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/ServoCommo.h | 26 +++++++++++++++++++++++++-
1 files changed, 25 insertions(+), 1 deletions(-)
diff --git a/SourceCode/Bond/Servo/ServoCommo.h b/SourceCode/Bond/Servo/ServoCommo.h
index 1e63c8e..09ca1d0 100644
--- a/SourceCode/Bond/Servo/ServoCommo.h
+++ b/SourceCode/Bond/Servo/ServoCommo.h
@@ -2,6 +2,23 @@
#include <string>
#include <vector>
+
+#define CHECK_READ_STEP_SIGNAL(addr, data, size) { \
+ BOOL bFlag = isBitOn(data, size, addr); \
+ SERVO::CStep* pStep = getStep(addr); \
+ if (pStep != nullptr) { \
+ ((CReadStep*)pStep)->onReadSignal(bFlag ? addr : 0); \
+ } \
+}
+
+#define CHECK_WRITE_STEP_SIGNAL(addr, data, size) { \
+ BOOL bFlag = isBitOn(data, size, addr); \
+ SERVO::CStep* pStep = getStep(addr); \
+ if (pStep != nullptr) { \
+ ((CWriteStep*)pStep)->onRecvSignal(bFlag ? addr : 0); \
+ } \
+}
+
namespace SERVO {
#define BLOCK_BUFFER_MAX 1024
#define ALIVE_TIMEOUT 15
@@ -14,7 +31,14 @@
OK = 1,
NG,
};
- typedef RET JobDataRequestAck;
+ using JobDataRequestAck = RET;
+
+ enum class InspResult
+ {
+ NotInspected = 0, // 初始化状态，尚未检测
+ Pass, // 检测合格
+ Fail // 检测不合格
+ };
enum class PortType {
Loading = 1,
--
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