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

 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;
            }
            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();