From 6df6302161eb6021ad3c324d7a3f5494c63dc21e Mon Sep 17 00:00:00 2001
From: darker <mr.darker@163.com>
Date: 星期二, 18 二月 2025 08:39:53 +0800
Subject: [PATCH] Merge branch 'clh' into liuyang
---
SourceCode/Bond/Servo/CEquipment.cpp | 60 ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1 files changed, 60 insertions(+), 0 deletions(-)
diff --git a/SourceCode/Bond/Servo/CEquipment.cpp b/SourceCode/Bond/Servo/CEquipment.cpp
index 6f8cd0b..6534f88 100644
--- a/SourceCode/Bond/Servo/CEquipment.cpp
+++ b/SourceCode/Bond/Servo/CEquipment.cpp
@@ -1,16 +1,25 @@
#include "stdafx.h"
#include "CEquipment.h"
+#include "ToolUnits.h"
+
namespace SERVO {
CEquipment::CEquipment()
{
+ m_alive = {FALSE, 0, FALSE};
+ m_listener.onAlive = {nullptr};
InitializeCriticalSection(&m_criticalSection);
}
CEquipment::~CEquipment()
{
DeleteCriticalSection(&m_criticalSection);
+ }
+
+ void CEquipment::setListener(EquipmentListener listener)
+ {
+ m_listener.onAlive = listener.onAlive;
}
void CEquipment::init()
@@ -60,6 +69,7 @@
m_blockReadBit.start = start;
m_blockReadBit.end = end;
m_blockReadBit.size = (m_blockReadBit.end - m_blockReadBit.start + 1) / 8;
+ ASSERT(m_blockReadBit.size < BLOCK_BUFFER_MAX);
}
MemoryBlock& CEquipment::getReadBitBlock()
@@ -82,7 +92,19 @@
void CEquipment::onTimer(UINT nTimerid)
{
+ // 每隔一秒，检查一下ALIVE状态
+ static int tick = 0;
+ tick++;
+ if (tick % (4 * 1) == 0) {
+ m_alive.count++;
+ if (m_alive.alive && m_alive.count > ALIVE_TIMEOUT) {
+ m_alive.alive = FALSE;
+ if (m_listener.onAlive != nullptr) {
+ m_listener.onAlive(this, m_alive.alive);
+ }
+ }
+ }
}
void CEquipment::serialize(CArchive& ar)
@@ -90,4 +112,42 @@
}
+ void CEquipment::onReceiveLBData(const char* pszData, size_t size)
+ {
+ TRACE("%s onReceiveLBData: %d bytes\n", m_strName.c_str(), size);
+ for (unsigned int i = 0; i < size; i++) {
+ if (pszData[i] != 0)
+ TRACE("%d[%x]\n", i, pszData[i]);
+ }
+
+
+ // 解释数据
+ BOOL bAliveFlag = isBitOn(pszData, size, 0x340);
+ if (m_alive.flag != bAliveFlag) {
+ m_alive.flag = bAliveFlag;
+ m_alive.count = 0;
+
+ // 状态
+ if (!m_alive.alive) {
+ m_alive.alive = TRUE;
+ if (m_listener.onAlive != nullptr) {
+ m_listener.onAlive(this, m_alive.alive);
+ }
+ }
+ }
+ }
+
+ BOOL CEquipment::isBitOn(const char* pszData, size_t size, int index)
+ {
+ int byteIndex, bitIndex;
+ byteIndex = (index) / 8;
+ bitIndex = (index) % 8;
+
+ return CToolUnits::getBit(pszData[byteIndex], bitIndex);
+ }
+
+ BOOL CEquipment::isAlive()
+ {
+ return m_alive.alive;
+ }
}
--
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