1.联调，优化。

mrDarker

2025-06-20 7f55a7c6cef156e553866d0012464e4697cb1849

 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...");
@@ -729,6 +732,7 @@
                  && pEqLoadPort[s]->getPortMode() == PortMode::ReadyToLoad) {
                  m_pActiveRobotTask = createTransferTask(pEqLoadPort[s], pAligner, primaryType, secondaryType);
                  if (m_pActiveRobotTask != nullptr) {
                     pEFEM->setContext(m_pActiveRobotTask->getContext());
                     goto PORT_GET;
                  }
               }
@@ -829,10 +833,10 @@
            if (m_pActiveRobotTask->getSrcPosition() == p->getID()) {
               CGlass* pGlass = p->getGlassFromSlot(m_pActiveRobotTask->getSrcSlot());
               if (pGlass != nullptr) {
                  CJobDataB* pJobDataBSrc = pGlass->getJobDataB();
                  if (pJobDataBSrc != nullptr
                     && pJobDataBSrc->getCassetteSequenceNo() == pJobDataB->getCassetteSequenceNo()
                     && pJobDataBSrc->getJobSequenceNo() == pJobDataB->getJobSequenceNo()) {
                  CJobDataS* pJobDataS = pGlass->getJobDataS();
                  if (pJobDataS != nullptr
                     && pJobDataS->getCassetteSequenceNo() == pJobDataB->getCassetteSequenceNo()
                     && pJobDataS->getJobSequenceNo() == pJobDataB->getJobSequenceNo()) {
                     bOk = TRUE;
                     LOGI("<CMaster>onPreFethedOutJob, 已校验数据一致性.");
                  }
@@ -912,7 +916,7 @@
               ) {
               LOGI("取片完成.");
               m_pActiveRobotTask->fetchOut();
               m_pActiveRobotTask->place();
               m_pActiveRobotTask->picked();
            }

            else if (m_pActiveRobotTask != nullptr