From 7b3161e949bb32f91d5cebc9d52147198e360b6b Mon Sep 17 00:00:00 2001
From: LAPTOP-SNT8I5JK\Boounion <Chenluhua@qq.com>
Date: 星期五, 06 六月 2025 09:03:25 +0800
Subject: [PATCH] 1.增加菜单项设置send able等信号，用于模拟测试；
---
SourceCode/Bond/Servo/CRobotTask.cpp | 125 +++++++++++++++++++++++++++++++++++++++++
1 files changed, 124 insertions(+), 1 deletions(-)
diff --git a/SourceCode/Bond/Servo/CRobotTask.cpp b/SourceCode/Bond/Servo/CRobotTask.cpp
index 26017c7..3112351 100644
--- a/SourceCode/Bond/Servo/CRobotTask.cpp
+++ b/SourceCode/Bond/Servo/CRobotTask.cpp
@@ -7,12 +7,75 @@
CRobotTask::CRobotTask()
{
generateId(m_strId);
- m_timeCreate = CToolUnits::getTimestamp();
+ m_state = ROBOT_TASK_STATE::Ready;
+ m_timeCreate = CToolUnits::getUnixTimestamp();
+ m_timeFetchOut = 0;
+ m_timeStored = 0;
+ m_timeFinish = 0;
+ m_pContext = nullptr;
}
CRobotTask::~CRobotTask()
{
+ if (m_pContext != nullptr) {
+ m_pContext->release();
+ m_pContext = nullptr;
+ }
+ }
+ std::string CRobotTask::getDescription() const
+ {
+ std::string strOut = "CRobotTask<ID:";
+ strOut = strOut + std::to_string(m_robotCmdParam.sequenceNo);
+ strOut = strOut + ",Arm:";
+ strOut = strOut + std::to_string(m_robotCmdParam.armNo);
+ strOut = strOut + ",GetPossion:";
+ strOut = strOut + std::to_string(m_robotCmdParam.getPosition);
+ strOut = strOut + ",GetSlot:";
+ strOut = strOut + std::to_string(m_robotCmdParam.getSlotNo);
+ strOut = strOut + ",PutPossion:";
+ strOut = strOut + std::to_string(m_robotCmdParam.putPosition);
+ strOut = strOut + ",PutSlot:";
+ strOut = strOut + std::to_string(m_robotCmdParam.putSlotNo);
+ strOut = strOut + ">";
+
+ return strOut;
+ }
+
+ std::string CRobotTask::getSimpleDescription() const
+ {
+ std::string strOut = "CRobotTask<ID:";
+ strOut = strOut + std::to_string(m_robotCmdParam.sequenceNo);
+ strOut = strOut + ",Arm:";
+ strOut = strOut + std::to_string(m_robotCmdParam.armNo);
+ strOut = strOut + ",GetPossion:";
+ strOut = strOut + std::to_string(m_robotCmdParam.getPosition);
+ strOut = strOut + ",GetSlot:";
+ strOut = strOut + std::to_string(m_robotCmdParam.getSlotNo);
+ strOut = strOut + ",PutPossion:";
+ strOut = strOut + std::to_string(m_robotCmdParam.putPosition);
+ strOut = strOut + ",PutSlot:";
+ strOut = strOut + std::to_string(m_robotCmdParam.putSlotNo);
+ strOut = strOut + ">";
+
+ return strOut;
+ }
+
+ void CRobotTask::setContext(CContext* pContext)
+ {
+ if (m_pContext != nullptr) {
+ m_pContext->release();
+ }
+
+ m_pContext = pContext;
+ if (m_pContext != nullptr) {
+ m_pContext->addRef();
+ }
+ }
+
+ CContext* CRobotTask::getContext()
+ {
+ return m_pContext;
}
std::string& CRobotTask::generateId(std::string& out)
@@ -56,8 +119,68 @@
return m_timeCreate;
}
+ time_t CRobotTask::getFetchoutTime()
+ {
+ return m_timeFetchOut;
+ }
+
+ time_t CRobotTask::getStoredTime()
+ {
+ return m_timeStored;
+ }
+
time_t CRobotTask::getFinishTime()
{
return m_timeFinish;
}
+
+ ROBOT_TASK_STATE CRobotTask::getState()
+ {
+ return m_state;
+ }
+
+ void CRobotTask::completed()
+ {
+ m_state = ROBOT_TASK_STATE::Completed;
+ }
+
+ void CRobotTask::error()
+ {
+ m_state = ROBOT_TASK_STATE::Error;
+ }
+
+ void CRobotTask::abort()
+ {
+ m_state = ROBOT_TASK_STATE::Abort;
+ }
+
+ int CRobotTask::getSrcPosition()
+ {
+ return m_robotCmdParam.getPosition;
+ }
+
+ int CRobotTask::getTarPosition()
+ {
+ return m_robotCmdParam.putPosition;
+ }
+
+ int CRobotTask::getSrcSlot()
+ {
+ return m_robotCmdParam.getSlotNo;
+ }
+
+ int CRobotTask::getTarSlot()
+ {
+ return m_robotCmdParam.putSlotNo;
+ }
+
+ void CRobotTask::fetchOut()
+ {
+ m_timeFetchOut = CToolUnits::getUnixTimestamp();;
+ }
+
+ void CRobotTask::stored()
+ {
+ m_timeStored = CToolUnits::getUnixTimestamp();;
+ }
}
--
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