From 58b5bb07de4bcbf670db5ad79ff8b9bd7afc1e28 Mon Sep 17 00:00:00 2001
From: mrDarker <mr.darker@163.com>
Date: 星期二, 17 六月 2025 11:35:47 +0800
Subject: [PATCH] Merge branch 'clh' into liuyang

---
 SourceCode/Bond/Servo/CMaster.cpp |  297 ++++++++++++++++++++++++++---------------------------------
 1 files changed, 131 insertions(+), 166 deletions(-)

diff --git a/SourceCode/Bond/Servo/CMaster.cpp b/SourceCode/Bond/Servo/CMaster.cpp
index b9ea92b..96ad405 100644
--- a/SourceCode/Bond/Servo/CMaster.cpp
+++ b/SourceCode/Bond/Servo/CMaster.cpp
@@ -343,10 +343,13 @@
 
 			// 调度逻辑处理
 			else if (m_state == MASTERSTATE::RUNNING) {
-				unlock();
-				// LOGI("调度处理中...");
+				// 检测判断robot状态
+				RMDATA& rmd = pEFEM->getRobotMonitoringData();
+				if (rmd.status != ROBOT_STATUS::Idle && rmd.status != ROBOT_STATUS::Run) {
+					unlock();
+					continue;
+				}
 
-				lock();
 				if (m_pActiveRobotTask != nullptr) {
 					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
@@ -376,6 +379,8 @@
 
 
 				// Measurement -> LoadPort
+				LOGI("Arm1 %s, Arm2 %s.", rmd.armState[0] ? _T("不可用") : _T("可用"), 
+					rmd.armState[1] ? _T("不可用") : _T("可用"));
 				CLoadPort* pEqLoadPort[] = { pLoadPort1, pLoadPort2, pLoadPort3, pLoadPort4 };
 				CEquipment* pEqTar[] = { pVacuumBake, pFliper };
 				if (primaryType == MaterialsType::G2) {
@@ -383,7 +388,7 @@
 					pEqTar[1] = pVacuumBake;
 				}
 				for (int s = 0; s < 4; s++) {
-					if (pEqLoadPort[s]->isEnable()
+					if (!rmd.armState[0] && pEqLoadPort[s]->isEnable()
 						&& pEqLoadPort[s]->getPortType() == PortType::Unloading
 						&& pEqLoadPort[s]->getPortMode() == PortMode::ReadyToUnload) {
 						m_pActiveRobotTask = createTransferTask(pMeasurement, pEqLoadPort[s], primaryType, secondaryType);
@@ -407,139 +412,161 @@
 
 
 				// BakeCooling ->Measurement
-				m_pActiveRobotTask = createTransferTask_bakecooling_to_measurement(pBakeCooling, pMeasurement);
-				if (m_pActiveRobotTask != nullptr) {
-					m_pActiveRobotTask->pick();
-					std::string strDescription = m_pActiveRobotTask->getDescription();
-					unlock();
-					if (m_listener.onRobotTaskEvent != nullptr) {
-						m_listener.onRobotTaskEvent(this, m_pActiveRobotTask, ROBOT_EVENT_CREATE);
+				if (!rmd.armState[0]) {
+					m_pActiveRobotTask = createTransferTask_bakecooling_to_measurement(pBakeCooling, pMeasurement);
+					if (m_pActiveRobotTask != nullptr) {
+						m_pActiveRobotTask->pick();
+						std::string strDescription = m_pActiveRobotTask->getDescription();
+						unlock();
+						if (m_listener.onRobotTaskEvent != nullptr) {
+							m_listener.onRobotTaskEvent(this, m_pActiveRobotTask, ROBOT_EVENT_CREATE);
+						}
+						LOGI("创建新任务<%s>...", strDescription.c_str());
+						continue;
 					}
-					LOGI("创建新任务<%s>...", strDescription.c_str());
-					continue;
 				}
+
 
 				
 				// BakeCooling内部
 				// Bake -> Cooling
-				m_pActiveRobotTask = createTransferTask_bake_to_cooling(pBakeCooling);
-				if (m_pActiveRobotTask != nullptr) {
-					m_pActiveRobotTask->pick();
-					std::string strDescription = m_pActiveRobotTask->getDescription();
-					unlock();
-					if (m_listener.onRobotTaskEvent != nullptr) {
-						m_listener.onRobotTaskEvent(this, m_pActiveRobotTask, ROBOT_EVENT_CREATE);
+				if (!rmd.armState[0]) {
+					m_pActiveRobotTask = createTransferTask_bake_to_cooling(pBakeCooling);
+					if (m_pActiveRobotTask != nullptr) {
+						m_pActiveRobotTask->pick();
+						std::string strDescription = m_pActiveRobotTask->getDescription();
+						unlock();
+						if (m_listener.onRobotTaskEvent != nullptr) {
+							m_listener.onRobotTaskEvent(this, m_pActiveRobotTask, ROBOT_EVENT_CREATE);
+						}
+						LOGI("创建新任务<%s>...", strDescription.c_str());
+						continue;
 					}
-					LOGI("创建新任务<%s>...", strDescription.c_str());
-					continue;
 				}
 
 
 				// Bonder -> BakeCooling
-				m_pActiveRobotTask = createTransferTask_bonder_to_bakecooling(pBonder1, pBakeCooling);
-				if (m_pActiveRobotTask != nullptr) {
-					m_pActiveRobotTask->pick();
-					std::string strDescription = m_pActiveRobotTask->getDescription();
-					unlock();
-					if (m_listener.onRobotTaskEvent != nullptr) {
-						m_listener.onRobotTaskEvent(this, m_pActiveRobotTask, ROBOT_EVENT_CREATE);
+				if (!rmd.armState[0]) {
+					m_pActiveRobotTask = createTransferTask_bonder_to_bakecooling(pBonder1, pBakeCooling);
+					if (m_pActiveRobotTask != nullptr) {
+						m_pActiveRobotTask->pick();
+						std::string strDescription = m_pActiveRobotTask->getDescription();
+						unlock();
+						if (m_listener.onRobotTaskEvent != nullptr) {
+							m_listener.onRobotTaskEvent(this, m_pActiveRobotTask, ROBOT_EVENT_CREATE);
+						}
+						LOGI("创建新任务<%s>...", strDescription.c_str());
+						continue;
 					}
-					LOGI("创建新任务<%s>...", strDescription.c_str());
-					continue;
 				}
 
-				m_pActiveRobotTask = createTransferTask_bonder_to_bakecooling(pBonder2, pBakeCooling);
-				if (m_pActiveRobotTask != nullptr) {
-					m_pActiveRobotTask->pick();
-					std::string strDescription = m_pActiveRobotTask->getDescription();
-					unlock();
-					if (m_listener.onRobotTaskEvent != nullptr) {
-						m_listener.onRobotTaskEvent(this, m_pActiveRobotTask, ROBOT_EVENT_CREATE);
+				if (!rmd.armState[0]) {
+					m_pActiveRobotTask = createTransferTask_bonder_to_bakecooling(pBonder2, pBakeCooling);
+					if (m_pActiveRobotTask != nullptr) {
+						m_pActiveRobotTask->pick();
+						std::string strDescription = m_pActiveRobotTask->getDescription();
+						unlock();
+						if (m_listener.onRobotTaskEvent != nullptr) {
+							m_listener.onRobotTaskEvent(this, m_pActiveRobotTask, ROBOT_EVENT_CREATE);
+						}
+						LOGI("创建新任务<%s>...", strDescription.c_str());
+						continue;
 					}
-					LOGI("创建新任务<%s>...", strDescription.c_str());
-					continue;
 				}
+
 
 				// Fliper(G2) -> Bonder
 				// VacuumBake(G1) -> Bonder
-				m_pActiveRobotTask = createTransferTask(pFliper, pBonder1, primaryType, secondaryType, 2);
-				if (m_pActiveRobotTask != nullptr) {
-					m_pActiveRobotTask->pick();
-					std::string strDescription = m_pActiveRobotTask->getDescription();
-					unlock();
-					if (m_listener.onRobotTaskEvent != nullptr) {
-						m_listener.onRobotTaskEvent(this, m_pActiveRobotTask, ROBOT_EVENT_CREATE);
+				if (!rmd.armState[1] && !pBonder1->hasBondClass()) {
+					m_pActiveRobotTask = createTransferTask(pFliper, pBonder1, primaryType, secondaryType, 2);
+					if (m_pActiveRobotTask != nullptr) {
+						m_pActiveRobotTask->pick();
+						std::string strDescription = m_pActiveRobotTask->getDescription();
+						unlock();
+						if (m_listener.onRobotTaskEvent != nullptr) {
+							m_listener.onRobotTaskEvent(this, m_pActiveRobotTask, ROBOT_EVENT_CREATE);
+						}
+						LOGI("创建新任务<%s>...", strDescription.c_str());
+						continue;
 					}
-					LOGI("创建新任务<%s>...", strDescription.c_str());
-					continue;
 				}
 
-				m_pActiveRobotTask = createTransferTask(pFliper, pBonder2, primaryType, secondaryType, 2);
-				if (m_pActiveRobotTask != nullptr) {
-					m_pActiveRobotTask->pick();
-					std::string strDescription = m_pActiveRobotTask->getDescription();
-					unlock();
-					if (m_listener.onRobotTaskEvent != nullptr) {
-						m_listener.onRobotTaskEvent(this, m_pActiveRobotTask, ROBOT_EVENT_CREATE);
+				if (!rmd.armState[1] && !pBonder2->hasBondClass()) {
+					m_pActiveRobotTask = createTransferTask(pFliper, pBonder2, primaryType, secondaryType, 2);
+					if (m_pActiveRobotTask != nullptr) {
+						m_pActiveRobotTask->pick();
+						std::string strDescription = m_pActiveRobotTask->getDescription();
+						unlock();
+						if (m_listener.onRobotTaskEvent != nullptr) {
+							m_listener.onRobotTaskEvent(this, m_pActiveRobotTask, ROBOT_EVENT_CREATE);
+						}
+						LOGI("创建新任务<%s>...", strDescription.c_str());
+						continue;
 					}
-					LOGI("创建新任务<%s>...", strDescription.c_str());
-					continue;
 				}
 
-				m_pActiveRobotTask = createTransferTask(pVacuumBake, pBonder1, primaryType, secondaryType);
-				if (m_pActiveRobotTask != nullptr) {
-					m_pActiveRobotTask->pick();
-					std::string strDescription = m_pActiveRobotTask->getDescription();
-					unlock();
-					if (m_listener.onRobotTaskEvent != nullptr) {
-						m_listener.onRobotTaskEvent(this, m_pActiveRobotTask, ROBOT_EVENT_CREATE);
+				if (!rmd.armState[0] && !pBonder1->hasBondClass()) {
+					m_pActiveRobotTask = createTransferTask(pVacuumBake, pBonder1, primaryType, secondaryType);
+					if (m_pActiveRobotTask != nullptr) {
+						m_pActiveRobotTask->pick();
+						std::string strDescription = m_pActiveRobotTask->getDescription();
+						unlock();
+						if (m_listener.onRobotTaskEvent != nullptr) {
+							m_listener.onRobotTaskEvent(this, m_pActiveRobotTask, ROBOT_EVENT_CREATE);
+						}
+						LOGI("创建新任务<%s>...", strDescription.c_str());
+						continue;
 					}
-					LOGI("创建新任务<%s>...", strDescription.c_str());
-					continue;
 				}
 
-				m_pActiveRobotTask = createTransferTask(pVacuumBake, pBonder2, primaryType, secondaryType);
-				if (m_pActiveRobotTask != nullptr) {
-					m_pActiveRobotTask->pick();
-					std::string strDescription = m_pActiveRobotTask->getDescription();
-					unlock();
-					if (m_listener.onRobotTaskEvent != nullptr) {
-						m_listener.onRobotTaskEvent(this, m_pActiveRobotTask, ROBOT_EVENT_CREATE);
+				if (!rmd.armState[0] && !pBonder2->hasBondClass()) {
+					m_pActiveRobotTask = createTransferTask(pVacuumBake, pBonder2, primaryType, secondaryType);
+					if (m_pActiveRobotTask != nullptr) {
+						m_pActiveRobotTask->pick();
+						std::string strDescription = m_pActiveRobotTask->getDescription();
+						unlock();
+						if (m_listener.onRobotTaskEvent != nullptr) {
+							m_listener.onRobotTaskEvent(this, m_pActiveRobotTask, ROBOT_EVENT_CREATE);
+						}
+						LOGI("创建新任务<%s>...", strDescription.c_str());
+						continue;
 					}
-					LOGI("创建新任务<%s>...", strDescription.c_str());
-					continue;
 				}
+
 
 				// Aligner -> Fliper(G2)
 				// Aligner -> VacuumBake(G1)
-				m_pActiveRobotTask = createTransferTask(pAligner, pFliper, primaryType, secondaryType, 2);
-				if (m_pActiveRobotTask != nullptr) {
-					m_pActiveRobotTask->pick();
-					std::string strDescription = m_pActiveRobotTask->getDescription();
-					unlock();
-					if (m_listener.onRobotTaskEvent != nullptr) {
-						m_listener.onRobotTaskEvent(this, m_pActiveRobotTask, ROBOT_EVENT_CREATE);
+				if (!rmd.armState[1]) {
+					m_pActiveRobotTask = createTransferTask(pAligner, pFliper, primaryType, secondaryType, 2);
+					if (m_pActiveRobotTask != nullptr) {
+						m_pActiveRobotTask->pick();
+						std::string strDescription = m_pActiveRobotTask->getDescription();
+						unlock();
+						if (m_listener.onRobotTaskEvent != nullptr) {
+							m_listener.onRobotTaskEvent(this, m_pActiveRobotTask, ROBOT_EVENT_CREATE);
+						}
+						LOGI("创建新任务<%s>...", strDescription.c_str());
+						continue;
 					}
-					LOGI("创建新任务<%s>...", strDescription.c_str());
-					continue;
 				}
 
-				m_pActiveRobotTask = createTransferTask(pAligner, pVacuumBake, primaryType, secondaryType);
-				if (m_pActiveRobotTask != nullptr) {
-					m_pActiveRobotTask->pick();
-					std::string strDescription = m_pActiveRobotTask->getDescription();
-					unlock();
-					if (m_listener.onRobotTaskEvent != nullptr) {
-						m_listener.onRobotTaskEvent(this, m_pActiveRobotTask, ROBOT_EVENT_CREATE);
+				if (!rmd.armState[0]) {
+					m_pActiveRobotTask = createTransferTask(pAligner, pVacuumBake, primaryType, secondaryType);
+					if (m_pActiveRobotTask != nullptr) {
+						m_pActiveRobotTask->pick();
+						std::string strDescription = m_pActiveRobotTask->getDescription();
+						unlock();
+						if (m_listener.onRobotTaskEvent != nullptr) {
+							m_listener.onRobotTaskEvent(this, m_pActiveRobotTask, ROBOT_EVENT_CREATE);
+						}
+						LOGI("创建新任务<%s>...", strDescription.c_str());
+						continue;
 					}
-					LOGI("创建新任务<%s>...", strDescription.c_str());
-					continue;
 				}
-
 
 				// LoadPort -> Aligner
 				for (int s = 0; s < 4; s++) {
-					if (pEqLoadPort[s]->isEnable()
+					if (!rmd.armState[0] && pEqLoadPort[s]->isEnable()
 						&& pEqLoadPort[s]->getPortType() == PortType::Loading
 						&& pEqLoadPort[s]->getPortMode() == PortMode::ReadyToLoad) {
 						m_pActiveRobotTask = createTransferTask(pEqLoadPort[s], pAligner, primaryType, secondaryType);
@@ -1185,14 +1212,11 @@
 
 
 		if (pSrcSlot != nullptr && nullptr != pTarSlot) {
-			int srcPos, srcSlot, tarPos, tarSlot;
-			transformPosAndSlot(pSrcSlot->getPosition(), pSrcSlot->getNo(), srcPos, srcSlot);
-			transformPosAndSlot(pTarSlot->getPosition(), pTarSlot->getNo(), tarPos, tarSlot);
 			pTask = new CRobotTask();
 			pTask->setContext(pSrcSlot->getContext());
 			pTask->setEFEM((CEFEM*)getEquipment(EQ_ID_EFEM));
-			taskSeqNo = pTask->setRobotTransferParam(taskSeqNo, armNo, srcPos,
-				tarPos, srcSlot, tarSlot);
+			taskSeqNo = pTask->setRobotTransferParam(taskSeqNo, armNo, pSrcSlot->getPosition(),
+				pTarSlot->getPosition(), pSrcSlot->getNo(), pTarSlot->getNo());
 		}
 
 
@@ -1209,14 +1233,11 @@
 		pSrcSlot = pSrcEq->getProcessedSlot(MaterialsType::G1);
 
 		if (pSrcSlot != nullptr && nullptr != pTarSlot) {
-			int srcPos, srcSlot, tarPos, tarSlot;
-			transformPosAndSlot(pSrcSlot->getPosition(), pSrcSlot->getNo(), srcPos, srcSlot);
-			transformPosAndSlot(pTarSlot->getPosition(), pTarSlot->getNo(), tarPos, tarSlot);
 			pTask = new CRobotTask();
 			pTask->setContext(pSrcSlot->getContext());
 			pTask->setEFEM((CEFEM*)getEquipment(EQ_ID_EFEM));
-			taskSeqNo = pTask->setRobotTransferParam(taskSeqNo, 1, srcPos,
-				tarPos, srcSlot, tarSlot);
+			taskSeqNo = pTask->setRobotTransferParam(taskSeqNo, 1, pSrcSlot->getPosition(),
+				pTarSlot->getPosition(), pSrcSlot->getNo(), pTarSlot->getNo());
 		}
 
 
@@ -1234,14 +1255,11 @@
 		pSrcSlot = pSrcEq->getProcessedSlot2(MaterialsType::G1, slotsSrc);
 
 		if (pSrcSlot != nullptr && nullptr != pTarSlot) {
-			int srcPos, srcSlot, tarPos, tarSlot;
-			transformPosAndSlot(pSrcSlot->getPosition(), pSrcSlot->getNo(), srcPos, srcSlot);
-			transformPosAndSlot(pTarSlot->getPosition(), pTarSlot->getNo(), tarPos, tarSlot);
 			pTask = new CRobotTask();
 			pTask->setContext(pSrcSlot->getContext());
 			pTask->setEFEM((CEFEM*)getEquipment(EQ_ID_EFEM));
-			taskSeqNo = pTask->setRobotTransferParam(taskSeqNo, 1, srcPos,
-				tarPos, srcSlot, tarSlot);
+			taskSeqNo = pTask->setRobotTransferParam(taskSeqNo, 1, pSrcSlot->getPosition(),
+				pTarSlot->getPosition(), pSrcSlot->getNo(), pTarSlot->getNo());
 		}
 
 
@@ -1258,68 +1276,15 @@
 		pSrcSlot = pSrcEq->getProcessedSlot2(MaterialsType::G1, slots);
 
 		if (pSrcSlot != nullptr && nullptr != pTarSlot) {
-			int srcPos, srcSlot, tarPos, tarSlot;
-			transformPosAndSlot(pSrcSlot->getPosition(), pSrcSlot->getNo(), srcPos, srcSlot);
-			transformPosAndSlot(pTarSlot->getPosition(), pTarSlot->getNo(), tarPos, tarSlot);
 			pTask = new CRobotTask();
 			pTask->setContext(pSrcSlot->getContext());
 			pTask->setEFEM((CEFEM*)getEquipment(EQ_ID_EFEM));
-			taskSeqNo = pTask->setRobotTransferParam(taskSeqNo, 1, srcPos,
-				tarPos, srcSlot, tarSlot);
+			taskSeqNo = pTask->setRobotTransferParam(taskSeqNo, 1, pSrcSlot->getPosition(),
+				pTarSlot->getPosition(), pSrcSlot->getNo(), pTarSlot->getNo());
 		}
 
 
 		return pTask;
-	}
-
-	void CMaster::transformPosAndSlot(int srcPos, int srcSlot, int& tarPos, int& tarSlot)
-	{
-		switch (srcPos)
-		{
-		case EQ_ID_LOADPORT1:
-		case EQ_ID_LOADPORT2:
-		case EQ_ID_LOADPORT3:
-		case EQ_ID_LOADPORT4:
-		case EQ_ID_ARM_TRAY1:
-		case EQ_ID_ARM_TRAY2:
-		case EQ_ID_ALIGNER:
-		case EQ_ID_FLIPER:
-			tarPos = srcPos;
-			tarSlot = 1;
-			break;
-		case EQ_ID_Bonder1:
-			if (1 <= srcSlot && srcSlot <= 2) {
-				tarPos = 9 + srcSlot;
-				tarSlot = 1;
-			}
-			break;
-		case EQ_ID_Bonder2:
-			if (1 <= srcSlot && srcSlot <= 2) {
-				tarPos = 11 + srcSlot;
-				tarSlot = 1;
-			}
-			break;
-		case EQ_ID_VACUUMBAKE:
-			if (1 <= srcSlot && srcSlot <= 2) {
-				tarPos = 13 + srcSlot;
-				tarSlot = 1;
-			}
-			break;
-		case EQ_ID_BAKE_COOLING:
-			if (1 <= srcSlot && srcSlot <= 4) {
-				tarPos = 15 + srcSlot;
-				tarSlot = 1;
-			}
-			break;
-		case EQ_ID_MEASUREMENT:
-			tarPos = 19;
-			tarSlot = 1;
-			break;
-		default:
-			tarPos = srcPos;
-			tarSlot = srcSlot;
-			break;
-		}
 	}
 
 	int CMaster::abortCurrentTask()

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