From 405bd36e812c3645e8d9d84700777e2eaeb036ec Mon Sep 17 00:00:00 2001
From: LAPTOP-SNT8I5JK\Boounion <Chenluhua@qq.com>
Date: 星期五, 30 五月 2025 16:18:17 +0800
Subject: [PATCH] Merge branch 'clh'

---
 SourceCode/Bond/Servo/CRobotTask.cpp |  167 +++++++++++++++++++++++++++++++++++++++++++++++++++++++
 1 files changed, 167 insertions(+), 0 deletions(-)

diff --git a/SourceCode/Bond/Servo/CRobotTask.cpp b/SourceCode/Bond/Servo/CRobotTask.cpp
new file mode 100644
index 0000000..3b19a24
--- /dev/null
+++ b/SourceCode/Bond/Servo/CRobotTask.cpp
@@ -0,0 +1,167 @@
+#include "stdafx.h"
+#include "CRobotTask.h"
+#include "ToolUnits.h"
+
+
+namespace SERVO {
+	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;
+	}
+
+	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)
+	{
+		char szBuffer[256];
+		CTime time = CTime::GetCurrentTime();
+		__int64 nTick = 0;
+		QueryPerformanceCounter((LARGE_INTEGER*)&nTick);
+		sprintf_s(szBuffer, 256, "%d%02d%02d%02d%02d%02d%010llu", time.GetYear(),
+			time.GetMonth(), time.GetDay(), time.GetHour(), time.GetMinute(), time.GetSecond(),
+			nTick % 10000000000);
+		out = szBuffer;
+
+		return out;
+	}
+
+	std::string& CRobotTask::getId()
+	{
+		return m_strId;
+	}
+
+	void CRobotTask::setRobotTransferParam(int seq, int armNo, int fromPos, int toPos, int fromSlot, int toSlot)
+	{
+		m_robotCmdParam = {};
+		m_robotCmdParam.sequenceNo = static_cast<short>(seq);
+		m_robotCmdParam.rcmd = static_cast<short>(SERVO::RCMD::Transfer);
+		m_robotCmdParam.armNo = static_cast<short>(armNo);
+		m_robotCmdParam.getPosition = static_cast<short>(fromPos);
+		m_robotCmdParam.getSlotNo = static_cast<short>(fromSlot);
+		m_robotCmdParam.putPosition = static_cast<short>(toPos);
+		m_robotCmdParam.putSlotNo = static_cast<short>(toSlot);
+	}
+
+	ROBOT_CMD_PARAM& CRobotTask::getRobotCmdParam()
+	{
+		return m_robotCmdParam;
+	}
+
+	time_t CRobotTask::getCreateTime()
+	{
+		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();;
+	}
+}

--
Gitblit v1.9.3