From ee4945bb0e32a065ce1d5d23ec6afbcba4bbcc03 Mon Sep 17 00:00:00 2001
From: LAPTOP-SNT8I5JK\Boounion <Chenluhua@qq.com>
Date: 星期二, 09 九月 2025 09:33:49 +0800
Subject: [PATCH] 1.VCR转移到Aligner
---
SourceCode/Bond/Servo/CEFEM.cpp | 30 +++++++-----------------------
1 files changed, 7 insertions(+), 23 deletions(-)
diff --git a/SourceCode/Bond/Servo/CEFEM.cpp b/SourceCode/Bond/Servo/CEFEM.cpp
index dcb5684..7715750 100644
--- a/SourceCode/Bond/Servo/CEFEM.cpp
+++ b/SourceCode/Bond/Servo/CEFEM.cpp
@@ -461,25 +461,6 @@
}
{
- // 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;
- }
- }
-
- {
// eq cim message clear
CEqCimMessageClearStep* pStep = new CEqCimMessageClearStep();
pStep->setName(STEP_CIM_MESSAGE_CLEAR);
@@ -697,9 +678,11 @@
}
}
+ // FAC Data Report
+ addFacDataReportStep(0x6589, 0x04d, 1);
+ /*
{
- // FAC Data Report
- CEqReadStep* pStep = new CEqReadStep(0x6301, 108 * 2,
+ CEqReadStep* pStep = new CEqReadStep(0x6589, 133 * 2,
[&](void* pFrom, int code, const char* pszData, size_t size) -> int {
if (code == ROK && pszData != nullptr && size > 0) {
decodeFacDataReport((CStep*)pFrom, pszData, size);
@@ -713,6 +696,7 @@
delete pStep;
}
}
+ */
{
// JOB Data Request
@@ -892,7 +876,7 @@
{
LOGI("<CEFEM>Robot status:%d, ARM1:%s, ARM2:%s",
m_robotData.status,
- m_robotData.armState[1] ? _T("ON") : _T("OFF"),
- m_robotData.armState[2] ? _T("ON") : _T("OFF"));
+ m_robotData.armState[0] ? _T("ON") : _T("OFF"),
+ m_robotData.armState[1] ? _T("ON") : _T("OFF"));
}
}
--
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