From 3c387cc7bcd469938fbfac8bc5435bb1e846c70f Mon Sep 17 00:00:00 2001
From: LAPTOP-SNT8I5JK\Boounion <Chenluhua@qq.com>
Date: 星期二, 17 六月 2025 17:42:53 +0800
Subject: [PATCH] Merge branch 'liuyang' into clh
---
SourceCode/Bond/Servo/Model.cpp | 203 +++++++++++++++++++++++++++++++++++++++++++++++++-
1 files changed, 197 insertions(+), 6 deletions(-)
diff --git a/SourceCode/Bond/Servo/Model.cpp b/SourceCode/Bond/Servo/Model.cpp
index 7009492..27056bd 100644
--- a/SourceCode/Bond/Servo/Model.cpp
+++ b/SourceCode/Bond/Servo/Model.cpp
@@ -2,6 +2,11 @@
#include "Model.h"
#include "Log.h"
#include "Common.h"
+#include "ToolUnits.h"
+#include "CEqAlarmStep.h"
+#include "AlarmManager.h"
+#include "CGlassPool.h"
+#include "TransferManager.h"
CModel::CModel()
@@ -16,12 +21,35 @@
IObservable* CModel::getObservable()
{
+ if (m_pObservable == nullptr) {
+ m_pObservable = RX_AllocaObservable([&](IObservableEmitter* e) -> void {
+ m_pObservableEmitter = e; // 保存发射器
+ });
+ }
+
return m_pObservable;
+}
+
+SERVO::CMaster& CModel::getMaster()
+{
+ return m_master;
}
void CModel::setWorkDir(const char* pszWorkDir)
{
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()
@@ -33,9 +61,12 @@
m_configuration.getUnitId(strUnitId);
// 机器型号和软件版本号应从配置中读取，当前先固定值
- CString strModeType = _T("Bond2860");
+ CString strModeType = _T("Master");
CString strSoftRev = _T("1.0.2");
+
+ // CGlassPool
+ m_glassPool.initPool();
// Log
@@ -50,11 +81,6 @@
CLog::GetLog()->SetLogsDir(strLogDir);
CLog::GetLog()->SetEquipmentId((LPTSTR)(LPCTSTR)strUnitId);
LOGI("\r\n\r\n~~~ Prog Start! ~~~");
-
-
- m_pObservable = RX_AllocaObservable([&](IObservableEmitter* e) -> void {
- m_pObservableEmitter = e; // 保存发射器
- });
SECSListener listener;
@@ -89,6 +115,170 @@
m_hsmsPassive.init(this, "APP", 7000);
+ SERVO::MasterListener masterListener;
+ masterListener.onMasterStateChanged = [&](void* pMaster, SERVO::MASTERSTATE state) -> void {
+ LOGI("<CModel>Master state changed(%d)", (int)state);
+ notify(RX_CODE_MASTER_STATE_CHANGED);
+ };
+ masterListener.onEqAlive = [&](void* pMaster, SERVO::CEquipment* pEquipment, BOOL bAlive) -> void {
+ LOGI("<CModel>Equipment onAlive:%s(%s).\n", pEquipment->getName().c_str(),
+ bAlive ? _T("ON") : _T("OFF"));
+ notifyPtr(RX_CODE_EQ_ALIVE, pEquipment);
+
+ };
+ masterListener.onEqCimStateChanged = [&](void* pMaster, SERVO::CEquipment* pEquipment, BOOL bOn) -> void {
+ LOGI("<CModel>Equipment Cim State:%s(%s).\n", pEquipment->getName().c_str(),
+ bOn ? _T("ON") : _T("OFF"));
+ notifyPtr(RX_CODE_EQ_ALIVE, pEquipment);
+
+ };
+ masterListener.onEqAlarm = [&](void* pMaster, SERVO::CEquipment* pEquipment, int state, int alarmId, int unitId, int level) -> void {
+ AlarmManager& alarmManager = AlarmManager::getInstance();
+ std::string strAlarmText;
+ const AlarmInfo* pAlarmInfo = alarmManager.getAlarmInfoByID(alarmId);
+ if (pAlarmInfo != nullptr) {
+ strAlarmText = pAlarmInfo->strAlarmText;
+ }
+ if (state == 1) {
+ AlarmData alarmData;
+ alarmData.nId = alarmId;
+ alarmData.nSeverityLevel = level;
+ alarmData.nDeviceId = pEquipment->getID();
+ alarmData.nUnitId = unitId;
+ alarmData.strDeviceName = alarmManager.getDeviceNameById(alarmData.nDeviceId);
+ alarmData.strUnitName = alarmManager.getUnitNameById(alarmData.nDeviceId, alarmData.nUnitId);
+ alarmData.strStartTime = CToolUnits::timeToString2(CToolUnits::getTimestamp());
+ alarmData.strEndTime = "";
+
+ const AlarmInfo* alarmInfo = alarmManager.getAlarmInfoByID(alarmData.nId);
+ alarmData.strDescription = alarmInfo != nullptr ? alarmInfo->strAlarmText : "";
+
+ int nAlarmEventId = 0;
+ bool result = alarmManager.addAlarm(alarmData, nAlarmEventId);
+ if (result) {
+ LOGI("<CModel> Alarm added successfully!");
+ }
+ else {
+ LOGE("<CModel> Failed to add alarm.");
+ }
+
+ notify(RX_CODE_ALARM_SET);
+ }
+ else {
+ alarmManager.clearAlarmByAttributes(alarmId,
+ pEquipment->getID(),
+ unitId,
+ CToolUnits::getCurrentTimeString());
+ notify(RX_CODE_ALARM_CLEAR);
+ }
+
+ m_hsmsPassive.requestAlarmReport(state,
+ pEquipment->getBaseAlarmId() + alarmId,
+ strAlarmText.c_str());
+ };
+ masterListener.onEqVcrEventReport = [&](void* pMaster, SERVO::CEquipment* pEquipment, SERVO::CVcrEventReport* pReport) {
+ LOGE("<CModel>onEqVcrEventReport.");
+ };
+ masterListener.onEqDataChanged = [&](void* pMaster, SERVO::CEquipment* pEquipment, int code) {
+ LOGE("<CModel>onEqDataChanged.");
+ notifyPtr(RX_CODE_EQ_DATA_CHANGED, pEquipment);
+ };
+ masterListener.onRobotTaskEvent = [&](void* pMaster, SERVO::CRobotTask* pTask, int code) {
+ if (pTask == nullptr) {
+ LOGE("<CModel>onRobotTaskEvent: 空任务指针，忽略事件 code=%d", code);
+ return;
+ }
+
+ // 任务描述与 ID 用于日志
+ const std::string& strDesc = pTask->getDescription();
+ const std::string& strClassID = pTask->getId();
+
+ // 日志输出与状态处理
+ switch (code) {
+ case ROBOT_EVENT_CREATE:
+ LOGI("<CModel>onRobotTaskEvent: 新任务创建(%s, ClassID=%s).", strDesc.c_str(), strClassID.c_str());
+ break;
+ case ROBOT_EVENT_FINISH:
+ LOGI("<CModel>onRobotTaskEvent: 任务完成(%s, ClassID=%s).", strDesc.c_str(), strClassID.c_str());
+ 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;
+ default:
+ LOGE("<CModel>onRobotTaskEvent: 未知事件 code=%d, 任务=%s", code, strDesc.c_str());
+ break;
+ }
+
+ // 安全格式化时间
+ auto format_time = [](time_t t) -> std::string {
+ if (t < 0 || t == _I64_MIN || t == _I64_MAX) {
+ return "";
+ }
+
+ // 使用 localtime_s 确保线程安全
+ tm tmBuf{};
+ errno_t err = localtime_s(&tmBuf, &t);
+ if (err != 0 || tmBuf.tm_mon < 0 || tmBuf.tm_mon > 11) {
+ return "";
+ }
+
+ // 格式化时间字符串
+ char buf[64] = {};
+ strftime(buf, sizeof(buf), "%Y-%m-%d %H:%M:%S", &tmBuf);
+ return std::string(buf);
+ };
+
+ // 构造 TransferData 数据结构
+ TransferData data;
+ data.strClassID = strClassID;
+ data.strCreateTime = format_time(pTask->getCreateTime());
+ data.strPickTime = format_time(pTask->getFetchoutTime());
+ data.strPlaceTime = format_time(pTask->getStoredTime());
+ data.strEndTime = format_time(pTask->getFinishTime());
+ data.strDescription = pTask->getSimpleDescription();
+
+ // 状态映射
+ static const char* STATUS_STR[] = {
+ "Unknown", "Ready", "Running", "Picking", "Placing", "Restoring", "Error", "Abort", "Completed"
+ };
+ auto state = pTask->getState();
+ int index = static_cast<int>(state);
+ if (index > 0 && index < static_cast<int>(std::size(STATUS_STR))) {
+ data.strStatus = STATUS_STR[index];
+ }
+ else {
+ data.strStatus = STATUS_STR[0];
+ }
+
+ // 写入数据库
+ int nRecordId = 0;
+ TransferManager::getInstance().addTransferRecord(data, nRecordId);
+
+ notifyPtrAndInt(RX_CODE_EQ_ROBOT_TASK, pTask, nullptr, code);
+ LOGI("<CModel>onRobotTaskEvent: 任务记录已保存，RecordID=%d", nRecordId);
+ };
+ m_master.setListener(masterListener);
+
+
+ // master 设置缓存文件
+ CString strMasterDataFile;
+ strMasterDataFile.Format(_T("%s\\Master.dat"), (LPTSTR)(LPCTSTR)m_strWorkDir);
+ m_master.setCacheFilepath((LPTSTR)(LPCTSTR)strMasterDataFile);
+
+
+ // 加载警告信息
+ AlarmManager& alarmManager = AlarmManager::getInstance();
+ char szBuffer[MAX_PATH];
+ sprintf_s(szBuffer, MAX_PATH, "%s\\AlarmList.csv", (LPTSTR)(LPCTSTR)m_strWorkDir);
+ alarmManager.readAlarmFile(szBuffer);
+
+
+
return 0;
}
@@ -97,6 +287,7 @@
m_hsmsPassive.term();
CLog::GetLog()->SetOnLogCallback(nullptr);
m_master.term();
+ m_glassPool.term();
return 0;
}
--
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