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zhaohe 2 years ago
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  1. 2
      sdk
  2. 118
      usrc/intelligent_winding_robot_ctrl.cpp
  3. 161
      usrc/intelligent_winding_robot_ctrl.hpp
  4. 38
      usrc/main.cpp

2
sdk

@ -1 +1 @@
Subproject commit 089069f6ef3ae015b315835f83f520e800b785b1
Subproject commit e06be65d256688d5ab0018e4d195352654081205

118
usrc/intelligent_winding_robot_ctrl.cpp
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@ -0,0 +1,118 @@
#include "intelligent_winding_robot_ctrl.hpp"
#include <stdlib.h>
using namespace std;
using namespace iflytop;
#define TAG "IntelligentWindingRobotCtrl"
int32_t IntelligentWindingRobotCtrl::initialize_device() { return 0; }
// 排废舵机
int32_t IntelligentWindingRobotCtrl::paifei_duoji_moveto_reset() { return 0; }
int32_t IntelligentWindingRobotCtrl::paifei_duoji_moveto_press() { return 0; }
/**
* @brief 绕线探测舵机
*/
int32_t IntelligentWindingRobotCtrl::raoxiantance_duoji_move_to_reset() { return 0; }
int32_t IntelligentWindingRobotCtrl::raoxiantance_duoji_move_to_get_thickness() { return 0; }
/**
* @brief 压线舵机
*/
int32_t IntelligentWindingRobotCtrl::yaxian_duoji_move_to_reset() { return 0; }
int32_t IntelligentWindingRobotCtrl::yaxian_duoji_move_to_press_pos() { return 0; }
int32_t IntelligentWindingRobotCtrl::yaxian_duoji_move_to_wait_for_press_pos() { return 0; }
/**
* @brief 线拉紧舵机
*/
int32_t IntelligentWindingRobotCtrl::xianlajin_duoji_move_to_reset() { return 0; } // 零位
int32_t IntelligentWindingRobotCtrl::xianlajin_duoji_move_to_line_entry_pos() { return 0; } // 入线位
int32_t IntelligentWindingRobotCtrl::xianlajin_duoji_move_to_tight_line_pos() { return 0; } // 拉线位置
int32_t IntelligentWindingRobotCtrl::xianlajin_duoji_move_to_loose_line_pos() { return 0; } // 放线位置
/**
* @brief 夹线舵机
*/
int32_t IntelligentWindingRobotCtrl::jiaxian_duoji_move_to_reset_pos() { return 0; }
int32_t IntelligentWindingRobotCtrl::jiaxian_duoji_move_to_clamp_pos() { return 0; }
/**
* @brief 剪刀
*/
int32_t IntelligentWindingRobotCtrl::scissors_move_reset_pos() { return 0; } // block
int32_t IntelligentWindingRobotCtrl::scissors_cut() { return 0; } // block
/**
* @brief 机械臂夹线舵机
*/
int32_t IntelligentWindingRobotCtrl::arm_jiaxian_duoji_move_to_reset_pos() { return 0; }
int32_t IntelligentWindingRobotCtrl::arm_jiaxian_duoji_move_to_clamp_pos() { return 0; }
/**
* @brief 机械臂钩爪
*/
int32_t IntelligentWindingRobotCtrl::arm_hook_claws_reset() { return 0; }
int32_t IntelligentWindingRobotCtrl::arm_hook_claws_move_to_half_pos() { return 0; }
int32_t IntelligentWindingRobotCtrl::arm_hook_claws_move_to_full_pos() { return 0; }
/**
* @brief XY平台
*/
int32_t IntelligentWindingRobotCtrl::xy_platform_reset() { return 0; }
/**
* @brief Z轴
*/
int32_t IntelligentWindingRobotCtrl::z_axis_reset() { return 0; }
int32_t IntelligentWindingRobotCtrl::z_axis_move_to(int32_t pos) { return 0; }
int32_t IntelligentWindingRobotCtrl::xy_reset() { return 0; } // 复位
int32_t IntelligentWindingRobotCtrl::xy_move_to_zero() { return 0; } // 移动到零位
int32_t IntelligentWindingRobotCtrl::xy_take_clip(int32_t index) { return 0; } // 取弹夹
int32_t IntelligentWindingRobotCtrl::xy_take_line() { return 0; } // 取线
int32_t IntelligentWindingRobotCtrl::xy_take_back_clip() { return 0; } // 放弹夹
int32_t IntelligentWindingRobotCtrl::xy_remove_line() { return 0; } // 移除线
/**
* @brief
*/
int32_t IntelligentWindingRobotCtrl::start_winding() { return 0; }
int32_t IntelligentWindingRobotCtrl::stop_winding() { return 0; }
int32_t IntelligentWindingRobotCtrl::reset_and_check_device() { return 0; }
int32_t IntelligentWindingRobotCtrl::setcfg(const char* cfgname, int32_t cfgvalue) { return 0; }
int32_t IntelligentWindingRobotCtrl::dumpcfg() { return 0; }
int32_t IntelligentWindingRobotCtrl::initialize(ZModuleDeviceManager* dm, ICmdParser* cmdparse) {
m_dm = dm;
m_cmdparse = cmdparse;
cmdparse->regCMD("paifei_duoji_moveto_reset", "()", 0, [this](int32_t paramN, const char** paraV, ICmdParserACK* ack) { return paifei_duoji_moveto_reset(); });
cmdparse->regCMD("paifei_duoji_moveto_press", "()", 0, [this](int32_t paramN, const char** paraV, ICmdParserACK* ack) { return paifei_duoji_moveto_press(); });
cmdparse->regCMD("raoxiantance_duoji_move_to_reset", "()", 0, [this](int32_t paramN, const char** paraV, ICmdParserACK* ack) { return raoxiantance_duoji_move_to_reset(); });
cmdparse->regCMD("raoxiantance_duoji_move_to_get_thickness", "()", 0, [this](int32_t paramN, const char** paraV, ICmdParserACK* ack) { return raoxiantance_duoji_move_to_get_thickness(); });
cmdparse->regCMD("yaxian_duoji_move_to_reset", "()", 0, [this](int32_t paramN, const char** paraV, ICmdParserACK* ack) { return yaxian_duoji_move_to_reset(); });
cmdparse->regCMD("yaxian_duoji_move_to_press_pos", "()", 0, [this](int32_t paramN, const char** paraV, ICmdParserACK* ack) { return yaxian_duoji_move_to_press_pos(); });
cmdparse->regCMD("yaxian_duoji_move_to_wait_for_press_pos", "()", 0, [this](int32_t paramN, const char** paraV, ICmdParserACK* ack) { return yaxian_duoji_move_to_wait_for_press_pos(); });
cmdparse->regCMD("xianlajin_duoji_move_to_reset", "()", 0, [this](int32_t paramN, const char** paraV, ICmdParserACK* ack) { return xianlajin_duoji_move_to_reset(); });
cmdparse->regCMD("xianlajin_duoji_move_to_line_entry_pos", "()", 0, [this](int32_t paramN, const char** paraV, ICmdParserACK* ack) { return xianlajin_duoji_move_to_line_entry_pos(); });
cmdparse->regCMD("xianlajin_duoji_move_to_tight_line_pos", "()", 0, [this](int32_t paramN, const char** paraV, ICmdParserACK* ack) { return xianlajin_duoji_move_to_tight_line_pos(); });
cmdparse->regCMD("xianlajin_duoji_move_to_loose_line_pos", "()", 0, [this](int32_t paramN, const char** paraV, ICmdParserACK* ack) { return xianlajin_duoji_move_to_loose_line_pos(); });
cmdparse->regCMD("jiaxian_duoji_move_to_reset_pos", "()", 0, [this](int32_t paramN, const char** paraV, ICmdParserACK* ack) { return jiaxian_duoji_move_to_reset_pos(); });
cmdparse->regCMD("jiaxian_duoji_move_to_clamp_pos", "()", 0, [this](int32_t paramN, const char** paraV, ICmdParserACK* ack) { return jiaxian_duoji_move_to_clamp_pos(); });
cmdparse->regCMD("scissors_move_reset_pos", "()", 0, [this](int32_t paramN, const char** paraV, ICmdParserACK* ack) { return scissors_move_reset_pos(); });
cmdparse->regCMD("scissors_cut", "()", 0, [this](int32_t paramN, const char** paraV, ICmdParserACK* ack) { return scissors_cut(); });
cmdparse->regCMD("arm_jiaxian_duoji_move_to_reset_pos", "()", 0, [this](int32_t paramN, const char** paraV, ICmdParserACK* ack) { return arm_jiaxian_duoji_move_to_reset_pos(); });
cmdparse->regCMD("arm_jiaxian_duoji_move_to_clamp_pos", "()", 0, [this](int32_t paramN, const char** paraV, ICmdParserACK* ack) { return arm_jiaxian_duoji_move_to_clamp_pos(); });
cmdparse->regCMD("arm_hook_claws_reset", "()", 0, [this](int32_t paramN, const char** paraV, ICmdParserACK* ack) { return arm_hook_claws_reset(); });
cmdparse->regCMD("arm_hook_claws_move_to_half_pos", "()", 0, [this](int32_t paramN, const char** paraV, ICmdParserACK* ack) { return arm_hook_claws_move_to_half_pos(); });
cmdparse->regCMD("arm_hook_claws_move_to_full_pos", "()", 0, [this](int32_t paramN, const char** paraV, ICmdParserACK* ack) { return arm_hook_claws_move_to_full_pos(); });
cmdparse->regCMD("xy_platform_reset", "()", 0, [this](int32_t paramN, const char** paraV, ICmdParserACK* ack) { return xy_platform_reset(); });
cmdparse->regCMD("z_axis_reset", "()", 0, [this](int32_t paramN, const char** paraV, ICmdParserACK* ack) { return z_axis_reset(); });
cmdparse->regCMD("z_axis_move_to", "(int32_t pos)", 1, [this](int32_t paramN, const char** paraV, ICmdParserACK* ack) { return z_axis_move_to(atoi(paraV[0])); });
cmdparse->regCMD("xy_reset", "()", 0, [this](int32_t paramN, const char** paraV, ICmdParserACK* ack) { return xy_reset(); });
cmdparse->regCMD("xy_move_to_zero", "()", 0, [this](int32_t paramN, const char** paraV, ICmdParserACK* ack) { return xy_move_to_zero(); });
cmdparse->regCMD("xy_take_clip", "(int32_t index)", 1, [this](int32_t paramN, const char** paraV, ICmdParserACK* ack) { return xy_take_clip(atoi(paraV[0])); });
cmdparse->regCMD("xy_take_line", "()", 0, [this](int32_t paramN, const char** paraV, ICmdParserACK* ack) { return xy_take_line(); });
cmdparse->regCMD("xy_take_back_clip", "()", 0, [this](int32_t paramN, const char** paraV, ICmdParserACK* ack) { return xy_take_back_clip(); });
cmdparse->regCMD("xy_remove_line", "()", 0, [this](int32_t paramN, const char** paraV, ICmdParserACK* ack) { return xy_remove_line(); });
cmdparse->regCMD("start_winding", "()", 0, [this](int32_t paramN, const char** paraV, ICmdParserACK* ack) { return start_winding(); });
cmdparse->regCMD("stop_winding", "()", 0, [this](int32_t paramN, const char** paraV, ICmdParserACK* ack) { return stop_winding(); });
cmdparse->regCMD("reset_and_check_device", "()", 0, [this](int32_t paramN, const char** paraV, ICmdParserACK* ack) { return reset_and_check_device(); });
cmdparse->regCMD("setcfg", "(const char* cfgname, int32_t cfgvalue)", 2, [this](int32_t paramN, const char** paraV, ICmdParserACK* ack) { return setcfg(paraV[0], atoi(paraV[1])); });
cmdparse->regCMD("dumpcfg", "()", 0, [this](int32_t paramN, const char** paraV, ICmdParserACK* ack) { return dumpcfg(); });
return 0;
}

161
usrc/intelligent_winding_robot_ctrl.hpp
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@ -0,0 +1,161 @@
#pragma once
#include "sdk/os/zos.hpp"
#include "sdk\components\zprotocols\zcancmder_v2\api\api.hpp"
#include "sdk\components\zprotocols\zcancmder_v2\zmodule_device_manager.hpp"
namespace iflytop {
using namespace std;
class IntelligentWindingRobotCtrl {
public:
typedef struct {
/**
* @brief 排废舵机
*/
int32_t paifei_duoji_reset_pos;
int32_t paifei_duoji_press_pos;
int32_t paifei_duoji_press_torque;
/**
* @brief 绕线探测舵机
*/
int32_t raoxiantance_duoji_reset_pos;
int32_t raoxiantance_duoji_tance_zero_pos;
/**
* @brief 压线舵机
*/
int32_t yaxian_duoji_reset_pos;
int32_t yaxian_duoji_press_pos;
int32_t yaxian_duoji_press_torque;
int32_t yaxian_duoji_wait_for_press_pos;
/**
* @brief 线拉紧舵机
*/
int32_t xianlajin_duoji_reset_pos;
int32_t xianlajin_duoji_line_entry_pos;
int32_t xianlajin_duoji_tight_line_pos;
int32_t xianlajin_duoji_loose_line_pos;
/**
* @brief 线夹紧舵机
*/
int32_t jiaxian_duoji_reset_pos;
int32_t jiaxian_duoji_clamp_pos;
int32_t jiaxian_duoji_clamp_torque;
/**
* @brief 机械臂夹线舵机
*/
int32_t arm_jiaxian_duoji_reset_pos;
int32_t arm_jiaxian_duoji_clamp_pos;
int32_t arm_jiaxian_duoji_clamp_torque;
/**
* @brief 剪刀
*/
int32_t scissors_reset_pos;
int32_t scissors_cut_pos;
/**
* @brief 钩爪
*/
int32_t arm_hook_claws_half_pos;
int32_t arm_hook_claws_full_pos;
/**
* @brief Z轴定位
*/
int32_t z_axis_take_line_pos;
int32_t z_axis_take_clip_pos;
int32_t z_axis_winding_hight;
/**
* @brief XY平台
*/
int32_t xy_platform_winding_pos_x;
int32_t xy_platform_winding_pos_y;
int32_t xy_platform_takeline_pos_x;
int32_t xy_platform_takeline_pos_y;
} config_t;
ZModuleDeviceManager* m_dm;
ICmdParser* m_cmdparse;
public:
int32_t initialize(ZModuleDeviceManager* dm, ICmdParser* cmdparse);
int32_t initialize_device();
// 排废舵机
int32_t paifei_duoji_moveto_reset();
int32_t paifei_duoji_moveto_press();
/**
* @brief 绕线探测舵机
*/
int32_t raoxiantance_duoji_move_to_reset();
int32_t raoxiantance_duoji_move_to_get_thickness();
/**
* @brief 压线舵机
*/
int32_t yaxian_duoji_move_to_reset();
int32_t yaxian_duoji_move_to_press_pos();
int32_t yaxian_duoji_move_to_wait_for_press_pos();
/**
* @brief 线拉紧舵机
*/
int32_t xianlajin_duoji_move_to_reset(); // 零位
int32_t xianlajin_duoji_move_to_line_entry_pos(); // 入线位
int32_t xianlajin_duoji_move_to_tight_line_pos(); // 拉线位置
int32_t xianlajin_duoji_move_to_loose_line_pos(); // 放线位置
/**
* @brief 夹线舵机
*/
int32_t jiaxian_duoji_move_to_reset_pos();
int32_t jiaxian_duoji_move_to_clamp_pos();
/**
* @brief 剪刀
*/
int32_t scissors_move_reset_pos(); // block
int32_t scissors_cut(); // block
/**
* @brief 机械臂夹线舵机
*/
int32_t arm_jiaxian_duoji_move_to_reset_pos();
int32_t arm_jiaxian_duoji_move_to_clamp_pos();
/**
* @brief 机械臂钩爪
*/
int32_t arm_hook_claws_reset();
int32_t arm_hook_claws_move_to_half_pos();
int32_t arm_hook_claws_move_to_full_pos();
/**
* @brief XY平台
*/
int32_t xy_platform_reset();
/**
* @brief Z轴
*/
int32_t z_axis_reset();
int32_t z_axis_move_to(int32_t pos);
int32_t xy_reset(); // 复位
int32_t xy_move_to_zero(); // 移动到零位
int32_t xy_take_clip(int32_t index); // 取弹夹
int32_t xy_take_line(); // 取线
int32_t xy_take_back_clip(); // 放弹夹
int32_t xy_remove_line(); // 移除线
/**
* @brief
*/
int32_t start_winding();
int32_t stop_winding();
int32_t reset_and_check_device();
int32_t setcfg(const char* cfgname, int32_t cfgvalue);
int32_t dumpcfg();
};
} // namespace iflytop

38
usrc/main.cpp
View File

@ -26,6 +26,8 @@
// #include "sdk\components\zcancmder_master_module/zcan_master_step_motor_ctrl_module.hpp" // #include "sdk\components\zcancmder_master_module/zcan_master_step_motor_ctrl_module.hpp"
// #include "sdk\components\zcancmder_master_module\zcan_xy_robot_master_module.hpp" // #include "sdk\components\zcancmder_master_module\zcan_xy_robot_master_module.hpp"
#include "intelligent_winding_robot_ctrl.hpp"
#include "sdk\components\taojingchi_screen\taojingchi_screen_service.hpp"
#include "sdk\components\zprotocol_helper\micro_computer_module_device_script_cmder_paser.hpp" #include "sdk\components\zprotocol_helper\micro_computer_module_device_script_cmder_paser.hpp"
#include "sdk\components\zprotocols\zcancmder_v2\protocol_proxy.hpp" #include "sdk\components\zprotocols\zcancmder_v2\protocol_proxy.hpp"
#include "sdk\components\zprotocols\zcancmder_v2\zmodule_device_manager.hpp" #include "sdk\components\zprotocols\zcancmder_v2\zmodule_device_manager.hpp"
@ -141,13 +143,15 @@ namespace iflytop {
/******************************************************************************* /*******************************************************************************
* 基础组件 * * 基础组件 *
*******************************************************************************/ *******************************************************************************/
ZCanCommnaderMaster m_zcanCommnaderMaster; // can总线
ModbusBlockHost g_modbusblockhost; // modbus总线
FeiTeServoMotor g_feiteservomotor_bus; // 飞特舵机总线
ZModuleDeviceManager g_zmodule_device_manager; // 用于管理所有的设备
StepMotor45Scheduler step_motor45_scheduler; // 45步进电机调度器
CmdSchedulerV2 g_cmdScheduler; // 串口字符串指令总线 CmdSchedulerV2 g_cmdScheduler; // 串口字符串指令总线
ZCanCommnaderMaster m_zcanCommnaderMaster; // can总线
ModbusBlockHost g_modbusblockhost; // modbus总线
FeiTeServoMotor g_feiteservomotor_bus; // 飞特舵机总线
ZModuleDeviceManager g_zmodule_device_manager; // 用于管理所有的设备
TaoJingChiScreenService g_taojingchi_screen_service; // 淘精驰屏幕服务
MicroComputerModuleDeviceScriptCmderPaser g_zmodule_device_script_cmder_paser; // 用于解析所有的设备指令 MicroComputerModuleDeviceScriptCmderPaser g_zmodule_device_script_cmder_paser; // 用于解析所有的设备指令
StepMotor45Scheduler step_motor45_scheduler; // 45步进电机调度器
/******************************************************************************* /*******************************************************************************
* 本地设备 * * 本地设备 *
@ -161,6 +165,8 @@ MiniRobotCtrlModule g_mini_servo[6];
ZIProtocolProxy g_xyrobotctrlmodule; ZIProtocolProxy g_xyrobotctrlmodule;
ZIProtocolProxy g_z_step_motor; ZIProtocolProxy g_z_step_motor;
IntelligentWindingRobotCtrl g_intelligent_winding_robot_ctrl;
} // namespace iflytop } // namespace iflytop
extern "C" { extern "C" {
@ -185,7 +191,6 @@ void Main::run() {
/******************************************************************************* /*******************************************************************************
* 总线初始化 * * 总线初始化 *
*******************************************************************************/ *******************************************************************************/
g_cmdScheduler.initialize(&DEBUG_UART, 1000); // 串口字符串指令总线
auto* cfg = m_zcanCommnaderMaster.createCFG(); // can总线配置 auto* cfg = m_zcanCommnaderMaster.createCFG(); // can总线配置
m_zcanCommnaderMaster.init(cfg); // can总线 m_zcanCommnaderMaster.init(cfg); // can总线
g_modbusblockhost.initialize(&huart2, &hdma_usart2_tx, &hdma_usart2_rx); // modbus总线 g_modbusblockhost.initialize(&huart2, &hdma_usart2_tx, &hdma_usart2_rx); // modbus总线
@ -194,7 +199,6 @@ void Main::run() {
// 设备管理器初始化 // 设备管理器初始化
g_zmodule_device_manager.initialize(&m_zcanCommnaderMaster); g_zmodule_device_manager.initialize(&m_zcanCommnaderMaster);
// 设备指令解析器初始化 // 设备指令解析器初始化
g_zmodule_device_script_cmder_paser.initialize(&g_cmdScheduler, &g_zmodule_device_manager);
/******************************************************************************* /*******************************************************************************
* 设备构造和初始化 * * 设备构造和初始化 *
@ -228,6 +232,26 @@ void Main::run() {
g_zmodule_device_manager.registerModule(&g_step_motor45[1]); g_zmodule_device_manager.registerModule(&g_step_motor45[1]);
g_zmodule_device_manager.registerModule(&g_step_motor45[2]); g_zmodule_device_manager.registerModule(&g_step_motor45[2]);
g_intelligent_winding_robot_ctrl.initialize(&g_zmodule_device_manager, &g_cmdScheduler);
/*******************************************************************************
* 串口字符串指令总线 *
*******************************************************************************/
g_cmdScheduler.initialize(&DEBUG_UART, 1000); //
g_zmodule_device_script_cmder_paser.initialize(&g_cmdScheduler, &g_zmodule_device_manager);
g_taojingchi_screen_service.initialize(
&huart5, 1,
/**
* @brief 私有协议解析
*/
[this](const char* cmd, int32_t paramN, const char** paraV) { //
ZLOGI(TAG, "process cmd:%s", cmd);
},
/**
* @brief 陶晶驰消息解析
*/
[this](uint8_t* data, size_t len) {});
#if 0 #if 0
step_motor_cmd_reg(); step_motor_cmd_reg();
#endif #endif

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