1.修改调度逻辑，增加G0，第二类型，增加TestFlag, 用于必要时输出指定日志；

LAPTOP-SNT8I5JK\Boounion

2025-08-27 38f2ff1e5bc6c4434875e03b8cadc8f3f4e39bf6

1.修改调度逻辑，增加G0，第二类型，增加TestFlag, 用于必要时输出指定日志；

 SourceCode/Bond/Servo/CEquipment.cpp

@@ -27,6 +27,7 @@
        m_pArm = nullptr;
        m_processState = PROCESS_STATE::Ready;
        m_blockReadBit = { 0 };
        m_nTestFlag = 0;
        InitializeCriticalSection(&m_criticalSection);
    }

@@ -1328,24 +1329,32 @@
    CSlot* CEquipment::getProcessedSlot(MaterialsType putSlotType, BOOL bJobMode/* = FALSE*/)
    {
        for (int i = 0; i < SLOT_MAX; i++) {
            if (m_nTestFlag == 1) LOGI("getProcessedSlot 001");
            if (!m_slot[i].isEnable()) continue;
            if (m_nTestFlag == 1) LOGI("getProcessedSlot 002");
            if (m_slot[i].isLock()) continue;
            if (m_nTestFlag == 1) LOGI("getProcessedSlot 003");
            CGlass* pGlass = (CGlass*)m_slot[i].getContext();
            if (!isSlotProcessed(i)) continue;
            if (m_nTestFlag == 1) LOGI("getProcessedSlot 004");
            if (pGlass == nullptr) continue;
            if (m_nTestFlag == 1) LOGI("getProcessedSlot 005");
            if (!pGlass->isScheduledForProcessing()) continue;
            if (m_nTestFlag == 1) LOGI("getProcessedSlot 006");
            if (bJobMode && pGlass->getProcessJob() == nullptr) continue;
            if (m_nTestFlag == 1) LOGI("getProcessedSlot 007");
            if(pGlass->getInspResult(m_nID, 0) == InspResult::Fail) continue;
            int lsPath = m_slot[i].getLinkSignalPath();
            if(!m_bLinkSignalToUpstream[lsPath][SIGNAL_UPSTREAM_INLINE]
                || m_bLinkSignalToUpstream[lsPath][SIGNAL_UPSTREAM_TROUBLE]
                || !m_bLinkSignalToUpstream[lsPath][SIGNAL_INTERLOCK]
                || !m_bLinkSignalToUpstream[lsPath][SIGNAL_SEND_ABLE] ) continue;

            if (m_nTestFlag == 1) LOGI("getProcessedSlot 008");
            MaterialsType glassType = pGlass->getType();
            if (glassType == MaterialsType::G1 && putSlotType == MaterialsType::G2) continue;
            if (m_nTestFlag == 1) LOGI("getProcessedSlot 009");
            if (glassType == MaterialsType::G2 && putSlotType == MaterialsType::G1) continue;

            if (m_nTestFlag == 1) LOGI("getProcessedSlot 00a");
            return &m_slot[i];
        }


 SourceCode/Bond/Servo/CEquipment.h

@@ -290,6 +290,9 @@

    private:
        CEquipment* m_pArm;

    public:
        int m_nTestFlag;
    };
}


 SourceCode/Bond/Servo/CMaster.cpp

@@ -63,6 +63,7 @@
        m_nContinuousTransferCount = 0;
        m_nContinuousTransferStep = CTStep_Unknow;
        m_pControlJob = nullptr;
        m_nTestFlag = 0;
        InitializeCriticalSection(&m_criticalSection);
    }

@@ -598,23 +599,38 @@

                // 此处检测优先类型和次要类型（G1或G2）
                // 如果其中一Bonder有单个玻璃，优先取它的配对类型，否则无所谓了
                primaryType = MaterialsType::G1;
                secondaryType = MaterialsType::G2;
                if ((!pBonder1->canPlaceGlassInSlot(0) && !pBonder1->canPlaceGlassInSlot(1))
                    && (!pBonder2->canPlaceGlassInSlot(0) && !pBonder2->canPlaceGlassInSlot(1))) {
                    // 如果G1和G2都满了，那就看Aligner, 如果Aligner有玻璃为G1, 则取G2
                    CGlass* pGlass = pAligner->getGlassFromSlot(1);
                    if (pGlass != nullptr && pGlass->getType() == MaterialsType::G1) {
                        primaryType = MaterialsType::G2;
                        secondaryType = MaterialsType::G1;
                    }
                }
                else if ((pBonder1->canPlaceGlassInSlot(0) && !pBonder1->canPlaceGlassInSlot(1))
                    || (pBonder2->canPlaceGlassInSlot(0) && !pBonder2->canPlaceGlassInSlot(1))) {
                    primaryType = MaterialsType::G2;
                    secondaryType = MaterialsType::G1;
                }


                if (!pBonder1->canPlaceGlassInSlot(0) && pBonder1->canPlaceGlassInSlot(1)) {
                    // 如果Bonder1有G2了，则取G1
                    primaryType = MaterialsType::G1;
                    secondaryType = MaterialsType::G0;
                }
                else if (!pBonder2->canPlaceGlassInSlot(0) && pBonder2->canPlaceGlassInSlot(1)) {
                    // 如果Bonder2有G2了，则取G1
                    primaryType = MaterialsType::G1;
                    secondaryType = MaterialsType::G0;
                }
                else if (!pFliper->canPlaceGlassInSlot(0)) {
                    primaryType = MaterialsType::G1;
                    secondaryType = MaterialsType::G0;
                }
                else if (pBonder1->canPlaceGlassInSlot(0)) {
                    // 如果Bonder1没有G2, 则先G2
                    primaryType = MaterialsType::G2;
                    secondaryType = MaterialsType::G0;
                }
                else if (pBonder2->canPlaceGlassInSlot(0)) {
                    // 如果Bonder2没有G2, 则先G2
                    primaryType = MaterialsType::G2;
                    secondaryType = MaterialsType::G0;
                }
                else {
                    primaryType = MaterialsType::G2;
                    secondaryType = MaterialsType::G0;
                }

                // Measurement -> LoadPort
                if (rmd.armState[0] || rmd.armState[1]) {
@@ -674,24 +690,29 @@

                // Fliper(G2) -> Bonder
                auto pSrcSlot = pVacuumBake->getProcessedSlot(primaryType);
                if (pSrcSlot != nullptr && !rmd.armState[1] && !pBonder1->hasBondClass()) {
                    m_pActiveRobotTask = createTransferTask(pFliper, pBonder1, primaryType, secondaryType, 2);
                //LOGI("<Master>pSrcSlot = %x, primaryType:%d", pSrcSlot, primaryType);
                if (pSrcSlot != nullptr && !rmd.armState[1]
                    && pBonder1->canPlaceGlassInSlot(0)
                    && !pBonder1->hasBondClass()) {
                    m_pActiveRobotTask = createTransferTask(pFliper, pBonder1, MaterialsType::G2, MaterialsType::G0, 2);
                    CHECK_RUN_ACTIVE_ROBOT_TASK(m_pActiveRobotTask);
                }
                if (pSrcSlot != nullptr && !rmd.armState[1] && !pBonder2->hasBondClass()) {
                    m_pActiveRobotTask = createTransferTask(pFliper, pBonder2, primaryType, secondaryType, 2);
                if (pSrcSlot != nullptr && !rmd.armState[1] 
                    && pBonder2->canPlaceGlassInSlot(0)
                    && !pBonder2->hasBondClass()) {
                    m_pActiveRobotTask = createTransferTask(pFliper, pBonder2, MaterialsType::G2, MaterialsType::G0, 2);
                    CHECK_RUN_ACTIVE_ROBOT_TASK(m_pActiveRobotTask);
                }


                // VacuumBake(G1) -> Bonder
                if (!rmd.armState[0] && !pBonder1->hasBondClass()) {
                    m_pActiveRobotTask = createTransferTask(pVacuumBake, pBonder1, primaryType, secondaryType);
                    m_pActiveRobotTask = createTransferTask(pVacuumBake, pBonder1, MaterialsType::G1, MaterialsType::G0);
                    CHECK_RUN_ACTIVE_ROBOT_TASK(m_pActiveRobotTask);
                }

                if (!rmd.armState[0] && !pBonder2->hasBondClass()) {
                    m_pActiveRobotTask = createTransferTask(pVacuumBake, pBonder2, primaryType, secondaryType);
                    m_pActiveRobotTask = createTransferTask(pVacuumBake, pBonder2, MaterialsType::G1, MaterialsType::G0);
                    CHECK_RUN_ACTIVE_ROBOT_TASK(m_pActiveRobotTask);
                }

@@ -704,8 +725,11 @@
                }

                if (!rmd.armState[0]) {
                    // m_nTestFlag = 1;
                    if (m_nTestFlag == 1) LOGI("createTransferTask 004df %d, %d", primaryType, secondaryType);
                    m_pActiveRobotTask = createTransferTask(pAligner, pVacuumBake, primaryType, secondaryType);
                    CHECK_RUN_ACTIVE_ROBOT_TASK(m_pActiveRobotTask);
                    m_nTestFlag = 0;
                }


@@ -1929,16 +1953,17 @@
        if (!pSrcEq->IsEnabled()) { 
            return nullptr;
        }

        CRobotTask* pTask = nullptr;
        CSlot* pSrcSlot, * pTarSlot;
        pSrcEq->m_nTestFlag = m_nTestFlag;
        pTarSlot = pTarEq->getAvailableSlotForGlass(primaryType);
        pSrcSlot = pSrcEq->getProcessedSlot(primaryType, bJobMode);
        if (pSrcSlot == nullptr || nullptr == pTarSlot) {
        if (m_nTestFlag == 1) LOGI("createTransferTask 003 %x, %x", pTarSlot, pSrcSlot);
        if (pSrcSlot == nullptr || nullptr == pTarSlot && secondaryType != SERVO::MaterialsType::G0) {
            pTarSlot = pTarEq->getAvailableSlotForGlass(secondaryType);
            pSrcSlot = pSrcEq->getProcessedSlot(secondaryType, bJobMode);
        }

        if (m_nTestFlag == 1) LOGI("createTransferTask 004 %x, %x", pTarSlot, pSrcSlot);

        if (pSrcSlot != nullptr && nullptr != pTarSlot) {
            pTask = new CRobotTask();

 SourceCode/Bond/Servo/CMaster.h

@@ -231,6 +231,8 @@
        SERVO::CControlJob* m_pControlJob;
        std::vector<SERVO::CProcessJob*> m_processJobs;
        std::string m_strStatePath;

        int m_nTestFlag;
    };
}


 SourceCode/Bond/Servo/ServoCommo.h

@@ -73,6 +73,7 @@
    };

    enum class MaterialsType {
        G0 = 0,
        G1 = 1,
        G2 = 2,
        G1G2 = 3