1. 添加机器臂命令配置界面

mrDarker

2025-05-20 2a803976ed12e59f3e082e7c08941ef5004e6ea1

 SourceCode/Bond/Servo/CEquipment.cpp

@@ -3,6 +3,8 @@
#include "ToolUnits.h"
#include <regex>
#include "CArm.h"
#include "CGlassPool.h"
#include "Servo.h"


#define CHECK_READ_STEP_SIGNAL(addr, data, size) {                     \
@@ -315,7 +317,7 @@
         int count;
         ar >> count;
         for (int i = 0; i < count; i++) {
            CGlass* pGlass = new CGlass();
            CGlass* pGlass = theApp.m_model.m_glassPool.allocaGlass();
            pGlass->serialize(ar);
            addGlassToList(pGlass);
         }
@@ -883,6 +885,19 @@
         return -3;
      }

      // 如果此玻璃已经贴合，贴合的玻璃也要从列表中移除
      CGlass* pBuddy = pContext->getBuddy();
      if (pBuddy != nullptr) {
         for (auto iter = m_glassList.begin(); iter != m_glassList.end(); iter++) {
            if ((*iter)->getID().compare(pBuddy->getID()) == 0) {
               (*iter)->release();
               m_glassList.erase(iter);
               break;
            }
         }
      }


      ((CArm*)m_pArm)->tempStore(pContext);
      pContext->release();
      Unlock();
@@ -913,6 +928,18 @@
      m_glassList.push_back(pGlass);
      pGlass->release();            // tempFetchOut需要调用一次release
      Unlock();


      // 如果此玻璃已经贴合，贴合的玻璃也要从加入到列表中
      CGlass* pBuddy = pGlass->getBuddy();
      if (pBuddy != nullptr) {
         Lock();
         pBuddy->addPath(m_nID);
         pBuddy->addRef();               // 加入list,addRef
         m_glassList.push_back(pBuddy);
         Unlock();
      }


      if (m_listener.onDataChanged != nullptr) {
         m_listener.onDataChanged(this, 0);
@@ -1036,6 +1063,33 @@
      return pStep->setDateTime(year, month, day, hour, minute, second);
   }

   int CEquipment::setDispatchingMode(DISPATCHING_MODE mode, ONWRITED onWritedBlock/* = nullptr*/)
   {
      SERVO::CEqWriteStep* pStep = (SERVO::CEqWriteStep*)getStepWithName(STEP_EQ_DISPATCHINT_MODE_CHANGE);
      if (pStep == nullptr) {
         return -1;
      }

      LOGI("<CEquipment-%s>准备设置DispatchingMode<%d>", m_strName.c_str(), (int)mode);
      if (onWritedBlock != nullptr) {
         pStep->writeShort((short)mode, onWritedBlock);
      }
      else {
         pStep->writeShort((short)mode, [&, mode](int code) -> int {
            if (code == WOK) {
               LOGI("<CEquipment-%s>设置DispatchingMode成功.", m_strName.c_str());
            }
            else {
               LOGI("<CEquipment-%s>设置DispatchingMode失败，code:%d", m_strName.c_str(), code);
            }

            return 0;
            });
      }

      return 0;
   }

   int CEquipment::masterRecipeListRequest(short unitNo)
   {
      SERVO::CEqWriteStep* pStep = (SERVO::CEqWriteStep*)getStepWithName(STEP_EQ_MASTER_RECIPE_LIST_REQ);