1.CConrolJobManagerDlg临时数据存储。

LAPTOP-SNT8I5JK\Boounion

2025-09-18 df4d0e875ccfe40add25100a75dedee54e566aaa

 SourceCode/Bond/Servo/CMaster.cpp

@@ -53,7 +53,7 @@
      m_ullRunTime = 0;
      m_state = MASTERSTATE::READY;
      m_pActiveRobotTask = nullptr;
      m_nLastError = 0;
      m_nLastError = ER_CODE_NOERROR;
      m_isCompareMapsBeforeProceeding = FALSE;
      m_bJobMode = FALSE;
      m_bEnableEventReport = true;
@@ -62,7 +62,10 @@
      m_bBatch = false;
      m_nContinuousTransferCount = 0;
      m_nContinuousTransferStep = CTStep_Unknow;
      m_nContinuousWorkingPort = 0;
      m_nContinuousWorkingSlot = 0;
      m_pControlJob = nullptr;
      m_nTestFlag = 0;
      InitializeCriticalSection(&m_criticalSection);
   }

@@ -130,7 +133,7 @@
         BoardVersion version{};
         int nRet = m_cclink.GetBoardVersion(version);
         if (nRet == 0) {
            LOGI("版本信息：%s.", version.toString().c_str());
            LOGD("版本信息：%s.", version.toString().c_str());
         }
         else {
            LOGE("获取CC-Link版本信息失败.");
@@ -139,7 +142,7 @@
         BoardStatus status;
         nRet = m_cclink.GetBoardStatus(status);
         if (nRet == 0) {
            LOGI("状态：%s.", status.toString().c_str());
            LOGD("状态：%s.", status.toString().c_str());
         }
         else {
            LOGE("获取CC-Link状态失败.");
@@ -306,7 +309,7 @@
      return 0;
   }

   int CMaster::stop()
   int CMaster::stop(int nErCode/* = ER_CODE_NOERROR*/)
   {
      // 运行时间为累加结果，本次停止时刷新；
      lock();
@@ -320,6 +323,7 @@


      // 更新状态
      m_nLastError = nErCode;
      setState(MASTERSTATE::STOPPING);


@@ -421,7 +425,8 @@
                  TRACE("a0001\n", writeCode, retCode);
               });
            if (nRet != 0) {
               LOGI("<Master>EFEM切换Start状态失败");
               LOGE("<Master>EFEM切换Start状态失败");
               m_nLastError = ER_CODE_OPERATION_MODE_FAIL;
               m_strLastError = "EFEM切换Start状态失败.";
               goto WAIT;
            }
@@ -434,7 +439,8 @@
                  TRACE("a0002\n");
               });
            if (nRet != 0) {
               LOGI("<Master>Bonder1切换Start状态失败");
               LOGE("<Master>Bonder1切换Start状态失败");
               m_nLastError = ER_CODE_BONDER_OPERATION_MODE_FAIL;
               m_strLastError = "Bonder1切换Start状态失败.";
               goto WAIT;
            }
@@ -447,7 +453,8 @@
                  TRACE("a0003\n");
               });
            if (nRet != 0) {
               LOGI("<Master>Bonder2切换Start状态失败");
               LOGE("<Master>Bonder2切换Start状态失败");
               m_nLastError = ER_CODE_BONDER_OPERATION_MODE_FAIL;
               m_strLastError = "Bonder2切换Start状态失败.";
               goto WAIT;
            }
@@ -460,7 +467,8 @@
                  TRACE("a0004\n");
               });
            if (nRet != 0) {
               LOGI("<Master>BakeCooling切换Start状态失败");
               LOGE("<Master>BakeCooling切换Start状态失败");
               m_nLastError = ER_CODE_OPERATION_MODE_FAIL;
               m_strLastError = "BakeCooling切换Start状态失败.";
               goto WAIT;
            }
@@ -473,7 +481,8 @@
                  TRACE("a0005\n");
               });
            if (nRet != 0) {
               LOGI("<Master>VacuumBake切换Start状态失败");
               LOGE("<Master>VacuumBake切换Start状态失败");
               m_nLastError = ER_CODE_OPERATION_MODE_FAIL;
               m_strLastError = "VacuumBake切换Start状态失败.";
               goto WAIT;
            }
@@ -486,7 +495,8 @@
                  TRACE("a0006\n");
               });
            if (nRet != 0) {
               LOGI("<Master>Measurement切换Start状态失败");
               LOGE("<Master>Measurement切换Start状态失败");
               m_nLastError = ER_CODE_OPERATION_MODE_FAIL;
               m_strLastError = "Measurement切换Start状态失败.";
               goto WAIT;
            }
@@ -500,18 +510,16 @@
            for (int i = 0; i < 6; i++) {
               if (!bIomcOk[i]) {
                  bIomcOk[6] = FALSE;
                  LOGI("<Master>%s切换Start状态失败", pEq[i]->getName().c_str());
                  LOGE("<Master>%s切换Start状态失败", pEq[i]->getName().c_str());
               }
            }
            
            // 检查看是否都已经切换到START状态
            /*
            if (!bIomcOk[6]) {
               unlock();
               setState(MASTERSTATE::MSERROR);
               continue;
            }
            */

            unlock();
            if(m_bContinuousTransfer)
@@ -546,7 +554,8 @@
                     TRACE("s000%d: ret=%d\n", i + 1, retCode);
                  });
               if (nRet != 0) {
                  LOGI("<Master>%s切换Stop状态发送失败", pEq[i]->getName().c_str());
                  LOGE("<Master>%s切换Stop状态发送失败", pEq[i]->getName().c_str());
                  m_nLastError = ER_CODE_OPERATION_MODE_FAIL;
                  m_strLastError = pEq[i]->getName() + "切换Stop状态发送失败.";
                  bIomcOk[i] = FALSE;
                  promises[i].set_value(); // 避免 wait 阻塞
@@ -561,7 +570,7 @@
            for (int i = 0; i < 6; ++i) {
               if (!bIomcOk[i]) {
                  bIomcOk[6] = FALSE;
                  LOGI("<Master>%s切换Stop状态失败", pEq[i]->getName().c_str());
                  LOGE("<Master>%s切换Stop状态失败", pEq[i]->getName().c_str());
               }
            }

@@ -571,7 +580,11 @@
            }

            LOGI("<Master>所有设备成功切换到 Stop 模式");
            setState(MASTERSTATE::READY);
            if(m_nLastError == ER_CODE_NOERROR)
               setState(MASTERSTATE::READY);
            else
               setState(MASTERSTATE::ATHERERROR);

            continue;
         }

@@ -596,37 +609,62 @@
            }


            // 此处检测优先类型和次要类型（G1或G2）
            // 如果其中一Bonder有单个玻璃，优先取它的配对类型，否则无所谓了
            primaryType = MaterialsType::G1;
            secondaryType = MaterialsType::G2;
            if ((!pBonder1->canPlaceGlassInSlot(0) && !pBonder1->canPlaceGlassInSlot(1))
               && (!pBonder2->canPlaceGlassInSlot(0) && !pBonder2->canPlaceGlassInSlot(1))) {
               // 如果G1和G2都满了，那就看Aligner, 如果Aligner有玻璃为G1, 则取G2
               CGlass* pGlass = pAligner->getGlassFromSlot(1);
               if (pGlass != nullptr && pGlass->getType() == MaterialsType::G1) {
                  primaryType = MaterialsType::G2;
                  secondaryType = MaterialsType::G1;
               }
            // Bonder1、Bonder2、Fliper、VacuumBake、Aligner，统计G2和G1的数量, 配对组数, 多出的类型
            int nG2Count = 0, nG1Count = 0, nGlassGroup, nExtraType;
            if (pBonder1->slotHasGlass(0)) {
               nG2Count++;
            }
            else if ((pBonder1->canPlaceGlassInSlot(0) && !pBonder1->canPlaceGlassInSlot(1))
               || (pBonder2->canPlaceGlassInSlot(0) && !pBonder2->canPlaceGlassInSlot(1))) {
               primaryType = MaterialsType::G2;
               secondaryType = MaterialsType::G1;
            if (pBonder1->slotHasGlass(1)) {
               nG1Count++;
            }

            if (pBonder2->slotHasGlass(0)) {
               nG2Count++;
            }
            if (pBonder2->slotHasGlass(1)) {
               nG1Count++;
            }

            if (pFliper->slotHasGlass(0)) {
               nG2Count++;
            }

            if (pVacuumBake->slotHasGlass(0)) {
               nG1Count++;
            }
            if (pVacuumBake->slotHasGlass(1)) {
               nG1Count++;
            }

            CGlass* pTempGlass = pAligner->getGlassFromSlot(0);
            if (pTempGlass != nullptr) {
               MaterialsType type = pTempGlass->getType();
               if(type == MaterialsType::G1)
                  nG1Count++;
               else if (type == MaterialsType::G2)
                  nG2Count++;
            }
            nGlassGroup = min(nG1Count, nG2Count);
				
            if (nG1Count == nG2Count) {
               nExtraType = 0;
            }
            else if (nG1Count > nG2Count) {
               nExtraType = 1;
            }
            else {
               nExtraType = 2;
            }
            secondaryType = MaterialsType::G0;


            // Measurement -> LoadPort
            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"));
            }
            for (int s = 0; s < 4; s++) {
               PortType pt = pLoadPorts[s]->getPortType();
               if (!rmd.armState[0] && pLoadPorts[s]->isEnable()
                  && (pt == PortType::Unloading || pt == PortType::Both)
                  && pLoadPorts[s]->getPortStatus() == PORT_INUSE) {
                  m_pActiveRobotTask = createTransferTask(pMeasurement, pLoadPorts[s], primaryType, secondaryType);
                  m_pActiveRobotTask = createTransferTask(pMeasurement, pLoadPorts[s], MaterialsType::G1, secondaryType);
                  if (m_pActiveRobotTask != nullptr) {
                     goto PORT_PUT;
                  }
@@ -673,25 +711,30 @@


            // Fliper(G2) -> Bonder
            auto pSrcSlot = pVacuumBake->getProcessedSlot(primaryType);
            if (pSrcSlot != nullptr && !rmd.armState[1] && !pBonder1->hasBondClass()) {
               m_pActiveRobotTask = createTransferTask(pFliper, pBonder1, primaryType, secondaryType, 2);
            //m_nTestFlag = 1;
            //pVacuumBake->m_nTestFlag = 1;
            auto pSrcSlot = pVacuumBake->getProcessedSlot(MaterialsType::G1);
            //LOGI("<Master>pSrcSlot = %x", pSrcSlot,);
            if (pSrcSlot != nullptr && !rmd.armState[1]
               && pBonder1->canPlaceGlassInSlot(0)) {
               m_pActiveRobotTask = createTransferTask(pFliper, pBonder1, MaterialsType::G2, MaterialsType::G0, 2);
               CHECK_RUN_ACTIVE_ROBOT_TASK(m_pActiveRobotTask);
            }
            if (pSrcSlot != nullptr && !rmd.armState[1] && !pBonder2->hasBondClass()) {
               m_pActiveRobotTask = createTransferTask(pFliper, pBonder2, primaryType, secondaryType, 2);
            if (pSrcSlot != nullptr && !rmd.armState[1] 
               && pBonder2->canPlaceGlassInSlot(0)) {
               m_pActiveRobotTask = createTransferTask(pFliper, pBonder2, MaterialsType::G2, MaterialsType::G0, 2);
               CHECK_RUN_ACTIVE_ROBOT_TASK(m_pActiveRobotTask);
            }


            //m_nTestFlag = 0
               ;
            // VacuumBake(G1) -> Bonder
            if (!rmd.armState[0] && !pBonder1->hasBondClass()) {
               m_pActiveRobotTask = createTransferTask(pVacuumBake, pBonder1, primaryType, secondaryType);
            if (!rmd.armState[0] && pBonder1->slotHasGlass(0) && !pBonder1->slotHasGlass(1)) {
               m_pActiveRobotTask = createTransferTask(pVacuumBake, pBonder1, MaterialsType::G1, MaterialsType::G0);
               CHECK_RUN_ACTIVE_ROBOT_TASK(m_pActiveRobotTask);
            }

            if (!rmd.armState[0] && !pBonder2->hasBondClass()) {
               m_pActiveRobotTask = createTransferTask(pVacuumBake, pBonder2, primaryType, secondaryType);
            if (!rmd.armState[0] && pBonder2->slotHasGlass(0) && !pBonder2->slotHasGlass(1)) {
               m_pActiveRobotTask = createTransferTask(pVacuumBake, pBonder2, MaterialsType::G1, MaterialsType::G0);
               CHECK_RUN_ACTIVE_ROBOT_TASK(m_pActiveRobotTask);
            }

@@ -699,13 +742,16 @@
            // Aligner -> Fliper(G2)
            // Aligner -> VacuumBake(G1)
            if (!rmd.armState[1]) {
               m_pActiveRobotTask = createTransferTask(pAligner, pFliper, primaryType, secondaryType);
               m_pActiveRobotTask = createTransferTask(pAligner, pFliper, MaterialsType::G2, secondaryType);
               CHECK_RUN_ACTIVE_ROBOT_TASK(m_pActiveRobotTask);
            }

            if (!rmd.armState[0]) {
               m_pActiveRobotTask = createTransferTask(pAligner, pVacuumBake, primaryType, secondaryType);
               // m_nTestFlag = 1;
               if (m_nTestFlag == 1) LOGD("createTransferTask 004df %d, %d", MaterialsType::G1, secondaryType);
               m_pActiveRobotTask = createTransferTask(pAligner, pVacuumBake, MaterialsType::G1, secondaryType);
               CHECK_RUN_ACTIVE_ROBOT_TASK(m_pActiveRobotTask);
               m_nTestFlag = 0;
            }


@@ -717,6 +763,17 @@


            // LoadPort -> Aligner
            if (nGlassGroup >= 2) {
               unlock();
               continue;
            }

            if(nExtraType == 0)
               primaryType = MaterialsType::G2;
            else {
               primaryType = MaterialsType::G1;
            }

            for (int s = 0; s < 4; s++) {
               PortType pt = pLoadPorts[s]->getPortType();
               if (!rmd.armState[0] && pLoadPorts[s]->isEnable()
@@ -724,6 +781,15 @@
                  && pLoadPorts[s]->getPortStatus() == PORT_INUSE) {
                  m_pActiveRobotTask = createTransferTask(pLoadPorts[s], pAligner, primaryType, secondaryType, 1, m_bJobMode);
                  if (m_pActiveRobotTask != nullptr) {
                     CGlass* pGlass = (CGlass*)m_pActiveRobotTask->getContext();
                     if (pGlass->getBuddy() != nullptr) {
                        delete m_pActiveRobotTask;
                        m_pActiveRobotTask = nullptr;
                        continue;
                     }

                     pGlass->queue();
                     pGlass->start();
                     pEFEM->setContext(m_pActiveRobotTask->getContext());
                     goto PORT_GET;
                  }
@@ -748,7 +814,7 @@
            CJState state = m_pControlJob->state();
            if (state == CJState::Completed || state == CJState::Aborted || state == CJState::Failed) {
               // ConrolJpb已完成
               LOGI("<Master>ControlJob已经完成或失败中断");
               LOGE("<Master>ControlJob已经完成或失败中断");
               unlock();
               continue;
            }
@@ -761,6 +827,10 @@
            if (m_pControlJob->state() == CJState::Queued) {
               LOGI("<Master>ControlJob已经启动");
               m_pControlJob->start();

               if (m_listener.onCjStart != nullptr) {
                  m_listener.onCjStart(this, m_pControlJob);
               }
            }
            if (m_pControlJob->state() == CJState::Paused) {
               LOGI("<Master>ControlJob已经恢复运行");
@@ -781,7 +851,7 @@
               }
            }
            if (m_inProcesJobs.empty()) {
               LOGI("<Master>选择当前ProcessJob失败！");
               LOGE("<Master>选择当前ProcessJob失败！");
               unlock();
               continue;
            }
@@ -833,7 +903,7 @@

            // Measurement -> LoadPort
            if (rmd.armState[0] || rmd.armState[1]) {
               LOGI("Arm1 %s, Arm2 %s.", rmd.armState[0] ? _T("不可用") : _T("可用"),
               LOGD("Arm1 %s, Arm2 %s.", rmd.armState[0] ? _T("不可用") : _T("可用"),
                  rmd.armState[1] ? _T("不可用") : _T("可用"));
            }
            for (int s = 0; s < 4; s++) {
@@ -889,23 +959,23 @@

            // Fliper(G2) -> Bonder
            auto pSrcSlot = pVacuumBake->getProcessedSlot(primaryType);
            if (pSrcSlot != nullptr && !rmd.armState[1] && !pBonder1->hasBondClass()) {
            if (pSrcSlot != nullptr && !rmd.armState[1] && !pBonder1->hasBondGlass()) {
               m_pActiveRobotTask = createTransferTask(pFliper, pBonder1, primaryType, secondaryType, 2);
               CHECK_RUN_ACTIVE_ROBOT_TASK(m_pActiveRobotTask);
            }
            if (pSrcSlot != nullptr && !rmd.armState[1] && !pBonder2->hasBondClass()) {
            if (pSrcSlot != nullptr && !rmd.armState[1] && !pBonder2->hasBondGlass()) {
               m_pActiveRobotTask = createTransferTask(pFliper, pBonder2, primaryType, secondaryType, 2);
               CHECK_RUN_ACTIVE_ROBOT_TASK(m_pActiveRobotTask);
            }


            // VacuumBake(G1) -> Bonder
            if (!rmd.armState[0] && !pBonder1->hasBondClass()) {
            if (!rmd.armState[0] && !pBonder1->hasBondGlass()) {
               m_pActiveRobotTask = createTransferTask(pVacuumBake, pBonder1, primaryType, secondaryType);
               CHECK_RUN_ACTIVE_ROBOT_TASK(m_pActiveRobotTask);
            }

            if (!rmd.armState[0] && !pBonder2->hasBondClass()) {
            if (!rmd.armState[0] && !pBonder2->hasBondGlass()) {
               m_pActiveRobotTask = createTransferTask(pVacuumBake, pBonder2, primaryType, secondaryType);
               CHECK_RUN_ACTIVE_ROBOT_TASK(m_pActiveRobotTask);
            }
@@ -939,15 +1009,28 @@
                  && pLoadPorts[s]->getPortStatus() == PORT_INUSE) {
                  m_pActiveRobotTask = createTransferTask(pLoadPorts[s], pAligner, primaryType, secondaryType, m_bJobMode);
                  if (m_pActiveRobotTask != nullptr) {
                     pEFEM->setContext(m_pActiveRobotTask->getContext());
                     bool bMoved = glassFromQueueToInPorcess((CGlass*)m_pActiveRobotTask->getContext());
                     CGlass* pGlass = (CGlass*)m_pActiveRobotTask->getContext();
                     if (pGlass->getBuddy() != nullptr) {
                        delete m_pActiveRobotTask;
                        m_pActiveRobotTask = nullptr;
                        continue;
                     }

                     pEFEM->setContext(pGlass);
                     pGlass->start();
                     bool bMoved = glassFromQueueToInPorcess(pGlass);
                     if (bMoved) {
                        LOGI("<Master>Glass(%s)从等待列队到工艺列队转移成功.",
                           ((CGlass*)m_pActiveRobotTask->getContext())->getID().c_str());
                           pGlass->getID().c_str());
                     }
                     else {
                        LOGE("<Master>Glass(%s)从等待列队到工艺列队转移失败.",
                           ((CGlass*)m_pActiveRobotTask->getContext())->getID().c_str());
                           pGlass->getID().c_str());
                     }

                     // 这里上报Panel Start事件
                     if (m_listener.onPanelStart != nullptr) {
                        m_listener.onPanelStart(this, pGlass);
                     }

                     goto BATCH_PORT_GET;
@@ -983,15 +1066,17 @@
            }

            // Measurement -> LoadPort
            for (int s = 0; s < 4; s++) {
               PortType pt = pLoadPorts[s]->getPortType();
            for (int p = 0; p < 4; p++) {
               if (p != m_nContinuousWorkingPort) continue;
               PortType pt = pLoadPorts[p]->getPortType();
               if ((m_nContinuousTransferStep == CTStep_Unknow || m_nContinuousTransferStep == CTStep_BakeCooling_Measurement)
                  && !rmd.armState[0] && pLoadPorts[s]->isEnable()
                  && !rmd.armState[0] && pLoadPorts[p]->isEnable()
                  && (pt == PortType::Unloading || pt == PortType::Both)
                  && pLoadPorts[s]->getPortStatus() == PORT_INUSE) {
                  && pLoadPorts[p]->getPortStatus() == PORT_INUSE) {
                  for (int slot = 0; slot < SLOT_MAX; slot++) {
                     if (slot != m_nContinuousWorkingSlot) continue;
                     m_pActiveRobotTask = createTransferTask_continuous_transfer(pMeasurement,
                        0, pLoadPorts[s], slot);
                        0, pLoadPorts[p], slot);
                     if (m_pActiveRobotTask != nullptr) {
                        m_nContinuousTransferStep = CTStep_Measurement_LoadPort;
                        m_nContinuousTransferStep = CTStep_end;
@@ -1088,7 +1173,7 @@
            
            // Bonder1 -> Bonder2
            if ((m_nContinuousTransferStep == CTStep_Unknow || m_nContinuousTransferStep == CTStep_Fliper_Bonder1)
               && !rmd.armState[0] && !pBonder2->hasBondClass()) {
               && !rmd.armState[0] && !pBonder2->hasBondGlass()) {
               m_pActiveRobotTask = createTransferTask_continuous_transfer(pBonder1,
                  1, pBonder2, 1);
               if (m_pActiveRobotTask != nullptr) {
@@ -1100,7 +1185,7 @@

            // Fliper(G2) -> Bonder1
            if ((m_nContinuousTransferStep == CTStep_Unknow || m_nContinuousTransferStep == CTStep_Aligner_Fliper)
               &&!rmd.armState[0] && !pBonder1->hasBondClass()) {
               &&!rmd.armState[0] && !pBonder1->hasBondGlass()) {
               m_pActiveRobotTask = createTransferTask_continuous_transfer(pFliper,
                  0, pBonder1, 1);
               if (m_pActiveRobotTask != nullptr) {
@@ -1123,17 +1208,19 @@
            }

            // LoadPort -> Aligner
            for (int s = 0; s < 4; s++) {
               PortType pt = pLoadPorts[s]->getPortType();
            for (int p = 0; p < 4; p++) {
               PortType pt = pLoadPorts[p]->getPortType();
               if ((m_nContinuousTransferStep == CTStep_Unknow || m_nContinuousTransferStep == CTStep_end)
                  && !rmd.armState[0] && pLoadPorts[s]->isEnable()
                  && !rmd.armState[0] && pLoadPorts[p]->isEnable()
                  && (pt == PortType::Loading || pt == PortType::Both)
                  && pLoadPorts[s]->getPortStatus() == PORT_INUSE) {
                  && pLoadPorts[p]->getPortStatus() == PORT_INUSE) {
                  for (int slot = 0; slot < SLOT_MAX; slot++) {
                     m_pActiveRobotTask = createTransferTask_continuous_transfer(pLoadPorts[s], 
                     m_pActiveRobotTask = createTransferTask_continuous_transfer(pLoadPorts[p], 
                        slot, pAligner, 0);
                     if (m_pActiveRobotTask != nullptr) {
                        m_nContinuousTransferStep = CTStep_LoadPort_Aligner;
                        m_nContinuousWorkingPort = p;
                        m_nContinuousWorkingSlot = slot;
                        LOGI("<ContinuousTransfer>千传测试，开始搬送任务(LoadPort -> Aligner)...");
                        pEFEM->setContext(m_pActiveRobotTask->getContext());
                        goto CT_PORT_GET;
@@ -1245,18 +1332,27 @@
         BOOL bOk = FALSE;
         lock();
         if (m_pActiveRobotTask != nullptr) {
            LOGI("<CMaster>onPreFethedOutJob 0001.");
            LOGD("<CMaster>onPreFethedOutJob 0001.");
            if (m_pActiveRobotTask->getSrcPosition() == p->getID()) {
               LOGI("<CMaster>onPreFethedOutJob 0002.");
               LOGD("<CMaster>onPreFethedOutJob 0002.");
               CGlass* pGlass = p->getGlassFromSlot(m_pActiveRobotTask->getSrcSlot());
               if (pGlass != nullptr) {
                  LOGI("<CMaster>onPreFethedOutJob 0003.");
                  LOGD("<CMaster>onPreFethedOutJob 0003.");
                  CJobDataS* pJobDataS = pGlass->getJobDataS();
                  if (pJobDataS != nullptr
                     && pJobDataS->getCassetteSequenceNo() == pJobDataB->getCassetteSequenceNo()
                     && pJobDataS->getJobSequenceNo() == pJobDataB->getJobSequenceNo()) {
                     bOk = TRUE;
                     LOGI("<CMaster>onPreFethedOutJob, 已校验数据一致性.");
                     LOGD("<CMaster>onPreFethedOutJob, 已校验数据一致性.");
                  }
                  LOGD("<CMaster>onPreFethedOutJob 0004.");
                  if (pJobDataS != nullptr) {
                     LOGD("<CMaster>onPreFethedOutJob 0005. %d,%d,%d,%d", 
                        pJobDataS->getCassetteSequenceNo(),
                        pJobDataB->getCassetteSequenceNo(),
                        pJobDataS->getJobSequenceNo(),
                        pJobDataB->getJobSequenceNo()
                        );
                  }
               }
            }
@@ -1299,7 +1395,7 @@
               if (pGlass == nullptr) {
                  bOk = TRUE;
                  slot = m_pActiveRobotTask->getTarSlot();
                  LOGI("<CMaster>onPreFethedOutJob, 已校验数据一致性.");
                  LOGI("<CMaster>onPreStoredJob, 已校验数据一致性.");
               }
            }

@@ -1310,7 +1406,7 @@
               if (pGlass == nullptr && m_pActiveRobotTask->getSrcSlot() == port) {
                  bOk = TRUE;
                  slot = m_pActiveRobotTask->getSrcSlot();
                  LOGI("<CMaster>onPreFethedOutJob, 已校验数据一致性.");
                  LOGI("<CMaster>onPreStoredJob, 已校验数据一致性.");
               }
            }
         }
@@ -1371,16 +1467,47 @@

               // 如果是搬送回从AOI搬送回Port, 则glass工艺完成
               if (m_pActiveRobotTask->getSrcPosition() == EQ_ID_MEASUREMENT) {
                  bool bMoved = glassFromInPorcessToComplete((CGlass*)m_pActiveRobotTask->getContext());
                  CGlass* pGlass = (CGlass*)m_pActiveRobotTask->getContext();
                  pGlass->complete();
                  CGlass* pBuddy = pGlass->getBuddy();
                  if (pBuddy != nullptr) pBuddy->complete();
                  this->saveState();
                  bool bMoved = glassFromInPorcessToComplete(pGlass);
                  if (bMoved) {
                     LOGI("<Master>Glass(%s)从工艺列队到完成列队转移成功.",
                        ((CGlass*)m_pActiveRobotTask->getContext())->getID().c_str());
                        pGlass->getID().c_str());
                  }
                  else {
                     LOGE("<Master>Glass(%s)从工艺列队到完成列队转移失败.",
                        ((CGlass*)m_pActiveRobotTask->getContext())->getID().c_str());
                        pGlass->getID().c_str());
                  }
                  if (m_listener.onPanelEnd != nullptr) {
                     m_listener.onPanelEnd(this, pGlass);
                  }

                  // 检查PJ是否已经完成
                  CProcessJob* pJob = getGlassProcessJob((CGlass*)m_pActiveRobotTask->getContext());
                  if (pJob != nullptr && checkAndUpdatePjComplete(pJob)) {
                     this->saveState();
                     LOGE("<Master>ProcessJob(%s)完成.",
                        pJob->id().c_str());
                     if (m_listener.onPjEnd != nullptr) {
                        m_listener.onPjEnd(this, pJob);
                     }

                     // 检查CJ是否已经完成
                     ASSERT(m_pControlJob);
                     if (checkAndUpdateCjComplete(m_pControlJob)) {
                        this->saveState();
                        LOGE("<Master>ControlJob(%s)完成.",
                           m_pControlJob->id().c_str());
                        if (m_listener.onCjEnd != nullptr) {
                           m_listener.onCjEnd(this, pJob);
                        }
                     }
                  }
               }



               unlock();
@@ -1446,6 +1573,45 @@
         if (m_listener.onLoadPortStatusChanged != nullptr) {
            m_listener.onLoadPortStatusChanged(this, (CEquipment*)pEquipment, status, data);
         }
      };
      listener.onSVDataReport = [&](void* pEquipment, void* pData) {
         CSVData* pSVData = (CSVData*)pData;
         auto rawData = pSVData->getSVRawData();
         std::vector<CParam> params;
         ((CEquipment*)pEquipment)->parsingSVData((const char*)rawData.data(), rawData.size(), params);
		
         std::string strOut;
         char szBuffer[256];
         for (auto p : params) {
            if (!strOut.empty()) strOut.append(",");
            if (p.getValueType() == PVT_INT) {
               sprintf_s(szBuffer, 256, "%s:%d", p.getName().c_str(), p.getIntValue());
            }
            else if (p.getValueType() == PVT_DOUBLE) {
               sprintf_s(szBuffer, 256, "%s:%f", p.getName().c_str(), p.getDoubleValue());
            }
            strOut.append(szBuffer);
         }
         LOGD("<CMaster-%s>SVDataReport:%s", ((CEquipment*)pEquipment)->getName().c_str(), strOut.c_str());
      };
      listener.onPanelDataReport = [&](void* pEquipment, void* pContext) {
         LOGD("<CMaster-%s>onPanelDataReport", ((CEquipment*)pEquipment)->getName().c_str());

         CEquipment* pEq = (CEquipment*)pEquipment;
         CGlass* pGlass = (CGlass*)pContext;

         // 如果AOI检测失败，要停机
         if (pEq->getID() == EQ_ID_MEASUREMENT) {
            LOGD("<CMaster-%s>onPanelDataReport 01", ((CEquipment*)pEquipment)->getName().c_str());
            if (pGlass->getAOIInspResult() == InspResult::Fail) {
               LOGD("<CMaster-%s>onPanelDataReport 02", ((CEquipment*)pEquipment)->getName().c_str());
               if (stop() == 0) {
                  m_nLastError = ER_CODE_AOI_NG;
                  m_strLastError = "AOI检测未通过.";
               }
            }
         }

      };
      pEquipment->setListener(listener);
      pEquipment->setCcLink(&m_cclink);
@@ -1684,6 +1850,63 @@
         }
      }



      // 模拟测试
      static int aaa = 0;
      aaa++;
      if (aaa % 30 == 0) {
         if (!m_queueGlasses.empty()) {
            CGlass* pGlass = m_queueGlasses.front();
            pGlass->start();
            glassFromQueueToInPorcess(pGlass);
            this->saveState();

            // 这里上报Panel Start事件
            if (m_listener.onPanelStart != nullptr) {
               m_listener.onPanelStart(this, pGlass);
            }
         }
      }

      if (aaa % 45 == 0) {
         if (!m_inProcesGlasses.empty()) {
            CGlass* pGlass = m_inProcesGlasses.front();
            pGlass->complete();
            CGlass* pBuddy = pGlass->getBuddy();
            if (pBuddy != nullptr) pBuddy->complete();
            glassFromInPorcessToComplete(pGlass);
            this->saveState();

            // 这里上报Panel End事件
            if (m_listener.onPanelEnd != nullptr) {
               m_listener.onPanelEnd(this, pGlass);
            }

            CProcessJob* pJob = getGlassProcessJob(pGlass);
            if (pJob != nullptr && checkAndUpdatePjComplete(pJob)) {
               processJobFromInPorcessToComplete(pJob);
               this->saveState();
               LOGE("<Master>ProcessJob(%s)完成.",
                  pJob->id().c_str());
               if (m_listener.onPjEnd != nullptr) {
                  m_listener.onPjEnd(this, pJob);
               }

               // 检查CJ是否已经完成
               ASSERT(m_pControlJob);
               if (checkAndUpdateCjComplete(m_pControlJob)) {
                  this->saveState();
                  LOGE("<Master>ControlJob(%s)完成.",
                     m_pControlJob->id().c_str());
                  if (m_listener.onCjEnd != nullptr) {
                     m_listener.onCjEnd(this, pJob);
                  }
               }
            }
         }
      }
		
   }

   void CMaster::connectEquipments()
@@ -1853,16 +2076,17 @@
      if (!pSrcEq->IsEnabled()) { 
         return nullptr;
      }

      CRobotTask* pTask = nullptr;
      CSlot* pSrcSlot, * pTarSlot;
      pSrcEq->m_nTestFlag = m_nTestFlag;
      pTarSlot = pTarEq->getAvailableSlotForGlass(primaryType);
      pSrcSlot = pSrcEq->getProcessedSlot(primaryType, bJobMode);
      if (pSrcSlot == nullptr || nullptr == pTarSlot) {
      if (m_nTestFlag == 1) LOGD("createTransferTask 003 %x, %x", pTarSlot, pSrcSlot);
      if ((pSrcSlot == nullptr || nullptr == pTarSlot) && secondaryType != SERVO::MaterialsType::G0) {
         pTarSlot = pTarEq->getAvailableSlotForGlass(secondaryType);
         pSrcSlot = pSrcEq->getProcessedSlot(secondaryType, bJobMode);
      }

      if (m_nTestFlag == 1) LOGD("createTransferTask 004 %x, %x", pTarSlot, pSrcSlot);

      if (pSrcSlot != nullptr && nullptr != pTarSlot) {
         pTask = new CRobotTask();
@@ -2095,6 +2319,22 @@
      int eqid[] = { EQ_ID_LOADPORT1, EQ_ID_LOADPORT2, EQ_ID_LOADPORT3, EQ_ID_LOADPORT4 };
      CLoadPort* pPort = (CLoadPort*)getEquipment(eqid[index]);
      pPort->localEanblePort(bEnable);
   }

   int CMaster::getPortCassetteSnSeed(int port)
   {
      ASSERT(1 <= port && port <= 4);
      int eqid[] = { EQ_ID_LOADPORT1, EQ_ID_LOADPORT2, EQ_ID_LOADPORT3, EQ_ID_LOADPORT4 };
      CLoadPort* pPort = (CLoadPort*)getEquipment(eqid[port - 1]);
      return pPort->getPortCassetteSnSeed();
   }

   void CMaster::setPortCassetteSnSeed(int port, int seed)
   {
      ASSERT(1 <= port && port <= 4);
      int eqid[] = { EQ_ID_LOADPORT1, EQ_ID_LOADPORT2, EQ_ID_LOADPORT3, EQ_ID_LOADPORT4 };
      CLoadPort* pPort = (CLoadPort*)getEquipment(eqid[port - 1]);
      return pPort->setPortCassetteSnSeed(seed);
   }

   void CMaster::setCompareMapsBeforeProceeding(BOOL bCompare)
@@ -2345,7 +2585,9 @@
         m_pControlJob = new CControlJob();
         if (!CControlJob::deserialize(ifs, *m_pControlJob)) return false;
      }

      else {
         return false;
      }

      // 读取 ProcessJob 列表
      uint32_t count = 0;
@@ -2382,8 +2624,8 @@
      for (const auto pj : pjs) {
         if (pj->state() == PJState::Queued) {
            pj->start();
            return pj;
         }
         return pj;
      }


@@ -2456,4 +2698,155 @@
      }
      return false;
   }

   bool CMaster::processJobFromInPorcessToComplete(CProcessJob* pProcessJob)
   {
      auto it = std::find(m_inProcesJobs.begin(), m_inProcesJobs.end(), pProcessJob);
      if (it != m_inProcesJobs.end()) {
         m_completeProcessJobs.push_back(*it);
         m_inProcesJobs.erase(it);
         return true;
      }
      return false;
   }

   bool CMaster::checkAndUpdatePjComplete(CProcessJob* pJob)
   {
      ASSERT(pJob);
      auto state = pJob->state();
      if (state != PJState::InProcess && state != PJState::Paused) return false;

      for (auto c : pJob->carriers()) {
         for (auto g : c.contexts) {
            auto state = ((CGlass*)g)->state();
            if (state != GlsState::Aborted && state != GlsState::Completed
               && state != GlsState::Failed) return false;
         }
      }

      return pJob->complete();
   }

   bool CMaster::checkAndUpdateCjComplete(CControlJob* pJob)
   {
      ASSERT(pJob);
      auto state = pJob->state();
      if (state != CJState::Executing && state != CJState::Paused) return false;

      for (auto pj : pJob->getPjs()) {
         auto state = pj->state();
         if (state != PJState::Aborted && state != PJState::Completed
            && state != PJState::Failed) {
            return false;
         }
      }

      return pJob->complete();
   }

   CProcessJob* CMaster::getGlassProcessJob(CGlass* pGlass)
   {
      if (m_pControlJob == nullptr) return nullptr;
      for (auto pj : m_pControlJob->getPjs()) {
         for (auto c : pj->carriers()) {
            for (auto g : c.contexts) {
               if (g == pGlass) return pj;
            }
         }
      }

      return nullptr;
   }

   bool CMaster::canCreateControlJob()
   {
      return m_pControlJob == nullptr;
   }

   bool CMaster::canCompleteControlJob()
   {
      return m_pControlJob != nullptr && m_state == SERVO::MASTERSTATE::READY;
   }

   bool CMaster::canDeleteControlJob()
   {
      return m_pControlJob != nullptr 
         && m_pControlJob->state() == CJState::NoState
         && m_state == SERVO::MASTERSTATE::READY;
   }

   int CMaster::getWipGlasses(std::vector<CGlass*>& glasses)
   {
      for (auto eq : m_listEquipment) {
         auto p = dynamic_cast<CLoadPort*>(eq);
         if (p == nullptr) {
            eq->getAllGlass(glasses);
         }

      }

      return (int)glasses.size();
   }

   int CMaster::getLastError()
   {
      return m_nLastError;
   }

   std::string& CMaster::getLastErrorText()
   {
      return m_strLastError;
   }

   void CMaster::test()
   {
      if (stop() == 0) {
         m_nLastError = ER_CODE_AOI_NG;
         m_strLastError = "AOI检测未通过.";
      }
   }

   bool CMaster::moveGlassToBuf(int eqid, int slotNo)
   {
      CEquipment* pEquipment = getEquipment(eqid);
      if (pEquipment == nullptr) return false;

      CSlot* pSlot = pEquipment->getSlotWithNo(slotNo);
      if (pSlot == nullptr) return false;

      CGlass* pGlass = (CGlass*)pSlot->getContext();
      m_bufGlass.push_back(pGlass);
      pGlass->addRef();
      pSlot->setContext(nullptr);

      m_bDataModify = TRUE;
      if (m_listener.onEqDataChanged != nullptr) {
         m_listener.onEqDataChanged(this, pEquipment, 0);
      }

      return true;
   }

   bool CMaster::moveGlassToSlot(int eqid, int slotNo)
   {
      CEquipment* pEquipment = getEquipment(eqid);
      if (pEquipment == nullptr) return false;

      CSlot* pSlot = pEquipment->getSlotWithNo(slotNo);
      if (pSlot == nullptr) return false;
      if (m_bufGlass.empty()) return false;

      CGlass* pGlass = m_bufGlass.front();
      m_bufGlass.pop_front();
      if (pGlass == nullptr) return false;
      pSlot->setContext(pGlass);
      pGlass->release();

      m_bDataModify = TRUE;
      if (m_listener.onEqDataChanged != nullptr) {
         m_listener.onEqDataChanged(this, pEquipment, 0);
      }

      return true;
   }
}