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/CEFEM.cpp | 20 +++-----------------
1 files changed, 3 insertions(+), 17 deletions(-)
diff --git a/SourceCode/Bond/Servo/CEFEM.cpp b/SourceCode/Bond/Servo/CEFEM.cpp
index 8175eed..941b834 100644
--- a/SourceCode/Bond/Servo/CEFEM.cpp
+++ b/SourceCode/Bond/Servo/CEFEM.cpp
@@ -473,6 +473,7 @@
pStep->setName(STEP_EQ_VCR1_EVENT_REPORT);
pStep->setProp("Port", (void*)1);
pStep->setWriteSignalDev(0x4a);
+ pStep->setReturnDev(0x91e);
if (addStep(STEP_ID_VCR1_EVENT_REPORT, pStep) != 0) {
delete pStep;
}
@@ -676,23 +677,6 @@
}
{
- // 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,
[&](void* pFrom, int code, const char* pszData, size_t size) -> int {
@@ -803,6 +787,8 @@
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]);
--
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