Merge branch 'clh'

LAPTOP-SNT8I5JK\Boounion

2025-05-30 405bd36e812c3645e8d9d84700777e2eaeb036ec

 SourceCode/Bond/Servo/CRobotTask.cpp

对比新文件
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#include "stdafx.h"
#include "CRobotTask.h"
#include "ToolUnits.h"


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

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

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

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

   std::string& CRobotTask::generateId(std::string& out)
   {
      char szBuffer[256];
      CTime time = CTime::GetCurrentTime();
      __int64 nTick = 0;
      QueryPerformanceCounter((LARGE_INTEGER*)&nTick);
      sprintf_s(szBuffer, 256, "%d%02d%02d%02d%02d%02d%010llu", time.GetYear(),
         time.GetMonth(), time.GetDay(), time.GetHour(), time.GetMinute(), time.GetSecond(),
         nTick % 10000000000);
      out = szBuffer;

      return out;
   }

   std::string& CRobotTask::getId()
   {
      return m_strId;
   }

   void CRobotTask::setRobotTransferParam(int seq, int armNo, int fromPos, int toPos, int fromSlot, int toSlot)
   {
      m_robotCmdParam = {};
      m_robotCmdParam.sequenceNo = static_cast<short>(seq);
      m_robotCmdParam.rcmd = static_cast<short>(SERVO::RCMD::Transfer);
      m_robotCmdParam.armNo = static_cast<short>(armNo);
      m_robotCmdParam.getPosition = static_cast<short>(fromPos);
      m_robotCmdParam.getSlotNo = static_cast<short>(fromSlot);
      m_robotCmdParam.putPosition = static_cast<short>(toPos);
      m_robotCmdParam.putSlotNo = static_cast<short>(toSlot);
   }

   ROBOT_CMD_PARAM& CRobotTask::getRobotCmdParam()
   {
      return m_robotCmdParam;
   }

   time_t CRobotTask::getCreateTime()
   {
      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::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;
   }

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

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