From 65802dfbbaf135e97a2415e3306aabfd2af49c69 Mon Sep 17 00:00:00 2001
From: LAPTOP-SNT8I5JK\Boounion <Chenluhua@qq.com>
Date: 星期四, 05 六月 2025 16:41:04 +0800
Subject: [PATCH] 1.Link Signal数据获取，解释。
---
SourceCode/Bond/Servo/CRobotTask.h | 29 +++++++++++++++++++++++++++--
1 files changed, 27 insertions(+), 2 deletions(-)
diff --git a/SourceCode/Bond/Servo/CRobotTask.h b/SourceCode/Bond/Servo/CRobotTask.h
index 1f109a3..f02d1ff 100644
--- a/SourceCode/Bond/Servo/CRobotTask.h
+++ b/SourceCode/Bond/Servo/CRobotTask.h
@@ -1,5 +1,6 @@
#pragma once
#include "ServoCommo.h"
+#include "Context.h"
namespace SERVO {
@@ -7,22 +8,46 @@
{
public:
CRobotTask();
- ~CRobotTask();
+ virtual ~CRobotTask();
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();
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);
- public:
+ 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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