1.增加日志，监控Efem的请求JobData事件；

chenluhua1980

6 天以前 ceb64b6612309fe384e096dcdc8b5a5e0dfe6cce

 SourceCode/Bond/Servo/CEFEM.cpp

@@ -133,7 +133,7 @@
               LOGI("<CEquipment-%s>发送RobotCmdS成功.", m_strName.c_str());
            }
            else {
               LOGI("<CEquipment-%s>发送RobotCmds失败，code:%d", m_strName.c_str(), code);
               LOGE("<CEquipment-%s>发送RobotCmds失败，code:%d", m_strName.c_str(), code);
            }

            return 0;
@@ -367,7 +367,7 @@
   void CEFEM::initPins()
   {
      // 加入Pin初始化代码
      LOGI("<CEFEM>initPins");
      LOGD("<CEFEM>initPins");
   }

   void CEFEM::initSteps()
@@ -456,25 +456,6 @@
         pStep->setName(STEP_EQ_CIM_MESSAGE_CONFIRM);
         pStep->setWriteSignalDev(0x49);
         if (addStep(STEP_ID_CIM_MSG_CONFIRM_REPORT, pStep) != 0) {
            delete pStep;
         }
      }

      {
         // VCR Event Report
         // 机器上报扫码结果，扫码器预计安装在巡边检机器上
         CEqReadStep* pStep = new CEqReadStep(0x5fef, 15 * 2,
            [&](void* pFrom, int code, const char* pszData, size_t size) -> int {
               if (code == ROK && pszData != nullptr && size > 0) {
                  decodeVCREventReport((CStep*)pFrom, pszData, size);
               }
               return -1;
            });
         pStep->setName(STEP_EQ_VCR1_EVENT_REPORT);
         pStep->setProp("Port", (void*)1);
         pStep->setWriteSignalDev(0x4a);
         pStep->setReturnDev(0x91e);
         if (addStep(STEP_ID_VCR1_EVENT_REPORT, pStep) != 0) {
            delete pStep;
         }
      }
@@ -732,14 +713,26 @@
                  // Reserved               15W
                  short ack = (short)JobDataRequestAck::NG;      // 不存在jobData
                  char szBuffer[1024] = { 0 };
                  LOGI("<CEFEM-%s>JobDataRequest received (code=%d, size=%zu)", m_strName.c_str(), code, size);
                  if (m_pActiveContext != nullptr) {
                     CJobDataS* pJobDataS = ((CGlass*)m_pActiveContext)->getJobDataS();
                     if (pJobDataS != nullptr) {
                        pJobDataS->serialize(szBuffer, 1024);
                        ack = (short)JobDataRequestAck::OK;
                        LOGI("<CEFEM-%s>JobDataRequest OK (CassetteSeq=%d, JobSeq=%d)",
                           m_strName.c_str(),
                           pJobDataS->getCassetteSequenceNo(),
                           pJobDataS->getJobSequenceNo());
                     }
                     else {
                        LOGW("<CEFEM-%s>JobDataRequest NG (JobDataS is null)", m_strName.c_str());
                     }
                  }
                  else {
                     LOGW("<CEFEM-%s>JobDataRequest NG (ActiveContext is null)", m_strName.c_str());
                  }
                  memcpy(&szBuffer[320 * 2], &ack, sizeof(short));
                  LOGI("<CEFEM-%s>JobDataRequest response ack=%d", m_strName.c_str(), (int)ack);
                  ((CEqReadStep*)pFrom)->setReturnData(szBuffer, 336 * 2);
               }
               return -1;
@@ -893,7 +886,7 @@

   void CEFEM::printDebugRobotState()
   {
      LOGI("<CEFEM>Robot status:%d, ARM1:%s, ARM2:%s",
      LOGD("<CEFEM>Robot status:%d, ARM1:%s, ARM2:%s",
         m_robotData.status,
         m_robotData.armState[0] ? _T("ON") : _T("OFF"),
         m_robotData.armState[1] ? _T("ON") : _T("OFF"));