From 0de0a72329a77fbf20bc299c542e435a6d47256b Mon Sep 17 00:00:00 2001
From: LAPTOP-SNT8I5JK\Boounion <Chenluhua@qq.com>
Date: 星期六, 21 六月 2025 17:12:01 +0800
Subject: [PATCH] Merge branch 'liuyang' into clh
---
SourceCode/Bond/Servo/Model.cpp | 22 +++++++++++++++++-----
1 files changed, 17 insertions(+), 5 deletions(-)
diff --git a/SourceCode/Bond/Servo/Model.cpp b/SourceCode/Bond/Servo/Model.cpp
index e39f62d..064a164 100644
--- a/SourceCode/Bond/Servo/Model.cpp
+++ b/SourceCode/Bond/Servo/Model.cpp
@@ -40,6 +40,18 @@
m_strWorkDir = pszWorkDir;
}
+void CModel::loadPortParams()
+{
+ BOOL portEnable, autoChangeEnable;
+ int portType, portMode, cassetteType, transferMode;
+ for (int i = 0; i < 4; i++) {
+ m_configuration.getPortParms(i, portEnable, portType, portMode,
+ cassetteType, transferMode, autoChangeEnable);
+ m_master.setPortType(i, portEnable, portType, portMode, cassetteType,
+ transferMode, autoChangeEnable);
+ }
+}
+
int CModel::init()
{
CString strIniFile;
@@ -188,15 +200,15 @@
break;
case ROBOT_EVENT_FINISH:
LOGI("<CModel>onRobotTaskEvent: 任务完成(%s, ClassID=%s).", strDesc.c_str(), strClassID.c_str());
- pTask->completed();
break;
case ROBOT_EVENT_ERROR:
LOGE("<CModel>onRobotTaskEvent: 任务错误(%s, ClassID=%s).", strDesc.c_str(), strClassID.c_str());
- pTask->error();
break;
case ROBOT_EVENT_ABORT:
LOGE("<CModel>onRobotTaskEvent: 任务停止(%s, ClassID=%s).", strDesc.c_str(), strClassID.c_str());
- pTask->abort();
+ break;
+ case ROBOT_EVENT_RESTORE:
+ LOGE("<CModel>onRobotTaskEvent: 任务回撤(%s, ClassID=%s).", strDesc.c_str(), strClassID.c_str());
break;
default:
LOGE("<CModel>onRobotTaskEvent: 未知事件 code=%d, 任务=%s", code, strDesc.c_str());
@@ -205,7 +217,7 @@
// 安全格式化时间
auto format_time = [](time_t t) -> std::string {
- if (t < 0 || t == _I64_MIN || t == _I64_MAX) {
+ if (t <= 0 || t == _I64_MIN || t == _I64_MAX) {
return "";
}
@@ -233,7 +245,7 @@
// 状态映射
static const char* STATUS_STR[] = {
- "Unknown", "Ready", "Running", "Error", "Abort", "Completed"
+ "Unknown", "Ready", "Running", "Picking", "Placing", "Restoring", "Error", "Abort", "Completed"
};
auto state = pTask->getState();
int index = static_cast<int>(state);
--
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