From debee9b5cae51f744937fc4f0ef4c25272886676 Mon Sep 17 00:00:00 2001
From: darker <mr.darker@163.com>
Date: 星期五, 21 二月 2025 11:13:06 +0800
Subject: [PATCH] 1. 添加错误文件的加载好保存，并提供ID查询功能
---
SourceCode/Bond/Servo/CMaster.cpp | 58 +++++++++++++++++++++++++++++++++++++++++++++++-----------
1 files changed, 47 insertions(+), 11 deletions(-)
diff --git a/SourceCode/Bond/Servo/CMaster.cpp b/SourceCode/Bond/Servo/CMaster.cpp
index 85bf38e..2bbfe86 100644
--- a/SourceCode/Bond/Servo/CMaster.cpp
+++ b/SourceCode/Bond/Servo/CMaster.cpp
@@ -1,4 +1,5 @@
#include "stdafx.h"
+#include "Common.h"
#include "CMaster.h"
namespace SERVO {
@@ -12,7 +13,7 @@
CMaster::CMaster()
{
-
+ m_listener = {nullptr, nullptr};
}
CMaster::~CMaster()
@@ -23,6 +24,12 @@
m_listEquipment.clear();
}
+ void CMaster::setListener(MasterListener listener)
+ {
+ m_listener.onEqAlive = listener.onEqAlive;
+ m_listener.onEqCimStateChanged = listener.onEqCimStateChanged;
+ }
+
int CMaster::init()
{
LOGI("<Master>正在初始化...");
@@ -31,7 +38,6 @@
// cclink
if (m_cclink.Connect(CC_LINK_IE_CONTROL_CHANNEL(1)) != 0) {
LOGE("连接CC-Link失败.");
- return -1;
}
else {
LOGI("连接CC-Link成功.");
@@ -58,11 +64,14 @@
// 初始化添加各子设备
{
CEFEM* pEquipment = new CEFEM();
+ pEquipment->setID(EQ_ID_EFEM);
pEquipment->setName("EFEM(ROBOT)");
pEquipment->setDescription("EFEM(ROBOT).");
pEquipment->setReadBitBlock(0x4000, 0x45ff);
- pEquipment->setStation(1, 2);
+ pEquipment->setStation(0, 255);
addEquipment(pEquipment);
+
+ pEquipment->init();
LOGE("已添加“EFEM(ROBOT)”.");
}
/*
@@ -88,13 +97,43 @@
int CMaster::term()
{
+ LOGI("<Master>正在结束程序.");
+ for (auto item : m_listEquipment) {
+ item->term();
+ }
+
return 0;
}
int CMaster::addEquipment(CEquipment* pEquipment)
{
+ EquipmentListener listener;
+ listener.onAlive = [&](void* pEquipment, BOOL bAlive) -> void {
+ CEquipment* p = (CEquipment*)pEquipment;
+ if (m_listener.onEqAlive != nullptr) {
+ m_listener.onEqAlive(this, p, bAlive);
+ }
+ };
+ listener.onCimStateChanged = [&](void* pEquipment, BOOL bOn) -> void {
+ CEquipment* p = (CEquipment*)pEquipment;
+ if (m_listener.onEqCimStateChanged != nullptr) {
+ m_listener.onEqCimStateChanged(this, p, bOn);
+ }
+ };
+ pEquipment->setListener(listener);
+ pEquipment->setCcLink(&m_cclink);
m_listEquipment.push_back(pEquipment);
+
return 0;
+ }
+
+ CEquipment* CMaster::getEquipment(int id)
+ {
+ for (auto item : m_listEquipment) {
+ if (item->getID() == id) return item;
+ }
+
+ return nullptr;
}
void CMaster::onTimer(UINT nTimerid)
@@ -104,7 +143,7 @@
}
- // 以下为测试代码
+ // 按一定频率扫描LB数据
static int i = 0;
i++;
if (i % (4 * 1) == 0) {
@@ -113,14 +152,11 @@
const StationIdentifier& station = item->getStation();
MemoryBlock& block = item->getReadBitBlock();
- char szBuffer[1024];
- int nRet = m_cclink.ReadData2(station, (short)block.type,
- block.start, block.size, szBuffer);
- for (unsigned int i = 0; i < block.size; i++) {
- if(szBuffer[i] != 0)
- TRACE("%d[%x]\n", i, szBuffer[i]);
+ int nRet = m_cclink.ReadData2(station, (DeviceType)block.type,
+ block.start, block.size, block.buffer);
+ if (0 == nRet) {
+ item->onReceiveLBData(block.buffer, block.size);
}
- TRACE("nRet=%d\n", nRet);
}
}
}
--
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