1.优化loadport到aligner/VacuumBakel逻辑，增加Port类型等条件判断。

LAPTOP-SNT8I5JK\Boounion

2025-06-09 def086f87d823478cdada1a6732e9fe4a54bd21d

1.优化loadport到aligner/VacuumBakel逻辑，增加Port类型等条件判断。

 SourceCode/Bond/Servo/CLoadPort.cpp

@@ -17,10 +17,10 @@
    {
        m_nIndex = 0;
        m_portType = PortType::Loading;
        m_portMode = PortMode::InService;
        m_portMode = PortMode::ReadyToLoad;
        m_cassetteType = CassetteType::G1;
        m_transferMode = TransferMode::AGVMode;
        m_bEnable = FALSE;
        m_bEnable = TRUE;
        m_bAutoChangeEnable = FALSE;
    }


 SourceCode/Bond/Servo/CMaster.cpp

@@ -290,6 +290,8 @@
        CEFEM* pEFEM = (CEFEM*)getEquipment(EQ_ID_EFEM);
        CLoadPort* pLoadPort1 = (CLoadPort*)getEquipment(EQ_ID_LOADPORT1);
        CLoadPort* pLoadPort2 = (CLoadPort*)getEquipment(EQ_ID_LOADPORT2);
        CLoadPort* pLoadPort3 = (CLoadPort*)getEquipment(EQ_ID_LOADPORT3);
        CLoadPort* pLoadPort4 = (CLoadPort*)getEquipment(EQ_ID_LOADPORT4);
        CFliper* pFliper = (CFliper*)getEquipment(EQ_ID_FLIPER);
        CVacuumBake* pVacuumBack = (CVacuumBake*)getEquipment(EQ_ID_VACUUMBAKE);
        CAligner* pAligner = (CAligner*)getEquipment(EQ_ID_ALIGNER);
@@ -301,6 +303,8 @@
        ASSERT(pEFEM);
        ASSERT(pLoadPort1);
        ASSERT(pLoadPort2);
        ASSERT(pLoadPort3);
        ASSERT(pLoadPort4);
        ASSERT(pFliper);
        ASSERT(pVacuumBack);
        ASSERT(pAligner);
@@ -480,52 +484,26 @@

                // LoadPort -> Fliper(G2)
                // LoadPort -> VacuumBake(G1)
                CEquipment* pEqTar1 = pVacuumBack;
                CEquipment* pEqTar2 = pFliper;
                CLoadPort* pEqSrc[] = { pLoadPort1, pLoadPort2, pLoadPort3, pLoadPort4 };
                CEquipment* pEqTar[] = { pVacuumBack, pFliper };
                if (primaryType == MaterialsType::G2) {
                    pEqTar1 = pFliper;
                    pEqTar2 = pVacuumBack;
                    pEqTar[0] = pFliper;
                    pEqTar[1] = pVacuumBack;
                }
                m_pActiveRobotTask = createTransferTask(pLoadPort1, pEqTar1, primaryType, secondaryType);
                if (m_pActiveRobotTask != nullptr) {
                    m_pActiveRobotTask->run();
                    std::string strDescription = m_pActiveRobotTask->getDescription();
                    unlock();
                    if (m_listener.onRobotTaskEvent != nullptr) {
                        m_listener.onRobotTaskEvent(this, m_pActiveRobotTask, ROBOT_EVENT_CREATE);
                for (int s = 0; s < 4; s++) {
                    for (int t = 0; t < 2; t++) {
                        if (pEqSrc[s]->isEnable()
                            && pEqSrc[s]->getPortType() == PortType::Loading
                            && pEqSrc[s]->getPortMode() == PortMode::ReadyToLoad) {
                            m_pActiveRobotTask = createTransferTask(pEqSrc[s], pEqTar[t], primaryType, secondaryType);
                            if (m_pActiveRobotTask != nullptr) {
                                goto PORT_GET;
                            }
                        }
                    }
                    LOGI("创建新任务<%s>...", strDescription.c_str());
                    continue;
                }

                m_pActiveRobotTask = createTransferTask(pLoadPort2, pEqTar1, primaryType, secondaryType);
                if (m_pActiveRobotTask != nullptr) {
                    m_pActiveRobotTask->run();
                    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;
                }



                // LoadPort -> VacuumBake(G1)
                m_pActiveRobotTask = createTransferTask(pLoadPort1, pEqTar2, primaryType, secondaryType);
                if (m_pActiveRobotTask != nullptr) {
                    m_pActiveRobotTask->run();
                    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(pLoadPort2, pEqTar2, primaryType, secondaryType);
PORT_GET:
                if (m_pActiveRobotTask != nullptr) {
                    m_pActiveRobotTask->run();
                    std::string strDescription = m_pActiveRobotTask->getDescription();