Merge branch 'clh' into liuyang

mrDarker

2025-07-24 2c7d546ddcd43669a433a99e1901339e491542d9

 SourceCode/Bond/Servo/CMaster.cpp

@@ -660,8 +660,10 @@

            // Fliper(G2) -> Bonder
            // VacuumBake(G1) -> Bonder
            SERVO::CRobotTask* tempTask[2] = {nullptr, nullptr};
            if (!rmd.armState[1] && !pBonder1->hasBondClass()) {
               m_pActiveRobotTask = createTransferTask(pFliper, pBonder1, primaryType, secondaryType, 2);
               tempTask[0] = createTransferTask(pFliper, pBonder1, primaryType, secondaryType, 2);
               /*
               if (m_pActiveRobotTask != nullptr) {
                  m_pActiveRobotTask->pick();
                  std::string strDescription = m_pActiveRobotTask->getDescription();
@@ -672,24 +674,12 @@
                  LOGI("创建新任务<%s>...", strDescription.c_str());
                  continue;
               }
            }

            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;
               }
               */
            }

            if (!rmd.armState[0] && !pBonder1->hasBondClass()) {
               m_pActiveRobotTask = createTransferTask(pVacuumBake, pBonder1, primaryType, secondaryType);
               tempTask[1] = createTransferTask(pVacuumBake, pBonder1, primaryType, secondaryType);
               /*
               if (m_pActiveRobotTask != nullptr) {
                  m_pActiveRobotTask->pick();
                  std::string strDescription = m_pActiveRobotTask->getDescription();
@@ -700,10 +690,51 @@
                  LOGI("创建新任务<%s>...", strDescription.c_str());
                  continue;
               }
               */
            }

            if (tempTask[1] != nullptr && pBonder1->hasG2Class()) {
               m_pActiveRobotTask = tempTask[1];
               if(tempTask[0] != nullptr) delete tempTask[0];
            }
            else if (tempTask[0] != nullptr && tempTask[1] != nullptr) {
               m_pActiveRobotTask = tempTask[0];
               delete tempTask[1];
            }
            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;
            }

            if (tempTask[0] != nullptr) delete tempTask[0];
            if (tempTask[1] != nullptr) delete tempTask[1];
            tempTask[0] = nullptr;
            tempTask[1] = nullptr;
            if (!rmd.armState[1] && !pBonder2->hasBondClass()) {
               tempTask[0] = 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;
               }
               */
            }

            if (!rmd.armState[0] && !pBonder2->hasBondClass()) {
               m_pActiveRobotTask = createTransferTask(pVacuumBake, pBonder2, primaryType, secondaryType);
               tempTask[1] = createTransferTask(pVacuumBake, pBonder2, primaryType, secondaryType);
               /*
               if (m_pActiveRobotTask != nullptr) {
                  m_pActiveRobotTask->pick();
                  std::string strDescription = m_pActiveRobotTask->getDescription();
@@ -714,8 +745,31 @@
                  LOGI("创建新任务<%s>...", strDescription.c_str());
                  continue;
               }
               */
            }

            if (tempTask[1] != nullptr && pBonder1->hasG2Class()) {
               m_pActiveRobotTask = tempTask[1];
               if (tempTask[0] != nullptr) delete tempTask[0];
            }
            else if (tempTask[0] != nullptr && tempTask[1] != nullptr) {
               m_pActiveRobotTask = tempTask[0];
               delete tempTask[1];
            }
            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;
            }
            if (tempTask[0] != nullptr) delete tempTask[0];
            if (tempTask[1] != nullptr) delete tempTask[1];
            tempTask[0] = nullptr;
            tempTask[1] = nullptr;

            // Aligner -> Fliper(G2)
            // Aligner -> VacuumBake(G1)