1.搬送任务准备拆分为取和放，增加放回原处的功能；

LAPTOP-SNT8I5JK\Boounion

2025-06-13 da8ed9d0a7679c2687894ab2c568aee692ad3f79

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#pragma once
#include "ServoCommo.h"
#include "Context.h"
#include "CEFEM.h"
 
 
#define ACTION_PICK            0            /* È¡ */
#define ACTION_PLACE        1            /* ·Å */
#define ACTION_RESTORE        2            /* »ØÔ­µã */
#define ACTION_TRANSFER        3            /* °áÔË */
 
namespace SERVO {
    class CRobotTask
    {
    public:
        CRobotTask();
        virtual ~CRobotTask();
 
    public:
        std::string& getId();
        std::string getDescription() const;
        std::string getSimpleDescription() const;
        void setContext(CContext* pContext);
        CContext* getContext();
        void setEFEM(CEFEM* pEFEM);
        int setRobotTransferParam(int seq, int armNo, int fromPos, int toPos, int fromSlot, int toSlot);
        ROBOT_CMD_PARAM& getRobotCmdParam(int index);
        time_t getCreateTime();
        time_t getFetchoutTime();
        time_t getStoredTime();
        time_t getFinishTime();
        ROBOT_TASK_STATE getState();
        void run();
        void pick();
        void place();
        void restore();
        void completed();
        void error();
        void abort();
        int getSrcPosition();
        int getSrcSlot();
        int getTarPosition();
        int getTarSlot();
        CString getStateString();
 
        // ´ÓÔ´µØ°ÎƬ
        void fetchOut();
 
        // ÔÚÄ¿µÄµØ·ÅƬ
        void stored();
 
    private:
        static std::string& generateId(std::string& out);
 
    private:
        ROBOT_TASK_STATE m_state;                    /* ÈÎÎñ״̬ */
        std::string m_strId;
        time_t m_timeCreate;                        /* ´´½¨Ê±¼ä */
        time_t m_timeFetchOut;                        /* È¡Æ¬Ê±¼ä*/
        time_t m_timeStored;                        /* ·ÅƬʱ¼ä */
        time_t m_timeFinish;                        /* ½áÊøʱ¼ä */
        ROBOT_CMD_PARAM m_robotCmdParam[3];            /* ²ÎÊý */
        CContext* m_pContext;
        CEFEM* m_pEFEM;
    };
}