1.放片物流控制和模拟测试；

LAPTOP-SNT8I5JK\Boounion

2025-05-29 258d9d2d72bbf199cd86fd3e7bd824e1f117bab8

1.放片物流控制和模拟测试；

 SourceCode/Bond/Servo/CEquipment.cpp

@@ -27,7 +27,7 @@

    CEquipment::CEquipment() : m_nID(0), m_strName(""), m_strDescription(""), m_station(0, 255)
    {
        m_listener = { nullptr, nullptr, nullptr, nullptr, nullptr, nullptr };
        m_listener = { };
        m_alive = { FALSE, 0, FALSE };
        m_bCimState = FALSE;
        m_bUpstreamInline = FALSE;
@@ -71,12 +71,7 @@

    void CEquipment::setListener(EquipmentListener listener)
    {
        m_listener.onAlive = listener.onAlive;
        m_listener.onCimStateChanged = listener.onCimStateChanged;
        m_listener.onAlarm = listener.onAlarm;
        m_listener.onDataChanged = listener.onDataChanged;
        m_listener.onVcrEventReport = listener.onVcrEventReport;
        m_listener.onPreFethedOutJob = listener.onPreFethedOutJob;
        m_listener = listener;
    }

    void CEquipment::setCcLink(CCCLinkIEControl* pCcLink)
@@ -761,9 +756,8 @@
        return 0;
    }

    int CEquipment::storedJob(CJobDataB* pJobDataB)
    int CEquipment::storedJob(CJobDataB* pJobDataB, short& putSlot)
    {
        /*
        if (m_pArm == nullptr) {
            return -1;
        }
@@ -777,13 +771,13 @@
        ASSERT(pGlass);
        Lock();
        pGlass->addPath(m_nID);
        pGlass->addRef();                    // 加入list,addRef
        m_glassList.push_back(pGlass);
        m_slot[putSlot - 1].setContext(pGlass);
        pGlass->release();                // tempFetchOut需要调用一次release
        Unlock();


        // 如果此玻璃已经贴合，贴合的玻璃也要从加入到列表中
        /*
        CGlass* pBuddy = pGlass->getBuddy();
        if (pBuddy != nullptr) {
            Lock();
@@ -792,12 +786,12 @@
            m_glassList.push_back(pBuddy);
            Unlock();
        }

        */

        if (m_listener.onDataChanged != nullptr) {
            m_listener.onDataChanged(this, EDCC_STORED_JOB);
        }
        */
		
        return 0;
    }

@@ -1105,6 +1099,15 @@
        return nullptr;
    }

    BOOL CEquipment::canPlaceGlassInSlot(const short slotIndex)
    {
        if (slotIndex >= SLOT_MAX) return FALSE;
        if (!m_slot[slotIndex].isEnable()) return FALSE;
        if (m_slot[slotIndex].getContext() != nullptr) return FALSE;

        return TRUE;
    }

    short CEquipment::decodeRecipeListReport(const char* pszData, size_t size)
    {
        return m_recipesManager.decodeRecipeListReport(pszData, size);
@@ -1324,7 +1327,7 @@
        return 0;
    }

    int CEquipment::onPreStoredJob(int port, CJobDataB* pJobDataB)
    int CEquipment::onPreStoredJob(int port, CJobDataB* pJobDataB, short& putSlot)
    {
        LOGI("<CEquipment-%s>onPreStoredJob:port:%d|GlassId:%s",
            m_strName.c_str(), port, pJobDataB->getGlassId().c_str());
@@ -1336,7 +1339,7 @@
            return FALSE;
        }

        // 当前不能有任何玻璃，且当前准备进的片是G2
        // 如果没有可用位置，报错
        Lock();
        CSlot* pSlot = getAvailableSlotForGlass((MaterialsType)pJobDataS->getMaterialsType());
        if (pSlot == nullptr) {
@@ -1346,6 +1349,17 @@
        }
        Unlock();


        if (m_listener.onPreStoredJob != nullptr) {
            if (!m_listener.onPreStoredJob(this, pJobDataB, putSlot)) {
                return FALSE;
            }

            if(!canPlaceGlassInSlot(putSlot - 1)) {
                return FALSE;
            }
        }

        return TRUE;
    }

@@ -1354,10 +1368,11 @@
        LOGI("<CEquipment-%s>onStore:port:%d|GlassId:%s",
            m_strName.c_str(), port, pJobDataB->getGlassId().c_str());

        BOOL bCheck = onPreStoredJob(port, pJobDataB);
        short putSlot = 0;
        BOOL bCheck = onPreStoredJob(port, pJobDataB, putSlot);
        if (bCheck) {
            addJobDataB(pJobDataB);
            return storedJob(pJobDataB);
            return storedJob(pJobDataB, putSlot);
        }

        // 数据异常，处理或显示

 SourceCode/Bond/Servo/CEquipment.h

@@ -45,6 +45,7 @@
    typedef std::function<void(void* pEiuipment, int state, int alarmId, int unitId, int level)> ONALARM;
    typedef std::function<void(void* pEiuipment, void* pReport)> ONVCREVENTREPORT;
    typedef std::function<BOOL(void* pEiuipment, CJobDataB* pJobDataB)> ONPREFETCHEDOUTJOB;
    typedef std::function<BOOL(void* pEiuipment, CJobDataB* pJobDataB, short& putSlot)> ONPRESTOREDJOB;
    typedef struct _EquipmentListener
    {
        ONALIVE                onAlive;
@@ -53,6 +54,7 @@
        ONDATACHANGED        onDataChanged;
        ONVCREVENTREPORT    onVcrEventReport;
        ONPREFETCHEDOUTJOB    onPreFethedOutJob;
        ONPRESTOREDJOB        onPreStoredJob;
    } EquipmentListener;


@@ -104,12 +106,12 @@
        std::vector<CPin*>& CEquipment::getOutputPins();
        virtual int recvIntent(CPin* pPin, CIntent* pIntent);
        virtual int fetchedOutJob(CJobDataB* pJobDataB);
        virtual int storedJob(CJobDataB* pJobDataB);
        virtual int storedJob(CJobDataB* pJobDataB, short& putSlot);
        virtual int onReceivedJob(int port, CJobDataS* pJobDataS);
        virtual int onSentOutJob(int port, CJobDataS* pJobDataS);
        virtual BOOL onPreFetchedOutJob(int port, CJobDataB* pJobDataB);
        virtual int onFetchedOutJob(int port, CJobDataB* pJobDataB);
        virtual BOOL onPreStoredJob(int port, CJobDataB* pJobDataB);
        virtual BOOL onPreStoredJob(int port, CJobDataB* pJobDataB, short& putSlot);
        virtual int onStoredJob(int port, CJobDataB* pJobDataB);
        virtual int onProcessData(CProcessData* pProcessData);
        virtual int getIndexerOperationModeBaseValue();
@@ -162,6 +164,10 @@
        // 是否有玻璃
        BOOL hasGlass();

        // 指定槽位是否可以放置玻璃
        BOOL canPlaceGlassInSlot(const short slotIndex);


    // 以下为从CC-Link读取到的Bit标志位检测函数
    public:
        BOOL isAlive();

 SourceCode/Bond/Servo/CMaster.cpp

@@ -33,7 +33,7 @@

    CMaster::CMaster()
    {
        m_listener = {nullptr, nullptr, nullptr, nullptr, nullptr, nullptr};
        m_listener = {};
        m_bDataModify = FALSE;
        m_hEventReadBitsThreadExit[0] = ::CreateEvent(NULL, TRUE, FALSE, NULL);
        m_hEventReadBitsThreadExit[1] = ::CreateEvent(NULL, TRUE, FALSE, NULL);
@@ -83,12 +83,7 @@

    void CMaster::setListener(MasterListener listener)
    {
        m_listener.onMasterStateChanged = listener.onMasterStateChanged;
        m_listener.onEqAlive = listener.onEqAlive;
        m_listener.onEqCimStateChanged = listener.onEqCimStateChanged;
        m_listener.onEqAlarm = listener.onEqAlarm;
        m_listener.onEqVcrEventReport = listener.onEqVcrEventReport;
        m_listener.onEqDataChanged = listener.onEqDataChanged;
        m_listener = listener;
    }

    CRobotTask* CMaster::getActiveRobotTask()
@@ -469,19 +464,54 @@
            CEquipment* p = (CEquipment*)pEquipment;


            // 取放片，更新当前搬送任务
            // 取片，更新当前搬送任务
            BOOL bOk = FALSE;
            lock();
            if (m_pActiveRobotTask != nullptr && 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()) {
            if (m_pActiveRobotTask != nullptr) {
                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()) {
                            bOk = TRUE;
                            LOGI("<CMaster>onPreFethedOutJob, 已校验数据一致性.");
                        }
                    }
                }
                else if (p->getID() == EQ_ID_ARM_TRAY1 || p->getID() == EQ_ID_ARM_TRAY2) {
                    bOk = TRUE;
                }
            }
            unlock();

            if (!bOk) {
                LOGE("<CMaster>onPreFethedOutJob, 数据校验失败.");
            }

            return bOk;

        };
        listener.onPreStoredJob = [&](void* pEquipment, CJobDataB* pJobDataB, short& slot) -> BOOL {
            CEquipment* p = (CEquipment*)pEquipment;


            // 放片，更新当前搬送任务
            BOOL bOk = FALSE;
            lock();
            if (m_pActiveRobotTask != nullptr) {
                if (m_pActiveRobotTask->getTarPosition() == p->getID()) {
                    CGlass* pGlass = p->getGlassFromSlot(m_pActiveRobotTask->getTarSlot());
                    if (pGlass == nullptr) {
                        bOk = TRUE;
                        slot = m_pActiveRobotTask->getTarSlot();
                        LOGI("<CMaster>onPreFethedOutJob, 已校验数据一致性.");
                    }
                }
                else if (p->getID() == EQ_ID_ARM_TRAY1 || p->getID() == EQ_ID_ARM_TRAY2) {
                    slot = 1;
                    bOk = TRUE;
                }
            }
            unlock();
@@ -513,7 +543,17 @@
                lock();
                if (m_pActiveRobotTask != nullptr && m_pActiveRobotTask->getTarPosition() == p->getID()) {
                    m_pActiveRobotTask->stored();
                    m_pActiveRobotTask->completed();
                    LOGI("放片完成...");

                    // 完成此条搬送任务，但要把数据和消息上抛应用层
                    unlock();



                    lock();
                    delete m_pActiveRobotTask;
                    m_pActiveRobotTask = nullptr;
                }
                unlock();
            }

 SourceCode/Bond/Servo/CRobotTask.cpp

@@ -120,6 +120,21 @@
        return m_state;
    }

    void CRobotTask::completed()
    {
        m_state = ROBOT_TASK_STATE::Completed;
    }

    void CRobotTask::error()
    {
        m_state = ROBOT_TASK_STATE::Error;
    }

    void CRobotTask::abort()
    {
        m_state = ROBOT_TASK_STATE::Abort;
    }

    int CRobotTask::getSrcPosition()
    {
        return m_robotCmdParam.getPosition;

 SourceCode/Bond/Servo/CRobotTask.h

@@ -22,6 +22,9 @@
        time_t getStoredTime();
        time_t getFinishTime();
        ROBOT_TASK_STATE getState();
        void completed();
        void error();
        void abort();
        int getSrcPosition();
        int getSrcSlot();
        int getTarPosition();