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.h | 52 ++++++++++++++++++++++++++++++++++++++++++++++++++++
1 files changed, 52 insertions(+), 0 deletions(-)
diff --git a/SourceCode/Bond/Servo/CRobotTask.h b/SourceCode/Bond/Servo/CRobotTask.h
new file mode 100644
index 0000000..1fee5f2
--- /dev/null
+++ b/SourceCode/Bond/Servo/CRobotTask.h
@@ -0,0 +1,52 @@
+#pragma once
+#include "ServoCommo.h"
+#include "Context.h"
+
+
+namespace SERVO {
+ class CRobotTask
+ {
+ public:
+ CRobotTask();
+ virtual ~CRobotTask();
+
+ public:
+ std::string& getId();
+ std::string getDescription() const;
+ void setContext(CContext* pContext);
+ CContext* getContext();
+ void setRobotTransferParam(int seq, int armNo, int fromPos, int toPos, int fromSlot, int toSlot);
+ ROBOT_CMD_PARAM& getRobotCmdParam();
+ time_t getCreateTime();
+ time_t getFetchoutTime();
+ time_t getStoredTime();
+ time_t getFinishTime();
+ ROBOT_TASK_STATE getState();
+ void completed();
+ void error();
+ void abort();
+ int getSrcPosition();
+ int getSrcSlot();
+ int getTarPosition();
+ int getTarSlot();
+
+ // 从源地拔片
+ void fetchOut();
+
+ // 在目的地放片
+ void stored();
+
+ private:
+ static std::string& generateId(std::string& out);
+
+ 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 */
+ CContext* m_pContext;
+ };
+}
--
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