#pragma once
#include "ServoCommo.h"
#include "Context.h"
#include "CEFEM.h"


#define ACTION_PICK			0			/* È¡ */
#define ACTION_PLACE		1			/* ·Å */
#define ACTION_RESTORE		2			/* »ØÔ­µã */
#define ACTION_TRANSFER		3			/* °áÔË */

namespace SERVO {
	class CRobotTask
	{
	public:
		CRobotTask();
		virtual ~CRobotTask();

	public:
		std::string& getId();
		std::string getDescription() const;
		std::string getSimpleDescription() const;
		void setContext(CContext* pContext);
		CContext* getContext();
		void setEFEM(CEFEM* pEFEM);
		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 completed();
		void error();
		void abort();
		int getSrcPosition();
		int getSrcSlot();
		int getTarPosition();
		int getTarSlot();
		CString getStateString();

		// ´ÓÔ´µØ°ÎƬ
		void fetchOut();

		// ÔÚÄ¿µÄµØ·ÅƬ
		void stored();

	private:
		static std::string& generateId(std::string& out);
		void transformPosAndSlot(int srcPos, int srcSlot, int& tarPos, int& tarSlot);

	private:
		ROBOT_TASK_STATE m_state;					/* ÈÎÎñ״̬ */
		std::string m_strId;
		time_t m_timeCreate;						/* ´´½¨Ê±¼ä */
		time_t m_timeFetchOut;						/* ȡƬʱ¼ä*/
		time_t m_timeStored;						/* ·ÅƬʱ¼ä */
		time_t m_timeFinish;						/* ½áÊøʱ¼ä */
		ROBOT_CMD_PARAM m_robotCmdParam[4];			/* ²ÎÊý */
		CContext* m_pContext;
		CEFEM* m_pEFEM;
	};
}