From 33f080ddc32f3545b685b2e0a7a5df3c35894270 Mon Sep 17 00:00:00 2001
From: chenluhua1980 <Chenluhua@qq.com>
Date: 星期四, 11 十二月 2025 14:43:40 +0800
Subject: [PATCH] 1.Event删除功能的实现；
---
SourceCode/Bond/Servo/CRobotTask.h | 57 ++++++++++++++++++++++++++++++++++++++++++++++++++++-----
1 files changed, 52 insertions(+), 5 deletions(-)
diff --git a/SourceCode/Bond/Servo/CRobotTask.h b/SourceCode/Bond/Servo/CRobotTask.h
index 1f109a3..e20fd4a 100644
--- a/SourceCode/Bond/Servo/CRobotTask.h
+++ b/SourceCode/Bond/Servo/CRobotTask.h
@@ -1,28 +1,75 @@
#pragma once
#include "ServoCommo.h"
+#include "Context.h"
+#include "CEFEM.h"
+
+#define ACTION_PICK 0 /* 取 */
+#define ACTION_PLACE 1 /* 放 */
+#define ACTION_RESTORE 2 /* 回原点 */
+#define ACTION_TRANSFER 3 /* 搬运 */
namespace SERVO {
class CRobotTask
{
public:
CRobotTask();
- ~CRobotTask();
+ virtual ~CRobotTask();
public:
std::string& getId();
- void setRobotTransferParam(int seq, int armNo, int fromPos, int toPos, int fromSlot, int toSlot);
- ROBOT_CMD_PARAM& getRobotCmdParam();
+ std::string getDescription() const;
+ std::string getSimpleDescription() const;
+ void setContext(CContext* pContext);
+ CContext* getContext();
+ void setEFEM(CEFEM* pEFEM);
+ int setRobotTransferParam(int seq, int armNo, int fromPos, int toPos, int fromSlot, int toSlot);
+ ROBOT_CMD_PARAM& getRobotCmdParam(int index);
time_t getCreateTime();
+ time_t getFetchoutTime();
+ time_t getStoredTime();
time_t getFinishTime();
+ int getArmNo();
+ ROBOT_TASK_STATE getState();
+ bool isPicking();
+ bool isPicked();
+ bool isPlacing();
+ bool isRestoring();
+ void run();
+ void pick();
+ void picked();
+ void place();
+ void restore();
+ void restored();
+ void resend();
+ void completed();
+ void error();
+ void abort();
+ int getSrcPosition();
+ int getSrcSlot();
+ int getTarPosition();
+ int getTarSlot();
+ CString getStateString();
+
+ // 从源地拔片
+ void fetchOut();
+
+ // 在目的地放片
+ void stored();
private:
static std::string& generateId(std::string& out);
+ void transformPosAndSlot(int srcPos, int srcSlot, int& tarPos, int& tarSlot);
- 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 */
+ ROBOT_CMD_PARAM m_robotCmdParam[4]; /* 参数 */
+ CContext* m_pContext;
+ CEFEM* m_pEFEM;
};
}
--
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