1. 补充发送信号读取PLC信号 2. 补充结束发送信号给PLC

mrDarker

2025-06-19 29adbde03b8499f070218181500e5774c301328e

 SourceCode/Bond/Servo/CEquipment.cpp

@@ -578,7 +578,9 @@

      // robot cmd reply
      CHECK_WRITE_STEP_SIGNAL(STEP_ID_ROBOT_CMD_REPLY, pszData, size);
		

      // Indexer Operation Mode Change
      CHECK_WRITE_STEP_SIGNAL(STEP_ID_IN_OP_CMD_REPLY, pszData, size);
   }

   BOOL CEquipment::isBitOn(const char* pszData, size_t size, int index)
@@ -1021,14 +1023,15 @@

      unsigned short operationMode = (unsigned short)((unsigned short)mode + getIndexerOperationModeBaseValue());
      LOGI("<CEquipment-%s>准备设置indexerOperationMode<%d>", m_strName.c_str(), (int)mode);
      pStep->writeShort(operationMode, [&, mode, onWritedRetBlock](int code) -> int {
      pStep->writeShort(operationMode, [&, pStep, mode, onWritedRetBlock](int code) -> int {
         int retCode = 0;
         if (code == WOK) {
            LOGI("<CEquipment-%s>设置indexerOperationMode成功.", m_strName.c_str());
            const char* pszRetData = nullptr;
            pStep->getReturnData(pszRetData);
            ASSERT(pszRetData);
            retCode = (unsigned int)CToolUnits::toInt16(pszRetData);	
            retCode = (unsigned int)CToolUnits::toInt16(pszRetData);
            LOGI("<CEquipment-%s>返回值: %d", m_strName.c_str(), retCode);
         }
         else {
            LOGI("<CEquipment-%s>设置indexerOperationMode失败，code:%d", m_strName.c_str(), code);