Merge branch 'clh'

LAPTOP-SNT8I5JK\Boounion

2025-05-30 405bd36e812c3645e8d9d84700777e2eaeb036ec

 SourceCode/Bond/Servo/CRobotTask.h

@@ -1,5 +1,6 @@
#pragma once
#include "ServoCommo.h"
#include "Context.h"


namespace SERVO {
@@ -7,22 +8,45 @@
   {
   public:
      CRobotTask();
      ~CRobotTask();
      virtual ~CRobotTask();

   public:
      std::string& getId();
      std::string getDescription() const;
      void setContext(CContext* pContext);
      CContext* getContext();
      void setRobotTransferParam(int seq, int armNo, int fromPos, int toPos, int fromSlot, int toSlot);
      ROBOT_CMD_PARAM& getRobotCmdParam();
      time_t getCreateTime();
      time_t getFetchoutTime();
      time_t getStoredTime();
      time_t getFinishTime();
      ROBOT_TASK_STATE getState();
      void completed();
      void error();
      void abort();
      int getSrcPosition();
      int getSrcSlot();
      int getTarPosition();
      int getTarSlot();

      // 从源地拔片
      void fetchOut();

      // 在目的地放片
      void stored();

   private:
      static std::string& generateId(std::string& out);

   public:
   private:
      ROBOT_TASK_STATE m_state;               /* 任务状态 */
      std::string m_strId;
      time_t m_timeCreate;                  /* 创建时间 */
      time_t m_timeFetchOut;                  /* 取片时间*/
      time_t m_timeStored;                  /* 放片时间 */
      time_t m_timeFinish;                  /* 结束时间 */
      ROBOT_CMD_PARAM m_robotCmdParam;         /* 参数 */
      CContext* m_pContext;
   };
}