From 4d9d8d22e3666076988c30afb4e7c6fe365c19aa Mon Sep 17 00:00:00 2001
From: chenluhua1980 <Chenluhua@qq.com>
Date: 星期二, 06 一月 2026 18:53:04 +0800
Subject: [PATCH] 1.修复一个回复错误的问题；
---
SourceCode/Bond/Servo/CEFEM.cpp | 79 +++++++++++++++++++--------------------
1 files changed, 39 insertions(+), 40 deletions(-)
diff --git a/SourceCode/Bond/Servo/CEFEM.cpp b/SourceCode/Bond/Servo/CEFEM.cpp
index 901e3ae..d882c9b 100644
--- a/SourceCode/Bond/Servo/CEFEM.cpp
+++ b/SourceCode/Bond/Servo/CEFEM.cpp
@@ -133,11 +133,11 @@
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;
- });
+ });
}
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()
@@ -461,24 +461,6 @@
}
{
- // 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);
- if (addStep(STEP_ID_VCR1_EVENT_REPORT, pStep) != 0) {
- delete pStep;
- }
- }
-
- {
// eq cim message clear
CEqCimMessageClearStep* pStep = new CEqCimMessageClearStep();
pStep->setName(STEP_CIM_MESSAGE_CLEAR);
@@ -540,6 +522,27 @@
pStep->setWriteSignalDev(0x66);
pStep->setDataDev(0x90a);
if (addStep(STEP_ID_MASTER_RECIPE_LIST_CMD_REPLY, pStep) != 0) {
+ delete pStep;
+ }
+ }
+
+ {
+ // master recipe list report
+ CEqReadStep* pStep = new CEqReadStep(0x6955, 255 * 2,
+ [&](void* pFrom, int code, const char* pszData, size_t size) -> int {
+ CEqReadStep* pTmpStep = (CEqReadStep*)pFrom;
+ short ret = MRLRC_OK;
+ if (code == ROK && pszData != nullptr && size > 0) {
+ // 此处解释配方数据
+ ret = decodeRecipeListReport(pszData, size);
+ }
+ pTmpStep->setReturnCode(ret);
+ return -1;
+ });
+ pStep->setName(STEP_EQ_MASTER_RECIPE_LIST);
+ pStep->setWriteSignalDev(0x4b);
+ pStep->setReturnDev(0x91d);
+ if (addStep(STEP_ID_MASTER_RECIPE_LIST_REPORT, pStep) != 0) {
delete pStep;
}
}
@@ -675,26 +678,11 @@
}
}
+ // FAC Data Report
+ addFacDataReportStep(0x6589, 0x04d, 1);
+ /*
{
- // Panel Data Report
- CEqReadStep* pStep = new CEqReadStep(0x617f, 386 * 2,
- [&](void* pFrom, int code, const char* pszData, size_t size) -> int {
- if (code == ROK && pszData != nullptr && size > 0) {
- decodePanelDataReport((CStep*)pFrom, pszData, size);
- }
- return -1;
- });
- pStep->setName(STEP_EQ_PANEL_DATA_REPORT);
- pStep->setProp("Port", (void*)1);
- pStep->setWriteSignalDev(0x15e);
- if (addStep(STEP_ID_PANEL_DATA_REPORT, pStep) != 0) {
- delete pStep;
- }
- }
-
- {
- // 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);
@@ -708,6 +696,7 @@
delete pStep;
}
}
+ */
{
// JOB Data Request
@@ -803,6 +792,8 @@
m_pPort[i]->onReceiveLBData(pszData, size);
}
}
+ m_pAligner->onReceiveLBData(pszData, size);
+
// 更新信号到LoadPort, Robot, Aligner, Fliper
m_pPort[0]->setLinkSignalUpstreamBlock(0, &m_bLinkSignalToUpstream[0][0]);
@@ -880,4 +871,12 @@
{
return 10000;
}
+
+ void CEFEM::printDebugRobotState()
+ {
+ 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"));
+ }
}
--
Gitblit v1.9.3