#include "stdafx.h"
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#include "CRobotTask.h"
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#include "ToolUnits.h"
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#include "Log.h"
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namespace SERVO {
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CRobotTask::CRobotTask()
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{
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generateId(m_strId);
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m_state = ROBOT_TASK_STATE::Ready;
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m_timeCreate = CToolUnits::getUnixTimestamp();
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m_timeFetchOut = 0;
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m_timeStored = 0;
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m_timeFinish = 0;
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m_pContext = nullptr;
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m_pEFEM = nullptr;
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}
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CRobotTask::~CRobotTask()
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{
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if (m_pContext != nullptr) {
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m_pContext->release();
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m_pContext = nullptr;
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}
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}
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std::string CRobotTask::getDescription() const
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{
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std::string strOut = "CRobotTask<ID:";
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strOut = strOut + std::to_string(m_robotCmdParam.sequenceNo);
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strOut = strOut + ",Arm:";
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strOut = strOut + std::to_string(m_robotCmdParam.armNo);
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strOut = strOut + ",GetPossion:";
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strOut = strOut + std::to_string(m_robotCmdParam.getPosition);
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strOut = strOut + ",GetSlot:";
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strOut = strOut + std::to_string(m_robotCmdParam.getSlotNo);
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strOut = strOut + ",PutPossion:";
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strOut = strOut + std::to_string(m_robotCmdParam.putPosition);
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strOut = strOut + ",PutSlot:";
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strOut = strOut + std::to_string(m_robotCmdParam.putSlotNo);
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strOut = strOut + ">";
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return strOut;
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}
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std::string CRobotTask::getSimpleDescription() const
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{
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std::string strOut = "CRobotTask<ID:";
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strOut = strOut + std::to_string(m_robotCmdParam.sequenceNo);
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strOut = strOut + ",Arm:";
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strOut = strOut + std::to_string(m_robotCmdParam.armNo);
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strOut = strOut + ",GetPossion:";
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strOut = strOut + std::to_string(m_robotCmdParam.getPosition);
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strOut = strOut + ",GetSlot:";
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strOut = strOut + std::to_string(m_robotCmdParam.getSlotNo);
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strOut = strOut + ",PutPossion:";
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strOut = strOut + std::to_string(m_robotCmdParam.putPosition);
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strOut = strOut + ",PutSlot:";
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strOut = strOut + std::to_string(m_robotCmdParam.putSlotNo);
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strOut = strOut + ">";
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return strOut;
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}
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void CRobotTask::setContext(CContext* pContext)
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{
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if (m_pContext != nullptr) {
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m_pContext->release();
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}
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m_pContext = pContext;
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if (m_pContext != nullptr) {
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m_pContext->addRef();
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}
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}
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CContext* CRobotTask::getContext()
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{
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return m_pContext;
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}
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void CRobotTask::setEFEM(CEFEM* pEFEM)
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{
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m_pEFEM = pEFEM;
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}
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std::string& CRobotTask::generateId(std::string& out)
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{
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char szBuffer[256];
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CTime time = CTime::GetCurrentTime();
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__int64 nTick = 0;
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QueryPerformanceCounter((LARGE_INTEGER*)&nTick);
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sprintf_s(szBuffer, 256, "%d%02d%02d%02d%02d%02d%010llu", time.GetYear(),
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time.GetMonth(), time.GetDay(), time.GetHour(), time.GetMinute(), time.GetSecond(),
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nTick % 10000000000);
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out = szBuffer;
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return out;
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}
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std::string& CRobotTask::getId()
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{
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return m_strId;
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}
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void CRobotTask::setRobotTransferParam(int seq, int armNo, int fromPos, int toPos, int fromSlot, int toSlot)
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{
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m_robotCmdParam = {};
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m_robotCmdParam.sequenceNo = static_cast<short>(seq);
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m_robotCmdParam.rcmd = static_cast<short>(SERVO::RCMD::Transfer);
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m_robotCmdParam.armNo = static_cast<short>(armNo);
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m_robotCmdParam.getPosition = static_cast<short>(fromPos);
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m_robotCmdParam.getSlotNo = static_cast<short>(fromSlot);
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m_robotCmdParam.putPosition = static_cast<short>(toPos);
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m_robotCmdParam.putSlotNo = static_cast<short>(toSlot);
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}
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ROBOT_CMD_PARAM& CRobotTask::getRobotCmdParam()
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{
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return m_robotCmdParam;
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}
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time_t CRobotTask::getCreateTime()
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{
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return m_timeCreate;
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}
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time_t CRobotTask::getFetchoutTime()
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{
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return m_timeFetchOut;
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}
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time_t CRobotTask::getStoredTime()
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{
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return m_timeStored;
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}
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time_t CRobotTask::getFinishTime()
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{
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return m_timeFinish;
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}
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ROBOT_TASK_STATE CRobotTask::getState()
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{
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return m_state;
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}
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void CRobotTask::run()
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{
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ASSERT(m_pEFEM);
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m_state = ROBOT_TASK_STATE::Running;
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static int seq = 0;
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m_pEFEM->robotSendTransfer(++seq,
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m_robotCmdParam.armNo,
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m_robotCmdParam.getPosition,
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m_robotCmdParam.putPosition,
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m_robotCmdParam.getSlotNo,
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m_robotCmdParam.putSlotNo,
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[&](int code) -> int {
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if (code == WOK) {
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LOGI(_T("RobotTaskÒÑÏ·¢µ½EFEM"));
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}
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else {
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LOGI(_T("RobotTaskÒÑÏ·¢Ê§°Ü"));
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}
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return 0;
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});
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}
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void CRobotTask::completed()
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{
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m_state = ROBOT_TASK_STATE::Completed;
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}
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void CRobotTask::error()
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{
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m_state = ROBOT_TASK_STATE::Error;
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}
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void CRobotTask::abort()
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{
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m_state = ROBOT_TASK_STATE::Abort;
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}
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int CRobotTask::getSrcPosition()
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{
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return m_robotCmdParam.getPosition;
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}
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int CRobotTask::getTarPosition()
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{
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return m_robotCmdParam.putPosition;
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}
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int CRobotTask::getSrcSlot()
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{
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return m_robotCmdParam.getSlotNo;
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}
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int CRobotTask::getTarSlot()
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{
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return m_robotCmdParam.putSlotNo;
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}
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CString CRobotTask::getStateString()
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{
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switch (m_state) {
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case ROBOT_TASK_STATE::Ready: return _T("Ready");
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case ROBOT_TASK_STATE::Running: return _T("Running");
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case ROBOT_TASK_STATE::Error: return _T("Error");
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case ROBOT_TASK_STATE::Abort: return _T("Abort");
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case ROBOT_TASK_STATE::Completed: return _T("Completed");
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default: return _T("Unknown");
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}
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}
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void CRobotTask::fetchOut()
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{
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m_timeFetchOut = CToolUnits::getUnixTimestamp();;
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}
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void CRobotTask::stored()
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{
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m_timeStored = CToolUnits::getUnixTimestamp();;
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}
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}
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