1.增加Aligner --> Bonder1 | Bonder2的搬送检测逻辑； 2.优化搬送逻辑。搬送要分优先考虑的主类型和次要类型。一种情况，如...

LAPTOP-SNT8I5JK\Boounion

2025-06-03 a1bf060d50da3c27b54bcc349e8b53769b39ef89

 SourceCode/Bond/Servo/CRobotTask.cpp

@@ -7,12 +7,75 @@
   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;
   }

   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 (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)
@@ -56,8 +119,68 @@
      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();;
   }
}