From 1c080b5ca821ef6e1d40025289195b18fa2973b5 Mon Sep 17 00:00:00 2001
From: chenluhua1980 <Chenluhua@qq.com>
Date: 星期一, 26 一月 2026 22:46:48 +0800
Subject: [PATCH] 1.把 m_bufGlass 的释放提前到 CMaster::term()，确保在 m_glassPool.term() 之前完成，避免析构时再触碰已被回收的 Glass。析构里仍保留原逻辑，若 term() 已清空则不会重复释放。
---
SourceCode/Bond/Servo/ServoCommo.h | 14 ++++++++++++++
1 files changed, 14 insertions(+), 0 deletions(-)
diff --git a/SourceCode/Bond/Servo/ServoCommo.h b/SourceCode/Bond/Servo/ServoCommo.h
index 86fd6e3..8c4c7ea 100644
--- a/SourceCode/Bond/Servo/ServoCommo.h
+++ b/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
@@ -60,6 +73,7 @@
};
enum class MaterialsType {
+ G0 = 0,
G1 = 1,
G2 = 2,
G1G2 = 3
--
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