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LAPTOP-SNT8I5JK\Boounion

2025-06-12 4f66acd4faba64f72f7d3e9d86c0061bff480d8c

 SourceCode/Bond/Servo/CRobotTask.cpp

@@ -1,6 +1,7 @@
#include "stdafx.h"
#include "CRobotTask.h"
#include "ToolUnits.h"
#include "Log.h"


namespace SERVO {
@@ -13,6 +14,7 @@
      m_timeStored = 0;
      m_timeFinish = 0;
      m_pContext = nullptr;
      m_pEFEM = nullptr;
   }

   CRobotTask::~CRobotTask()
@@ -78,6 +80,11 @@
      return m_pContext;
   }

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

   std::string& CRobotTask::generateId(std::string& out)
   {
      char szBuffer[256];
@@ -139,6 +146,30 @@
      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;
@@ -174,6 +205,18 @@
      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();;