1. 添加机械臂快速测试界面

mrDarker

2025-05-22 5cf5e464a5891c8eb62aafadfce0d204fdc79b02

 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) {                     \
@@ -311,13 +313,28 @@
         Unlock();
      }
      else {
         Lock();
         // addGlassToList前不需要上锁，因其内部有锁
         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);
         }
			
         // 梳理各玻璃之间的绑定关系
         Lock();
         std::list<CGlass*> list = m_glassList;
         for (auto item : list) {
            std::string& strBuddyId = item->getBuddyId();
            if (!strBuddyId.empty()) {
               for (auto item2 : m_glassList) {
                  if (strBuddyId.compare(item2->getID()) == 0) {
                     item->setBuddy(item2);
                     TRACE("绑定关系: %s <- %s\n", item->getID().c_str(), item2->getID().c_str());
                  }
               }
            }
         }
         Unlock();
      }
@@ -786,6 +803,21 @@
      }
   }

   CGlass* CEquipment::getGlassFromList(const char* pszId)
   {
      CGlass* pGlass = nullptr;
      Lock();
      for (auto item : m_glassList) {
         if (item->getID().compare(pszId) == 0) {
            pGlass = item;
            break;
         }
      }
      Unlock();

      return pGlass;
   }

   BOOL CEquipment::removeClass(CGlass* pGlass)
   {
      Lock();
@@ -853,6 +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();
@@ -883,6 +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);
@@ -1006,6 +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);