From 4aeb9529b84ec52bfd40f0078c01d648cab7edc3 Mon Sep 17 00:00:00 2001
From: LAPTOP-SNT8I5JK\Boounion <Chenluhua@qq.com>
Date: 星期六, 21 六月 2025 17:07:33 +0800
Subject: [PATCH] 1.联调，优化；
---
SourceCode/Bond/Servo/CEFEM.cpp | 13 +++++++++++++
SourceCode/Bond/Servo/CMaster.cpp | 6 ++++--
SourceCode/Bond/Servo/CEFEM.h | 1 +
SourceCode/Bond/Servo/ServoDlg.cpp | 4 ++++
4 files changed, 22 insertions(+), 2 deletions(-)
diff --git a/SourceCode/Bond/Servo/CEFEM.cpp b/SourceCode/Bond/Servo/CEFEM.cpp
index 201f8b5..8a0e9cc 100644
--- a/SourceCode/Bond/Servo/CEFEM.cpp
+++ b/SourceCode/Bond/Servo/CEFEM.cpp
@@ -871,4 +871,17 @@
{
return 10000;
}
+
+ void CEFEM::printDebugString001()
+ {
+ for (int i = 0; i < 8; i++) {
+ LOGI("<CEquipment-%s>%d, Signal:%s, %s, %s, %s",
+ m_strName.c_str(), i,
+ m_bLinkSignal[i][SIGNAL_UPSTREAM_INLINE] ? "ON" : "OFF",
+ m_bLinkSignal[i][SIGNAL_UPSTREAM_TROUBLE] ? "ON" : "OFF",
+ m_bLinkSignal[i][SIGNAL_INTERLOCK] ? "ON" : "OFF",
+ m_bLinkSignal[i][SIGNAL_SEND_ABLE] ? "ON" : "OFF"
+ );
+ }
+ }
}
diff --git a/SourceCode/Bond/Servo/CEFEM.h b/SourceCode/Bond/Servo/CEFEM.h
index 4e0d202..cf1a708 100644
--- a/SourceCode/Bond/Servo/CEFEM.h
+++ b/SourceCode/Bond/Servo/CEFEM.h
@@ -42,6 +42,7 @@
int robotCmd(ROBOT_CMD_PARAM& robotCmdParam, ONWRITED onWritedBlock = nullptr);
int robotCmds(ROBOT_CMD_PARAM* robotCmdParam, unsigned int count, ONWRITED onWritedBlock = nullptr);
RMDATA& getRobotMonitoringData();
+ void printDebugString001();
// 快捷封装
int robotSendHome(int seq, ONWRITED onWritedBlock = nullptr);
diff --git a/SourceCode/Bond/Servo/CMaster.cpp b/SourceCode/Bond/Servo/CMaster.cpp
index 6498901..5023f98 100644
--- a/SourceCode/Bond/Servo/CMaster.cpp
+++ b/SourceCode/Bond/Servo/CMaster.cpp
@@ -540,8 +540,10 @@
// Measurement -> LoadPort
- LOGI("Arm1 %s, Arm2 %s.", rmd.armState[0] ? _T("不可用") : _T("可用"),
- rmd.armState[1] ? _T("不可用") : _T("可用"));
+ if (rmd.armState[0] || rmd.armState[1]) {
+ LOGI("Arm1 %s, Arm2 %s.", rmd.armState[0] ? _T("不可用") : _T("可用"),
+ rmd.armState[1] ? _T("不可用") : _T("可用"));
+ }
CLoadPort* pEqLoadPort[] = { pLoadPort1, pLoadPort2, pLoadPort3, pLoadPort4 };
CEquipment* pEqTar[] = { pVacuumBake, pFliper };
if (primaryType == MaterialsType::G2) {
diff --git a/SourceCode/Bond/Servo/ServoDlg.cpp b/SourceCode/Bond/Servo/ServoDlg.cpp
index bf9c874..b17c293 100644
--- a/SourceCode/Bond/Servo/ServoDlg.cpp
+++ b/SourceCode/Bond/Servo/ServoDlg.cpp
@@ -892,6 +892,10 @@
dlg.SetEFEM(pEFEM);
dlg.DoModal();
}
+ else if (id == IDC_BUTTON_SETTINGS) {
+ SERVO::CEFEM* pEFEM = (SERVO::CEFEM*)theApp.m_model.m_master.getEquipment(EQ_ID_EFEM);
+ pEFEM->printDebugString001();
+ }
else if (id == IDC_BUTTON_OPERATOR) {
int menuId = (int)wParam;
SystemLogManager& logManager = SystemLogManager::getInstance();
--
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