1.手臂选择匹配问题，

LAPTOP-SNT8I5JK\Boounion

2025-06-12 4897210a25e7c98ddacb1fa4ecee3e8bdd1ae98e

1.手臂选择匹配问题，

 SourceCode/Bond/Servo/CMaster.cpp

@@ -284,7 +284,6 @@
        // Bonder1和Bonder2需要的G2就过不来了
        // 最基本的实现，可以G2和G2轮流搬送，但最好根据Bonder的需求来决定
        MaterialsType primaryType, secondaryType;
        int armNo = 1;            // 默认使用手臂2


        // 各种机器
@@ -387,7 +386,7 @@
                    if (pEqLoadPort[s]->isEnable()
                        && pEqLoadPort[s]->getPortType() == PortType::Unloading
                        && pEqLoadPort[s]->getPortMode() == PortMode::ReadyToUnload) {
                        m_pActiveRobotTask = createTransferTask(pMeasurement, pEqLoadPort[s], primaryType, secondaryType, armNo);
                        m_pActiveRobotTask = createTransferTask(pMeasurement, pEqLoadPort[s], primaryType, secondaryType);
                        if (m_pActiveRobotTask != nullptr) {
                            goto PORT_PUT;
                        }
@@ -463,7 +462,7 @@

                // Fliper(G2) -> Bonder
                // VacuumBake(G1) -> Bonder
                m_pActiveRobotTask = createTransferTask(pFliper, pBonder1, primaryType, secondaryType, armNo);
                m_pActiveRobotTask = createTransferTask(pFliper, pBonder1, primaryType, secondaryType, 2);
                if (m_pActiveRobotTask != nullptr) {
                    m_pActiveRobotTask->run();
                    std::string strDescription = m_pActiveRobotTask->getDescription();
@@ -475,7 +474,7 @@
                    continue;
                }

                m_pActiveRobotTask = createTransferTask(pFliper, pBonder2, primaryType, secondaryType, armNo);
                m_pActiveRobotTask = createTransferTask(pFliper, pBonder2, primaryType, secondaryType, 2);
                if (m_pActiveRobotTask != nullptr) {
                    m_pActiveRobotTask->run();
                    std::string strDescription = m_pActiveRobotTask->getDescription();
@@ -487,7 +486,7 @@
                    continue;
                }

                m_pActiveRobotTask = createTransferTask(pVacuumBake, pBonder1, primaryType, secondaryType, armNo);
                m_pActiveRobotTask = createTransferTask(pVacuumBake, pBonder1, primaryType, secondaryType);
                if (m_pActiveRobotTask != nullptr) {
                    m_pActiveRobotTask->run();
                    std::string strDescription = m_pActiveRobotTask->getDescription();
@@ -499,7 +498,7 @@
                    continue;
                }

                m_pActiveRobotTask = createTransferTask(pVacuumBake, pBonder2, primaryType, secondaryType, armNo);
                m_pActiveRobotTask = createTransferTask(pVacuumBake, pBonder2, primaryType, secondaryType);
                if (m_pActiveRobotTask != nullptr) {
                    m_pActiveRobotTask->run();
                    std::string strDescription = m_pActiveRobotTask->getDescription();
@@ -513,7 +512,7 @@

                // Aligner -> Fliper(G2)
                // Aligner -> VacuumBake(G1)
                m_pActiveRobotTask = createTransferTask(pAligner, pFliper, primaryType, secondaryType, armNo);
                m_pActiveRobotTask = createTransferTask(pAligner, pFliper, primaryType, secondaryType, 2);
                if (m_pActiveRobotTask != nullptr) {
                    m_pActiveRobotTask->run();
                    std::string strDescription = m_pActiveRobotTask->getDescription();
@@ -525,7 +524,7 @@
                    continue;
                }

                m_pActiveRobotTask = createTransferTask(pAligner, pVacuumBake, primaryType, secondaryType, armNo);
                m_pActiveRobotTask = createTransferTask(pAligner, pVacuumBake, primaryType, secondaryType);
                if (m_pActiveRobotTask != nullptr) {
                    m_pActiveRobotTask->run();
                    std::string strDescription = m_pActiveRobotTask->getDescription();
@@ -543,7 +542,7 @@
                    if (pEqLoadPort[s]->isEnable()
                        && pEqLoadPort[s]->getPortType() == PortType::Loading
                        && pEqLoadPort[s]->getPortMode() == PortMode::ReadyToLoad) {
                        m_pActiveRobotTask = createTransferTask(pEqLoadPort[s], pAligner, primaryType, secondaryType, armNo);
                        m_pActiveRobotTask = createTransferTask(pEqLoadPort[s], pAligner, primaryType, secondaryType);
                        if (m_pActiveRobotTask != nullptr) {
                            goto PORT_GET;
                        }