diff --git a/README.md b/README.md index dfdfc86..9da07c6 100644 --- a/README.md +++ b/README.md @@ -169,6 +169,11 @@ step_winding_lineend_prepare 1 step_winding_lineend step_winding_take_bullet_from_cooking_to_origin_pos 1 + +辅助 +step_take_back_bullet 1 + + ``` ``` diff --git a/usrc/intelligent_winding_robot_ctrl.cpp b/usrc/intelligent_winding_robot_ctrl.cpp index 2f33bd6..c19017c 100644 --- a/usrc/intelligent_winding_robot_ctrl.cpp +++ b/usrc/intelligent_winding_robot_ctrl.cpp @@ -90,8 +90,12 @@ class WidthDetector { m_dm->motor_move_to(14, cfg->m14_raoxiantance_reset_pos, 30, 0); g_isrunning = true; } + void start_run_forward_slow() { + m_dm->motor_move_to(14, cfg->m14_raoxiantance_tance_zero_pos + 100, 30, 0); + g_isrunning = true; + } void start_run_forward() { - m_dm->motor_move_to_torque(14, cfg->m14_raoxiantance_tance_zero_pos + 100, 330, 0); + m_dm->motor_move_to(14, cfg->m14_raoxiantance_tance_zero_pos + 100, 330, 0); g_isrunning = true; } void stop_run() { @@ -99,7 +103,7 @@ class WidthDetector { g_isrunning = false; } - void startDetect() { + void startDetect(bool forward = false) { m_detect_thread.stop(); m14_raoxiantance_move_to_reset(); wait_module_idle(14); @@ -137,17 +141,31 @@ class WidthDetector { zos_delay(3); } - m_detect_thread.start([this]() { - while (!m_detect_thread.getExitFlag()) { - if (g_isrunning && getDetectGPIOState() == 0) { - stop_run(); - m_dm->motor_read_pos(14, &g_nowpos); - g_nowdpos = cfg->m14_raoxiantance_tance_zero_pos - g_nowpos; - ZLOGI(TAG, "--------------now pos %d bullet width %d", g_nowpos, g_nowdpos); - } else if (!g_isrunning && getDetectGPIOState() != 0) { - start_run_back(); + m_detect_thread.start([this, forward]() { + if (!forward) { + while (!m_detect_thread.getExitFlag()) { + if (g_isrunning && getDetectGPIOState() == 0) { + stop_run(); + m_dm->motor_read_pos(14, &g_nowpos); + g_nowdpos = cfg->m14_raoxiantance_tance_zero_pos - g_nowpos; + ZLOGI(TAG, "--------------now pos %d bullet width %d", g_nowpos, g_nowdpos); + } else if (!g_isrunning && getDetectGPIOState() != 0) { + start_run_back(); + } + zos_delay(3); + } + } else { + while (!m_detect_thread.getExitFlag()) { + if (g_isrunning && getDetectGPIOState() != 0) { + stop_run(); + m_dm->motor_read_pos(14, &g_nowpos); + g_nowdpos = cfg->m14_raoxiantance_tance_zero_pos - g_nowpos; + ZLOGI(TAG, "--------------now pos %d bullet width %d", g_nowpos, g_nowdpos); + } else if (!g_isrunning && getDetectGPIOState() == 0) { + start_run_forward_slow(); + } + zos_delay(3); } - zos_delay(3); } }); } @@ -178,10 +196,10 @@ int32_t IntelligentWindingRobotCtrl::initialize(APPDM* dm, ICmdParser* cmdparse) } int32_t IntelligentWindingRobotCtrl::initialize_device() { - cfg.xy_platform_takeline_clip00_pos_x = 1736; - cfg.xy_platform_takeline_clip00_pos_y = 16853; - cfg.xy_platform_takeline_clipXX_pos_x = 52307; - cfg.xy_platform_takeline_clipXX_pos_y = 31993; + cfg.xy_platform_takeline_clip00_pos_x = 1833; + cfg.xy_platform_takeline_clip00_pos_y = 16819; + cfg.xy_platform_takeline_clipXX_pos_x = 52381; + cfg.xy_platform_takeline_clipXX_pos_y = 32087; cfg.clip_line = 12; cfg.clip_each_line_num = 5; @@ -196,7 +214,7 @@ int32_t IntelligentWindingRobotCtrl::initialize_device() { cfg.m13_yaxian_forward_reset_pos = 1015; cfg.m13_yaxian_backward_reset_pos = 2885; cfg.m13_jiaxian_clamp_direction = -1; - cfg.m13_jiaxian_clamp_torque = 500; + cfg.m13_jiaxian_clamp_torque = 600; cfg.m14_raoxiantance_reset_pos = 2047; cfg.m14_raoxiantance_tance_zero_pos = 2829; @@ -205,13 +223,14 @@ int32_t IntelligentWindingRobotCtrl::initialize_device() { cfg.m15_paifei_press_direction = 1; cfg.m15_paifei_press_torque = 330; - cfg.m16_xianlajin_reset_pos = 2047; - cfg.m16_xianlajin_tight_line_pos = 1966; - cfg.m16_xianlajin_winding_low_pos = 1885; - cfg.m16_xianlajin_winding_high_pos = 1835; - cfg.m16_xianlajin_line_entry_pos = 1800; - cfg.m16_xianlajin_cook_line_end_low_pos = 1820; - cfg.m16_xianlajin_cook_line_end_high_pos = 1741; + cfg.m16_xianlajin_reset_pos = 2047; + cfg.m16_xianlajin_cook_line_end_ready_pos = 1959; + cfg.m16_xianlajin_tight_line_pos = 1966; + cfg.m16_xianlajin_winding_low_pos = 1885; + cfg.m16_xianlajin_winding_high_pos = 1815; + cfg.m16_xianlajin_line_entry_pos = 1800; + cfg.m16_xianlajin_cook_line_end_low_pos = 1820; + cfg.m16_xianlajin_cook_line_end_high_pos = 1741; cfg.m21_arm_hook_claws_full_pos = 2558; cfg.m21_arm_hook_claws_half_pos = 2194; @@ -259,31 +278,35 @@ void IntelligentWindingRobotCtrl::regcb() { // m_cmdparse->regCMD("disable_all_motor", "()", 0, [this](PARAM) { return disable_all_motor(); }); - m_cmdparse->regCMD("app_m11_arm_jiaxian_move_to_reset_pos", "()", 0, [this](PARAM) { return m11_arm_jiaxian_move_to_reset_pos(); }); - m_cmdparse->regCMD("app_m11_arm_jiaxian_move_to_clamp_pos", "()", 0, [this](PARAM) { return m11_arm_jiaxian_move_to_clamp_pos(); }); - m_cmdparse->regCMD("app_m12_jiaxian_move_to_open_pos", "()", 0, [this](PARAM) { return m12_jiaxian_move_to_open_pos(); }); - m_cmdparse->regCMD("app_m12_jiaxian_move_to_clamp_pos", "()", 0, [this](PARAM) { return m12_jiaxian_move_to_clamp_pos(); }); - m_cmdparse->regCMD("app_m13_yaxian_move_to_reset_forward", "()", 0, [this](PARAM) { return m13_yaxian_move_to_reset_forward(); }); - m_cmdparse->regCMD("app_m13_yaxian_move_to_reset_backward", "()", 0, [this](PARAM) { return m13_yaxian_move_to_reset_backward(); }); - m_cmdparse->regCMD("app_m13_yaxian_press_clip", "()", 0, [this](PARAM) { return m13_yaxian_press_clip(); }); - m_cmdparse->regCMD("app_m14_raoxiantance_move_to_reset", "()", 0, [this](PARAM) { return m14_raoxiantance_move_to_reset(); }); - m_cmdparse->regCMD("app_m15_paifei_moveto_reset", "()", 0, [this](PARAM) { return m15_paifei_moveto_reset(); }); - m_cmdparse->regCMD("app_m15_paifei_moveto_press", "()", 0, [this](PARAM) { return m15_paifei_moveto_press(); }); - m_cmdparse->regCMD("app_m16_xianlajin_move_to_reset", "()", 0, [this](PARAM) { return m16_xianlajin_move_to_reset(); }); - m_cmdparse->regCMD("app_m16_xianlajin_move_to_tight_line_pos", "()", 0, [this](PARAM) { return m16_xianlajin_move_to_tight_line_pos(); }); - m_cmdparse->regCMD("app_m16_xianlajin_move_to_winding_low_pos", "()", 0, [this](PARAM) { return m16_xianlajin_move_to_winding_low_pos(); }); - m_cmdparse->regCMD("app_m16_xianlajin_move_to_winding_up_pos", "()", 0, [this](PARAM) { return m16_xianlajin_move_to_winding_up_pos(); }); - m_cmdparse->regCMD("app_m16_xianlajin_move_to_line_entry_pos", "()", 0, [this](PARAM) { return m16_xianlajin_move_to_line_entry_pos(); }); - - m_cmdparse->regCMD("app_m21_arm_hook_claws_reset", "()", 0, [this](PARAM) { return m21_arm_hook_claws_reset(); }); - m_cmdparse->regCMD("app_m21_arm_hook_claws_move_to_half_pos", "()", 0, [this](PARAM) { return m21_arm_hook_claws_move_to_half_pos(); }); - m_cmdparse->regCMD("app_m21_arm_hook_claws_move_to_full_pos", "()", 0, [this](PARAM) { return m21_arm_hook_claws_move_to_full_pos(); }); - - m_cmdparse->regCMD("app_m22_scissors_move_reset_pos", "()", 0, [this](PARAM) { return m22_scissors_move_reset_pos(); }); - m_cmdparse->regCMD("app_m22_scissors_cut", "()", 0, [this](PARAM) { return m22_scissors_cut(); }); - m_cmdparse->regCMD("app_m23_laxian_motor_move_to_reset_pos", "()", 0, [this](PARAM) { return m23_laxian_motor_move_to_reset_pos(); }); - m_cmdparse->regCMD("app_m23_laxian_motor_move_to_tight_line_pos", "()", 0, [this](PARAM) { return m23_laxian_motor_move_to_tight_line_pos(); }); + m_cmdparse->regCMD("m11_arm_jiaxian_move_to_reset_pos", "()", 0, [this](PARAM) { return m11_arm_jiaxian_move_to_reset_pos(); }); + m_cmdparse->regCMD("m11_arm_jiaxian_move_to_clamp_pos", "()", 0, [this](PARAM) { return m11_arm_jiaxian_move_to_clamp_pos(); }); + m_cmdparse->regCMD("m12_jiaxian_move_to_open_pos", "()", 0, [this](PARAM) { return m12_jiaxian_move_to_open_pos(); }); + m_cmdparse->regCMD("m12_jiaxian_move_to_clamp_pos", "()", 0, [this](PARAM) { return m12_jiaxian_move_to_clamp_pos(); }); + m_cmdparse->regCMD("m13_yaxian_move_to_reset_forward", "()", 0, [this](PARAM) { return m13_yaxian_move_to_reset_forward(); }); + m_cmdparse->regCMD("m13_yaxian_move_to_reset_backward", "()", 0, [this](PARAM) { return m13_yaxian_move_to_reset_backward(); }); + m_cmdparse->regCMD("m13_yaxian_press_clip", "()", 0, [this](PARAM) { return m13_yaxian_press_clip(); }); + m_cmdparse->regCMD("m14_raoxiantance_move_to_reset", "()", 0, [this](PARAM) { return m14_raoxiantance_move_to_reset(); }); + m_cmdparse->regCMD("m15_paifei_moveto_reset", "()", 0, [this](PARAM) { return m15_paifei_moveto_reset(); }); + m_cmdparse->regCMD("m15_paifei_moveto_press", "()", 0, [this](PARAM) { return m15_paifei_moveto_press(); }); + m_cmdparse->regCMD("m16_xianlajin_move_to_reset", "()", 0, [this](PARAM) { return m16_xianlajin_move_to_reset(); }); + m_cmdparse->regCMD("m16_xianlajin_move_to_tight_line_pos", "()", 0, [this](PARAM) { return m16_xianlajin_move_to_tight_line_pos(); }); + m_cmdparse->regCMD("m16_xianlajin_move_to_winding_low_pos", "()", 0, [this](PARAM) { return m16_xianlajin_move_to_winding_low_pos(); }); + m_cmdparse->regCMD("m16_xianlajin_move_to_winding_up_pos", "()", 0, [this](PARAM) { return m16_xianlajin_move_to_winding_up_pos(); }); + m_cmdparse->regCMD("m16_xianlajin_move_to_line_entry_pos", "()", 0, [this](PARAM) { return m16_xianlajin_move_to_line_entry_pos(); }); + m_cmdparse->regCMD("m16_xianlajin_move_to_cook_lineend_high_pos", "()", 0, [this](PARAM) { return m16_xianlajin_move_to_cook_lineend_high_pos(); }); + m_cmdparse->regCMD("m16_xianlajin_move_to_cook_lineend_low_pos", "()", 0, [this](PARAM) { return m16_xianlajin_move_to_cook_lineend_low_pos(); }); + m_cmdparse->regCMD("m16_xianlajin_move_to_cook_lineend_ready_pos", "()", 0, [this](PARAM) { return m16_xianlajin_move_to_cook_lineend_ready_pos(); }); + + m_cmdparse->regCMD("m21_arm_hook_claws_reset", "()", 0, [this](PARAM) { return m21_arm_hook_claws_reset(); }); + m_cmdparse->regCMD("m21_arm_hook_claws_move_to_half_pos", "()", 0, [this](PARAM) { return m21_arm_hook_claws_move_to_half_pos(); }); + m_cmdparse->regCMD("m21_arm_hook_claws_move_to_full_pos", "()", 0, [this](PARAM) { return m21_arm_hook_claws_move_to_full_pos(); }); + + m_cmdparse->regCMD("m22_scissors_move_reset_pos", "()", 0, [this](PARAM) { return m22_scissors_move_reset_pos(); }); + m_cmdparse->regCMD("m22_scissors_cut", "()", 0, [this](PARAM) { return m22_scissors_cut(); }); + m_cmdparse->regCMD("m23_laxian_motor_move_to_reset_pos", "()", 0, [this](PARAM) { return m23_laxian_motor_move_to_reset_pos(); }); + m_cmdparse->regCMD("m23_laxian_motor_move_to_tight_line_pos", "()", 0, [this](PARAM) { return m23_laxian_motor_move_to_tight_line_pos(); }); m_cmdparse->regCMD("start_probe_bullet_pos", "()", 0, [this](PARAM) { return start_probe_bullet_pos(); }); + m_cmdparse->regCMD("start_probe_bullet_pos_forward", "()", 0, [this](PARAM) { return start_probe_bullet_pos_forward(); }); } void IntelligentWindingRobotCtrl::wait_module_idle(int32_t moduleid) { @@ -386,7 +409,7 @@ int32_t IntelligentWindingRobotCtrl::device_reset() { * 3. M13复位,等待一定时间，查看M13是否复位成功 * 4. 机械臂复位 */ - + m_dm->module_stop(2); enable_all_module(); m4_zreset(); m11_arm_jiaxian_move_to_reset_pos(); @@ -420,6 +443,7 @@ int32_t IntelligentWindingRobotCtrl::device_reset() { bool IntelligentWindingRobotCtrl::is_hasbullet() { return g_widthDetector.isHasBullet(); } void IntelligentWindingRobotCtrl::start_probe_bullet_pos() { g_widthDetector.startDetect(); } +void IntelligentWindingRobotCtrl::start_probe_bullet_pos_forward() { g_widthDetector.startDetect(true); } void IntelligentWindingRobotCtrl::stop_probe_bullet_pos() { g_widthDetector.stopDetect(); } int32_t IntelligentWindingRobotCtrl::m11_arm_jiaxian_move_to_reset_pos() { return m_dm->motor_move_to_torque(11, cfg.m11_arm_jiaxian_reset_pos, 330, 0); } @@ -440,6 +464,7 @@ int32_t IntelligentWindingRobotCtrl::m16_xianlajin_move_to_line_entry_pos() { re int32_t IntelligentWindingRobotCtrl::m16_xianlajin_move_to_cook_lineend_high_pos() { return m_dm->motor_move_to(16, cfg.m16_xianlajin_cook_line_end_high_pos, 300, 0); } int32_t IntelligentWindingRobotCtrl::m16_xianlajin_move_to_cook_lineend_low_pos() { return m_dm->motor_move_to(16, cfg.m16_xianlajin_cook_line_end_low_pos, 300, 0); } +int32_t IntelligentWindingRobotCtrl::m16_xianlajin_move_to_cook_lineend_ready_pos() { return m_dm->motor_move_to(16, cfg.m16_xianlajin_cook_line_end_ready_pos, 300, 0); } int32_t IntelligentWindingRobotCtrl::m21_arm_hook_claws_reset() { return m_dm->motor_move_to_zero_backward(21, 0, 0, 0, 0); } int32_t IntelligentWindingRobotCtrl::m21_arm_hook_claws_move_to_half_pos() { return m_dm->motor_move_to(21, cfg.m21_arm_hook_claws_half_pos, 0, 0); } @@ -631,22 +656,27 @@ int32_t IntelligentWindingRobotCtrl::step_prepare_remove_line(int32_t bulletinde int32_t IntelligentWindingRobotCtrl::step_remove_line() { ZLOGI(TAG, "step_remove_line"); - start_probe_bullet_pos(); + start_probe_bullet_pos_forward(); m15_paifei_moveto_press(); WAIT_MODULES_IDLE(15); m_dm->motor_rotate_acctime(2, -1, 1000, 1000); - - /** - * @TODO:添加排线结束检测 - */ - for (size_t i = 0; i < 10; i++) { + int overtime = 90; + for (int i = 0; i < overtime; i++) { osDelay(1000); + if (g_widthDetector.isRemoveLineEnd()) { + ZLOGI(TAG, "detect remove line end"); + break; + } + if (i == overtime - 1) { + ZLOGI(TAG, "detect remove line end timeout"); + } } + osDelay(5000); m_dm->module_stop(2); - stop_probe_bullet_pos(); // m15_paifei_moveto_reset(); m15_paifei_moveto_reset(); + stop_probe_bullet_pos(); return 0; } @@ -699,17 +729,21 @@ int32_t IntelligentWindingRobotCtrl::step_winding_prepare() { } int32_t IntelligentWindingRobotCtrl::step_winding() { + start_probe_bullet_pos(); m_dm->motor_rotate_acctime(2, 1, 1000, 10000); osDelay(1000); m23_laxian_motor_move_to_reset_pos(); - for (size_t i = 0; i < 60; i++) { + for (size_t i = 0; i < 80; i++) { // TODO:60这里是个常量可能会造成绕线提前释放。 m16_xianlajin_move_to_winding_low_pos(); WAIT_MODULES_IDLE(16); m16_xianlajin_move_to_winding_up_pos(); WAIT_MODULES_IDLE(16); + if (g_widthDetector.isFull()) { + break; + } } m_dm->module_stop(2); - + stop_probe_bullet_pos(); ZLOGI(TAG, "step_winding end...."); return 0; } @@ -734,6 +768,7 @@ int32_t IntelligentWindingRobotCtrl::step_winding_lineend_prepare(int bulletinde xymove_to_bullet_pos(bulletindex); substep_zaxis_do_bullet_action(kBulletBulletHolderPos, kTakeBulletCase, kReleaseLine); xymove_to(cfg.xy_platform_cook_bullet_pos_x, cfg.xy_platform_cook_bullet_pos_y); + m16_xianlajin_move_to_tight_line_pos(); substep_zaxis_do_bullet_action(kCookPos, kTakeBackBullet, kReleaseLine); return 0; } @@ -871,14 +906,18 @@ int32_t IntelligentWindingRobotCtrl::xy_reset() { } int32_t IntelligentWindingRobotCtrl::setcfg(const char* cfgname, int32_t cfgvalue) { return 0; } int32_t IntelligentWindingRobotCtrl::dumpcfg() { return 0; } + int32_t IntelligentWindingRobotCtrl::start_winding() { // m_work_thread.start([this]() { try { ZLOGI(TAG, "start_winding"); + m_iswinding = true; + m_nowwinding_index = 0; device_reset(); bool hasbullet = false; for (size_t i = 0; i < 5 * 12; i++) { + m_nowwinding_index = i + 1; xymove_to(0, 0); step_take_bullet(i); step_prepare_remove_line(i, hasbullet); @@ -899,10 +938,12 @@ int32_t IntelligentWindingRobotCtrl::start_winding() { // ZLOGE(TAG, "work thread catch unkown exception"); } disable_all_module(); // todo : 完成一个无异常版本 + m_iswinding = false; }); return 0; } int32_t IntelligentWindingRobotCtrl::stop_winding() { m_work_thread.stop(); + m_iswinding = false; return 0; } diff --git a/usrc/intelligent_winding_robot_ctrl.hpp b/usrc/intelligent_winding_robot_ctrl.hpp index a2192bc..f22ec09 100644 --- a/usrc/intelligent_winding_robot_ctrl.hpp +++ b/usrc/intelligent_winding_robot_ctrl.hpp @@ -68,6 +68,7 @@ class IntelligentWindingRobotCtrl { int32_t m16_xianlajin_winding_low_pos; int32_t m16_xianlajin_winding_high_pos; int32_t m16_xianlajin_line_entry_pos; + int32_t m16_xianlajin_cook_line_end_ready_pos; int32_t m16_xianlajin_cook_line_end_high_pos; int32_t m16_xianlajin_cook_line_end_low_pos; @@ -150,11 +151,21 @@ class IntelligentWindingRobotCtrl { kKeepLine, } take_bullet_line_acktion_t; + bool m_iswinding = false; + int32_t m_nowwinding_index = 0; + int32_t m_exception_val = 0; + + typedef struct { + int32_t index; + } winding_event_t; + public: int32_t initialize(APPDM* dm, ICmdParser* cmdparse); private: - void start_probe_bullet_pos(); + void start_probe_bullet_pos(); + void start_probe_bullet_pos_forward(); + void stop_probe_bullet_pos(); int32_t get_probe_bullet_pos(); bool is_hasbullet(); @@ -173,6 +184,7 @@ class IntelligentWindingRobotCtrl { int32_t m14_raoxiantance_move_to_reset(); int32_t m15_paifei_moveto_reset(); int32_t m15_paifei_moveto_press(); + int32_t m16_xianlajin_move_to_reset(); int32_t m16_xianlajin_move_to_tight_line_pos(); int32_t m16_xianlajin_move_to_winding_low_pos(); @@ -180,6 +192,8 @@ class IntelligentWindingRobotCtrl { int32_t m16_xianlajin_move_to_line_entry_pos(); int32_t m16_xianlajin_move_to_cook_lineend_high_pos(); int32_t m16_xianlajin_move_to_cook_lineend_low_pos(); + int32_t m16_xianlajin_move_to_cook_lineend_ready_pos(); + int32_t m21_arm_hook_claws_reset(); int32_t m21_arm_hook_claws_move_to_half_pos(); @@ -231,6 +245,9 @@ class IntelligentWindingRobotCtrl { int32_t dumpcfg(); int32_t do_winding(int32_t index); + int32_t get_winding_index() { return m_nowwinding_index; } + bool iswinding() { return m_iswinding; } + int32_t get_exception_val() { return m_exception_val; } void processError(int32_t err); }; diff --git a/usrc/main.cpp b/usrc/main.cpp index cb279b3..a31f6b4 100644 --- a/usrc/main.cpp +++ b/usrc/main.cpp @@ -258,7 +258,7 @@ void Main::run() { g_xyrobotctrlmodule.module_set_param(kcfg_motor_y_shift, 0); g_xyrobotctrlmodule.module_set_param(kcfg_motor_x_one_circle_pulse, 7344); g_xyrobotctrlmodule.module_set_param(kcfg_motor_y_one_circle_pulse, 7344); - g_xyrobotctrlmodule.module_set_param(kcfg_motor_run_to_zero_speed, 50); + g_xyrobotctrlmodule.module_set_param(kcfg_motor_run_to_zero_speed, 80); g_xyrobotctrlmodule.module_set_param(kcfg_motor_run_to_zero_dec, 1600); g_xyrobotctrlmodule.module_set_param(kcfg_motor_look_zero_edge_speed, 10); g_xyrobotctrlmodule.module_set_param(kcfg_motor_look_zero_edge_dec, 1600); @@ -266,6 +266,7 @@ void Main::run() { g_xyrobotctrlmodule.module_set_param(kcfg_motor_default_acc, 1000); g_xyrobotctrlmodule.module_set_param(kcfg_motor_default_dec, 1000); g_xyrobotctrlmodule.module_set_param(k_cfg_stepmotor_irun, 4); + g_xyrobotctrlmodule.module_active_cfg(); g_z_step_motor.module_set_param(kcfg_motor_x_shift, 0); @@ -300,6 +301,7 @@ void Main::run() { */ [this](const char* cmd, int32_t paramN, const char** paraV) { // ZLOGI(TAG, "process cmd:%s", cmd); + }, /** * @brief 陶晶驰消息解析