1.修复手臂状态显示序号不正确的问题；

LAPTOP-SNT8I5JK\Boounion

2025-08-27 e693f57ec7079cc8bfee498720b7cf87a67165ed

 SourceCode/Bond/Servo/HsmsPassive.cpp

@@ -632,6 +632,9 @@
      else if (nStream == 10 && pHeader->function == 3) {
         replyTerminalDisplay(pMessage);
      }
      else if (nStream == 14 && pHeader->function == 9) {
         replyCreateObj(pMessage);
      }
      else if (nStream == 16 && pHeader->function == 15) {
         replyPRJobMultiCreate(pMessage);
      }
@@ -1538,6 +1541,140 @@
   return 0;
}

// S14F9
int CHsmsPassive::replyCreateObj(IMessage* pRecv)
{
   if (m_pPassive == NULL || STATE::SELECTED != m_pPassive->getState()) {
      return ER_NOTSELECT;
   }
   ISECS2Item* pBody = pRecv->getBody();
   if (pBody == nullptr || pBody->getType() != SITYPE::L) ER_PARAM_ERROR;
	

   // 是否创建成功并准备回复报文
   bool bCreateOk = false;
   IMessage* pReply = NULL;
   HSMS_Create1Message(pReply, m_nSessionId, 14, 10, ++m_nSystemByte);
   ASSERT(pReply);



   // 解释数据，得到ControlJob
   ISECS2Item* pItemAttrs, * pItemAttr, *pItemAttrData;
   const char* pszObjSpec, *pszObjType, *pszAttrId, *pszProcessJobId;
   std::string strObjName, strObjId;
   if (!pBody->getSubItemString(0, pszObjSpec)) return ER_PARAM_ERROR;
   if (!pBody->getSubItemString(1, pszObjType)) return ER_PARAM_ERROR;

   pReply->getBody()->addItem(pszObjSpec, "OBJSPEC");
   ISECS2Item* pReplyItemAttrs = pReply->getBody()->addItem();
   ISECS2Item* pReplyItemAcks = pReply->getBody()->addItem();
   ISECS2Item* pReplyItemAck = pReplyItemAcks->addU1Item(0, "OBJACK");
   ISECS2Item* pReplyItemErrs = pReplyItemAcks->addItem();

   // 当前只处理类各为ControlJob
   if (_strcmpi(pszObjType, "ControlJob") == 0) {

      // 类id
      std::regex re("^([^:]+):([^>]+)>");
      std::smatch match;
      std::string strObjSpec(pszObjSpec);
      if (!std::regex_search(strObjSpec, match, re)) {
         ISECS2Item* pItemError = pReplyItemErrs->addItem();
         pItemError->addU4Item(2001, "ERRCODE");
         pItemError->addItem("参数或报文不正确", "ERRTEXT");
         goto MYREPLY;
      }

      if (match[1].compare("ControlJob") != 0) {
         ISECS2Item* pItemError = pReplyItemErrs->addItem();
         pItemError->addU4Item(2001, "ERRCODE");
         pItemError->addItem("不支持的OBJ", "ERRTEXT");
         goto MYREPLY;
      }
      strObjId = match[2];

      // 创建类CControlJob
      SERVO::CControlJob controlJob(strObjId);

      // 类属性
      pItemAttrs = pBody->getSubItem(2);
      if (pItemAttrs == nullptr) return ER_PARAM_ERROR;
      for (int i = 0; i < pItemAttrs->getSubItemSize(); i++) {
         pItemAttr = pItemAttrs->getSubItem(i);
         if (pItemAttr == nullptr) continue;
         if (!pItemAttr->getSubItemString(0, pszAttrId)) continue;
         if (_strcmpi(pszAttrId, CJ_ATTR_PRIORITY) == 0) {
            uint8_t priority;
            if (pItemAttr->getSubItemU1(1, priority)) {
               controlJob.setPriority(priority);
            }
         }
         else if (_strcmpi(pszAttrId, CJ_ATTR_PRJOBLIST) == 0) {
            pItemAttrData = pItemAttr->getSubItem(1);
            if (pItemAttrData != nullptr && pItemAttrData->getType() == SITYPE::L) {
               for (int i = 0; i < pItemAttrData->getSubItemSize(); i++) {
                  if (pItemAttrData->getSubItemString(i, pszProcessJobId)) {
                     std::string strProcessJobId(pszProcessJobId);
                     controlJob.addPJ(strProcessJobId);
                  }
               }
            }
         }
      }


      ASSERT(m_listener.onControlJobCreate != nullptr);
      int nRet = m_listener.onControlJobCreate(this, controlJob);
      bCreateOk = nRet == 0;

      // 添加新建类的各种属性到回复报文中
      if(bCreateOk) {
         {
            ISECS2Item* pReplyItemAttr = pReplyItemAttrs->addItem();
            pReplyItemAttr->addItem(CJ_ATTR_PRIORITY, "ATTRID");
            pReplyItemAttr->addU1Item(controlJob.priority(), "ATTRDATA");
         }

         {
            ISECS2Item* pReplyItemAttr = pReplyItemAttrs->addItem();
            pReplyItemAttr->addItem(CJ_ATTR_PRJOBLIST, "ATTRID");
            ISECS2Item* pItemPjs = pReplyItemAttr->addItem();
            auto pjIds = controlJob.pjIds();
            for (auto id : pjIds) {
               pItemPjs->addItem(id.c_str(), "PRJOBID");
            }
         }
      }
      else {
         auto issues = controlJob.issues();
         for (auto i : issues) {
            ISECS2Item* pItemError = pReplyItemErrs->addItem();
            pItemError->addU4Item(i.code, "ERRCODE");
            pItemError->addItem(i.text.c_str(), "ERRTEXT");
         }
      }
   }


   else {
      ISECS2Item* pItemError = pReplyItemErrs->addItem();
      pItemError->addU4Item(2001, "ERRCODE");
      pItemError->addItem("不支持的OBJ", "ERRTEXT");
   }


   // 完善报文并回复
MYREPLY:
   pReplyItemAck->setU1(bCreateOk ? 0 : 1, "OBJACK");
   m_pPassive->sendMessage(pReply);
   LOGI("<HSMS>[SECS Msg SEND]S14F10 (SysByte=%u)", pReply->getHeader()->systemBytes);
   HSMS_Destroy1Message(pReply);


   return 0;
}

// S16F15
int CHsmsPassive::replyPRJobMultiCreate(IMessage* pRecv)
{
@@ -1611,7 +1748,7 @@
   ISECS2Item* pItemErrors = pMessage->getBody()->addItem();
   bool bHasError = false;
   for (auto p : pjs) {
      if (p->issue().empty()) {
      if (p->issues().empty()) {
         pItemPrjobIds->addItem(p->id().c_str(), "PRJOBID");
      }
      else {
@@ -1622,10 +1759,10 @@
      pItemErrors->addBoolItem(false, "ACKA");
      ISECS2Item* pItemErrors2 = pItemErrors->addItem();
      for (auto p : pjs) {
         if (!p->issue().empty()) {
         if (!p->issues().empty()) {
            ISECS2Item* pItemErr = pItemErrors2->addItem();
            pItemErr->addU4Item(p->issue()[0].code, "ERRCODE");
            pItemErr->addItem(("<" + p->id() + ">" + p->issue()[0].text).c_str(), "ERRTEXT");
            pItemErr->addU4Item(p->issues()[0].code, "ERRCODE");
            pItemErr->addItem(("<" + p->id() + ">" + p->issues()[0].text).c_str(), "ERRTEXT");
         }
      }
   }
@@ -1636,7 +1773,7 @@

   // 释放有问题(未添加到master)的内存
   for (auto p : pjs) {
      if(!p->issue().empty()) delete p;
      if(!p->issues().empty()) delete p;
   }
   pjs.clear();

@@ -1742,6 +1879,35 @@
   return requestEventReportSend("PJ_Queued");
}

int CHsmsPassive::requestEventReportSend_PJ_Start()
{
   return requestEventReportSend("PJ_Start");
}

int CHsmsPassive::requestEventReportSend_PJ_End()
{
   return requestEventReportSend("PJ_End");
}

int CHsmsPassive::requestEventReportSend_CJ_Start()
{
   return requestEventReportSend("CJ_Start");
}

int CHsmsPassive::requestEventReportSend_CJ_End()
{
   return requestEventReportSend("CJ_End");
}

int CHsmsPassive::requestEventReportSend_Panel_Start()
{
   return requestEventReportSend("Panel_Start");
}

int CHsmsPassive::requestEventReportSend_Panel_End()
{
   return requestEventReportSend("Panel_End");
}