Merge branch 'clh'

LAPTOP-SNT8I5JK\Boounion

2025-06-09 3404823d074a08b8c0824b505db16168f7e66201

 SourceCode/Bond/Servo/CRobotTask.cpp

@@ -1,18 +1,88 @@
#include "stdafx.h"
#include "CRobotTask.h"
#include "ToolUnits.h"
#include "Log.h"


namespace SERVO {
   CRobotTask::CRobotTask()
   {
      generateId(m_strId);
      m_timeCreate = CToolUnits::getTimestamp();
      m_state = ROBOT_TASK_STATE::Ready;
      m_timeCreate = CToolUnits::getUnixTimestamp();
      m_timeFetchOut = 0;
      m_timeStored = 0;
      m_timeFinish = 0;
      m_pContext = nullptr;
      m_pEFEM = nullptr;
   }

   CRobotTask::~CRobotTask()
   {
      if (m_pContext != nullptr) {
         m_pContext->release();
         m_pContext = nullptr;
      }
   }

   std::string CRobotTask::getDescription() const
   {
      std::string strOut = "CRobotTask<ID:";
      strOut = strOut + std::to_string(m_robotCmdParam.sequenceNo);
      strOut = strOut + ",Arm:";
      strOut = strOut + std::to_string(m_robotCmdParam.armNo);
      strOut = strOut + ",GetPossion:";
      strOut = strOut + std::to_string(m_robotCmdParam.getPosition);
      strOut = strOut + ",GetSlot:";
      strOut = strOut + std::to_string(m_robotCmdParam.getSlotNo);
      strOut = strOut + ",PutPossion:";
      strOut = strOut + std::to_string(m_robotCmdParam.putPosition);
      strOut = strOut + ",PutSlot:";
      strOut = strOut + std::to_string(m_robotCmdParam.putSlotNo);
      strOut = strOut + ">";

      return strOut;
   }

   std::string CRobotTask::getSimpleDescription() const
   {
      std::string strOut = "CRobotTask<ID:";
      strOut = strOut + std::to_string(m_robotCmdParam.sequenceNo);
      strOut = strOut + ",Arm:";
      strOut = strOut + std::to_string(m_robotCmdParam.armNo);
      strOut = strOut + ",GetPossion:";
      strOut = strOut + std::to_string(m_robotCmdParam.getPosition);
      strOut = strOut + ",GetSlot:";
      strOut = strOut + std::to_string(m_robotCmdParam.getSlotNo);
      strOut = strOut + ",PutPossion:";
      strOut = strOut + std::to_string(m_robotCmdParam.putPosition);
      strOut = strOut + ",PutSlot:";
      strOut = strOut + std::to_string(m_robotCmdParam.putSlotNo);
      strOut = strOut + ">";

      return strOut;
   }

   void CRobotTask::setContext(CContext* pContext)
   {
      if (m_pContext != nullptr) {
         m_pContext->release();
      }

      m_pContext = pContext;
      if (m_pContext != nullptr) {
         m_pContext->addRef();
      }
   }

   CContext* CRobotTask::getContext()
   {
      return m_pContext;
   }

   void CRobotTask::setEFEM(CEFEM* pEFEM)
   {
      m_pEFEM = pEFEM;
   }

   std::string& CRobotTask::generateId(std::string& out)
@@ -56,8 +126,104 @@
      return m_timeCreate;
   }

   time_t CRobotTask::getFetchoutTime()
   {
      return m_timeFetchOut;
   }

   time_t CRobotTask::getStoredTime()
   {
      return m_timeStored;
   }

   time_t CRobotTask::getFinishTime()
   {
      return m_timeFinish;
   }

   ROBOT_TASK_STATE CRobotTask::getState()
   {
      return m_state;
   }

   void CRobotTask::run()
   {
      ASSERT(m_pEFEM);
      m_state = ROBOT_TASK_STATE::Running;

      static int seq = 0;
      m_pEFEM->robotSendTransfer(++seq,
         m_robotCmdParam.armNo,
         m_robotCmdParam.getPosition, 
         m_robotCmdParam.putPosition,
         m_robotCmdParam.getSlotNo,
         m_robotCmdParam.putSlotNo, 
         [&](int code) -> int {
            if (code == WOK) {
               LOGI(_T("RobotTask已下发到EFEM"));
            }
            else {
               LOGI(_T("RobotTask已下发失败"));
            }

            return 0;
         });
   }

   void CRobotTask::completed()
   {
      m_state = ROBOT_TASK_STATE::Completed;
   }

   void CRobotTask::error()
   {
      m_state = ROBOT_TASK_STATE::Error;
   }

   void CRobotTask::abort()
   {
      m_state = ROBOT_TASK_STATE::Abort;
   }

   int CRobotTask::getSrcPosition()
   {
      return m_robotCmdParam.getPosition;
   }

   int CRobotTask::getTarPosition()
   {
      return m_robotCmdParam.putPosition;
   }

   int CRobotTask::getSrcSlot()
   {
      return m_robotCmdParam.getSlotNo;
   }

   int CRobotTask::getTarSlot()
   {
      return m_robotCmdParam.putSlotNo;
   }

   CString CRobotTask::getStateString()
   {
      switch (m_state) {
      case ROBOT_TASK_STATE::Ready:     return _T("Ready");
      case ROBOT_TASK_STATE::Running:   return _T("Running");
      case ROBOT_TASK_STATE::Error:     return _T("Error");
      case ROBOT_TASK_STATE::Abort:     return _T("Abort");
      case ROBOT_TASK_STATE::Completed: return _T("Completed");
      default:                          return _T("Unknown");
      }
   }

   void CRobotTask::fetchOut()
   {
      m_timeFetchOut = CToolUnits::getUnixTimestamp();;
   }

   void CRobotTask::stored()
   {
      m_timeStored = CToolUnits::getUnixTimestamp();;
   }
}