From 5c558a6cea6040c49dfde7a7ab8f61c84d4b11fc Mon Sep 17 00:00:00 2001
From: LAPTOP-SNT8I5JK\Boounion <Chenluhua@qq.com>
Date: 星期五, 06 六月 2025 16:34:15 +0800
Subject: [PATCH] 1.当前搬送任务的人工终止操作。
---
SourceCode/Bond/Servo/CMaster.cpp | 24 ++++++++++++++++++++++++
1 files changed, 24 insertions(+), 0 deletions(-)
diff --git a/SourceCode/Bond/Servo/CMaster.cpp b/SourceCode/Bond/Servo/CMaster.cpp
index bc2a884..e65347c 100644
--- a/SourceCode/Bond/Servo/CMaster.cpp
+++ b/SourceCode/Bond/Servo/CMaster.cpp
@@ -1200,4 +1200,28 @@
return pTask;
}
+ int CMaster::abortCurrentTask()
+ {
+ lock();
+ if (m_pActiveRobotTask != nullptr) {
+ m_pActiveRobotTask->abort();
+ }
+ unlock();
+
+ if (m_listener.onRobotTaskEvent != nullptr) {
+ m_listener.onRobotTaskEvent(this, m_pActiveRobotTask, ROBOT_EVENT_ABORT);
+ }
+
+ lock();
+ if (m_pActiveRobotTask != nullptr) {
+ delete m_pActiveRobotTask;
+ m_pActiveRobotTask = nullptr;
+ }
+ unlock();
+
+ // 当前任务手动中止后，停止调度，需要操作员在解决问题后，重新启动
+ stop();
+
+ return 0;
+ }
}
--
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