From 9198ac12e4e2ff64a2cf65c32d576f02d54c346a Mon Sep 17 00:00:00 2001
From: chenluhua1980 <Chenluhua@qq.com>
Date: 星期六, 10 一月 2026 16:50:32 +0800
Subject: [PATCH] 1.S1F3_CurrentRecipe，S6F11_RecipeChange实现。
---
SourceCode/Bond/Servo/CRobotTask.h | 23 ++++++++++++++++++++---
1 files changed, 20 insertions(+), 3 deletions(-)
diff --git a/SourceCode/Bond/Servo/CRobotTask.h b/SourceCode/Bond/Servo/CRobotTask.h
index 63edbeb..e20fd4a 100644
--- a/SourceCode/Bond/Servo/CRobotTask.h
+++ b/SourceCode/Bond/Servo/CRobotTask.h
@@ -4,6 +4,11 @@
#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
{
@@ -18,14 +23,25 @@
void setContext(CContext* pContext);
CContext* getContext();
void setEFEM(CEFEM* pEFEM);
- void setRobotTransferParam(int seq, int armNo, int fromPos, int toPos, int fromSlot, int toSlot);
- ROBOT_CMD_PARAM& getRobotCmdParam();
+ 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();
@@ -43,6 +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 */
@@ -51,7 +68,7 @@
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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