1.补允上次提交；

LAPTOP-SNT8I5JK\Boounion

2025-05-28 ce7f9f6df6e34cee1cbb9e776a814bc7548e8bd1

 SourceCode/Bond/Servo/CMaster.cpp

@@ -6,6 +6,15 @@
namespace SERVO {
   CMaster* g_pMaster = NULL;

   unsigned __stdcall DispatchThreadFunction(LPVOID lpParam)
   {
      if (g_pMaster != NULL) {
         return g_pMaster->DispatchProc();
      }

      return 0;
   }

   unsigned __stdcall ReadBitsThreadFunction(LPVOID lpParam)
   {
      if (g_pMaster != NULL) {
@@ -24,21 +33,26 @@

   CMaster::CMaster()
   {
      m_listener = {nullptr, nullptr, nullptr, nullptr, nullptr};
      m_listener = {nullptr, nullptr, nullptr, nullptr, nullptr, nullptr};
      m_bDataModify = FALSE;
      m_hEventReadBitsThreadExit[0] = ::CreateEvent(NULL, TRUE, FALSE, NULL);
      m_hEventReadBitsThreadExit[1] = ::CreateEvent(NULL, TRUE, FALSE, NULL);
      m_hReadBitsThreadHandle = nullptr;
      m_nReadBitsThreadAddr = 0;
      m_hDispatchEvent = ::CreateEvent(NULL, TRUE, FALSE, NULL);
      m_hEventDispatchThreadExit[0] = ::CreateEvent(NULL, TRUE, FALSE, NULL);
      m_hEventDispatchThreadExit[1] = ::CreateEvent(NULL, TRUE, FALSE, NULL);
      m_hDispatchThreadHandle = nullptr;
      m_nDispatchThreadAddr = 0;
      m_ullStartTime = 0;
      m_ullRunTime = 0;
      m_state = MASTERSTATE::READY;
      m_pActiveRobotTask = nullptr;
      InitializeCriticalSection(&m_criticalSection);
   }

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

      if (m_hEventReadBitsThreadExit[0] != nullptr) {
         ::CloseHandle(m_hEventReadBitsThreadExit[0]);
         m_hEventReadBitsThreadExit[0] = nullptr;
@@ -48,15 +62,38 @@
         ::CloseHandle(m_hEventReadBitsThreadExit[1]);
         m_hEventReadBitsThreadExit[1] = nullptr;
      }

      if (m_hDispatchEvent != nullptr) {
         ::CloseHandle(m_hDispatchEvent);
         m_hDispatchEvent = nullptr;
      }

      if (m_hEventDispatchThreadExit[0] != nullptr) {
         ::CloseHandle(m_hEventDispatchThreadExit[0]);
         m_hEventDispatchThreadExit[0] = nullptr;
      }

      if (m_hEventDispatchThreadExit[1] != nullptr) {
         ::CloseHandle(m_hEventDispatchThreadExit[1]);
         m_hEventDispatchThreadExit[1] = nullptr;
      }

      DeleteCriticalSection(&m_criticalSection);
   }

   void CMaster::setListener(MasterListener listener)
   {
      m_listener.onMasterStateChanged = listener.onMasterStateChanged;
      m_listener.onEqAlive = listener.onEqAlive;
      m_listener.onEqCimStateChanged = listener.onEqCimStateChanged;
      m_listener.onEqAlarm = listener.onEqAlarm;
      m_listener.onEqVcrEventReport = listener.onEqVcrEventReport;
      m_listener.onEqDataChanged = listener.onEqDataChanged;
   }

   CRobotTask* CMaster::getActiveRobotTask()
   {
      return m_pActiveRobotTask;
   }

   int CMaster::init()
@@ -100,6 +137,7 @@
      CVacuumBake* pVacuumBake;
      CAligner* pAligner;
      CBakeCooling* pBakeCooling;
      CMeasurement* pMeasurement;

      pPort1 = addLoadPort(0);
      pPort2 = addLoadPort(1);
@@ -115,6 +153,7 @@
      pBonder1 = addBonder(0);
      pBonder2 = addBonder(1);
      pBakeCooling = addBakeCooling();
      pMeasurement = addMeasurement();

      ASSERT(pEfem);
      ASSERT(pFliper);
@@ -123,6 +162,7 @@
      ASSERT(pBonder1);
      ASSERT(pBonder2);
      ASSERT(pBakeCooling);
      ASSERT(pMeasurement);

      pEfem->setPort(0, pPort1);
      pEfem->setPort(1, pPort1);
@@ -144,6 +184,7 @@
      pBonder1->setArm(pArm);
      pBonder2->setArm(pArm);
      pBakeCooling->setArm(pArm);
      pMeasurement->setArm(pArm);

      connectEquipments();

@@ -160,6 +201,12 @@
      SetTimer(NULL, 1, 250, (TIMERPROC)MasterTimerProc);


      // 调度线程
      m_hDispatchThreadHandle = (HANDLE)_beginthreadex(NULL, 0, SERVO::DispatchThreadFunction, this,
         0, &m_nDispatchThreadAddr);


      // 监控bit线程
      m_hReadBitsThreadHandle = (HANDLE)_beginthreadex(NULL, 0, SERVO::ReadBitsThreadFunction, this,
         0, &m_nReadBitsThreadAddr);

@@ -171,7 +218,9 @@
   int CMaster::term()
   {
      SetEvent(m_hEventReadBitsThreadExit[0]);
      SetEvent(m_hEventDispatchThreadExit[0]);
      ::WaitForSingleObject(m_hEventReadBitsThreadExit[1], INFINITE);
      ::WaitForSingleObject(m_hEventDispatchThreadExit[1], INFINITE);

      LOGI("<Master>正在结束程序.");
      for (auto item : m_listEquipment) {
@@ -180,7 +229,126 @@
      saveCache();


      for (auto item : m_listEquipment) {
         delete item;
      }
      m_listEquipment.clear();


      return 0;
   }

   int CMaster::start()
   {
      if (m_state != MASTERSTATE::READY) {
         return -1;
      }

      setState(MASTERSTATE::STARTING);
      m_ullStartTime = GetTickCount64();

      return 0;
   }

   int CMaster::stop()
   {
      // 运行时间为累加结果，本次停止时刷新；
      if (m_state != MASTERSTATE::RUNNING) {
         return -1;
      }

      m_ullRunTime += (GetTickCount64() - m_ullStartTime);
      setState(MASTERSTATE::STOPPING);

      return 0;
   }

   ULONGLONG CMaster::getRunTime()
   {
      if (m_state == MASTERSTATE::RUNNING)
         return m_ullRunTime + (GetTickCount64() - m_ullStartTime);
      else
         return m_ullRunTime;
   }

   MASTERSTATE CMaster::getState()
   {
      return m_state;
   }

   unsigned CMaster::DispatchProc()
   {
      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);
         if (nRet == WAIT_OBJECT_0) {
            break;
         }
			

         // 如果状态为STARTING，开始工作并切换到RUNNING状态
         lock();
         if (m_state == MASTERSTATE::STARTING) {
            unlock();
            Sleep(1000);
            setState(MASTERSTATE::RUNNING);
            continue;
         }


         // 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);
            setState(MASTERSTATE::READY);
            continue;
         }


         // 调度逻辑处理
         else if (m_state == MASTERSTATE::RUNNING) {
            unlock();
            LOGI("调度处理中...");
            Sleep(1000);


            // LoadPort -> Fliper(G2)


            // LoadPort -> VacuumBake(G1)


            // Fliper(G2) -> Aligner


            // VacuumBake(G1) -> Aligner


            // Aligner -> Bonder


            // Bonder -> BakeCooling


            // BakeCooling ->Measurement


            // Measurement -> LoadPort





         }
         unlock();
      }

      SetEvent(m_hEventDispatchThreadExit[1]);


      // _endthreadex(0);
      TRACE("CMaster::DispatchProc 线程退出\n");
      return 0;
   }

@@ -444,6 +612,23 @@
      return pEquipment;
   }

   CMeasurement* CMaster::addMeasurement()
   {
      CMeasurement* pEquipment = new CMeasurement();
      pEquipment->setID(EQ_ID_MEASUREMENT);
      pEquipment->setBaseAlarmId(BASE_ALARM_EFEM);
      pEquipment->setName("Measurement");
      pEquipment->setDescription("Measurement.");
      pEquipment->setReadBitBlock(0x6700, 0x6e00);
      pEquipment->setStation(0, 255);
      addToEquipmentList(pEquipment);

      pEquipment->init();
      LOGE("已添加“Measurement”.");

      return pEquipment;
   }

   void CMaster::onTimer(UINT nTimerid)
   {
      for (auto item : m_listEquipment) {
@@ -496,6 +681,7 @@
      CBonder* pBonder1 = (CBonder*)getEquipment(EQ_ID_Bonder1);
      CBonder* pBonder2 = (CBonder*)getEquipment(EQ_ID_Bonder2);
      CBakeCooling* pBakeCooling = (CBakeCooling*)getEquipment(EQ_ID_BAKE_COOLING);
      CMeasurement* pMeasurement = (CMeasurement*)getEquipment(EQ_ID_MEASUREMENT);

      nRet = pLoadPort1->getPin("Out1")->connectPin(pFliper->getPin("In1"));
      if (nRet < 0) {
@@ -545,12 +731,17 @@
         LOGE("连接Bonder2-BakeCooling失败");
      }

      nRet = pBakeCooling->getPin("Out1")->connectPin(pLoadPort3->getPin("In"));
      nRet = pBakeCooling->getPin("Out")->connectPin(pMeasurement->getPin("In"));
      if (nRet < 0) {
         LOGE("连接BakeCooling-LoadPort3失败");
      }

      nRet = pBakeCooling->getPin("Out2")->connectPin(pLoadPort4->getPin("In"));
      nRet = pMeasurement->getPin("Out1")->connectPin(pLoadPort3->getPin("In"));
      if (nRet < 0) {
         LOGE("连接BakeCooling-LoadPort3失败");
      }

      nRet = pMeasurement->getPin("Out2")->connectPin(pLoadPort4->getPin("In"));
      if (nRet < 0) {
         LOGE("连接BakeCooling-LoadPort4失败");
      }
@@ -629,4 +820,12 @@
         item->serialize(ar);
      }
   }

   void CMaster::setState(MASTERSTATE state)
   {
      m_state = state;
      if (m_listener.onMasterStateChanged != nullptr) {
         m_listener.onMasterStateChanged(this, m_state);
      }
   }
}