// CRobotTaskDlg.cpp: 实现文件
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//
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#include "stdafx.h"
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#include "Servo.h"
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#include "CRobotTaskDlg.h"
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#include "afxdialogex.h"
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// CRobotTaskDlg 对话框
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IMPLEMENT_DYNAMIC(CRobotTaskDlg, CDialogEx)
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CRobotTaskDlg::CRobotTaskDlg(CWnd* pParent /*=nullptr*/)
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: CDialogEx(IDD_DIALOG_ROBOT_TASK, pParent)
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{
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m_pRobotTask = nullptr;
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}
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CRobotTaskDlg::~CRobotTaskDlg()
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{
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}
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void CRobotTaskDlg::DoDataExchange(CDataExchange* pDX)
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{
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CDialogEx::DoDataExchange(pDX);
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}
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BEGIN_MESSAGE_MAP(CRobotTaskDlg, CDialogEx)
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ON_WM_CTLCOLOR()
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ON_WM_DESTROY()
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ON_WM_SIZE()
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ON_WM_ACTIVATE()
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ON_BN_CLICKED(IDC_BUTTON_ABORT_TASK, &CRobotTaskDlg::OnBnClickedAbortTask)
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ON_BN_CLICKED(IDC_BUTTON_RESTORE, &CRobotTaskDlg::OnBnClickedRestore)
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END_MESSAGE_MAP()
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// CRobotTaskDlg 消息处理程序
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void CRobotTaskDlg::SetRobotTask(SERVO::CRobotTask* pRobotTask)
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{
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m_pRobotTask = pRobotTask;
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// 各控件是否显示;
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GetDlgItem(IDC_LABEL_NO_TASK)->ShowWindow(m_pRobotTask == nullptr ? SW_SHOW : SW_HIDE);
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GetDlgItem(IDC_LABEL_GET_PUT)->ShowWindow(m_pRobotTask != nullptr ? SW_SHOW : SW_HIDE);
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if (m_btnAbortTask.m_hWnd) {
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m_btnAbortTask.ShowWindow(m_pRobotTask ? SW_SHOW : SW_HIDE);
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}
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if (m_btnRestore.m_hWnd) {
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m_btnRestore.ShowWindow(m_pRobotTask ? SW_SHOW : SW_HIDE);
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}
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if (m_pRobotTask != nullptr) {
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using namespace SERVO;
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CEquipment* pSrcEq = theApp.m_model.getMaster().getEquipment(pRobotTask->getSrcPosition());
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CEquipment* pDstEq = theApp.m_model.getMaster().getEquipment(pRobotTask->getTarPosition());
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ROBOT_CMD_PARAM& param = pRobotTask->getRobotCmdParam(ACTION_TRANSFER);
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auto format_time = [](time_t t) -> CString {
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if (t == 0) {
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return _T("-");
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}
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CTime time(t);
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return time.Format(_T("%Y-%m-%d %H:%M:%S"));
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};
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CString strDetail;
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strDetail.Format(
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_T("任务 ID: %s\r\n源位置: %s (P%d)\r\n目标位置: %s (P%d)\r\n")
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_T("源槽位: Slot %d\r\n目标槽位: Slot %d\r\n手臂编号: Arm %d\r\n任务状态: %s\r\n")
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_T("创建时间: %s\r\n取片时间: %s\r\n放片时间: %s\r\n结束时间: %s"),
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pRobotTask->getId().c_str(),
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pSrcEq ? pSrcEq->getName().c_str() : _T("未知"),
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param.getPosition,
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pDstEq ? pDstEq->getName().c_str() : _T("未知"),
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param.putPosition,
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param.getSlotNo,
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param.putSlotNo,
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param.armNo,
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pRobotTask->getStateString(),
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format_time(pRobotTask->getCreateTime()),
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format_time(pRobotTask->getFetchoutTime()),
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format_time(pRobotTask->getStoredTime()),
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format_time(pRobotTask->getFinishTime())
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);
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SetDlgItemText(IDC_LABEL_GET_PUT, strDetail);
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}
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}
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BOOL CRobotTaskDlg::OnInitDialog()
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{
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CDialogEx::OnInitDialog();
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// TODO: 在此添加额外的初始化
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// 创建“停止任务”按钮和“撤回”按钮
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m_btnAbortTask.Create(_T("停止任务"), WS_CHILD | WS_VISIBLE | BS_PUSHBUTTON, CRect(0, 0, 100, 30), this, IDC_BUTTON_ABORT_TASK);
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m_btnRestore.Create(_T("撤回"), WS_CHILD | WS_VISIBLE | BS_PUSHBUTTON, CRect(0, 0, 100, 30), this, IDC_BUTTON_RESTORE);
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// 动态按钮创建后设置字体
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if (m_fontButton.GetSafeHandle() == nullptr) {
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m_fontButton.CreatePointFont(110, _T("微软雅黑")); // 或 "Segoe UI"
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}
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m_btnAbortTask.SetFont(&m_fontButton);
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m_btnRestore.SetFont(&m_fontButton);
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// 设置 LABEL 控件的字体
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if (m_fontDetail.GetSafeHandle() == nullptr) {
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m_fontDetail.CreatePointFont(100, _T("微软雅黑"));
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}
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GetDlgItem(IDC_LABEL_GET_PUT)->SetFont(&m_fontDetail);
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return TRUE; // return TRUE unless you set the focus to a control
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// 异常: OCX 属性页应返回 FALSE
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}
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HBRUSH CRobotTaskDlg::OnCtlColor(CDC* pDC, CWnd* pWnd, UINT nCtlColor)
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{
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HBRUSH hbr = CDialogEx::OnCtlColor(pDC, pWnd, nCtlColor);
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// TODO: 在此更改 DC 的任何特性
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// TODO: 如果默认的不是所需画笔，则返回另一个画笔
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return hbr;
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}
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void CRobotTaskDlg::OnDestroy()
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{
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CDialogEx::OnDestroy();
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// TODO: 在此处添加消息处理程序代码
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if (m_fontButton.GetSafeHandle()) {
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m_fontButton.DeleteObject();
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}
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if (m_fontDetail.GetSafeHandle()) {
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m_fontDetail.DeleteObject();
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}
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}
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void CRobotTaskDlg::OnSize(UINT nType, int cx, int cy)
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{
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CDialogEx::OnSize(nType, cx, cy);
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if (GetDlgItem(IDC_LABEL_NO_TASK) == nullptr) return;
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Resize();
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}
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void CRobotTaskDlg::OnActivate(UINT nState, CWnd* pWndOther, BOOL bMinimized)
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{
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CWnd::OnActivate(nState, pWndOther, bMinimized);
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if (nState == WA_INACTIVE) {
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ShowWindow(SW_HIDE);
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}
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}
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void CRobotTaskDlg::Resize()
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{
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CRect rcClient, rcItem;
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CWnd* pItem;
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GetClientRect(&rcClient);
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pItem = GetDlgItem(IDC_LABEL_NO_TASK);
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pItem->GetClientRect(&rcItem);
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pItem->MoveWindow((rcClient.Width() - rcItem.Width()) / 2,
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(rcClient.Height() - rcItem.Height()) / 2, rcItem.Width(), rcItem.Height());
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pItem = GetDlgItem(IDC_LABEL_GET_PUT);
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if (pItem && pItem->m_hWnd) {
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const int nLabelX = 12;
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const int nLabelY = 12;
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const int nLabelWidth = rcClient.Width() - 24;
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const int nLabelHeight = rcClient.Height() - 24;
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pItem->MoveWindow(nLabelX, nLabelY, nLabelWidth, nLabelHeight);
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}
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// 设置“停止任务”按钮位置（右下角）
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const int nBtnWidth = 100;
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const int nBtnHeight = 28;
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const int nMargin = 12;
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const int nMargin2 = 8;
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const int x = rcClient.right - nBtnWidth - nMargin;
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int y = rcClient.bottom - nMargin;
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if (m_btnAbortTask.m_hWnd != nullptr) {
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m_btnAbortTask.MoveWindow(x, y - nBtnHeight, nBtnWidth, nBtnHeight);
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y -= nBtnHeight;
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y -= nMargin2;
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}
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// 设置“停止任务”按钮位置（右下角）
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if (m_btnRestore.m_hWnd != nullptr) {
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m_btnRestore.MoveWindow(x, y - nBtnHeight, nBtnWidth, nBtnHeight);
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}
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}
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void CRobotTaskDlg::OnBnClickedAbortTask()
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{
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int ret = AfxMessageBox(_T("确认要终止当前搬送任务吗?除非发生了异常，否则请不要手动终止任务！"), MB_OKCANCEL | MB_ICONEXCLAMATION);
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if (ret != IDOK) {
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return;
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}
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theApp.m_model.getMaster().abortCurrentTask();
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}
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void CRobotTaskDlg::OnBnClickedRestore()
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{
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int ret = AfxMessageBox(_T("物料将会被搬运回原位置，确认要回撤当前任务吗？除非发生了异常，否则请不要回撤任务！"), MB_OKCANCEL | MB_ICONEXCLAMATION);
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if (ret != IDOK) {
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return;
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}
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theApp.m_model.getMaster().restoreCurrentTask();
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}
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