我使用了DCU二次开发的sdk，但目前卡在Dcu body 1, state change: PRE_OP -> SAFE_OP这边

[foreignlands]

使用的就是SDK示例XyberController Example

编译通过以后，就这样了。

其次我就连接了一个DCU，其他什么都没连

dhl37qqt@LAPTOP-DHL37QQT:~/Downloads/zhiyuan$ sudo ./test
[INFO] XyberController is created. Ver 0.5.0, Compiled in Jul 9 2025 13:10:28.
[DEBUG] Dcu body id 1 created.
[DEBUG] Attach actuator PowerFlowR52 1 to DCU body Channel 1.
[DEBUG] EthercatManager ifname: eno1, cycle_time: 1000000, enable_dc: 1
[INFO] EtherCAT init on eno1 succeeded.
[INFO] 1 slaves found and configured
[DEBUG] All 1 registered slaves matched, Enter Pre-OP state
[DEBUG] Dcu body 1, state change: NONE -> PRE_OP
[INFO] Slaves mapped, Process Data IO size: 480, expected_wkc 3
[INFO] EtherCAT DC clock enabled.
[DEBUG] transfer all slaves to SAFE_OP.
[DEBUG] Dcu body 1, state change: PRE_OP -> SAFE_OP
[DEBUG] Request operational state for all slaves
[ERROR] Not all slaves reached operational state.
[ERROR] Slave body (1) State=0x04 StatusCode=0x0000 : No error
[ERROR] XyberController start failed.
Start Failed
dhl37qqt@LAPTOP-DHL37QQT: