Merge branch 'clh' into liuyang

mrDarker

2025-08-09 a8fb417ef1fb696723c8b8d5a340e8ca2e0312ae

 SourceCode/Bond/Servo/CMaster.cpp

@@ -55,6 +55,8 @@
      m_bEnableEventReport = true;
      m_bEnableAlarmReport = true;
      m_bContinuousTransfer = false;
      m_nContinuousTransferCount = 0;
      m_nContinuousTransferStep = CTStep_begin;
      InitializeCriticalSection(&m_criticalSection);
   }

@@ -294,7 +296,7 @@

   ULONGLONG CMaster::getRunTime()
   {
      if (m_state == MASTERSTATE::RUNNING)
      if (m_state == MASTERSTATE::RUNNING || m_state == MASTERSTATE::RUNNING_CONTINUOUS_TRANSFER)
         return m_ullRunTime + (GetTickCount64() - m_ullStartTime);
      else
         return m_ullRunTime;
@@ -345,7 +347,7 @@
      while (1) {
         // 待退出信号或时间到
         HANDLE hEvents[] = { m_hEventDispatchThreadExit[0], m_hDispatchEvent };
         int nRet = WaitForMultipleObjects(2, hEvents, FALSE, 1000);
         int nRet = WaitForMultipleObjects(2, hEvents, FALSE, 500);
         if (nRet == WAIT_OBJECT_0) {
            break;
         }
@@ -713,6 +715,7 @@
                     m_pActiveRobotTask = createTransferTask_continuous_transfer(pMeasurement,
                        0, pLoadPorts[s], slot);
                     if (m_pActiveRobotTask != nullptr) {
                        m_nContinuousTransferStep = CTStep_end;
                        goto CT_PORT_PUT;
                     }
                  }
@@ -727,6 +730,9 @@
            if (!rmd.armState[0]) {
               m_pActiveRobotTask = createTransferTask_continuous_transfer(pBakeCooling,
                  3, pMeasurement, 0);
               if (m_pActiveRobotTask != nullptr) {
                  LOGI("<ContinuousTransfer>千传测试，开始搬送任务(BakeCooling -> Measurement)...");
               }
               CHECK_RUN_ACTIVE_ROBOT_TASK(m_pActiveRobotTask);
            }

@@ -735,44 +741,75 @@
            if (!rmd.armState[0]) {
               m_pActiveRobotTask = createTransferTask_continuous_transfer(pBakeCooling,
                  2, pBakeCooling, 3);
               if (m_pActiveRobotTask != nullptr) {
                  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]) {
               m_pActiveRobotTask = createTransferTask_continuous_transfer(pBakeCooling,
                  1, pBakeCooling, 2);
               if (m_pActiveRobotTask != nullptr) {
                  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]) {
               m_pActiveRobotTask = createTransferTask_continuous_transfer(pBakeCooling,
                  0, pBakeCooling, 1);
               if (m_pActiveRobotTask != nullptr) {
                  LOGI("<ContinuousTransfer>千传测试，开始搬送任务(BakeCooling-0 -> BakeCooling-1)...");
               }
               CHECK_RUN_ACTIVE_ROBOT_TASK(m_pActiveRobotTask);
            }

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

            // VacuumBake(G1) -> Bonder1
            // Fliper(G2) -> Bonder1
            if (!rmd.armState[0] && !pBonder1->hasBondClass()) {
               m_pActiveRobotTask = createTransferTask_continuous_transfer(pVacuumBake,
                  0, pBonder1, 0);
               CHECK_RUN_ACTIVE_ROBOT_TASK(m_pActiveRobotTask);
            }

            // Fliper(G2) -> VacuumBake(G1)
            if (!rmd.armState[0]) {
               m_pActiveRobotTask = createTransferTask_continuous_transfer(pFliper,
                  0, pVacuumBake, 0);
                  0, pBonder1, 1, 2);
               if (m_pActiveRobotTask != nullptr) {
                  LOGI("<ContinuousTransfer>千传测试，开始搬送任务(Fliper(G2) -> Bonder1)...");
               }
               CHECK_RUN_ACTIVE_ROBOT_TASK(m_pActiveRobotTask);
            }

@@ -780,6 +817,9 @@
            if (!rmd.armState[1]) {
               m_pActiveRobotTask = createTransferTask_continuous_transfer(pAligner,
                  0, pFliper, 0);
               if (m_pActiveRobotTask != nullptr) {
                  LOGI("<ContinuousTransfer>千传测试，开始搬送任务(Aligner -> Fliper(G2))...");
               }
               CHECK_RUN_ACTIVE_ROBOT_TASK(m_pActiveRobotTask);
            }

@@ -793,6 +833,7 @@
                     m_pActiveRobotTask = createTransferTask_continuous_transfer(pLoadPorts[s], 
                        slot, pAligner, 0);
                     if (m_pActiveRobotTask != nullptr) {
                        LOGI("<ContinuousTransfer>千传测试，开始搬送任务(LoadPort -> Aligner)...");
                        pEFEM->setContext(m_pActiveRobotTask->getContext());
                        goto CT_PORT_GET;
                     }
@@ -801,6 +842,10 @@
            }

         CT_PORT_GET:
            if (m_pActiveRobotTask != nullptr) {
               m_nContinuousTransferStep = CTStep_begin;
               LOGI("<ContinuousTransfer>千传测试，开始第 %d 轮", m_nContinuousTransferCount + 1);
            }
            CHECK_RUN_ACTIVE_ROBOT_TASK(m_pActiveRobotTask);


@@ -822,6 +867,16 @@

   unsigned CMaster::ReadBitsProc()
   {
      // 标志位清0复位		
      {
         StationIdentifier station;
         station.nNetNo = 0;
         station.nStNo = 255;
         char szBuffer[528] = { 0 };   // 0x0, 0x1087
         m_cclink.WriteData(station, (long)DeviceType::B, 0, 528, (short*)szBuffer);
      }


      while (1) {
         // 待退出信号或时间到
         int nRet = ::WaitForSingleObject(m_hEventReadBitsThreadExit[0], 1000);
@@ -882,6 +937,8 @@
      listener.onPreFethedOutJob = [&](void* pEquipment, int port, CJobDataB* pJobDataB) -> BOOL {
         CEquipment* p = (CEquipment*)pEquipment;

         // 可能要加这一句
         Sleep(750);

         // 取片，更新当前搬送任务
         BOOL bOk = FALSE;
@@ -915,6 +972,8 @@
      listener.onPreStoredJob = [&](void* pEquipment, int port, CJobDataB* pJobDataB, short& slot) -> BOOL {
         CEquipment* p = (CEquipment*)pEquipment;

         // 可能要加这一句
         Sleep(750);

         // 放片，更新当前搬送任务
         BOOL bOk = FALSE;
@@ -992,6 +1051,17 @@
               && m_pActiveRobotTask->getTarPosition() == p->getID()) {
               m_pActiveRobotTask->stored();
               m_pActiveRobotTask->completed();

               if (m_state == MASTERSTATE::RUNNING_CONTINUOUS_TRANSFER) {
                  if (m_nContinuousTransferStep == CTStep_end) {
                     m_nContinuousTransferCount++;
                     LOGI("<ContinuousTransfer>千传测试，第 %d 轮结束", m_nContinuousTransferCount);
                     if (m_listener.onCTRoundEnd != nullptr) {
                        m_listener.onCTRoundEnd(this, m_nContinuousTransferCount);
                     }
                  }
               }

               LOGI("放片完成...");
               // 完成此条搬送任务，但要把数据和消息上抛应用层
               unlock();
@@ -1034,7 +1104,7 @@
            ((CEquipment*)pEquipment)->getName().c_str(), scanMap, downMap);
      };
      listener.onPortStatusChanged = [&](void* pEquipment, short status, __int64 data) {
         LOGE("<Master-%s>Port InUse。status=%d, data=%lld", ((CEquipment*)pEquipment)->getName().c_str(), status);
         LOGE("<Master-%s>onPortStatusChanged。status=%d, data=%lld", ((CEquipment*)pEquipment)->getName().c_str(), status);
         if (m_listener.onLoadPortStatusChanged != nullptr) {
            m_listener.onLoadPortStatusChanged(this, (CEquipment*)pEquipment, status, data);
         }
@@ -1582,8 +1652,12 @@
      }

      CRobotTask* pTask = nullptr;
      CSlot* pTarSlot = pTarEq->isSlotAvailable(nTarSlot);
      CSlot* pSrcSlot = pSrcEq->getProcessedSlotCt(nSrcSlot);
      if (pSrcSlot != nullptr && pSrcEq->getID() == EQ_ID_MEASUREMENT
         && (pTarEq->getID() == EQ_ID_LOADPORT1 || pTarEq->getID() == EQ_ID_LOADPORT2 || pTarEq->getID() == EQ_ID_LOADPORT3 || pTarEq->getID() == EQ_ID_LOADPORT4)) {
         pTarEq->removeGlass(1);
      }
      CSlot* pTarSlot = pTarEq->isSlotAvailable(nTarSlot);
      if (pSrcSlot != nullptr && nullptr != pTarSlot) {
         pTask = new CRobotTask();
         pTask->setContext(pSrcSlot->getContext());
@@ -1703,4 +1777,34 @@
   {
      return m_bEnableAlarmReport;
   }

   int CMaster::proceedWithCarrier(unsigned int port)
   {
      if (port >= 4) return -1;

      static int pid[] = { EQ_ID_LOADPORT1, EQ_ID_LOADPORT2, EQ_ID_LOADPORT3, EQ_ID_LOADPORT4};
      CLoadPort* pPort = (CLoadPort*)getEquipment(pid[port]);
      pPort->sendCassetteCtrlCmd(CCC_PROCESS_START, nullptr, 0, 0, 0, nullptr, nullptr);
      return 0;
   }

   int CMaster::carrierRelease(unsigned int port)
   {
      if (port >= 4) return -1;

      static int pid[] = { EQ_ID_LOADPORT1, EQ_ID_LOADPORT2, EQ_ID_LOADPORT3, EQ_ID_LOADPORT4 };
      CLoadPort* pPort = (CLoadPort*)getEquipment(pid[port]);
      pPort->sendCassetteCtrlCmd(CCC_PROCESS_CANCEL, nullptr, 0, 0, 0, nullptr, nullptr);
      return 0;
   }

   int CMaster::getContinuousTransferCount()
   {
      return m_nContinuousTransferCount;
   }

   void CMaster::setContinuousTransferCount(int round)
   {
      m_nContinuousTransferCount = round;
   }
}