Merge branch 'EAPSimulator' into clh

LAPTOP-SNT8I5JK\Boounion

2025-07-28 e51c6d1360f9679dd8e4dd3379ce0db1886badbf

 SourceCode/Bond/Servo/CMaster.h

@@ -12,14 +12,16 @@
#include "CArm.h"
#include "CArmTray.h"
#include "CCLinkIEControl.h"
#include "CRobotTask.h"


namespace SERVO {
    enum MASTERSTATE {
    enum class MASTERSTATE {
        READY = 0,
        STARTING,
        RUNNING,
        STOPPING
        STOPPING,
        MSERROR
    };

    typedef std::function<void(void* pMaster, MASTERSTATE state)> ONMASTERSTATECHANGED;
@@ -28,6 +30,8 @@
    typedef std::function<void(void* pMaster, CEquipment* pEquipment, int state, int alarmId, int unitId, int level)> ONEQALARM;
    typedef std::function<void(void* pMaster, CEquipment* pEquipment, CVcrEventReport* pReport)> ONEQVCREVENTREPORT;
    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 scanMap)> ONLOADPORTINUSE;
    typedef struct _MasterListener
    {
        ONMASTERSTATECHANGED    onMasterStateChanged;
@@ -36,21 +40,25 @@
        ONEQALARM               onEqAlarm;
        ONEQVCREVENTREPORT       onEqVcrEventReport;
        ONEQDATACHANGED         onEqDataChanged;
        ONROBOTTASKEVENT        onRobotTaskEvent;
        ONLOADPORTINUSE         onLoadPortInUse;
    } MasterListener;

    class CMaster
    {
    public:
        CMaster();
        ~CMaster();
        virtual ~CMaster();


    public:
        void setListener(MasterListener listener);
        CRobotTask* getActiveRobotTask();
        int init();
        int term();
        int start();
        int stop();
        void clearError();
        ULONGLONG getRunTime();
        MASTERSTATE getState();
        unsigned DispatchProc();
@@ -59,6 +67,17 @@
        std::list<CEquipment*>& getEquipmentList();
        CEquipment* getEquipment(int id);
        void setCacheFilepath(const char* pszFilepath);
        int abortCurrentTask();
        int restoreCurrentTask();
        int resendCurrentTask();
        void setPortType(unsigned int index, BOOL enable, int type, int mode,
            int cassetteType, int transferMode, BOOL autoChangeEnable);
        void setPortCassetteType(unsigned int index, SERVO::CassetteType type);
        void setCompareMapsBeforeProceeding(BOOL bCompare);
        void datetimeSync(SYSTEMTIME& time);
        void enableEventReport(bool bEnable);
        void enableAlarmReport(bool bEnable);
        bool isAlarmReportEnable();

    private:
        inline void lock() { EnterCriticalSection(&m_criticalSection); }
@@ -80,6 +99,13 @@
        int readCache();
        void serialize(CArchive& ar);
        void setState(MASTERSTATE state);
        CRobotTask* createTransferTask(CEquipment* pSrcEq, CEquipment* pTarEq,
            MaterialsType primaryType = MaterialsType::G1, MaterialsType secondaryType = MaterialsType::G2,
            int armNo = 1);
        CRobotTask* createTransferTask_bonder_to_bakecooling(CEquipment* pSrcEq, CEquipment* pTarEq);
        CRobotTask* createTransferTask_bake_to_cooling(CEquipment* pSrcEq);
        CRobotTask* createTransferTask_bakecooling_to_measurement(CEquipment* pSrcEq, CEquipment* pTarEq);
        CRobotTask* createTransferTask_restore(CEquipment* pEqSrc, CLoadPort** pPorts);

    private:
        CRITICAL_SECTION m_criticalSection;
@@ -105,6 +131,20 @@
        ULONGLONG m_ullStartTime;
        ULONGLONG m_ullRunTime;
        MASTERSTATE m_state;

        // 当前任务和已完成任务列表
        CRobotTask* m_pActiveRobotTask;
        std::list< CRobotTask* > m_listTask;

        // 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
        BOOL m_isCompareMapsBeforeProceeding;
    private:
        bool m_bEnableEventReport;
        bool m_bEnableAlarmReport;
    };
}