From 3f000671e15acd2de87c8588d7f09c0dc103bd7b Mon Sep 17 00:00:00 2001
From: LAPTOP-SNT8I5JK\Boounion <Chenluhua@qq.com>
Date: 星期一, 08 九月 2025 13:56:23 +0800
Subject: [PATCH] 1.SVData获取和解释，待测试；
---
SourceCode/Bond/Servo/CEFEM.cpp | 12 +++++++-----
1 files changed, 7 insertions(+), 5 deletions(-)
diff --git a/SourceCode/Bond/Servo/CEFEM.cpp b/SourceCode/Bond/Servo/CEFEM.cpp
index 99c833a..fae20a5 100644
--- a/SourceCode/Bond/Servo/CEFEM.cpp
+++ b/SourceCode/Bond/Servo/CEFEM.cpp
@@ -549,7 +549,6 @@
// master recipe list report
CEqReadStep* pStep = new CEqReadStep(0x6955, 255 * 2,
[&](void* pFrom, int code, const char* pszData, size_t size) -> int {
- /*CEqReadStep* pTmpStep = dynamic_cast<CEqReadStep*>((CEqReadStep*)pFrom);*/
CEqReadStep* pTmpStep = (CEqReadStep*)pFrom;
short ret = MRLRC_OK;
if (code == ROK && pszData != nullptr && size > 0) {
@@ -698,9 +697,11 @@
}
}
+ // FAC Data Report
+ addFacDataReportStep(0x6589, 0x04d, 1);
+ /*
{
- // FAC Data Report
- CEqReadStep* pStep = new CEqReadStep(0x6301, 108 * 2,
+ CEqReadStep* pStep = new CEqReadStep(0x6589, 133 * 2,
[&](void* pFrom, int code, const char* pszData, size_t size) -> int {
if (code == ROK && pszData != nullptr && size > 0) {
decodeFacDataReport((CStep*)pFrom, pszData, size);
@@ -714,6 +715,7 @@
delete pStep;
}
}
+ */
{
// JOB Data Request
@@ -893,7 +895,7 @@
{
LOGI("<CEFEM>Robot status:%d, ARM1:%s, ARM2:%s",
m_robotData.status,
- m_robotData.armState[1] ? _T("ON") : _T("OFF"),
- m_robotData.armState[2] ? _T("ON") : _T("OFF"));
+ m_robotData.armState[0] ? _T("ON") : _T("OFF"),
+ m_robotData.armState[1] ? _T("ON") : _T("OFF"));
}
}
--
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