From 5cf5e464a5891c8eb62aafadfce0d204fdc79b02 Mon Sep 17 00:00:00 2001
From: mrDarker <mr.darker@163.com>
Date: 星期四, 22 五月 2025 13:50:02 +0800
Subject: [PATCH] 1. 添加机械臂快速测试界面
---
SourceCode/Bond/Servo/Model.cpp | 131 ++++++++++++++++++++++---------------------
1 files changed, 67 insertions(+), 64 deletions(-)
diff --git a/SourceCode/Bond/Servo/Model.cpp b/SourceCode/Bond/Servo/Model.cpp
index 2429f3a..14e2af9 100644
--- a/SourceCode/Bond/Servo/Model.cpp
+++ b/SourceCode/Bond/Servo/Model.cpp
@@ -5,6 +5,7 @@
#include "ToolUnits.h"
#include "CEqAlarmStep.h"
#include "AlarmManager.h"
+#include "CGlassPool.h"
CModel::CModel()
@@ -19,6 +20,12 @@
IObservable* CModel::getObservable()
{
+ if (m_pObservable == nullptr) {
+ m_pObservable = RX_AllocaObservable([&](IObservableEmitter* e) -> void {
+ m_pObservableEmitter = e; // 保存发射器
+ });
+ }
+
return m_pObservable;
}
@@ -36,9 +43,12 @@
m_configuration.getUnitId(strUnitId);
// 机器型号和软件版本号应从配置中读取，当前先固定值
- CString strModeType = _T("Bond2860");
+ CString strModeType = _T("Master");
CString strSoftRev = _T("1.0.2");
+
+ // CGlassPool
+ m_glassPool.initPool();
// Log
@@ -53,11 +63,6 @@
CLog::GetLog()->SetLogsDir(strLogDir);
CLog::GetLog()->SetEquipmentId((LPTSTR)(LPCTSTR)strUnitId);
LOGI("\r\n\r\n~~~ Prog Start! ~~~");
-
-
- m_pObservable = RX_AllocaObservable([&](IObservableEmitter* e) -> void {
- m_pObservableEmitter = e; // 保存发射器
- });
SECSListener listener;
@@ -105,62 +110,64 @@
notifyPtr(RX_CODE_EQ_ALIVE, pEquipment);
};
- masterListener.onEqStepEvent = [&](SERVO::CStep* pStep, int code, void* pData) -> void {
- if (code == STEP_EVENT_READDATA) {
- LOGI("<CModel>onEqStepEvent,数据变化:%s(%s, 0x%x).\n", pStep->getEquipment()->getName().c_str(),
- pStep->getName().c_str(), pData);
- notifyPtr(RX_CODE_STEP_EVENT_READDATA, pStep);
-
- // 处理警告信息
- if (isAlarmStep(pStep)) {
- // 保存到数据库
- AlarmManager& alarmManager = AlarmManager::getInstance();
- std::string strAlarmText;
- SERVO::CEquipment* pEquipment = pStep->getEquipment();
- SERVO::CEqAlarmStep* pEqAlarmStep = (SERVO::CEqAlarmStep*)pStep;
- const AlarmInfo* pAlarmInfo = alarmManager.getAlarmInfoByID(pEqAlarmStep->getAlarmId());
- if (pAlarmInfo != nullptr) {
- strAlarmText = pAlarmInfo->strAlarmText;
- }
- int state = pEqAlarmStep->getAlarmState();
- if (state == 1) {
- AlarmData alarmData;
- alarmData.nId = pEqAlarmStep->getAlarmId();
- alarmData.nSeverityLevel = pEqAlarmStep->getAlarmLevel();
- alarmData.nDeviceId = pEqAlarmStep->getEquipment()->getID();
- alarmData.nUnitId = pEqAlarmStep->getUnitId();
- alarmData.strDeviceName = alarmManager.getDeviceNameById(alarmData.nDeviceId);
- alarmData.strUnitName = alarmManager.getUnitNameById(alarmData.nDeviceId, alarmData.nUnitId);
- alarmData.strStartTime = CToolUnits::timeToString2(CToolUnits::getTimestamp());
- alarmData.strEndTime = "";
-
- const AlarmInfo* alarmInfo = alarmManager.getAlarmInfoByID(alarmData.nId);
- alarmData.strDescription = alarmInfo != nullptr ? alarmInfo->strAlarmText : "";
-
- int nAlarmEventId = 0;
- bool result = alarmManager.addAlarm(alarmData, nAlarmEventId);
- if (result) {
- LOGI("<CModel> Alarm added successfully!");
- }
- else {
- LOGE("<CModel> Failed to add alarm.");
- }
- }
- else {
- alarmManager.clearAlarmByAttributes(pEqAlarmStep->getAlarmId(),
- pEqAlarmStep->getEquipment()->getID(),
- pEqAlarmStep->getUnitId(),
- CToolUnits::getCurrentTimeString());
- }
-
- m_hsmsPassive.requestAlarmReport(pEqAlarmStep->getAlarmState(),
- pEquipment->getBaseAlarmId() + pEqAlarmStep->getAlarmId(),
- strAlarmText.c_str());
- }
+ masterListener.onEqAlarm = [&](void* pMaster, SERVO::CEquipment* pEquipment, int state, int alarmId, int unitId, int level) -> void {
+ AlarmManager& alarmManager = AlarmManager::getInstance();
+ std::string strAlarmText;
+ const AlarmInfo* pAlarmInfo = alarmManager.getAlarmInfoByID(alarmId);
+ if (pAlarmInfo != nullptr) {
+ strAlarmText = pAlarmInfo->strAlarmText;
}
- };
+ if (state == 1) {
+ AlarmData alarmData;
+ alarmData.nId = alarmId;
+ alarmData.nSeverityLevel = level;
+ alarmData.nDeviceId = pEquipment->getID();
+ alarmData.nUnitId = unitId;
+ alarmData.strDeviceName = alarmManager.getDeviceNameById(alarmData.nDeviceId);
+ alarmData.strUnitName = alarmManager.getUnitNameById(alarmData.nDeviceId, alarmData.nUnitId);
+ alarmData.strStartTime = CToolUnits::timeToString2(CToolUnits::getTimestamp());
+ alarmData.strEndTime = "";
+ const AlarmInfo* alarmInfo = alarmManager.getAlarmInfoByID(alarmData.nId);
+ alarmData.strDescription = alarmInfo != nullptr ? alarmInfo->strAlarmText : "";
+
+ int nAlarmEventId = 0;
+ bool result = alarmManager.addAlarm(alarmData, nAlarmEventId);
+ if (result) {
+ LOGI("<CModel> Alarm added successfully!");
+ }
+ else {
+ LOGE("<CModel> Failed to add alarm.");
+ }
+
+ notify(RX_CODE_ALARM_SET);
+ }
+ else {
+ alarmManager.clearAlarmByAttributes(alarmId,
+ pEquipment->getID(),
+ unitId,
+ CToolUnits::getCurrentTimeString());
+ notify(RX_CODE_ALARM_CLEAR);
+ }
+
+ m_hsmsPassive.requestAlarmReport(state,
+ pEquipment->getBaseAlarmId() + alarmId,
+ strAlarmText.c_str());
+ };
+ masterListener.onEqVcrEventReport = [&](void* pMaster, SERVO::CEquipment* pEquipment, SERVO::CVcrEventReport* pReport) {
+ LOGE("<CModel>onEqVcrEventReport.");
+ };
+ masterListener.onEqDataChanged = [&](void* pMaster, SERVO::CEquipment* pEquipment, int code) {
+ LOGE("<CModel>onEqDataChanged.");
+ notifyPtr(RX_CODE_EQ_DATA_CHANGED, pEquipment);
+ };
m_master.setListener(masterListener);
+
+
+ // master 设置缓存文件
+ CString strMasterDataFile;
+ strMasterDataFile.Format(_T("%s\\Master.dat"), (LPTSTR)(LPCTSTR)m_strWorkDir);
+ m_master.setCacheFilepath((LPTSTR)(LPCTSTR)strMasterDataFile);
// 加载警告信息
@@ -179,6 +186,7 @@
m_hsmsPassive.term();
CLog::GetLog()->SetOnLogCallback(nullptr);
m_master.term();
+ m_glassPool.term();
return 0;
}
@@ -386,9 +394,4 @@
}
return 0;
-}
-
-bool CModel::isAlarmStep(SERVO::CStep* pStep)
-{
- return CToolUnits::startsWith(pStep->getName(), STEP_ALARM_START);
}
--
Gitblit v1.9.3