From fd1333fbf52e00ff8f0b0d51ec0d707a66cc9141 Mon Sep 17 00:00:00 2001
From: LAPTOP-SNT8I5JK\Boounion <Chenluhua@qq.com>
Date: 星期一, 16 六月 2025 11:20:16 +0800
Subject: [PATCH] 1.Robot状态和位置的监控，其中两个arm状态(是否有料)，也作为调度的依据。
---
SourceCode/Bond/Servo/CRobotTask.cpp | 24 ++++++++++++++++++++++++
1 files changed, 24 insertions(+), 0 deletions(-)
diff --git a/SourceCode/Bond/Servo/CRobotTask.cpp b/SourceCode/Bond/Servo/CRobotTask.cpp
index 9c5596d..4ac89d3 100644
--- a/SourceCode/Bond/Servo/CRobotTask.cpp
+++ b/SourceCode/Bond/Servo/CRobotTask.cpp
@@ -167,9 +167,30 @@
return m_timeFinish;
}
+ int CRobotTask::getArmNo()
+ {
+ return m_robotCmdParam[ACTION_PICK].armNo;
+
+ }
+
ROBOT_TASK_STATE CRobotTask::getState()
{
return m_state;
+ }
+
+ bool CRobotTask::isPicking()
+ {
+ return m_state == ROBOT_TASK_STATE::Picking;
+ }
+
+ bool CRobotTask::isPlacing()
+ {
+ return m_state == ROBOT_TASK_STATE::Placing;
+ }
+
+ bool CRobotTask::isRestoring()
+ {
+ return m_state == ROBOT_TASK_STATE::Restoring;
}
void CRobotTask::run()
@@ -299,6 +320,9 @@
switch (m_state) {
case ROBOT_TASK_STATE::Ready: return _T("Ready");
case ROBOT_TASK_STATE::Running: return _T("Running");
+ case ROBOT_TASK_STATE::Picking: return _T("Picking");
+ case ROBOT_TASK_STATE::Placing: return _T("Placing");
+ case ROBOT_TASK_STATE::Restoring: return _T("Restoring");
case ROBOT_TASK_STATE::Error: return _T("Error");
case ROBOT_TASK_STATE::Abort: return _T("Abort");
case ROBOT_TASK_STATE::Completed: return _T("Completed");
--
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