1..再次修改调度逻辑，G2和G1分别进入Bonder的间隔不要太长，防止G2先进入Bonder,等待烘烤中的G1太久，在高温Bonder下出问题；

LAPTOP-SNT8I5JK\Boounion

2025-07-28 3460128b4722b53bf92551fb00ce276177efc003

 SourceCode/Bond/Servo/CMaster.cpp

@@ -563,260 +563,86 @@
            }

         PORT_PUT:
            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;
            }
            CHECK_RUN_ACTIVE_ROBOT_TASK(m_pActiveRobotTask);


            // Measurement NG -> LoadPort
            // NG回原位
            if (!rmd.armState[1]) {
               m_pActiveRobotTask = createTransferTask_restore(pMeasurement, pLoadPorts);
               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);
               CHECK_RUN_ACTIVE_ROBOT_TASK(m_pActiveRobotTask);
                  }
                  LOGI("创建Measurement回退任务<%s>...", strDescription.c_str());
                  continue;
               }
            }




            // BakeCooling ->Measurement
            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);
               CHECK_RUN_ACTIVE_ROBOT_TASK(m_pActiveRobotTask);
                  }
                  LOGI("创建新任务<%s>...", strDescription.c_str());
                  continue;
               }
            }


            
            // BakeCooling内部
            // Bake -> Cooling
            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;
               }
               CHECK_RUN_ACTIVE_ROBOT_TASK(m_pActiveRobotTask);
            }


            // Bonder -> BakeCooling
            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;
               }
               CHECK_RUN_ACTIVE_ROBOT_TASK(m_pActiveRobotTask);
            }

            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;
               }
               CHECK_RUN_ACTIVE_ROBOT_TASK(m_pActiveRobotTask);
            }


            // Fliper(G2) -> Bonder
            auto pSrcSlot = pVacuumBake->getProcessedSlot(primaryType);
            if (pSrcSlot != nullptr && !rmd.armState[1] && !pBonder1->hasBondClass()) {
               m_pActiveRobotTask = createTransferTask(pFliper, pBonder1, primaryType, secondaryType, 2);
               CHECK_RUN_ACTIVE_ROBOT_TASK(m_pActiveRobotTask);
            }
            if (pSrcSlot != nullptr && !rmd.armState[1] && !pBonder2->hasBondClass()) {
               m_pActiveRobotTask = createTransferTask(pFliper, pBonder2, primaryType, secondaryType, 2);
               CHECK_RUN_ACTIVE_ROBOT_TASK(m_pActiveRobotTask);
            }


            // VacuumBake(G1) -> Bonder
            SERVO::CRobotTask* tempTask[2] = {nullptr, nullptr};
            if (!rmd.armState[1] && !pBonder1->hasBondClass()) {
               tempTask[0] = 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;
               }
               */
            }

            if (!rmd.armState[0] && !pBonder1->hasBondClass()) {
               tempTask[1] = 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;
               }
               */
            }

            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;
               }
               */
               m_pActiveRobotTask = createTransferTask(pVacuumBake, pBonder1, primaryType, secondaryType);
               CHECK_RUN_ACTIVE_ROBOT_TASK(m_pActiveRobotTask);
            }

            if (!rmd.armState[0] && !pBonder2->hasBondClass()) {
               tempTask[1] = 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;
               }
               */
               m_pActiveRobotTask = createTransferTask(pVacuumBake, pBonder2, primaryType, secondaryType);
               CHECK_RUN_ACTIVE_ROBOT_TASK(m_pActiveRobotTask);
            }

            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)
            if (!rmd.armState[1]) {
               m_pActiveRobotTask = createTransferTask(pAligner, pFliper, 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;
               }
               CHECK_RUN_ACTIVE_ROBOT_TASK(m_pActiveRobotTask);
            }

            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);
               CHECK_RUN_ACTIVE_ROBOT_TASK(m_pActiveRobotTask);
                  }
                  LOGI("创建新任务<%s>...", strDescription.c_str());
                  continue;
               }
            }


            // Aligner -> LoadPort
            if (!rmd.armState[1]) {
               m_pActiveRobotTask = createTransferTask_restore(pAligner, pLoadPorts);
               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);
               CHECK_RUN_ACTIVE_ROBOT_TASK(m_pActiveRobotTask);
                  }
                  LOGI("创建Aligner回退任务<%s>...", strDescription.c_str());
                  continue;
               }
            }




            // LoadPort -> Aligner
@@ -833,19 +659,11 @@
            }

PORT_GET:
            if (m_pActiveRobotTask != nullptr) {
               m_pActiveRobotTask->pick();
               std::string strDescription = m_pActiveRobotTask->getDescription();
            CHECK_RUN_ACTIVE_ROBOT_TASK(m_pActiveRobotTask);


               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;
            }

            unlock();

         }
         unlock();
      }