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LAPTOP-SNT8I5JK\Boounion

2025-08-11 f6347c91173823acf25d4fbea3acbe3abb37c83d

 SourceCode/Bond/Servo/CMaster.cpp

@@ -56,7 +56,7 @@
      m_bEnableAlarmReport = true;
      m_bContinuousTransfer = false;
      m_nContinuousTransferCount = 0;
      m_nContinuousTransferStep = CTStep_begin;
      m_nContinuousTransferStep = CTStep_Unknow;
      InitializeCriticalSection(&m_criticalSection);
   }

@@ -708,13 +708,15 @@
            // Measurement -> LoadPort
            for (int s = 0; s < 4; s++) {
               PortType pt = pLoadPorts[s]->getPortType();
               if (!rmd.armState[0] && pLoadPorts[s]->isEnable()
               if ((m_nContinuousTransferStep == CTStep_Unknow || m_nContinuousTransferStep == CTStep_BakeCooling_Measurement)
                  && !rmd.armState[0] && pLoadPorts[s]->isEnable()
                  && (pt == PortType::Unloading || pt == PortType::Both)
                  && pLoadPorts[s]->getPortStatus() == PORT_INUSE) {
                  for (int slot = 0; slot < SLOT_MAX; slot++) {
                     m_pActiveRobotTask = createTransferTask_continuous_transfer(pMeasurement,
                        0, pLoadPorts[s], slot);
                     if (m_pActiveRobotTask != nullptr) {
                        m_nContinuousTransferStep = CTStep_Measurement_LoadPort;
                        m_nContinuousTransferStep = CTStep_end;
                        goto CT_PORT_PUT;
                     }
@@ -727,10 +729,12 @@


            // BakeCooling ->Measurement
            if (!rmd.armState[0]) {
            if ((m_nContinuousTransferStep == CTStep_Unknow || m_nContinuousTransferStep == CTStep_BakeCooling_BakeCooling3)
               && !rmd.armState[0]) {
               m_pActiveRobotTask = createTransferTask_continuous_transfer(pBakeCooling,
                  3, pMeasurement, 0);
               if (m_pActiveRobotTask != nullptr) {
                  m_nContinuousTransferStep = CTStep_BakeCooling_Measurement;
                  LOGI("<ContinuousTransfer>千传测试，开始搬送任务(BakeCooling -> Measurement)...");
               }
               CHECK_RUN_ACTIVE_ROBOT_TASK(m_pActiveRobotTask);
@@ -738,86 +742,104 @@

            
            // BakeCooling内部
            if (!rmd.armState[0]) {
            if ((m_nContinuousTransferStep == CTStep_Unknow || m_nContinuousTransferStep == CTStep_BakeCooling_BakeCooling2)
               && !rmd.armState[0]) {
               m_pActiveRobotTask = createTransferTask_continuous_transfer(pBakeCooling,
                  2, pBakeCooling, 3);
               if (m_pActiveRobotTask != nullptr) {
                  m_nContinuousTransferStep = CTStep_BakeCooling_BakeCooling3;
                  LOGI("<ContinuousTransfer>千传测试，开始搬送任务(BakeCooling-2 -> BakeCooling-3)...");
               }
               CHECK_RUN_ACTIVE_ROBOT_TASK(m_pActiveRobotTask);
            }
            if (!rmd.armState[0]) {
            if ((m_nContinuousTransferStep == CTStep_Unknow || m_nContinuousTransferStep == CTStep_BakeCooling_BakeCooling1)
               && !rmd.armState[0]) {
               m_pActiveRobotTask = createTransferTask_continuous_transfer(pBakeCooling,
                  1, pBakeCooling, 2);
               if (m_pActiveRobotTask != nullptr) {
                  m_nContinuousTransferStep = CTStep_BakeCooling_BakeCooling2;
                  LOGI("<ContinuousTransfer>千传测试，开始搬送任务(BakeCooling-1 -> BakeCooling-2)...");
               }
               CHECK_RUN_ACTIVE_ROBOT_TASK(m_pActiveRobotTask);
            }
            if (!rmd.armState[0]) {
            if ((m_nContinuousTransferStep == CTStep_Unknow || m_nContinuousTransferStep == CTStep_VacuumBake_BakeCooling)
               && !rmd.armState[0]) {
               m_pActiveRobotTask = createTransferTask_continuous_transfer(pBakeCooling,
                  0, pBakeCooling, 1);
               if (m_pActiveRobotTask != nullptr) {
                  m_nContinuousTransferStep = CTStep_BakeCooling_BakeCooling1;
                  LOGI("<ContinuousTransfer>千传测试，开始搬送任务(BakeCooling-0 -> BakeCooling-1)...");
               }
               CHECK_RUN_ACTIVE_ROBOT_TASK(m_pActiveRobotTask);
            }

            // VacuumBake(G1) -> BakeCooling
            if (!rmd.armState[0]) {
            if ((m_nContinuousTransferStep == CTStep_Unknow || m_nContinuousTransferStep == CTStep_VacuumBake_VacuumBake)
               && !rmd.armState[0]) {
               m_pActiveRobotTask = createTransferTask_continuous_transfer(pVacuumBake,
                  1, pBakeCooling, 0);
               if (m_pActiveRobotTask != nullptr) {
                  m_nContinuousTransferStep = CTStep_VacuumBake_BakeCooling;
                  LOGI("<ContinuousTransfer>千传测试，开始搬送任务(VacuumBake(G1) -> BakeCooling)...");
               }
               CHECK_RUN_ACTIVE_ROBOT_TASK(m_pActiveRobotTask);
            }

            // VacuumBake(G1) -> VacuumBake(G1)
            if (!rmd.armState[0]) {
            if ((m_nContinuousTransferStep == CTStep_Unknow || m_nContinuousTransferStep == CTStep_Bonder2_VacuumBake)
               && !rmd.armState[0]) {
               m_pActiveRobotTask = createTransferTask_continuous_transfer(pVacuumBake,
                  0, pVacuumBake, 1);
               if (m_pActiveRobotTask != nullptr) {
                  m_nContinuousTransferStep = CTStep_VacuumBake_VacuumBake;
                  LOGI("<ContinuousTransfer>千传测试，开始搬送任务(VacuumBake(G1-0) -> VacuumBake(G1-1))...");
               }
               CHECK_RUN_ACTIVE_ROBOT_TASK(m_pActiveRobotTask);
            }

            // Bonder2 -> VacuumBake(G1)
            if (!rmd.armState[0]) {
            if ((m_nContinuousTransferStep == CTStep_Unknow || m_nContinuousTransferStep == CTStep_Bonder1_Bonder2)
               && !rmd.armState[0]) {
               m_pActiveRobotTask = createTransferTask_continuous_transfer(pBonder2,
                  1, pVacuumBake, 0);
               if (m_pActiveRobotTask != nullptr) {
                  m_nContinuousTransferStep = CTStep_Bonder2_VacuumBake;
                  LOGI("<ContinuousTransfer>千传测试，开始搬送任务(Bonder2 -> VacuumBake(G1))...");
               }
               CHECK_RUN_ACTIVE_ROBOT_TASK(m_pActiveRobotTask);
            }
            
            // Bonder1 -> Bonder2
            if (!rmd.armState[0] && !pBonder2->hasBondClass()) {
            if ((m_nContinuousTransferStep == CTStep_Unknow || m_nContinuousTransferStep == CTStep_Fliper_Bonder1)
               && !rmd.armState[0] && !pBonder2->hasBondClass()) {
               m_pActiveRobotTask = createTransferTask_continuous_transfer(pBonder1,
                  1, pBonder2, 1);
               if (m_pActiveRobotTask != nullptr) {
                  m_nContinuousTransferStep = CTStep_Bonder1_Bonder2;
                  LOGI("<ContinuousTransfer>千传测试，开始搬送任务(Bonder1 -> Bonder2)...");
               }
               CHECK_RUN_ACTIVE_ROBOT_TASK(m_pActiveRobotTask);
            }

            // Fliper(G2) -> Bonder1
            if (!rmd.armState[0] && !pBonder1->hasBondClass()) {
            if ((m_nContinuousTransferStep == CTStep_Unknow || m_nContinuousTransferStep == CTStep_Aligner_Fliper)
               &&!rmd.armState[0] && !pBonder1->hasBondClass()) {
               m_pActiveRobotTask = createTransferTask_continuous_transfer(pFliper,
                  0, pBonder1, 1, 2);
               if (m_pActiveRobotTask != nullptr) {
                  m_nContinuousTransferStep = CTStep_Fliper_Bonder1;
                  LOGI("<ContinuousTransfer>千传测试，开始搬送任务(Fliper(G2) -> Bonder1)...");
               }
               CHECK_RUN_ACTIVE_ROBOT_TASK(m_pActiveRobotTask);
            }

            // Aligner -> Fliper(G2)
            if (!rmd.armState[1]) {
            if ((m_nContinuousTransferStep == CTStep_Unknow || m_nContinuousTransferStep == CTStep_LoadPort_Aligner)
               && !rmd.armState[1]) {
               m_pActiveRobotTask = createTransferTask_continuous_transfer(pAligner,
                  0, pFliper, 0);
               if (m_pActiveRobotTask != nullptr) {
                  m_nContinuousTransferStep = CTStep_Aligner_Fliper;
                  LOGI("<ContinuousTransfer>千传测试，开始搬送任务(Aligner -> Fliper(G2))...");
               }
               CHECK_RUN_ACTIVE_ROBOT_TASK(m_pActiveRobotTask);
@@ -826,13 +848,15 @@
            // LoadPort -> Aligner
            for (int s = 0; s < 4; s++) {
               PortType pt = pLoadPorts[s]->getPortType();
               if (!rmd.armState[0] && pLoadPorts[s]->isEnable()
               if ((m_nContinuousTransferStep == CTStep_Unknow || m_nContinuousTransferStep == CTStep_end)
                  && !rmd.armState[0] && pLoadPorts[s]->isEnable()
                  && (pt == PortType::Loading || pt == PortType::Both)
                  && pLoadPorts[s]->getPortStatus() == PORT_INUSE) {
                  for (int slot = 0; slot < SLOT_MAX; slot++) {
                     m_pActiveRobotTask = createTransferTask_continuous_transfer(pLoadPorts[s], 
                        slot, pAligner, 0);
                     if (m_pActiveRobotTask != nullptr) {
                        m_nContinuousTransferStep = CTStep_LoadPort_Aligner;
                        LOGI("<ContinuousTransfer>千传测试，开始搬送任务(LoadPort -> Aligner)...");
                        pEFEM->setContext(m_pActiveRobotTask->getContext());
                        goto CT_PORT_GET;