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

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；

 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);
                        }
                        LOGI("创建Measurement回退任务<%s>...", strDescription.c_str());
                        continue;
                    }
                    CHECK_RUN_ACTIVE_ROBOT_TASK(m_pActiveRobotTask);
                }




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


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


                // 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);
                        }
                        LOGI("创建Aligner回退任务<%s>...", strDescription.c_str());
                        continue;
                    }
                    CHECK_RUN_ACTIVE_ROBOT_TASK(m_pActiveRobotTask);
                }




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

PORT_GET:
                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);


                unlock();

                continue;
            }
            unlock();
        }

 SourceCode/Bond/Servo/ServoCommo.h

@@ -19,6 +19,19 @@
    }                                                                        \
}

#define CHECK_RUN_ACTIVE_ROBOT_TASK(art) {                                    \
    if (art != nullptr) {                                                    \
        art->pick();                                                        \
        std::string strDescription = art->getDescription();                    \
        unlock();                                                            \
        if (m_listener.onRobotTaskEvent != nullptr) {                        \
            m_listener.onRobotTaskEvent(this, art, ROBOT_EVENT_CREATE);        \
        }                                                                    \
        LOGI("创建新任务<%s>...", strDescription.c_str());                    \
        continue;                                                            \
    }                                                                        \
}

namespace SERVO {
#define BLOCK_BUFFER_MAX            1024
#define ALIVE_TIMEOUT                15