Merge branch 'master' into liuyang

mrDarker

2025-06-03 0393d1ff2ebc378b3c4cff9b45f72ebc8a4ea516

 SourceCode/Bond/Servo/CMaster.h

@@ -12,6 +12,7 @@
#include "CArm.h"
#include "CArmTray.h"
#include "CCLinkIEControl.h"
#include "CRobotTask.h"


namespace SERVO {
@@ -28,6 +29,7 @@
    typedef std::function<void(void* pMaster, CEquipment* pEquipment, int state, int alarmId, int unitId, int level)> ONEQALARM;
    typedef std::function<void(void* pMaster, CEquipment* pEquipment, CVcrEventReport* pReport)> ONEQVCREVENTREPORT;
    typedef std::function<void(void* pMaster, CEquipment* pEquipment, int code)> ONEQDATACHANGED;
    typedef std::function<void(void* pMaster, CRobotTask* pTask, int code)> ONROBOTTASKEVENT;
    typedef struct _MasterListener
    {
        ONMASTERSTATECHANGED    onMasterStateChanged;
@@ -36,17 +38,19 @@
        ONEQALARM               onEqAlarm;
        ONEQVCREVENTREPORT       onEqVcrEventReport;
        ONEQDATACHANGED         onEqDataChanged;
        ONROBOTTASKEVENT        onRobotTaskEvent;
    } MasterListener;

    class CMaster
    {
    public:
        CMaster();
        ~CMaster();
        virtual ~CMaster();


    public:
        void setListener(MasterListener listener);
        CRobotTask* getActiveRobotTask();
        int init();
        int term();
        int start();
@@ -80,6 +84,7 @@
        int readCache();
        void serialize(CArchive& ar);
        void setState(MASTERSTATE state);
        CRobotTask* createTransferTask(CEquipment* pSrcEq, CEquipment* pTarEq);

    private:
        CRITICAL_SECTION m_criticalSection;
@@ -105,6 +110,10 @@
        ULONGLONG m_ullStartTime;
        ULONGLONG m_ullRunTime;
        MASTERSTATE m_state;

        // 当前任务和已完成任务列表
        CRobotTask* m_pActiveRobotTask;
        std::list< CRobotTask* > m_listTask;
    };
}