1.准备处理PanelDataRequest的响应； 2.删除掉Glass中的JobDataB

LAPTOP-SNT8I5JK\Boounion

2025-06-19 e431787780491220f026d83dccdf15e8ea078d1e

 SourceCode/Bond/Servo/CMaster.cpp

@@ -1,6 +1,8 @@
#include "stdafx.h"
#include "Common.h"
#include "CMaster.h"
#include <future>
#include <vector>


namespace SERVO {
@@ -48,6 +50,7 @@
      m_ullRunTime = 0;
      m_state = MASTERSTATE::READY;
      m_pActiveRobotTask = nullptr;
      m_nLastError = 0;
      InitializeCriticalSection(&m_criticalSection);
   }

@@ -264,6 +267,13 @@
      return 0;
   }

   void CMaster::clearError()
   {
      m_nLastError = 0;
      m_strLastError = "";
      setState(MASTERSTATE::READY);
   }

   ULONGLONG CMaster::getRunTime()
   {
      if (m_state == MASTERSTATE::RUNNING)
@@ -325,8 +335,113 @@
         // 如果状态为STARTING，开始工作并切换到RUNNING状态
         lock();
         if (m_state == MASTERSTATE::STARTING) {
            // 发送indexerOperationModeChange到各个机台，成功后切换到RUNNING状态
            // 否则切换到MSERROR状态
            int nRet;
            CEquipment* pEq[6] = { pEFEM, pBonder1, pBonder2, pBakeCooling, 
               pVacuumBake, pMeasurement};
            BOOL bIomcOk[7] = {FALSE, FALSE, FALSE, FALSE, FALSE, FALSE, TRUE};
            std::vector<std::promise<void>> promises(6);
            std::vector<std::future<void>> futures;

            nRet = pEq[0]->indexerOperationModeChange(IDNEXER_OPERATION_MODE::Start,
               [&](int writeCode, int retCode) -> void {
                  bIomcOk[0] = retCode == (int)RET::OK;
                  promises[0].set_value();
                  TRACE("a0001\n", writeCode, retCode);
               });
            if (nRet != 0) {
               LOGI("<Master>EFEM切换Start状态失败");
               m_strLastError = "EFEM切换Start状态失败.";
               goto WAIT;
            }
            futures.push_back(promises[0].get_future());

            nRet = pEq[1]->indexerOperationModeChange(IDNEXER_OPERATION_MODE::Start,
               [&](int writeCode, int retCode) -> void {
                  bIomcOk[1] = retCode == (int)RET::OK;
                  promises[1].set_value();
                  TRACE("a0002\n");
               });
            if (nRet != 0) {
               LOGI("<Master>Bonder1切换Start状态失败");
               m_strLastError = "Bonder1切换Start状态失败.";
               goto WAIT;
            }
            futures.push_back(promises[1].get_future());

            nRet = pEq[2]->indexerOperationModeChange(IDNEXER_OPERATION_MODE::Start,
               [&](int writeCode, int retCode) -> void {
                  bIomcOk[2] = retCode == (int)RET::OK;
                  promises[2].set_value();
                  TRACE("a0003\n");
               });
            if (nRet != 0) {
               LOGI("<Master>Bonder2切换Start状态失败");
               m_strLastError = "Bonder2切换Start状态失败.";
               goto WAIT;
            }
            futures.push_back(promises[2].get_future());

            nRet = pEq[3]->indexerOperationModeChange(IDNEXER_OPERATION_MODE::Start,
               [&](int writeCode, int retCode) -> void {
                  bIomcOk[3] = retCode == (int)RET::OK;
                  promises[3].set_value();
                  TRACE("a0004\n");
               });
            if (nRet != 0) {
               LOGI("<Master>BakeCooling切换Start状态失败");
               m_strLastError = "BakeCooling切换Start状态失败.";
               goto WAIT;
            }
            futures.push_back(promises[3].get_future());

            nRet = pEq[4]->indexerOperationModeChange(IDNEXER_OPERATION_MODE::Start,
               [&](int writeCode, int retCode) -> void {
                  bIomcOk[4] = retCode == (int)RET::OK;
                  promises[4].set_value();
                  TRACE("a0005\n");
               });
            if (nRet != 0) {
               LOGI("<Master>VacuumBake切换Start状态失败");
               m_strLastError = "VacuumBake切换Start状态失败.";
               goto WAIT;
            }
            futures.push_back(promises[4].get_future());

            nRet = pEq[5]->indexerOperationModeChange(IDNEXER_OPERATION_MODE::Start,
               [&](int writeCode, int retCode) -> void {
                  bIomcOk[5] = retCode == (int)RET::OK;
                  promises[5].set_value();
                  TRACE("a0006\n");
               });
            if (nRet != 0) {
               LOGI("<Master>Measurement切换Start状态失败");
               m_strLastError = "Measurement切换Start状态失败.";
               goto WAIT;
            }
            futures.push_back(promises[5].get_future());

WAIT:
            for (auto& f : futures) {
               f.wait();  // 阻塞等待对应设备完成
            }
            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());
               }
            }
				
            // 检查看是否都已经切换到START状态
            if (!bIomcOk[6]) {
               unlock();
               setState(MASTERSTATE::MSERROR);
               continue;
            }


            unlock();
            Sleep(1000);
            setState(MASTERSTATE::RUNNING);
            continue;
         }
@@ -343,10 +458,13 @@

         // 调度逻辑处理
         else if (m_state == MASTERSTATE::RUNNING) {
            unlock();
            // LOGI("调度处理中...");
            // 检测判断robot状态
            RMDATA& rmd = pEFEM->getRobotMonitoringData();
            if (rmd.status != ROBOT_STATUS::Idle && rmd.status != ROBOT_STATUS::Run) {
               unlock();
               continue;
            }

            lock();
            if (m_pActiveRobotTask != nullptr) {
               unlock();
               // 检测到当前有正在下午的任务，确保当前任务完成或中止后继续
@@ -376,6 +494,8 @@


            // Measurement -> LoadPort
            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"));
            CLoadPort* pEqLoadPort[] = { pLoadPort1, pLoadPort2, pLoadPort3, pLoadPort4 };
            CEquipment* pEqTar[] = { pVacuumBake, pFliper };
            if (primaryType == MaterialsType::G2) {
@@ -383,7 +503,7 @@
               pEqTar[1] = pVacuumBake;
            }
            for (int s = 0; s < 4; s++) {
               if (pEqLoadPort[s]->isEnable()
               if (!rmd.armState[0] && pEqLoadPort[s]->isEnable()
                  && pEqLoadPort[s]->getPortType() == PortType::Unloading
                  && pEqLoadPort[s]->getPortMode() == PortMode::ReadyToUnload) {
                  m_pActiveRobotTask = createTransferTask(pMeasurement, pEqLoadPort[s], primaryType, secondaryType);
@@ -407,139 +527,161 @@


            // BakeCooling ->Measurement
            m_pActiveRobotTask = createTransferTask_bakecooling_to_measurement(pBakeCooling, pMeasurement);
            if (m_pActiveRobotTask != nullptr) {
               m_pActiveRobotTask->pick();
               std::string strDescription = m_pActiveRobotTask->getDescription();
               unlock();
               if (m_listener.onRobotTaskEvent != nullptr) {
                  m_listener.onRobotTaskEvent(this, m_pActiveRobotTask, ROBOT_EVENT_CREATE);
            if (!rmd.armState[0]) {
               m_pActiveRobotTask = createTransferTask_bakecooling_to_measurement(pBakeCooling, pMeasurement);
               if (m_pActiveRobotTask != nullptr) {
                  m_pActiveRobotTask->pick();
                  std::string strDescription = m_pActiveRobotTask->getDescription();
                  unlock();
                  if (m_listener.onRobotTaskEvent != nullptr) {
                     m_listener.onRobotTaskEvent(this, m_pActiveRobotTask, ROBOT_EVENT_CREATE);
                  }
                  LOGI("创建新任务<%s>...", strDescription.c_str());
                  continue;
               }
               LOGI("创建新任务<%s>...", strDescription.c_str());
               continue;
            }


            
            // BakeCooling内部
            // Bake -> Cooling
            m_pActiveRobotTask = createTransferTask_bake_to_cooling(pBakeCooling);
            if (m_pActiveRobotTask != nullptr) {
               m_pActiveRobotTask->pick();
               std::string strDescription = m_pActiveRobotTask->getDescription();
               unlock();
               if (m_listener.onRobotTaskEvent != nullptr) {
                  m_listener.onRobotTaskEvent(this, m_pActiveRobotTask, ROBOT_EVENT_CREATE);
            if (!rmd.armState[0]) {
               m_pActiveRobotTask = createTransferTask_bake_to_cooling(pBakeCooling);
               if (m_pActiveRobotTask != nullptr) {
                  m_pActiveRobotTask->pick();
                  std::string strDescription = m_pActiveRobotTask->getDescription();
                  unlock();
                  if (m_listener.onRobotTaskEvent != nullptr) {
                     m_listener.onRobotTaskEvent(this, m_pActiveRobotTask, ROBOT_EVENT_CREATE);
                  }
                  LOGI("创建新任务<%s>...", strDescription.c_str());
                  continue;
               }
               LOGI("创建新任务<%s>...", strDescription.c_str());
               continue;
            }


            // Bonder -> BakeCooling
            m_pActiveRobotTask = createTransferTask_bonder_to_bakecooling(pBonder1, pBakeCooling);
            if (m_pActiveRobotTask != nullptr) {
               m_pActiveRobotTask->pick();
               std::string strDescription = m_pActiveRobotTask->getDescription();
               unlock();
               if (m_listener.onRobotTaskEvent != nullptr) {
                  m_listener.onRobotTaskEvent(this, m_pActiveRobotTask, ROBOT_EVENT_CREATE);
            if (!rmd.armState[0]) {
               m_pActiveRobotTask = createTransferTask_bonder_to_bakecooling(pBonder1, pBakeCooling);
               if (m_pActiveRobotTask != nullptr) {
                  m_pActiveRobotTask->pick();
                  std::string strDescription = m_pActiveRobotTask->getDescription();
                  unlock();
                  if (m_listener.onRobotTaskEvent != nullptr) {
                     m_listener.onRobotTaskEvent(this, m_pActiveRobotTask, ROBOT_EVENT_CREATE);
                  }
                  LOGI("创建新任务<%s>...", strDescription.c_str());
                  continue;
               }
               LOGI("创建新任务<%s>...", strDescription.c_str());
               continue;
            }

            m_pActiveRobotTask = createTransferTask_bonder_to_bakecooling(pBonder2, pBakeCooling);
            if (m_pActiveRobotTask != nullptr) {
               m_pActiveRobotTask->pick();
               std::string strDescription = m_pActiveRobotTask->getDescription();
               unlock();
               if (m_listener.onRobotTaskEvent != nullptr) {
                  m_listener.onRobotTaskEvent(this, m_pActiveRobotTask, ROBOT_EVENT_CREATE);
            if (!rmd.armState[0]) {
               m_pActiveRobotTask = createTransferTask_bonder_to_bakecooling(pBonder2, pBakeCooling);
               if (m_pActiveRobotTask != nullptr) {
                  m_pActiveRobotTask->pick();
                  std::string strDescription = m_pActiveRobotTask->getDescription();
                  unlock();
                  if (m_listener.onRobotTaskEvent != nullptr) {
                     m_listener.onRobotTaskEvent(this, m_pActiveRobotTask, ROBOT_EVENT_CREATE);
                  }
                  LOGI("创建新任务<%s>...", strDescription.c_str());
                  continue;
               }
               LOGI("创建新任务<%s>...", strDescription.c_str());
               continue;
            }


            // Fliper(G2) -> Bonder
            // VacuumBake(G1) -> Bonder
            m_pActiveRobotTask = createTransferTask(pFliper, pBonder1, primaryType, secondaryType, 2);
            if (m_pActiveRobotTask != nullptr) {
               m_pActiveRobotTask->pick();
               std::string strDescription = m_pActiveRobotTask->getDescription();
               unlock();
               if (m_listener.onRobotTaskEvent != nullptr) {
                  m_listener.onRobotTaskEvent(this, m_pActiveRobotTask, ROBOT_EVENT_CREATE);
            if (!rmd.armState[1] && !pBonder1->hasBondClass()) {
               m_pActiveRobotTask = createTransferTask(pFliper, pBonder1, primaryType, secondaryType, 2);
               if (m_pActiveRobotTask != nullptr) {
                  m_pActiveRobotTask->pick();
                  std::string strDescription = m_pActiveRobotTask->getDescription();
                  unlock();
                  if (m_listener.onRobotTaskEvent != nullptr) {
                     m_listener.onRobotTaskEvent(this, m_pActiveRobotTask, ROBOT_EVENT_CREATE);
                  }
                  LOGI("创建新任务<%s>...", strDescription.c_str());
                  continue;
               }
               LOGI("创建新任务<%s>...", strDescription.c_str());
               continue;
            }

            m_pActiveRobotTask = createTransferTask(pFliper, pBonder2, primaryType, secondaryType, 2);
            if (m_pActiveRobotTask != nullptr) {
               m_pActiveRobotTask->pick();
               std::string strDescription = m_pActiveRobotTask->getDescription();
               unlock();
               if (m_listener.onRobotTaskEvent != nullptr) {
                  m_listener.onRobotTaskEvent(this, m_pActiveRobotTask, ROBOT_EVENT_CREATE);
            if (!rmd.armState[1] && !pBonder2->hasBondClass()) {
               m_pActiveRobotTask = createTransferTask(pFliper, pBonder2, primaryType, secondaryType, 2);
               if (m_pActiveRobotTask != nullptr) {
                  m_pActiveRobotTask->pick();
                  std::string strDescription = m_pActiveRobotTask->getDescription();
                  unlock();
                  if (m_listener.onRobotTaskEvent != nullptr) {
                     m_listener.onRobotTaskEvent(this, m_pActiveRobotTask, ROBOT_EVENT_CREATE);
                  }
                  LOGI("创建新任务<%s>...", strDescription.c_str());
                  continue;
               }
               LOGI("创建新任务<%s>...", strDescription.c_str());
               continue;
            }

            m_pActiveRobotTask = createTransferTask(pVacuumBake, pBonder1, primaryType, secondaryType);
            if (m_pActiveRobotTask != nullptr) {
               m_pActiveRobotTask->pick();
               std::string strDescription = m_pActiveRobotTask->getDescription();
               unlock();
               if (m_listener.onRobotTaskEvent != nullptr) {
                  m_listener.onRobotTaskEvent(this, m_pActiveRobotTask, ROBOT_EVENT_CREATE);
            if (!rmd.armState[0] && !pBonder1->hasBondClass()) {
               m_pActiveRobotTask = createTransferTask(pVacuumBake, pBonder1, primaryType, secondaryType);
               if (m_pActiveRobotTask != nullptr) {
                  m_pActiveRobotTask->pick();
                  std::string strDescription = m_pActiveRobotTask->getDescription();
                  unlock();
                  if (m_listener.onRobotTaskEvent != nullptr) {
                     m_listener.onRobotTaskEvent(this, m_pActiveRobotTask, ROBOT_EVENT_CREATE);
                  }
                  LOGI("创建新任务<%s>...", strDescription.c_str());
                  continue;
               }
               LOGI("创建新任务<%s>...", strDescription.c_str());
               continue;
            }

            m_pActiveRobotTask = createTransferTask(pVacuumBake, pBonder2, primaryType, secondaryType);
            if (m_pActiveRobotTask != nullptr) {
               m_pActiveRobotTask->pick();
               std::string strDescription = m_pActiveRobotTask->getDescription();
               unlock();
               if (m_listener.onRobotTaskEvent != nullptr) {
                  m_listener.onRobotTaskEvent(this, m_pActiveRobotTask, ROBOT_EVENT_CREATE);
            if (!rmd.armState[0] && !pBonder2->hasBondClass()) {
               m_pActiveRobotTask = createTransferTask(pVacuumBake, pBonder2, primaryType, secondaryType);
               if (m_pActiveRobotTask != nullptr) {
                  m_pActiveRobotTask->pick();
                  std::string strDescription = m_pActiveRobotTask->getDescription();
                  unlock();
                  if (m_listener.onRobotTaskEvent != nullptr) {
                     m_listener.onRobotTaskEvent(this, m_pActiveRobotTask, ROBOT_EVENT_CREATE);
                  }
                  LOGI("创建新任务<%s>...", strDescription.c_str());
                  continue;
               }
               LOGI("创建新任务<%s>...", strDescription.c_str());
               continue;
            }


            // Aligner -> Fliper(G2)
            // Aligner -> VacuumBake(G1)
            m_pActiveRobotTask = createTransferTask(pAligner, pFliper, primaryType, secondaryType, 2);
            if (m_pActiveRobotTask != nullptr) {
               m_pActiveRobotTask->pick();
               std::string strDescription = m_pActiveRobotTask->getDescription();
               unlock();
               if (m_listener.onRobotTaskEvent != nullptr) {
                  m_listener.onRobotTaskEvent(this, m_pActiveRobotTask, ROBOT_EVENT_CREATE);
            if (!rmd.armState[1]) {
               m_pActiveRobotTask = createTransferTask(pAligner, pFliper, primaryType, secondaryType, 2);
               if (m_pActiveRobotTask != nullptr) {
                  m_pActiveRobotTask->pick();
                  std::string strDescription = m_pActiveRobotTask->getDescription();
                  unlock();
                  if (m_listener.onRobotTaskEvent != nullptr) {
                     m_listener.onRobotTaskEvent(this, m_pActiveRobotTask, ROBOT_EVENT_CREATE);
                  }
                  LOGI("创建新任务<%s>...", strDescription.c_str());
                  continue;
               }
               LOGI("创建新任务<%s>...", strDescription.c_str());
               continue;
            }

            m_pActiveRobotTask = createTransferTask(pAligner, pVacuumBake, primaryType, secondaryType);
            if (m_pActiveRobotTask != nullptr) {
               m_pActiveRobotTask->pick();
               std::string strDescription = m_pActiveRobotTask->getDescription();
               unlock();
               if (m_listener.onRobotTaskEvent != nullptr) {
                  m_listener.onRobotTaskEvent(this, m_pActiveRobotTask, ROBOT_EVENT_CREATE);
            if (!rmd.armState[0]) {
               m_pActiveRobotTask = createTransferTask(pAligner, pVacuumBake, primaryType, secondaryType);
               if (m_pActiveRobotTask != nullptr) {
                  m_pActiveRobotTask->pick();
                  std::string strDescription = m_pActiveRobotTask->getDescription();
                  unlock();
                  if (m_listener.onRobotTaskEvent != nullptr) {
                     m_listener.onRobotTaskEvent(this, m_pActiveRobotTask, ROBOT_EVENT_CREATE);
                  }
                  LOGI("创建新任务<%s>...", strDescription.c_str());
                  continue;
               }
               LOGI("创建新任务<%s>...", strDescription.c_str());
               continue;
            }


            // LoadPort -> Aligner
            for (int s = 0; s < 4; s++) {
               if (pEqLoadPort[s]->isEnable()
               if (!rmd.armState[0] && pEqLoadPort[s]->isEnable()
                  && pEqLoadPort[s]->getPortType() == PortType::Loading
                  && pEqLoadPort[s]->getPortMode() == PortMode::ReadyToLoad) {
                  m_pActiveRobotTask = createTransferTask(pEqLoadPort[s], pAligner, primaryType, secondaryType);
@@ -586,17 +728,6 @@

         // 读标志位
         for (auto item : m_listEquipment) {
            //if (item->getID() == EQ_ID_Bonder1 ||
            //   item->getID() == EQ_ID_Bonder2) {
            //   const StationIdentifier& station = item->getStation();
            //   MemoryBlock& block = item->getReadBitBlock();

            //   int nRet = m_cclink.ReadData2(station, (DeviceType)block.type,
            //      block.start, block.size, block.buffer);
            //   if (0 == nRet) {
            //      item->onReceiveLBData(block.buffer, block.size);
            //   }
            //}
            const StationIdentifier& station = item->getStation();
            MemoryBlock& block = item->getReadBitBlock();

@@ -655,10 +786,10 @@
            if (m_pActiveRobotTask->getSrcPosition() == p->getID()) {
               CGlass* pGlass = p->getGlassFromSlot(m_pActiveRobotTask->getSrcSlot());
               if (pGlass != nullptr) {
                  CJobDataB* pJobDataBSrc = pGlass->getJobDataB();
                  if (pJobDataBSrc != nullptr
                     && pJobDataBSrc->getCassetteSequenceNo() == pJobDataB->getCassetteSequenceNo()
                     && pJobDataBSrc->getJobSequenceNo() == pJobDataB->getJobSequenceNo()) {
                  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.");
                  }
@@ -761,7 +892,9 @@
            unlock();
         }
      };

      listener.onProcessStateChanged = [&](void* pEquipment, PROCESS_STATE state) -> void {
         LOGI("<Master>onProcessStateChanged<%d>", (int)state);
      };
      pEquipment->setListener(listener);
      pEquipment->setCcLink(&m_cclink);
      m_listEquipment.push_back(pEquipment);
@@ -1185,14 +1318,11 @@


      if (pSrcSlot != nullptr && nullptr != pTarSlot) {
         int srcPos, srcSlot, tarPos, tarSlot;
         transformPosAndSlot(pSrcSlot->getPosition(), pSrcSlot->getNo(), srcPos, srcSlot);
         transformPosAndSlot(pTarSlot->getPosition(), pTarSlot->getNo(), tarPos, tarSlot);
         pTask = new CRobotTask();
         pTask->setContext(pSrcSlot->getContext());
         pTask->setEFEM((CEFEM*)getEquipment(EQ_ID_EFEM));
         taskSeqNo = pTask->setRobotTransferParam(taskSeqNo, armNo, srcPos,
            tarPos, srcSlot, tarSlot);
         taskSeqNo = pTask->setRobotTransferParam(taskSeqNo, armNo, pSrcSlot->getPosition(),
            pTarSlot->getPosition(), pSrcSlot->getNo(), pTarSlot->getNo());
      }


@@ -1209,14 +1339,11 @@
      pSrcSlot = pSrcEq->getProcessedSlot(MaterialsType::G1);

      if (pSrcSlot != nullptr && nullptr != pTarSlot) {
         int srcPos, srcSlot, tarPos, tarSlot;
         transformPosAndSlot(pSrcSlot->getPosition(), pSrcSlot->getNo(), srcPos, srcSlot);
         transformPosAndSlot(pTarSlot->getPosition(), pTarSlot->getNo(), tarPos, tarSlot);
         pTask = new CRobotTask();
         pTask->setContext(pSrcSlot->getContext());
         pTask->setEFEM((CEFEM*)getEquipment(EQ_ID_EFEM));
         taskSeqNo = pTask->setRobotTransferParam(taskSeqNo, 1, srcPos,
            tarPos, srcSlot, tarSlot);
         taskSeqNo = pTask->setRobotTransferParam(taskSeqNo, 1, pSrcSlot->getPosition(),
            pTarSlot->getPosition(), pSrcSlot->getNo(), pTarSlot->getNo());
      }


@@ -1234,14 +1361,11 @@
      pSrcSlot = pSrcEq->getProcessedSlot2(MaterialsType::G1, slotsSrc);

      if (pSrcSlot != nullptr && nullptr != pTarSlot) {
         int srcPos, srcSlot, tarPos, tarSlot;
         transformPosAndSlot(pSrcSlot->getPosition(), pSrcSlot->getNo(), srcPos, srcSlot);
         transformPosAndSlot(pTarSlot->getPosition(), pTarSlot->getNo(), tarPos, tarSlot);
         pTask = new CRobotTask();
         pTask->setContext(pSrcSlot->getContext());
         pTask->setEFEM((CEFEM*)getEquipment(EQ_ID_EFEM));
         taskSeqNo = pTask->setRobotTransferParam(taskSeqNo, 1, srcPos,
            tarPos, srcSlot, tarSlot);
         taskSeqNo = pTask->setRobotTransferParam(taskSeqNo, 1, pSrcSlot->getPosition(),
            pTarSlot->getPosition(), pSrcSlot->getNo(), pTarSlot->getNo());
      }


@@ -1258,68 +1382,15 @@
      pSrcSlot = pSrcEq->getProcessedSlot2(MaterialsType::G1, slots);

      if (pSrcSlot != nullptr && nullptr != pTarSlot) {
         int srcPos, srcSlot, tarPos, tarSlot;
         transformPosAndSlot(pSrcSlot->getPosition(), pSrcSlot->getNo(), srcPos, srcSlot);
         transformPosAndSlot(pTarSlot->getPosition(), pTarSlot->getNo(), tarPos, tarSlot);
         pTask = new CRobotTask();
         pTask->setContext(pSrcSlot->getContext());
         pTask->setEFEM((CEFEM*)getEquipment(EQ_ID_EFEM));
         taskSeqNo = pTask->setRobotTransferParam(taskSeqNo, 1, srcPos,
            tarPos, srcSlot, tarSlot);
         taskSeqNo = pTask->setRobotTransferParam(taskSeqNo, 1, pSrcSlot->getPosition(),
            pTarSlot->getPosition(), pSrcSlot->getNo(), pTarSlot->getNo());
      }


      return pTask;
   }

   void CMaster::transformPosAndSlot(int srcPos, int srcSlot, int& tarPos, int& tarSlot)
   {
      switch (srcPos)
      {
      case EQ_ID_LOADPORT1:
      case EQ_ID_LOADPORT2:
      case EQ_ID_LOADPORT3:
      case EQ_ID_LOADPORT4:
      case EQ_ID_ARM_TRAY1:
      case EQ_ID_ARM_TRAY2:
      case EQ_ID_ALIGNER:
      case EQ_ID_FLIPER:
         tarPos = srcPos;
         tarSlot = 1;
         break;
      case EQ_ID_Bonder1:
         if (1 <= srcSlot && srcSlot <= 2) {
            tarPos = 9 + srcSlot;
            tarSlot = 1;
         }
         break;
      case EQ_ID_Bonder2:
         if (1 <= srcSlot && srcSlot <= 2) {
            tarPos = 11 + srcSlot;
            tarSlot = 1;
         }
         break;
      case EQ_ID_VACUUMBAKE:
         if (1 <= srcSlot && srcSlot <= 2) {
            tarPos = 13 + srcSlot;
            tarSlot = 1;
         }
         break;
      case EQ_ID_BAKE_COOLING:
         if (1 <= srcSlot && srcSlot <= 4) {
            tarPos = 15 + srcSlot;
            tarSlot = 1;
         }
         break;
      case EQ_ID_MEASUREMENT:
         tarPos = 19;
         tarSlot = 1;
         break;
      default:
         tarPos = srcPos;
         tarSlot = srcSlot;
         break;
      }
   }

   int CMaster::abortCurrentTask()