From 7034036d6ab7163a6ea0e5d712ba86d6cd9591bc Mon Sep 17 00:00:00 2001
From: mrDarker <mr.darker@163.com>
Date: 星期四, 24 七月 2025 16:37:27 +0800
Subject: [PATCH] 1. 根据文档更新JobDataS
---
SourceCode/Bond/Servo/Model.cpp | 50 ++++++++++++++++++++++++++++++++++++--------------
1 files changed, 36 insertions(+), 14 deletions(-)
diff --git a/SourceCode/Bond/Servo/Model.cpp b/SourceCode/Bond/Servo/Model.cpp
index 04cf046..7f3ed76 100644
--- a/SourceCode/Bond/Servo/Model.cpp
+++ b/SourceCode/Bond/Servo/Model.cpp
@@ -52,6 +52,12 @@
}
}
+void CModel::setPortCassetteType(unsigned int index, SERVO::CassetteType type)
+{
+ m_master.setPortCassetteType(index, type);
+ m_configuration.setPortCassetteType(index, (int)type);
+}
+
int CModel::init()
{
CString strIniFile;
@@ -121,13 +127,13 @@
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);
@@ -190,8 +196,16 @@
}
// 任务描述与 ID 用于日志
+ SERVO::CGlass* pGlass = (SERVO::CGlass*)pTask->getContext();
const std::string& strDesc = pTask->getDescription();
- const std::string& strClassID = pTask->getId();
+ 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) {
@@ -203,11 +217,12 @@
break;
case ROBOT_EVENT_ERROR:
LOGE("<CModel>onRobotTaskEvent: 任务错误(%s, ClassID=%s).", strDesc.c_str(), strClassID.c_str());
- pTask->error();
break;
case ROBOT_EVENT_ABORT:
LOGE("<CModel>onRobotTaskEvent: 任务停止(%s, ClassID=%s).", strDesc.c_str(), strClassID.c_str());
- pTask->abort();
+ 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());
@@ -216,7 +231,7 @@
// 安全格式化时间
auto format_time = [](time_t t) -> std::string {
- if (t < 0 || t == _I64_MIN || t == _I64_MAX) {
+ if (t <= 0 || t == _I64_MIN || t == _I64_MAX) {
return "";
}
@@ -244,23 +259,30 @@
// 状态映射
static const char* STATUS_STR[] = {
- "Unknown", "Ready", "Running", "Error", "Abort", "Completed"
+ "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))) {
+ if (index >= 0 && index < static_cast<int>(std::size(STATUS_STR))) {
data.strStatus = STATUS_STR[index];
}
else {
- data.strStatus = STATUS_STR[0];
+ data.strStatus = "Unknown";
}
// 写入数据库
- int nRecordId = 0;
- TransferManager::getInstance().addTransferRecord(data, nRecordId);
-
+ 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);
- LOGI("<CModel>onRobotTaskEvent: 任务记录已保存，RecordID=%d", nRecordId);
+
+ };
+ masterListener.onLoadPortInUse = [&] (void* pMaster, SERVO::CEquipment* pEquipment, short scanMap) {
+ LOGE("<CModel>onLoadPortInUse. scanMap = %d", scanMap);
+ notifyPtr(RX_CODE_LOADPORT_INUSE, pEquipment);
};
m_master.setListener(masterListener);
@@ -269,7 +291,7 @@
CString strMasterDataFile;
strMasterDataFile.Format(_T("%s\\Master.dat"), (LPTSTR)(LPCTSTR)m_strWorkDir);
m_master.setCacheFilepath((LPTSTR)(LPCTSTR)strMasterDataFile);
-
+ m_master.setCompareMapsBeforeProceeding(m_configuration.isCompareMapsBeforeProceeding());
// 加载警告信息
AlarmManager& alarmManager = AlarmManager::getInstance();
--
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