, time.wMonth, time.wDay,
            time.wHour, time.wMinute, time.wSecond);
      }
   }

   void CMaster::enableEventReport(bool bEnable)
   {
      m_bEnableEventReport = bEnable;
   }

   void CMaster::enableAlarmReport(bool bEnable)
   {
      m_bEnableAlarmReport = bEnable;
   }

   bool CMaster::isAlarmReportEnable()
   {
      return m_bEnableAlarmReport;
   }
}