From 92c468d386d33f5e74916a7afd290e50ce0d5d6f Mon Sep 17 00:00:00 2001
From: LAPTOP-SNT8I5JK\Boounion <Chenluhua@qq.com>
Date: 星期四, 12 六月 2025 11:57:43 +0800
Subject: [PATCH] 1.修改连接图
---
SourceCode/Bond/Servo/CRobotTask.cpp | 43 +++++++++++++++++++++++++++++++++++++++++++
1 files changed, 43 insertions(+), 0 deletions(-)
diff --git a/SourceCode/Bond/Servo/CRobotTask.cpp b/SourceCode/Bond/Servo/CRobotTask.cpp
index 3112351..dc1b82e 100644
--- a/SourceCode/Bond/Servo/CRobotTask.cpp
+++ b/SourceCode/Bond/Servo/CRobotTask.cpp
@@ -1,6 +1,7 @@
#include "stdafx.h"
#include "CRobotTask.h"
#include "ToolUnits.h"
+#include "Log.h"
namespace SERVO {
@@ -13,6 +14,7 @@
m_timeStored = 0;
m_timeFinish = 0;
m_pContext = nullptr;
+ m_pEFEM = nullptr;
}
CRobotTask::~CRobotTask()
@@ -78,6 +80,11 @@
return m_pContext;
}
+ void CRobotTask::setEFEM(CEFEM* pEFEM)
+ {
+ m_pEFEM = pEFEM;
+ }
+
std::string& CRobotTask::generateId(std::string& out)
{
char szBuffer[256];
@@ -139,6 +146,30 @@
return m_state;
}
+ void CRobotTask::run()
+ {
+ ASSERT(m_pEFEM);
+ m_state = ROBOT_TASK_STATE::Running;
+
+ static int seq = 0;
+ m_pEFEM->robotSendTransfer(++seq,
+ m_robotCmdParam.armNo,
+ m_robotCmdParam.getPosition,
+ m_robotCmdParam.putPosition,
+ m_robotCmdParam.getSlotNo,
+ m_robotCmdParam.putSlotNo,
+ [&](int code) -> int {
+ if (code == WOK) {
+ LOGI(_T("RobotTask已下发到EFEM"));
+ }
+ else {
+ LOGI(_T("RobotTask已下发失败"));
+ }
+
+ return 0;
+ });
+ }
+
void CRobotTask::completed()
{
m_state = ROBOT_TASK_STATE::Completed;
@@ -174,6 +205,18 @@
return m_robotCmdParam.putSlotNo;
}
+ CString CRobotTask::getStateString()
+ {
+ switch (m_state) {
+ case ROBOT_TASK_STATE::Ready: return _T("Ready");
+ case ROBOT_TASK_STATE::Running: return _T("Running");
+ case ROBOT_TASK_STATE::Error: return _T("Error");
+ case ROBOT_TASK_STATE::Abort: return _T("Abort");
+ case ROBOT_TASK_STATE::Completed: return _T("Completed");
+ default: return _T("Unknown");
+ }
+ }
+
void CRobotTask::fetchOut()
{
m_timeFetchOut = CToolUnits::getUnixTimestamp();;
--
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