From 5e6c63c80e146e9f0800afc39ec33f0c7eb7a572 Mon Sep 17 00:00:00 2001
From: LAPTOP-SNT8I5JK\Boounion <Chenluhua@qq.com>
Date: 星期一, 21 七月 2025 14:09:58 +0800
Subject: [PATCH] 1.回撤任务修改为重发任务；
---
SourceCode/Bond/Servo/Model.cpp | 137 +++++++++++++++++++++++++++++++++++++++++++--
1 files changed, 130 insertions(+), 7 deletions(-)
diff --git a/SourceCode/Bond/Servo/Model.cpp b/SourceCode/Bond/Servo/Model.cpp
index 5dab65a..6c36c56 100644
--- a/SourceCode/Bond/Servo/Model.cpp
+++ b/SourceCode/Bond/Servo/Model.cpp
@@ -5,6 +5,8 @@
#include "ToolUnits.h"
#include "CEqAlarmStep.h"
#include "AlarmManager.h"
+#include "CGlassPool.h"
+#include "TransferManager.h"
CModel::CModel()
@@ -19,12 +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()
@@ -40,6 +65,9 @@
CString strSoftRev = _T("1.0.2");
+ // CGlassPool
+ m_glassPool.initPool();
+
// Log
CString strLogDir;
@@ -53,11 +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;
@@ -93,14 +116,18 @@
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(),
+ LOGI("<CModel>Equipment onAlive:%s(%s).", 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(),
+ LOGI("<CModel>Equipment Cim State:%s(%s).", pEquipment->getName().c_str(),
bOn ? _T("ON") : _T("OFF"));
notifyPtr(RX_CODE_EQ_ALIVE, pEquipment);
@@ -152,6 +179,101 @@
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
+ SERVO::CGlass* pGlass = (SERVO::CGlass*)pTask->getContext();
+ const std::string& strDesc = pTask->getDescription();
+ std::string strClassID;
+ if (pGlass != nullptr) {
+ strClassID = pGlass->getID();
+ if (pGlass->getBuddy() != nullptr) {
+ strClassID += "/";
+ strClassID += pGlass->getBuddy()->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());
+ break;
+ case ROBOT_EVENT_ABORT:
+ LOGE("<CModel>onRobotTaskEvent: 任务停止(%s, ClassID=%s).", strDesc.c_str(), strClassID.c_str());
+ break;
+ case ROBOT_EVENT_RESTORE:
+ LOGE("<CModel>onRobotTaskEvent: 任务回撤(%s, ClassID=%s).", strDesc.c_str(), strClassID.c_str());
+ 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[] = {
+ "Ready", "Running", "Picking", "Picked", "Placing", "Restoring", "Error", "Abort", "Restored", "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 = "Unknown";
+ }
+
+ // 写入数据库
+ if (code == ROBOT_EVENT_FINISH || code == ROBOT_EVENT_ERROR
+ || code == ROBOT_EVENT_ABORT || code == ROBOT_EVENT_RESTORE) {
+ int nRecordId = 0;
+ TransferManager::getInstance().addTransferRecord(data, nRecordId);
+ LOGI("<CModel>onRobotTaskEvent: 任务记录已保存，RecordID=%d", nRecordId);
+ }
+ notifyPtrAndInt(RX_CODE_EQ_ROBOT_TASK, pTask, nullptr, code);
+
+ };
m_master.setListener(masterListener);
@@ -177,6 +299,7 @@
m_hsmsPassive.term();
CLog::GetLog()->SetOnLogCallback(nullptr);
m_master.term();
+ m_glassPool.term();
return 0;
}
--
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