From 5edb485d226790306097e40ea954efb2ed90dd21 Mon Sep 17 00:00:00 2001
From: LAPTOP-SNT8I5JK\Boounion <Chenluhua@qq.com>
Date: 星期一, 11 八月 2025 16:05:09 +0800
Subject: [PATCH] 1.EAP:查询CJSpace和PJSpace功能模拟，Master对EAP查询机器变量的回复；
---
SourceCode/Bond/Servo/CRobotTask.h | 29 ++++++++++++++++++++++++++---
1 files changed, 26 insertions(+), 3 deletions(-)
diff --git a/SourceCode/Bond/Servo/CRobotTask.h b/SourceCode/Bond/Servo/CRobotTask.h
index 1fee5f2..e20fd4a 100644
--- a/SourceCode/Bond/Servo/CRobotTask.h
+++ b/SourceCode/Bond/Servo/CRobotTask.h
@@ -1,7 +1,13 @@
#pragma once
#include "ServoCommo.h"
#include "Context.h"
+#include "CEFEM.h"
+
+#define ACTION_PICK 0 /* 取 */
+#define ACTION_PLACE 1 /* 放 */
+#define ACTION_RESTORE 2 /* 回原点 */
+#define ACTION_TRANSFER 3 /* 搬运 */
namespace SERVO {
class CRobotTask
@@ -13,15 +19,29 @@
public:
std::string& getId();
std::string getDescription() const;
+ std::string getSimpleDescription() 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();
+ void setEFEM(CEFEM* pEFEM);
+ int setRobotTransferParam(int seq, int armNo, int fromPos, int toPos, int fromSlot, int toSlot);
+ ROBOT_CMD_PARAM& getRobotCmdParam(int index);
time_t getCreateTime();
time_t getFetchoutTime();
time_t getStoredTime();
time_t getFinishTime();
+ int getArmNo();
ROBOT_TASK_STATE getState();
+ bool isPicking();
+ bool isPicked();
+ bool isPlacing();
+ bool isRestoring();
+ void run();
+ void pick();
+ void picked();
+ void place();
+ void restore();
+ void restored();
+ void resend();
void completed();
void error();
void abort();
@@ -29,6 +49,7 @@
int getSrcSlot();
int getTarPosition();
int getTarSlot();
+ CString getStateString();
// 从源地拔片
void fetchOut();
@@ -38,6 +59,7 @@
private:
static std::string& generateId(std::string& out);
+ void transformPosAndSlot(int srcPos, int srcSlot, int& tarPos, int& tarSlot);
private:
ROBOT_TASK_STATE m_state; /* 任务状态 */
@@ -46,7 +68,8 @@
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 */
+ ROBOT_CMD_PARAM m_robotCmdParam[4]; /* 参数 */
CContext* m_pContext;
+ CEFEM* m_pEFEM;
};
}
--
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