From d400f022161ff47f02cd0ea95a5076d0187ecd4d Mon Sep 17 00:00:00 2001
From: chenluhua1980 <Chenluhua@qq.com>
Date: 星期五, 30 一月 2026 15:11:06 +0800
Subject: [PATCH] 1.接上，日志完善；
---
SourceCode/Bond/Servo/CEFEM.cpp | 38 ++++++++++++++++----------------------
1 files changed, 16 insertions(+), 22 deletions(-)
diff --git a/SourceCode/Bond/Servo/CEFEM.cpp b/SourceCode/Bond/Servo/CEFEM.cpp
index fae20a5..25937b5 100644
--- a/SourceCode/Bond/Servo/CEFEM.cpp
+++ b/SourceCode/Bond/Servo/CEFEM.cpp
@@ -133,7 +133,7 @@
LOGI("<CEquipment-%s>发送RobotCmdS成功.", m_strName.c_str());
}
else {
- LOGI("<CEquipment-%s>发送RobotCmds失败，code:%d", m_strName.c_str(), code);
+ LOGE("<CEquipment-%s>发送RobotCmds失败，code:%d", m_strName.c_str(), code);
}
return 0;
@@ -367,7 +367,7 @@
void CEFEM::initPins()
{
// 加入Pin初始化代码
- LOGI("<CEFEM>initPins");
+ LOGD("<CEFEM>initPins");
}
void CEFEM::initSteps()
@@ -456,25 +456,6 @@
pStep->setName(STEP_EQ_CIM_MESSAGE_CONFIRM);
pStep->setWriteSignalDev(0x49);
if (addStep(STEP_ID_CIM_MSG_CONFIRM_REPORT, pStep) != 0) {
- delete pStep;
- }
- }
-
- {
- // VCR Event Report
- // 机器上报扫码结果，扫码器预计安装在巡边检机器上
- CEqReadStep* pStep = new CEqReadStep(0x5fef, 15 * 2,
- [&](void* pFrom, int code, const char* pszData, size_t size) -> int {
- if (code == ROK && pszData != nullptr && size > 0) {
- decodeVCREventReport((CStep*)pFrom, pszData, size);
- }
- return -1;
- });
- 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;
}
}
@@ -732,14 +713,27 @@
// Reserved 15W
short ack = (short)JobDataRequestAck::NG; // 不存在jobData
char szBuffer[1024] = { 0 };
+ LOGI("<CEFEM-%s>JobDataRequest received (code=%d, size=%zu)", m_strName.c_str(), code, size);
if (m_pActiveContext != nullptr) {
CJobDataS* pJobDataS = ((CGlass*)m_pActiveContext)->getJobDataS();
+ LOGI("<CEFEM-%s>JobDataRequest GlassID=%s", m_strName.c_str(), ((CGlass*)m_pActiveContext)->getID().c_str());
if (pJobDataS != nullptr) {
pJobDataS->serialize(szBuffer, 1024);
ack = (short)JobDataRequestAck::OK;
+ LOGI("<CEFEM-%s>JobDataRequest OK (CassetteSeq=%d, JobSeq=%d)",
+ m_strName.c_str(),
+ pJobDataS->getCassetteSequenceNo(),
+ pJobDataS->getJobSequenceNo());
+ }
+ else {
+ LOGW("<CEFEM-%s>JobDataRequest NG (JobDataS is null)", m_strName.c_str());
}
}
+ else {
+ LOGW("<CEFEM-%s>JobDataRequest NG (ActiveContext is null)", m_strName.c_str());
+ }
memcpy(&szBuffer[320 * 2], &ack, sizeof(short));
+ LOGI("<CEFEM-%s>JobDataRequest response ack=%d", m_strName.c_str(), (int)ack);
((CEqReadStep*)pFrom)->setReturnData(szBuffer, 336 * 2);
}
return -1;
@@ -893,7 +887,7 @@
void CEFEM::printDebugRobotState()
{
- LOGI("<CEFEM>Robot status:%d, ARM1:%s, ARM2:%s",
+ LOGD("<CEFEM>Robot status:%d, ARM1:%s, ARM2:%s",
m_robotData.status,
m_robotData.armState[0] ? _T("ON") : _T("OFF"),
m_robotData.armState[1] ? _T("ON") : _T("OFF"));
--
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