1.Create PJ功能实现；

LAPTOP-SNT8I5JK\Boounion

2025-08-14 a2209cc432cb9c80779d83e51ef090f782e8404a

 SourceCode/Bond/Servo/CMaster.cpp

@@ -3,6 +3,7 @@
#include "CMaster.h"
#include <future>
#include <vector>
#include "RecipeManager.h"


namespace SERVO {
@@ -56,12 +57,17 @@
      m_bEnableAlarmReport = true;
      m_bContinuousTransfer = false;
      m_nContinuousTransferCount = 0;
      m_nContinuousTransferStep = CTStep_begin;
      m_nContinuousTransferStep = CTStep_Unknow;
      InitializeCriticalSection(&m_criticalSection);
   }

   CMaster::~CMaster()
   {
      for (auto item : m_processJobs) {
         delete item;
      }
      m_processJobs.clear();

      if (m_hEventReadBitsThreadExit[0] != nullptr) {
         ::CloseHandle(m_hEventReadBitsThreadExit[0]);
         m_hEventReadBitsThreadExit[0] = nullptr;
@@ -708,13 +714,15 @@
            // Measurement -> LoadPort
            for (int s = 0; s < 4; s++) {
               PortType pt = pLoadPorts[s]->getPortType();
               if (!rmd.armState[0] && pLoadPorts[s]->isEnable()
               if ((m_nContinuousTransferStep == CTStep_Unknow || m_nContinuousTransferStep == CTStep_BakeCooling_Measurement)
                  && !rmd.armState[0] && pLoadPorts[s]->isEnable()
                  && (pt == PortType::Unloading || pt == PortType::Both)
                  && pLoadPorts[s]->getPortStatus() == PORT_INUSE) {
                  for (int slot = 0; slot < SLOT_MAX; slot++) {
                     m_pActiveRobotTask = createTransferTask_continuous_transfer(pMeasurement,
                        0, pLoadPorts[s], slot);
                     if (m_pActiveRobotTask != nullptr) {
                        m_nContinuousTransferStep = CTStep_Measurement_LoadPort;
                        m_nContinuousTransferStep = CTStep_end;
                        goto CT_PORT_PUT;
                     }
@@ -727,10 +735,12 @@


            // BakeCooling ->Measurement
            if (!rmd.armState[0]) {
            if ((m_nContinuousTransferStep == CTStep_Unknow || m_nContinuousTransferStep == CTStep_BakeCooling_BakeCooling3)
               && !rmd.armState[0]) {
               m_pActiveRobotTask = createTransferTask_continuous_transfer(pBakeCooling,
                  3, pMeasurement, 0);
               if (m_pActiveRobotTask != nullptr) {
                  m_nContinuousTransferStep = CTStep_BakeCooling_Measurement;
                  LOGI("<ContinuousTransfer>千传测试，开始搬送任务(BakeCooling -> Measurement)...");
               }
               CHECK_RUN_ACTIVE_ROBOT_TASK(m_pActiveRobotTask);
@@ -738,86 +748,104 @@

            
            // BakeCooling内部
            if (!rmd.armState[0]) {
            if ((m_nContinuousTransferStep == CTStep_Unknow || m_nContinuousTransferStep == CTStep_BakeCooling_BakeCooling2)
               && !rmd.armState[0]) {
               m_pActiveRobotTask = createTransferTask_continuous_transfer(pBakeCooling,
                  2, pBakeCooling, 3);
               if (m_pActiveRobotTask != nullptr) {
                  m_nContinuousTransferStep = CTStep_BakeCooling_BakeCooling3;
                  LOGI("<ContinuousTransfer>千传测试，开始搬送任务(BakeCooling-2 -> BakeCooling-3)...");
               }
               CHECK_RUN_ACTIVE_ROBOT_TASK(m_pActiveRobotTask);
            }
            if (!rmd.armState[0]) {
            if ((m_nContinuousTransferStep == CTStep_Unknow || m_nContinuousTransferStep == CTStep_BakeCooling_BakeCooling1)
               && !rmd.armState[0]) {
               m_pActiveRobotTask = createTransferTask_continuous_transfer(pBakeCooling,
                  1, pBakeCooling, 2);
               if (m_pActiveRobotTask != nullptr) {
                  m_nContinuousTransferStep = CTStep_BakeCooling_BakeCooling2;
                  LOGI("<ContinuousTransfer>千传测试，开始搬送任务(BakeCooling-1 -> BakeCooling-2)...");
               }
               CHECK_RUN_ACTIVE_ROBOT_TASK(m_pActiveRobotTask);
            }
            if (!rmd.armState[0]) {
            if ((m_nContinuousTransferStep == CTStep_Unknow || m_nContinuousTransferStep == CTStep_VacuumBake_BakeCooling)
               && !rmd.armState[0]) {
               m_pActiveRobotTask = createTransferTask_continuous_transfer(pBakeCooling,
                  0, pBakeCooling, 1);
               if (m_pActiveRobotTask != nullptr) {
                  m_nContinuousTransferStep = CTStep_BakeCooling_BakeCooling1;
                  LOGI("<ContinuousTransfer>千传测试，开始搬送任务(BakeCooling-0 -> BakeCooling-1)...");
               }
               CHECK_RUN_ACTIVE_ROBOT_TASK(m_pActiveRobotTask);
            }

            // VacuumBake(G1) -> BakeCooling
            if (!rmd.armState[0]) {
            if ((m_nContinuousTransferStep == CTStep_Unknow || m_nContinuousTransferStep == CTStep_VacuumBake_VacuumBake)
               && !rmd.armState[0]) {
               m_pActiveRobotTask = createTransferTask_continuous_transfer(pVacuumBake,
                  1, pBakeCooling, 0);
               if (m_pActiveRobotTask != nullptr) {
                  m_nContinuousTransferStep = CTStep_VacuumBake_BakeCooling;
                  LOGI("<ContinuousTransfer>千传测试，开始搬送任务(VacuumBake(G1) -> BakeCooling)...");
               }
               CHECK_RUN_ACTIVE_ROBOT_TASK(m_pActiveRobotTask);
            }

            // VacuumBake(G1) -> VacuumBake(G1)
            if (!rmd.armState[0]) {
            if ((m_nContinuousTransferStep == CTStep_Unknow || m_nContinuousTransferStep == CTStep_Bonder2_VacuumBake)
               && !rmd.armState[0]) {
               m_pActiveRobotTask = createTransferTask_continuous_transfer(pVacuumBake,
                  0, pVacuumBake, 1);
               if (m_pActiveRobotTask != nullptr) {
                  m_nContinuousTransferStep = CTStep_VacuumBake_VacuumBake;
                  LOGI("<ContinuousTransfer>千传测试，开始搬送任务(VacuumBake(G1-0) -> VacuumBake(G1-1))...");
               }
               CHECK_RUN_ACTIVE_ROBOT_TASK(m_pActiveRobotTask);
            }

            // Bonder2 -> VacuumBake(G1)
            if (!rmd.armState[0]) {
            if ((m_nContinuousTransferStep == CTStep_Unknow || m_nContinuousTransferStep == CTStep_Bonder1_Bonder2)
               && !rmd.armState[0]) {
               m_pActiveRobotTask = createTransferTask_continuous_transfer(pBonder2,
                  1, pVacuumBake, 0);
               if (m_pActiveRobotTask != nullptr) {
                  m_nContinuousTransferStep = CTStep_Bonder2_VacuumBake;
                  LOGI("<ContinuousTransfer>千传测试，开始搬送任务(Bonder2 -> VacuumBake(G1))...");
               }
               CHECK_RUN_ACTIVE_ROBOT_TASK(m_pActiveRobotTask);
            }
            
            // Bonder1 -> Bonder2
            if (!rmd.armState[0] && !pBonder2->hasBondClass()) {
            if ((m_nContinuousTransferStep == CTStep_Unknow || m_nContinuousTransferStep == CTStep_Fliper_Bonder1)
               && !rmd.armState[0] && !pBonder2->hasBondClass()) {
               m_pActiveRobotTask = createTransferTask_continuous_transfer(pBonder1,
                  1, pBonder2, 1);
               if (m_pActiveRobotTask != nullptr) {
                  m_nContinuousTransferStep = CTStep_Bonder1_Bonder2;
                  LOGI("<ContinuousTransfer>千传测试，开始搬送任务(Bonder1 -> Bonder2)...");
               }
               CHECK_RUN_ACTIVE_ROBOT_TASK(m_pActiveRobotTask);
            }

            // Fliper(G2) -> Bonder1
            if (!rmd.armState[0] && !pBonder1->hasBondClass()) {
            if ((m_nContinuousTransferStep == CTStep_Unknow || m_nContinuousTransferStep == CTStep_Aligner_Fliper)
               &&!rmd.armState[0] && !pBonder1->hasBondClass()) {
               m_pActiveRobotTask = createTransferTask_continuous_transfer(pFliper,
                  0, pBonder1, 1, 2);
                  0, pBonder1, 1);
               if (m_pActiveRobotTask != nullptr) {
                  m_nContinuousTransferStep = CTStep_Fliper_Bonder1;
                  LOGI("<ContinuousTransfer>千传测试，开始搬送任务(Fliper(G2) -> Bonder1)...");
               }
               CHECK_RUN_ACTIVE_ROBOT_TASK(m_pActiveRobotTask);
            }

            // Aligner -> Fliper(G2)
            if (!rmd.armState[1]) {
            if ((m_nContinuousTransferStep == CTStep_Unknow || m_nContinuousTransferStep == CTStep_LoadPort_Aligner)
               && !rmd.armState[1]) {
               m_pActiveRobotTask = createTransferTask_continuous_transfer(pAligner,
                  0, pFliper, 0);
               if (m_pActiveRobotTask != nullptr) {
                  m_nContinuousTransferStep = CTStep_Aligner_Fliper;
                  LOGI("<ContinuousTransfer>千传测试，开始搬送任务(Aligner -> Fliper(G2))...");
               }
               CHECK_RUN_ACTIVE_ROBOT_TASK(m_pActiveRobotTask);
@@ -826,13 +854,15 @@
            // LoadPort -> Aligner
            for (int s = 0; s < 4; s++) {
               PortType pt = pLoadPorts[s]->getPortType();
               if (!rmd.armState[0] && pLoadPorts[s]->isEnable()
               if ((m_nContinuousTransferStep == CTStep_Unknow || m_nContinuousTransferStep == CTStep_end)
                  && !rmd.armState[0] && pLoadPorts[s]->isEnable()
                  && (pt == PortType::Loading || pt == PortType::Both)
                  && pLoadPorts[s]->getPortStatus() == PORT_INUSE) {
                  for (int slot = 0; slot < SLOT_MAX; slot++) {
                     m_pActiveRobotTask = createTransferTask_continuous_transfer(pLoadPorts[s], 
                        slot, pAligner, 0);
                     if (m_pActiveRobotTask != nullptr) {
                        m_nContinuousTransferStep = CTStep_LoadPort_Aligner;
                        LOGI("<ContinuousTransfer>千传测试，开始搬送任务(LoadPort -> Aligner)...");
                        pEFEM->setContext(m_pActiveRobotTask->getContext());
                        goto CT_PORT_GET;
@@ -1122,6 +1152,15 @@
   }

   CEquipment* CMaster::getEquipment(int id)
   {
      for (auto item : m_listEquipment) {
         if (item->getID() == id) return item;
      }

      return nullptr;
   }

   CEquipment* CMaster::getEquipment(int id) const
   {
      for (auto item : m_listEquipment) {
         if (item->getID() == id) return item;
@@ -1807,4 +1846,63 @@
   {
      m_nContinuousTransferCount = round;
   }

   int CMaster::setProcessJobs(std::vector<SERVO::CProcessJob*>& pjs)
   {
      std::vector<SERVO::CProcessJob*> temp;
      for (auto p : pjs) {
         if (p->validate(*this)) {
            temp.push_back(p);
         }
      }

      m_processJobs = temp;
      return m_processJobs.size();
   }

   CLoadPort* CMaster::getPortWithCarrierId(const std::string& carrierId) const
   {
      CLoadPort* pPort;
      int eqid[] = { EQ_ID_LOADPORT1, EQ_ID_LOADPORT2, EQ_ID_LOADPORT3, EQ_ID_LOADPORT4};
      for (int i = 0; i < 4; i++) {
         pPort = (CLoadPort*)getEquipment(eqid[i]);
         ASSERT(pPort);
         if (pPort->getCassetteId().compare(carrierId) == 0) return pPort;
      }

      return nullptr;
   }

   bool CMaster::isProcessJobsEmpty() const
   {
      return m_processJobs.empty();
   }

   bool CMaster::recipeExists(const std::string& ppid) const
   {
      std::vector<std::string> vecRecipe = RecipeManager::getInstance().getAllPPID();
      bool exists = std::find(vecRecipe.begin(), vecRecipe.end(), ppid) != vecRecipe.end();
      return exists;
   }

   bool CMaster::carrierPresent(const std::string& carrierId) const
   {
      CLoadPort* pPort = getPortWithCarrierId(carrierId);
      return pPort != nullptr;
   }

   bool CMaster::slotUsable(const std::string& carrierId, uint16_t slot) const
   {
      CLoadPort* pPort = getPortWithCarrierId(carrierId);
      if(pPort == nullptr) return false;
      CSlot* pSlot = pPort->getSlot(slot);
      if (pSlot == nullptr) return false;
      return pSlot->isEnable();
   }

   bool CMaster::ceidDefined(uint32_t ceid) const
   {
      return true;
   }

}