Bond2
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LAPTOP-SNT8I5JK\Boounion
2025-08-11 f6347c91173823acf25d4fbea3acbe3abb37c83d 
 SourceCode/Bond/Servo/CMaster.h


@@ -12,14 +12,34 @@


#include "CArm.h"


#include "CArmTray.h"


#include "CCLinkIEControl.h"


#include "CRobotTask.h"








#define CTStep_Unknow                   0


#define CTStep_LoadPort_Aligner         1


#define CTStep_Aligner_Fliper           2


#define CTStep_Fliper_Bonder1           3


#define CTStep_Bonder1_Bonder2          4


#define CTStep_Bonder2_VacuumBake       5


#define CTStep_VacuumBake_VacuumBake    6


#define CTStep_VacuumBake_BakeCooling   7


#define CTStep_BakeCooling_BakeCooling1 8


#define CTStep_BakeCooling_BakeCooling2 9


#define CTStep_BakeCooling_BakeCooling3 10


#define CTStep_BakeCooling_Measurement  11


#define CTStep_Measurement_LoadPort     12


#define CTStep_begin                    CTStep_LoadPort_Aligner


#define CTStep_end                      CTStep_Measurement_LoadPort




namespace SERVO {


    enum MASTERSTATE {


    enum class MASTERSTATE {


        READY = 0,


        STARTING,


        RUNNING,


        STOPPING


        RUNNING_CONTINUOUS_TRANSFER,


        STOPPING,


        MSERROR


    };




    typedef std::function<void(void* pMaster, MASTERSTATE state)> ONMASTERSTATECHANGED;


@@ -28,6 +48,9 @@


    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 status, __int64 data)> ONLOADPORTSTATUSCHANGED;


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


    typedef struct _MasterListener


    {


        ONMASTERSTATECHANGED    onMasterStateChanged;


@@ -36,21 +59,27 @@


        ONEQALARM               onEqAlarm;


        ONEQVCREVENTREPORT       onEqVcrEventReport;


        ONEQDATACHANGED         onEqDataChanged;


        ONROBOTTASKEVENT        onRobotTaskEvent;


        ONLOADPORTSTATUSCHANGED   onLoadPortStatusChanged;


        ONCTROUNDEND            onCTRoundEnd;


    } MasterListener;




    class CMaster


    {


    public:


        CMaster();


        ~CMaster();


        virtual ~CMaster();






    public:


        void setListener(MasterListener listener);


        CRobotTask* getActiveRobotTask();


        int init();


        int term();


        int start();


        int startContinuousTransfer();


        int stop();


        void clearError();


        ULONGLONG getRunTime();


        MASTERSTATE getState();


        unsigned DispatchProc();


@@ -59,6 +88,22 @@


        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 setPortEnable(unsigned int index, BOOL bEnable);


        void setCompareMapsBeforeProceeding(BOOL bCompare);


        void datetimeSync(SYSTEMTIME& time);


        void enableEventReport(bool bEnable);


        void enableAlarmReport(bool bEnable);


        bool isAlarmReportEnable();


        int proceedWithCarrier(unsigned int port);


        int carrierRelease(unsigned int port);


        int getContinuousTransferCount();


        void setContinuousTransferCount(int round);




    private:


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


@@ -80,6 +125,15 @@


        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);


        CRobotTask* createTransferTask_continuous_transfer(CEquipment* pSrcEq, int nSrcSlot,


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




    private:


        CRITICAL_SECTION m_criticalSection;


@@ -88,6 +142,7 @@


        std::list<CEquipment*> m_listEquipment;


        std::string m_strFilepath;


        BOOL m_bDataModify;


        bool m_bContinuousTransfer;




    private:


        /* 监控比特位的线程*/


@@ -105,6 +160,25 @@


        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;




        // 千传圈数计数


        int m_nContinuousTransferCount;


        int m_nContinuousTransferStep;




    private:


        bool m_bEnableEventReport;


        bool m_bEnableAlarmReport;


    };


}