Bond2
blame | 历史 | 补丁 | 提交 | 提交对比 | 忽略空白
chenluhua1980
2026-01-10 ded981a2ac5dbb456bafce5468d7289bc45e313b 
 SourceCode/Bond/Servo/CMaster.h


@@ -1,4 +1,4 @@


#pragma once


#pragma once


#include <list>


#include "CEquipment.h"


#include "CEFEM.h"


@@ -15,6 +15,8 @@


#include "CRobotTask.h"


#include "ProcessJob.h"


#include "CControlJob.h"


#include "../DAQBridge/core/Collector.h"


#include "CJobDataS.h"






#define CTStep_Unknow                   0


@@ -57,8 +59,13 @@


    typedef std::function<void(void* pMaster, CEquipment* pEquipment, int code)> ONEQDATACHANGED;


    typedef std::function<void(void* pMaster, CRobotTask* pTask, int code)> ONROBOTTASKEVENT;


    typedef std::function<void(void* pMaster, CEquipment* pEquipment, short status, __int64 data)> ONLOADPORTSTATUSCHANGED;


    typedef std::function<void(void* pMaster, CEquipment* pEquipment, int slotNo, PROCESS_STATE prevState, PROCESS_STATE state)> ONPROCESSSTATECHANGED;


    typedef std::function<void(void* pMaster, CEquipment* pEquipment, const std::vector<CParam>& params)> ONPROCESSDATAREPORTEX;


    typedef std::function<void(void* pMaster, CEquipment* pEquipment, const std::vector<CParam>& params)> ONSVDATAREPORT;


    typedef std::function<void(void* pMaster, CEquipment* pEquipment, int port, CJobDataS* pJobDataS)> ONJOBRECEIVED;


    typedef std::function<void(void* pMaster, int round)> ONCTROUNDEND;


    typedef std::function<void(void* pMaster, void* pj)> ONPJSTART;


    typedef std::function<void(void* pMaster)> ONCONTROLJOBCHANGED;


    typedef struct _MasterListener


    {


        ONMASTERSTATECHANGED    onMasterStateChanged;


@@ -69,6 +76,10 @@


        ONEQDATACHANGED         onEqDataChanged;


        ONROBOTTASKEVENT        onRobotTaskEvent;


        ONLOADPORTSTATUSCHANGED   onLoadPortStatusChanged;


        ONPROCESSSTATECHANGED   onProcessStateChanged;


        ONSVDATAREPORT          onSVDataReport;


        ONPROCESSDATAREPORTEX   onProcessDataReport;


        ONJOBRECEIVED           onJobReceived;


        ONCTROUNDEND            onCTRoundEnd;


        ONPJSTART               onCjStart;


        ONPJSTART               onCjEnd;


@@ -76,6 +87,7 @@


        ONPJSTART               onPjEnd;


        ONPJSTART               onPanelStart;


        ONPJSTART               onPanelEnd;


        ONCONTROLJOBCHANGED     onControlJobChanged;


    } MasterListener;




    class CMaster : public IResourceView


@@ -107,8 +119,9 @@


        int abortCurrentTask();


        int restoreCurrentTask();


        int resendCurrentTask();


        void setPortType(unsigned int index, BOOL enable, int type, int mode,


        void setPortTypeEx(unsigned int index, BOOL enable, int type, int mode,


            int cassetteType, int transferMode, BOOL autoChangeEnable);


        void setPortType(unsigned int index, int type);


        void setPortCassetteType(unsigned int index, SERVO::CassetteType type);


        void setPortEnable(unsigned int index, BOOL bEnable);


        void setCompareMapsBeforeProceeding(BOOL bCompare);


@@ -128,11 +141,16 @@


        CControlJob* getControlJob();


        CLoadPort* getPortWithCarrierId(const std::string& carrierId) const;


        bool saveState() const;


        bool loadState(const std::string& path);


        bool loadState();


        void setStateFile(const std::string& path);


        int getWipGlasses(std::vector<CGlass*>& glasses);


        void test();


        bool moveGlassToBuf(int eqid, int slotNo);


        bool moveGlassToSlot(int eqid, int slotNo);


        int getPortCassetteSnSeed(int port);


        void setPortCassetteSnSeed(int port, int seed);


        CGlass* getGlass(int scrPort, int scrSlot);


        uint32_t SlotToMid(int eqid, int slot);




    private:


        inline void lock() { EnterCriticalSection(&m_criticalSection); }


@@ -165,7 +183,7 @@


            CEquipment* pTarEq, int nTarSlot, int armNo = 1);




    public:


        // —— IResourceView 覆写 ——（注意 const）


        // —— IResourceView 覆写 ——（注意 const）


        bool isProcessJobsEmpty() const override;


        bool recipeExists(const std::string& ppid) const override;


        bool carrierPresent(const std::string& carrierId) const override;


@@ -177,7 +195,7 @@


        std::string& getLastErrorText();




    public:


        // 新增函数


        // 新增函数


        CProcessJob* acquireNextProcessJob();


        CGlass* acquireNextGlass();


        int acquireGlassToQueue();


@@ -188,7 +206,14 @@


        bool checkAndUpdatePjComplete(CProcessJob* pJob);


        bool checkAndUpdateCjComplete(CControlJob* pJob);


        CProcessJob* getGlassProcessJob(CGlass* pGlass);




        bool completeControlJob();


        bool forceCompleteControlJob(std::string description);


        bool canCreateControlJob();


        bool canCompleteControlJob();


        bool canDeleteControlJob();


        


        // DAQ Bridge 相关


        Collector* getCollector() const { return m_pCollector; }




    private:


        CRITICAL_SECTION m_criticalSection;


@@ -201,40 +226,41 @@


        bool m_bBatch;




    private:


        /* 监控比特位的线程*/


        /* 监控比特位的线程*/


        HANDLE m_hEventReadBitsThreadExit[2];


        HANDLE m_hReadBitsThreadHandle;


        unsigned m_nReadBitsThreadAddr;




        // 调度线程


        // 调度线程


        HANDLE m_hDispatchEvent;


        HANDLE m_hEventDispatchThreadExit[2];


        HANDLE m_hDispatchThreadHandle;


        unsigned m_nDispatchThreadAddr;




        // 启动时间，运行时间，状态


        // 启动时间，运行时间，状态


        ULONGLONG m_ullStartTime;


        ULONGLONG m_ullRunTime;


        MASTERSTATE m_state;




        // 当前任务和已完成任务列表


        // 当前任务和已完成任务列表


        CRobotTask* m_pActiveRobotTask;


        std::list< CRobotTask* > m_listTask;




        // 错误代码


        // 错误代码


        int m_nLastError;


        std::string m_strLastError;




        // 在开始工艺前是否先需要先比较map


        // 在开始工艺前是否需要先比较 map


        BOOL m_isCompareMapsBeforeProceeding;


        BOOL m_bJobMode;






        // 千传圈数计数


        // 千传圈数计数


        int m_nContinuousTransferCount;


        int m_nContinuousTransferStep;


        int m_nContinuousWorkingPort;


        int m_nContinuousWorkingSlot;




        // 新增已经开始处理的ProcessJob列表


        // 已经开始处理的 ProcessJob 列表


        std::vector<CProcessJob*> m_inProcesJobs;


        std::vector<CProcessJob*> m_completeProcessJobs;


        std::vector<CGlass*> m_queueGlasses;


@@ -249,6 +275,10 @@


        std::string m_strStatePath;




        int m_nTestFlag;


        std::list<CGlass*> m_bufGlass;




    private:


        Collector* m_pCollector = nullptr;


        void CreateDAQBridgeServer();


    };


}