From cf1497e3bba45ddc3b31cf9768954248bedc0bc1 Mon Sep 17 00:00:00 2001
From: chenluhua1980 <Chenluhua@qq.com>
Date: 星期三, 14 一月 2026 16:03:21 +0800
Subject: [PATCH] 1.修复以下问题：Only-1 Job 支持：isProcessJobsEmpty()/validate 决定了当前实现只支持单个 PJ/CJ。Host 如果按标准一次下多 PJ 或在运行中追加 PJ，会被拒绝但无明确回应，容易引起 Host/设备状态脱节。
---
SourceCode/Bond/Servo/CRobotTask.cpp | 19 +++++++++++++++----
1 files changed, 15 insertions(+), 4 deletions(-)
diff --git a/SourceCode/Bond/Servo/CRobotTask.cpp b/SourceCode/Bond/Servo/CRobotTask.cpp
index 7a9625e..f0e9596 100644
--- a/SourceCode/Bond/Servo/CRobotTask.cpp
+++ b/SourceCode/Bond/Servo/CRobotTask.cpp
@@ -220,7 +220,7 @@
LOGI(_T("RobotTask已下发到EFEM"));
}
else {
- LOGI(_T("RobotTask已下发失败"));
+ LOGE(_T("RobotTask下发失败"));
}
return 0;
@@ -238,7 +238,7 @@
LOGI(_T("RobotTask/get已下发到EFEM"));
}
else {
- LOGI(_T("RobotTask/get已下发失败"));
+ LOGE(_T("RobotTask/get已下发失败"));
}
return 0;
@@ -261,7 +261,7 @@
LOGI(_T("RobotTask/put已下发到EFEM"));
}
else {
- LOGI(_T("RobotTask/put已下发失败"));
+ LOGE(_T("RobotTask/put已下发失败"));
}
return 0;
@@ -279,13 +279,24 @@
LOGI(_T("RobotTask/restore-put已下发到EFEM"));
}
else {
- LOGI(_T("RobotTask/restore-put已下发失败"));
+ LOGE(_T("RobotTask/restore-put已下发失败"));
}
return 0;
});
}
+ void CRobotTask::resend()
+ {
+ // 重新下发命令，无非是下发取料或下发放料的命令，根据当前状态来
+ if (ROBOT_TASK_STATE::Picking == m_state || ROBOT_TASK_STATE::Picked == m_state) {
+ pick();
+ }
+ else if (ROBOT_TASK_STATE::Placing == m_state) {
+ place();
+ }
+ }
+
void CRobotTask::completed()
{
m_state = ROBOT_TASK_STATE::Completed;
--
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