#include "stdafx.h"
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#include "CControlJob.h"
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#include <cctype>
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#include "SerializeUtil.h"
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static inline std::string trimCopy(std::string s) {
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auto notspace = [](int ch) { return !std::isspace(ch); };
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s.erase(s.begin(), std::find_if(s.begin(), s.end(), notspace));
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s.erase(std::find_if(s.rbegin(), s.rend(), notspace).base(), s.end());
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return s;
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}
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namespace SERVO {
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CControlJob::CControlJob()
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{
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}
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CControlJob::CControlJob(std::string cjId)
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: m_cjId(trimCopy(std::move(cjId)))
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{
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clampString(m_cjId, MAX_ID_LEN);
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}
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CControlJob::CControlJob(CControlJob& src)
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{
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m_cjId = src.m_cjId;
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clampString(m_cjId, MAX_ID_LEN);
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m_priority = src.m_priority;
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m_pjIds = src.m_pjIds;
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m_state = src.m_state;
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m_failReason = src.m_failReason;
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m_tQueued = src.m_tQueued;
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m_tStart = src.m_tStart;
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m_tEnd = src.m_tEnd;
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}
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bool CControlJob::addPJ(const std::string& pjId) {
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if (pjId.empty()) return false;
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auto id = pjId;
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auto it = std::find(m_pjIds.begin(), m_pjIds.end(), id);
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if (it != m_pjIds.end()) return false;
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clampString(id, MAX_ID_LEN);
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m_pjIds.push_back(std::move(id));
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return true;
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}
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bool CControlJob::addPJs(const std::vector<std::string>& ids) {
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bool added = false;
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for (auto& s : ids) added |= addPJ(s);
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return added;
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}
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bool CControlJob::setPJs(const std::vector<CProcessJob*>& pjs)
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{
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m_pjs = pjs;
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return true;
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}
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bool CControlJob::removePJ(const std::string& pjId) {
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auto it = std::find(m_pjIds.begin(), m_pjIds.end(), pjId);
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if (it == m_pjIds.end()) return false;
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m_pjIds.erase(it);
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return true;
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}
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bool CControlJob::containsPJ(const std::string& pjId) const {
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return std::find(m_pjIds.begin(), m_pjIds.end(), pjId) != m_pjIds.end();
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}
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const std::vector<CControlJob::ValidationIssue>& CControlJob::issues()
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{
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return m_issues;
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}
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bool CControlJob::validateForCreate(
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const std::function<bool(uint32_t& code, std::string& msg)>& canCreateCjFn,
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const std::function<bool(const std::string&)>& getPjExistsFn,
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const std::function<bool(const std::string&)>& canJoinFn
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)
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{
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m_issues.clear();
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auto add = [&](uint32_t code, std::string msg) { m_issues.push_back({ code, std::move(msg) }); };
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// ÊÇ·ñÄÜ´´½¨CJ, ÓÉÉϲã¸ù¾Ýµ±Ç°ÈÎÎñ£¬»úÆ÷״̬µÈ¼ìÑé
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uint32_t cc;
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std::string mm;
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if (!canCreateCjFn(cc, mm)) {
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add(cc, mm);
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}
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// CJID »ù´¡Ð£Ñé
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if (m_cjId.empty()) add(1101, "CJID empty");
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if (!asciiPrintable(m_cjId)) add(1102, "CJID has non-printable chars");
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// PJ ÁбíУÑé
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if (m_pjIds.empty()) add(1110, "PRJOBLIST empty");
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for (const auto& pj : m_pjIds) {
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if (!getPjExistsFn(pj)) add(1111, "PJ not found: " + pj);
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else if (!canJoinFn(pj)) add(1112, "PJ not joinable: " + pj);
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}
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return m_issues.empty();
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}
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// Ó¦Óô´½¨/¸üУ¨ÓÃÓÚ S14F9 ¡ú S14F10 ·¾¶£©
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CControlJob::CreateResult
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CControlJob::applyCreate(
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const CreateRequest& req,
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const std::function<bool(const std::string&)>& getPjExistsFn,
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const std::function<bool(const std::string&)>& canJoinFn
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)
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{
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CreateResult r;
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// ¸²¸ÇÓÅÏȼ¶£¨ÈçÌṩ£©
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if (req.priority.has_value()) {
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m_priority = *req.priority;
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}
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// Öð PJ Åж¨
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for (const auto& pjIdRaw : req.requestedPjIds) {
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std::string pjId = trimCopy(pjIdRaw);
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clampString(pjId, MAX_ID_LEN);
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if (!getPjExistsFn(pjId)) {
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r.errors.push_back({ 2001, "PRJOBLIST: " + pjId + " not found" });
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continue;
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}
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if (!canJoinFn(pjId)) {
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r.errors.push_back({ 2002, "PRJOBLIST: " + pjId + " not joinable (state)" });
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continue;
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}
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if (containsPJ(pjId)) {
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// ÒÑÔÚÁÐ±í£¬ÊÓ×÷³É¹¦£¨Ãݵȣ©
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r.acceptedPjIds.push_back(pjId);
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continue;
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}
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// ¼ÓÈë CJ
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m_pjIds.push_back(pjId);
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r.acceptedPjIds.push_back(std::move(pjId));
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}
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// ¹é²¢ ACK
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if (r.errors.empty()) r.objack = 0; // È«³É¹¦
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else if (!r.acceptedPjIds.empty()) r.objack = 1; // ²¿·Ö³É¹¦
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else r.objack = 2; // ȫʧ°Ü
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return r;
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}
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// ¡ª¡ª ״̬»ú ¡ª¡ª //
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bool CControlJob::queue() {
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if (m_state != CJState::NoState) return false;
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markQueued();
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return true;
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}
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bool CControlJob::start() {
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if (m_state != CJState::Queued) return false;
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m_state = CJState::Executing;
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if (!m_tStart.has_value()) markStart();
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return true;
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}
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bool CControlJob::pause() {
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if (m_state != CJState::Executing) return false;
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m_state = CJState::Paused;
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return true;
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}
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bool CControlJob::resume() {
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if (m_state != CJState::Paused) return false;
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m_state = CJState::Executing;
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return true;
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}
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bool CControlJob::complete() {
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if (m_state != CJState::Executing && m_state != CJState::Paused) return false;
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m_state = CJState::Completed;
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markEnd();
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return true;
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}
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bool CControlJob::abort() {
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if (m_state == CJState::Completed || m_state == CJState::Aborted || m_state == CJState::Failed)
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return false;
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m_state = CJState::Aborted;
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markEnd();
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return true;
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}
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bool CControlJob::fail(std::string reason) {
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m_failReason = trimCopy(reason);
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clampString(m_failReason, 128);
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m_state = CJState::Failed;
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markEnd();
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return true;
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}
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// ¡ª¡ª ¾ÛºÏÍê³ÉÅÐ¶Ï ¡ª¡ª //
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bool CControlJob::tryAggregateComplete(
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const std::function<bool(const std::string&)>& isPjCompletedFn
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) {
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if (m_pjIds.empty()) return false;
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for (const auto& pj : m_pjIds) {
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if (!isPjCompletedFn(pj)) return false;
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}
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// ËùÓÐ PJ ÒÑÍê³É ¡ú CJ Íê³É
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return complete();
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}
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// ¡ª¡ª ʱ¼ä´Á ¡ª¡ª //
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void CControlJob::markQueued() { m_state = CJState::Queued; m_tQueued = std::chrono::system_clock::now(); }
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void CControlJob::markStart() { m_tStart = std::chrono::system_clock::now(); }
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void CControlJob::markEnd() { m_tEnd = std::chrono::system_clock::now(); }
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// ¡ª¡ª ¹¤¾ß ¡ª¡ª //
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void CControlJob::clampString(std::string& s, size_t maxLen) {
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if (s.size() > maxLen) s.resize(maxLen);
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}
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bool CControlJob::asciiPrintable(const std::string& s) {
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return std::all_of(s.begin(), s.end(), [](unsigned char c) {
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return c >= 0x20 && c <= 0x7E;
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});
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}
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void CControlJob::serialize(std::ostream& os) const {
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write_pod(os, CJ_MAGIC);
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write_pod(os, CJ_VERSION);
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// ±êʶ/ÓÅÏȼ¶/״̬/ʧ°ÜÔÒò
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write_string(os, id()); // »ò m_cjId
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write_pod<uint8_t>(os, priority()); // »ò m_priority
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write_pod<uint8_t>(os, static_cast<uint8_t>(state())); // »ò m_state
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write_string(os, failReason()); // »ò m_failReason
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// ʱ¼ä´Á
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write_opt_time(os, tQueued());
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write_opt_time(os, tStart());
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write_opt_time(os, tEnd());
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// ¹ØÁª PJ Áбí
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write_vec_str(os, pjIds()); // »ò m_pjIds
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}
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bool CControlJob::deserialize(std::istream& is, CControlJob& out, std::string* err) {
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auto fail = [&](const char* msg) { if (err) *err = msg; return false; };
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uint32_t magic = 0; if (!read_pod(is, magic)) return fail("read CJ magic");
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if (magic != CJ_MAGIC) return fail("bad CJ magic");
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uint16_t ver = 0; if (!read_pod(is, ver)) return fail("read CJ version");
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if (ver != CJ_VERSION) return fail("unsupported CJ version");
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std::string cjId;
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if (!read_string(is, cjId)) return fail("read CJID");
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uint8_t prio = 0;
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if (!read_pod(is, prio)) return fail("read Priority");
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uint8_t st = 0;
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if (!read_pod(is, st)) return fail("read State");
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std::string failText;
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if (!read_string(is, failText)) return fail("read failReason");
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std::optional<std::chrono::system_clock::time_point> tQ, tS, tE;
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if (!read_opt_time(is, tQ)) return fail("read tQueued");
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if (!read_opt_time(is, tS)) return fail("read tStart");
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if (!read_opt_time(is, tE)) return fail("read tEnd");
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std::vector<std::string> pjIds;
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if (!read_vec_str(is, pjIds)) return fail("read PJIDs");
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// ¡ª¡ª д»Ø¶ÔÏó£¨Ö±½Ó¸Ä³ÉÔ±£¬»òͨ¹ý setter£©¡ª¡ª
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// ÈôÄãÓÐ setter£ºout.setId(...)/setPriority(...)/setState(...)/setFailReason(...)
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out = CControlJob(cjId);
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out.setPriority(prio);
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// Ö±½Ó»Ö¸´ÄÚ²¿×´Ì¬£¨ÈôÄãÒªÇó×ß״̬»ú£¬¿ÉÔÚÕâÀï°´ºÏ·¨¹ý¶Éµ÷Óà queue()/start()/...£©
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// ¼ò»¯£ºÖ±½Ó¸³Öµ£¨ÄãÔÚ CControlJob.cpp ÄÚ²¿£¬¿É·ÃÎÊ˽ÓгÉÔ±£©
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struct Access : CControlJob {
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using CControlJob::m_state;
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using CControlJob::m_failReason;
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using CControlJob::m_tQueued;
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using CControlJob::m_tStart;
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using CControlJob::m_tEnd;
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using CControlJob::m_pjIds;
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};
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auto& a = reinterpret_cast<Access&>(out);
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a.m_state = static_cast<CJState>(st);
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a.m_failReason = std::move(failText);
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a.m_tQueued = std::move(tQ);
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a.m_tStart = std::move(tS);
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a.m_tEnd = std::move(tE);
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a.m_pjIds = std::move(pjIds);
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return true;
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}
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std::string CControlJob::getStateText()
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{
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switch (m_state)
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{
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case SERVO::CJState::NoState:
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return "NoState";
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break;
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case SERVO::CJState::Queued:
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return "Queued";
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break;
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case SERVO::CJState::Executing:
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return "Executing";
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break;
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case SERVO::CJState::Paused:
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return "Paused";
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break;
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case SERVO::CJState::Completed:
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return "Completed";
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break;
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case SERVO::CJState::Aborted:
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return "Aborted";
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break;
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case SERVO::CJState::Failed:
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return "Failed";
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break;
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default:
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break;
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}
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return "";
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}
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}
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