From fd1333fbf52e00ff8f0b0d51ec0d707a66cc9141 Mon Sep 17 00:00:00 2001
From: LAPTOP-SNT8I5JK\Boounion <Chenluhua@qq.com>
Date: 星期一, 16 六月 2025 11:20:16 +0800
Subject: [PATCH] 1.Robot状态和位置的监控，其中两个arm状态(是否有料)，也作为调度的依据。
---
SourceCode/Bond/Servo/CEFEM.cpp | 27 +++++++++++++++++++++++++++
1 files changed, 27 insertions(+), 0 deletions(-)
diff --git a/SourceCode/Bond/Servo/CEFEM.cpp b/SourceCode/Bond/Servo/CEFEM.cpp
index c0cbf6d..3474d3e 100644
--- a/SourceCode/Bond/Servo/CEFEM.cpp
+++ b/SourceCode/Bond/Servo/CEFEM.cpp
@@ -331,6 +331,11 @@
return robotCmds(cmds, 2, onWritedBlock);
}
+ RMDATA& CEFEM::getRobotMonitoringData()
+ {
+ return m_robotData;
+ }
+
void CEFEM::init()
{
CEquipment::init();
@@ -692,6 +697,28 @@
{
__super::onReceiveLBData(pszData, size);
+ // 解释得到Robot状态
+ // 地址从(0x3500 - 0x3000)开始
+ int index = 0x500;
+ for (int i = 0; i < 6; i++) {
+ if (isBitOn(pszData, size, index + i)) {
+ m_robotData.status = (ROBOT_STATUS)i;
+ break;
+ }
+ }
+ index += 8;
+
+ for (int i = 0; i < 11; i++) {
+ if (isBitOn(pszData, size, index + i)) {
+ m_robotData.position = (ROBOT_POSITION)i;
+ break;
+ }
+ }
+ index += 16;
+ m_robotData.armState[0] = isBitOn(pszData, size, index);
+ m_robotData.armState[1] = isBitOn(pszData, size, index + 1);
+
+
for (unsigned int i = 0; i < 4; i++) {
if (m_pPort[i] != nullptr) {
m_pPort[i]->onReceiveLBData(pszData, size);
--
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