1.联调，优化。

mrDarker

2025-06-20 7f55a7c6cef156e553866d0012464e4697cb1849

1.联调，优化。

 SourceCode/Bond/Servo/CEFEM.cpp

@@ -713,7 +713,7 @@
            // JOB Data Request
            CEqReadStep* pStep = new CEqReadStep(0x0, 0,
                [&](void* pFrom, int code, const char* pszData, size_t size) -> int {
                    if (code == ROK && pszData != nullptr && size > 0) {
                    if (code == ROK /* && pszData != nullptr && size > 0*/) {
                        // 由于EFEM没有发送参数到master, 我们只需要返回数据
                        // Cassette Sequence No和Job Sequence No根据上一次调试缓存而来
                        // decodeJobDataRequest((CStep*)pFrom, pszData, size);
@@ -727,6 +727,7 @@
                        if (m_pActiveContext != nullptr) {
                            CJobDataS* pJobDataS = ((CGlass*)m_pActiveContext)->getJobDataS();
                            if (pJobDataS != nullptr) {
                                pJobDataS->serialize(szBuffer, 1024);
                                pJobDataS->serialize(szBuffer, 1024);
                                ack = (short)JobDataRequestAck::OK;
                            }
@@ -843,62 +844,28 @@

    int CEFEM::onFetchedOutJob(int port, CJobDataB* pJobDataB)
    {
        if (port == 1) {
            return m_pPort[0]->onFetchedOutJob(port, pJobDataB);
        }
        if (port == 2) {
            return m_pPort[1]->onFetchedOutJob(port, pJobDataB);
        }
        if (port == 3) {
            return m_pPort[2]->onFetchedOutJob(port, pJobDataB);
        }
        if (port == 4) {
            return m_pPort[3]->onFetchedOutJob(port, pJobDataB);
        }
        if (port == 5) {
            return m_pArmTray[0]->onFetchedOutJob(port, pJobDataB);
        }
        if (port == 6) {
            return m_pArmTray[1]->onFetchedOutJob(port, pJobDataB);
        }
        if (port == 7) {
            return m_pAligner->onFetchedOutJob(port, pJobDataB);
        }
        if (port == 8) {
            return m_pFliper->onFetchedOutJob(port, pJobDataB);
        // 转发到子单元设备
        CEquipment* pEqs[] = { m_pPort[0], m_pPort[1], m_pPort[2], m_pPort[3], m_pArmTray[0], m_pArmTray[1],
            m_pAligner, m_pFliper };
        if (1 <= port && port <= 8) {
            pEqs[port - 1]->onFetchedOutJob(port, pJobDataB);
        }

        return -1;

        return 0;
    }

    int CEFEM::onStoredJob(int port, CJobDataB* pJobDataB)
    {
        if (port == 1) {
            return m_pPort[0]->onStoredJob(port, pJobDataB);
        }
        if (port == 2) {
            return m_pPort[1]->onStoredJob(port, pJobDataB);
        }
        if (port == 3) {
            return m_pPort[2]->onStoredJob(port, pJobDataB);
        }
        if (port == 4) {
            return m_pPort[3]->onStoredJob(port, pJobDataB);
        }
        if (port == 5) {
            return m_pArmTray[0]->onStoredJob(port, pJobDataB);
        }
        if (port == 6) {
            return m_pArmTray[1]->onStoredJob(port, pJobDataB);
        }
        if (port == 7) {
            return m_pAligner->onStoredJob(port, pJobDataB);
        }
        if (port == 8) {
            return m_pFliper->onStoredJob(port, pJobDataB);
        // 转发到子单元设备
        CEquipment* pEqs[] = { m_pPort[0], m_pPort[1], m_pPort[2], m_pPort[3], m_pArmTray[0], m_pArmTray[1],
            m_pAligner, m_pFliper };
        if (1 <= port && port <= 8) {
            pEqs[port - 1]->onStoredJob(port, pJobDataB);
        }

        return -1;

        return 0;
    }

    int CEFEM::getIndexerOperationModeBaseValue()

 SourceCode/Bond/Servo/CLoadPort.cpp

@@ -348,6 +348,8 @@
                }
            }
        }

        /*
        
        {
            // Fetched Out Job Report #1~15
@@ -392,6 +394,7 @@
                delete pStep;
            }
        }
        */
    }

    void CLoadPort::onTimer(UINT nTimerid)
@@ -1168,7 +1171,7 @@
            js.setCassetteSequenceNo(getNextCassetteSequenceNo());
            js.setJobSequenceNo(m_slot[i].getNo());
            sprintf_s(szBuffer, 64, "%05d%05d", js.getCassetteSequenceNo(), js.getJobSequenceNo());
            js.setGlass1Id(szBuffer);
            //js.setGlass1Id(szBuffer);
            js.setJobType(1);
            js.setMaterialsType((int)type);


 SourceCode/Bond/Servo/CMaster.cpp

@@ -509,6 +509,9 @@
                }

                if (m_pActiveRobotTask != nullptr) {
                    if (m_pActiveRobotTask->isPicked()) {
                        m_pActiveRobotTask->place();
                    }
                    unlock();
                    // 检测到当前有正在下午的任务，确保当前任务完成或中止后继续
                    // LOGI("检测到当前有正在下午的任务，确保当前任务完成或中止后继续...");
@@ -913,7 +916,7 @@
                    ) {
                    LOGI("取片完成.");
                    m_pActiveRobotTask->fetchOut();
                    m_pActiveRobotTask->place();
                    m_pActiveRobotTask->picked();
                }

                else if (m_pActiveRobotTask != nullptr

 SourceCode/Bond/Servo/CRobotTask.cpp

@@ -123,7 +123,7 @@
        transformPosAndSlot(toPos, toSlot, tarPos, tarSlot);

        m_robotCmdParam[ACTION_PICK] = {};
        m_robotCmdParam[ACTION_PICK].sequenceNo = static_cast<short>(seq+2);
        m_robotCmdParam[ACTION_PICK].sequenceNo = static_cast<short>(seq+1);
        m_robotCmdParam[ACTION_PICK].rcmd = static_cast<short>(SERVO::RCMD::Get);
        m_robotCmdParam[ACTION_PICK].armNo = static_cast<short>(armNo);
        m_robotCmdParam[ACTION_PICK].getPosition = static_cast<short>(srcPos);
@@ -137,13 +137,13 @@
        m_robotCmdParam[ACTION_PLACE].putSlotNo = static_cast<short>(tarSlot);

        m_robotCmdParam[ACTION_RESTORE] = {};
        m_robotCmdParam[ACTION_RESTORE].sequenceNo = static_cast<short>(seq + 1);
        m_robotCmdParam[ACTION_RESTORE].sequenceNo = static_cast<short>(seq + 3);
        m_robotCmdParam[ACTION_RESTORE].rcmd = static_cast<short>(SERVO::RCMD::Put);
        m_robotCmdParam[ACTION_RESTORE].armNo = static_cast<short>(armNo);
        m_robotCmdParam[ACTION_RESTORE].putPosition = static_cast<short>(srcPos);
        m_robotCmdParam[ACTION_RESTORE].putSlotNo = static_cast<short>(srcSlot);

        return seq + 1;
        return seq + 3;
    }

    ROBOT_CMD_PARAM& CRobotTask::getRobotCmdParam(int index)
@@ -188,6 +188,11 @@
        return m_state == ROBOT_TASK_STATE::Picking;
    }

    bool CRobotTask::isPicked()
    {
        return m_state == ROBOT_TASK_STATE::Picked;
    }

    bool CRobotTask::isPlacing()
    {
        return m_state == ROBOT_TASK_STATE::Placing;
@@ -227,10 +232,7 @@
        ASSERT(m_pEFEM);
        m_state = ROBOT_TASK_STATE::Picking;

        m_pEFEM->robotSendGet(m_robotCmdParam->sequenceNo,
            m_robotCmdParam[ACTION_PICK].armNo,
            m_robotCmdParam[ACTION_PICK].getPosition,
            m_robotCmdParam[ACTION_PICK].getSlotNo,
        m_pEFEM->robotCmd(m_robotCmdParam[ACTION_PICK],
            [&](int code) -> int {
                if (code == WOK) {
                    LOGI(_T("RobotTask/get已下发到EFEM"));
@@ -243,15 +245,17 @@
            });
    }

    void CRobotTask::picked()
    {
        m_state = ROBOT_TASK_STATE::Picked;
    }

    void CRobotTask::place()
    {
        ASSERT(m_pEFEM);
        m_state = ROBOT_TASK_STATE::Placing;

        m_pEFEM->robotSendMoveToPut(m_robotCmdParam->sequenceNo,
            m_robotCmdParam[ACTION_PLACE].armNo,
            m_robotCmdParam[ACTION_PLACE].putPosition,
            m_robotCmdParam[ACTION_PLACE].putSlotNo,
        m_pEFEM->robotCmd(m_robotCmdParam[ACTION_PLACE],
            [&](int code) -> int {
                if (code == WOK) {
                    LOGI(_T("RobotTask/put已下发到EFEM"));
@@ -269,10 +273,7 @@
        ASSERT(m_pEFEM);
        m_state = ROBOT_TASK_STATE::Restoring;

        m_pEFEM->robotSendMoveToPut(m_robotCmdParam->sequenceNo,
            m_robotCmdParam[ACTION_RESTORE].armNo,
            m_robotCmdParam[ACTION_RESTORE].putPosition,
            m_robotCmdParam[ACTION_RESTORE].putSlotNo,
        m_pEFEM->robotCmd(m_robotCmdParam[ACTION_RESTORE],
            [&](int code) -> int {
                if (code == WOK) {
                    LOGI(_T("RobotTask/restore-put已下发到EFEM"));

 SourceCode/Bond/Servo/CRobotTask.h

@@ -32,10 +32,12 @@
        int getArmNo();
        ROBOT_TASK_STATE getState();
        bool isPicking();
        bool isPicked();
        bool isPlacing();
        bool isRestoring();
        void run();
        void pick();
        void picked();
        void place();
        void restore();
        void completed();

 SourceCode/Bond/Servo/ServoCommo.h

@@ -117,6 +117,7 @@
        Ready = 0,
        Running,
        Picking,
        Picked,
        Placing,
        Restoring,
        Error,