From 62a4a8db6c05c98f180ae7f6429a9a232fce6c0c Mon Sep 17 00:00:00 2001
From: mrDarker <mr.darker@163.com>
Date: 星期四, 03 七月 2025 17:19:16 +0800
Subject: [PATCH] 1. 重构机器人动画逻辑，采用分帧动画机制，避免在 OnTimer 中阻塞主线程； 2. 动画过程中允许动态中断，确保设备状态变化时可即时响应； 3. 动画结束时自动校正位置与角度，确保最终状态准确一致；
---
SourceCode/Bond/Servo/CCLinkPerformance/CCLinkIEControl.cpp | 5 +++--
1 files changed, 3 insertions(+), 2 deletions(-)
diff --git a/SourceCode/Bond/Servo/CCLinkPerformance/CCLinkIEControl.cpp b/SourceCode/Bond/Servo/CCLinkPerformance/CCLinkIEControl.cpp
index 582cc6b..8315cc3 100644
--- a/SourceCode/Bond/Servo/CCLinkPerformance/CCLinkIEControl.cpp
+++ b/SourceCode/Bond/Servo/CCLinkPerformance/CCLinkIEControl.cpp
@@ -80,7 +80,7 @@
return 0; // 校验通过
}
-int CCCLinkIEControl::ReadData2(const StationIdentifier& station, short devType, short devNo, short size, void* pData)
+int CCCLinkIEControl::ReadData2(const StationIdentifier& station, DeviceType enDevType, long devNo, long size, void* pData)
{
// 验证站点参数和数据有效性
int nRet = ValidateStationAndSize(station, size);
@@ -92,7 +92,8 @@
// 确保线程安全的最小锁定范围
{
std::lock_guard<std::mutex> lock(m_mtx);
- nRet = mdReceive(m_nPath, CombineStation(station), devType, devNo, &size, pData);
+ const short nDevType = CalculateDeviceType(station, enDevType);
+ nRet = mdReceiveEx(m_nPath, station.nNetNo, station.nStNo, nDevType, devNo, &size, pData);
}
if (nRet != 0) {
--
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