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Intelligent_winding_robot_main_board
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update

master
zhaohe 2 years ago
parent
818e06dcbe
commit
f2455b9908
2 changed files with 204 additions and 144 deletions
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  1. 345
      usrc/intelligent_winding_robot_ctrl.cpp
  2. 3
      usrc/intelligent_winding_robot_ctrl.hpp

345
usrc/intelligent_winding_robot_ctrl.cpp
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@ -64,8 +64,9 @@ class WidthDetector {
void wait_module_idle(int32_t moduleid, int32_t timeout_ms) { void wait_module_idle(int32_t moduleid, int32_t timeout_ms) {
zos_delay(100); zos_delay(100);
int i = 0;
int32_t enterticket = zos_get_tick();
int i = 0;
int32_t enterticket = zos_get_tick();
ThisThread thisThread;
while (true) { while (true) {
int32_t status = 0; int32_t status = 0;
int32_t ecode = m_dm->module_get_status(moduleid, &status); int32_t ecode = m_dm->module_get_status(moduleid, &status);
@ -86,15 +87,18 @@ class WidthDetector {
throw (int32_t)err::kcatch_exception; throw (int32_t)err::kcatch_exception;
break; break;
}; };
if (i % 30 == 0) {
if (i % 1000 == 0) {
ZLOGI(TAG, "wait_module_idle %d %d....", moduleid, status); ZLOGI(TAG, "wait_module_idle %d %d....", moduleid, status);
} }
i++; i++;
zos_delay(10); zos_delay(10);
if (thisThread.getExitFlag()) {
break;
}
} }
} }
void m14_raoxiantance_move_to_reset() { m_dm->motor_move_to_torque(14, cfg->m14_raoxiantance_reset_pos, 330, 0); }
void m14_raoxiantance_move_to_reset() { m_dm->motor_move_to_torque(14, cfg->m14_raoxiantance_reset_pos, 500, 0); }
void start_run_back() { void start_run_back() {
m_dm->motor_move_to(14, cfg->m14_raoxiantance_reset_pos, 30, 0); m_dm->motor_move_to(14, cfg->m14_raoxiantance_reset_pos, 30, 0);
g_isrunning = true; g_isrunning = true;
@ -104,7 +108,7 @@ class WidthDetector {
g_isrunning = true; g_isrunning = true;
} }
void start_run_forward() { void start_run_forward() {
m_dm->motor_move_to(14, cfg->m14_raoxiantance_tance_zero_pos + 100, 330, 0);
m_dm->motor_move_to(14, cfg->m14_raoxiantance_tance_zero_pos + 100, 500, 0);
g_isrunning = true; g_isrunning = true;
} }
void stop_run() { void stop_run() {
@ -184,7 +188,7 @@ class WidthDetector {
void stopDetect() { void stopDetect() {
m_detect_thread.stop(); m_detect_thread.stop();
m_dm->motor_move_to_torque(14, cfg->m14_raoxiantance_reset_pos, 330, 0);
m_dm->motor_move_to_torque(14, cfg->m14_raoxiantance_reset_pos, 500, 0);
wait_module_idle(14, 0); wait_module_idle(14, 0);
} }
@ -202,6 +206,14 @@ class WidthDetector {
WidthDetector g_widthDetector; WidthDetector g_widthDetector;
static void prv_sleep(int32_t ms) {
ThisThread thisThread;
thisThread.sleep(ms);
if (thisThread.getExitFlag()) {
throw (int32_t)0;
}
}
int32_t IntelligentWindingRobotCtrl::initialize(APPDM* dm, ICmdParser* cmdparse) { int32_t IntelligentWindingRobotCtrl::initialize(APPDM* dm, ICmdParser* cmdparse) {
m_dm = dm; m_dm = dm;
m_cmdparse = cmdparse; m_cmdparse = cmdparse;
@ -277,63 +289,8 @@ int32_t IntelligentWindingRobotCtrl::initialize_device() {
return 0; return 0;
} }
void IntelligentWindingRobotCtrl::regcb() {
// device_reset
m_cmdparse->regCMD("device_reset", "()", 0, [this](PARAM) { device_reset(); });
m_cmdparse->regCMD("enable_all_module", "()", 0, [this](PARAM) { enable_all_module(); });
m_cmdparse->regCMD("disable_all_module", "()", 0, [this](PARAM) { disable_all_module(); });
// m_cmdparse->regCMD("xy_run_to_clip_pos_test", "()", 1, [this](PARAM) { return xy_run_to_clip_pos_test(atoi(paraV[0])); });
m_cmdparse->regCMD("step_take_bullet", "()", 1, [this](PARAM) { return step_take_bullet(atoi(paraV[0])); });
m_cmdparse->regCMD("step_take_back_bullet", "()", 1, [this](PARAM) { return step_take_back_bullet(atoi(paraV[0])); });
m_cmdparse->regCMD("step_prepare_remove_line", "()", 1, [this](PARAM) {
bool hasbullet = false;
return step_prepare_remove_line(atoi(paraV[0]), hasbullet);
});
m_cmdparse->regCMD("step_winding_prepare", "()", 0, [this](PARAM) { return step_winding_prepare(); });
m_cmdparse->regCMD("step_winding", "()", 0, [this](PARAM) { return step_winding(); });
m_cmdparse->regCMD("step_remove_line", "()", 0, [this](PARAM) { return step_remove_line(); });
m_cmdparse->regCMD("step_winding_lineend", "()", 0, [this](PARAM) { return step_winding_lineend(); });
m_cmdparse->regCMD("step_winding_lineend_prepare", "()", 1, [this](PARAM) { return step_winding_lineend_prepare(atoi(paraV[0])); });
m_cmdparse->regCMD("step_winding_take_bullet_from_cooking_to_origin_pos", "()", 1, [this](PARAM) { return step_winding_take_bullet_from_cooking_to_origin_pos(atoi(paraV[0])); });
m_cmdparse->regCMD("start_winding", "()", 0, [this](PARAM) { return start_winding(); });
m_cmdparse->regCMD("stop_winding", "()", 0, [this](PARAM) { return stop_winding(); });
m_cmdparse->regCMD("start_remove_line", "()", 0, [this](PARAM) { return start_remove_line(); });
// m_cmdparse->regCMD("disable_all_motor", "()", 0, [this](PARAM) { return disable_all_motor(); });
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, int32_t timeout_ms) { void IntelligentWindingRobotCtrl::wait_module_idle(int32_t moduleid, int32_t timeout_ms) {
zos_delay(100);
prv_sleep(100);
int i = 0; int i = 0;
int32_t enterticket = zos_get_tick(); int32_t enterticket = zos_get_tick();
while (true) { while (true) {
@ -356,11 +313,11 @@ void IntelligentWindingRobotCtrl::wait_module_idle(int32_t moduleid, int32_t tim
throw (int32_t)err::kcatch_exception; throw (int32_t)err::kcatch_exception;
break; break;
}; };
if (i % 30 == 0) {
if (i % 1000 == 0) {
ZLOGI(TAG, "wait_module_idle %d %d....", moduleid, status); ZLOGI(TAG, "wait_module_idle %d %d....", moduleid, status);
} }
i++; i++;
zos_delay(10);
prv_sleep(10);
} }
} }
@ -392,6 +349,7 @@ int32_t IntelligentWindingRobotCtrl::stop_all_module() {
} }
int32_t IntelligentWindingRobotCtrl::disable_all_module() { int32_t IntelligentWindingRobotCtrl::disable_all_module() {
ZLOGI(TAG, "m_dm->motor_enable(2, 0)");
m_dm->motor_enable(2, 0); m_dm->motor_enable(2, 0);
m_dm->xymotor_enable(3, 0); m_dm->xymotor_enable(3, 0);
m_dm->motor_enable(4, 0); m_dm->motor_enable(4, 0);
@ -655,6 +613,7 @@ int32_t IntelligentWindingRobotCtrl::step_prepare_remove_line(int32_t bulletinde
* *
*/ */
if (is_hasbullet()) { if (is_hasbullet()) {
stop_probe_bullet_pos();
xymove_to(cfg.xy_platform_cook_bullet_pos_x, cfg.xy_platform_cook_bullet_pos_y - 3623); xymove_to(cfg.xy_platform_cook_bullet_pos_x, cfg.xy_platform_cook_bullet_pos_y - 3623);
xymove_to(cfg.xy_platform_remove_line_pos_x, cfg.xy_platform_cook_bullet_pos_y - 3623); xymove_to(cfg.xy_platform_remove_line_pos_x, cfg.xy_platform_cook_bullet_pos_y - 3623);
xymove_to(cfg.xy_platform_remove_line_pos_x, cfg.xy_platform_remove_line_pos_y); xymove_to(cfg.xy_platform_remove_line_pos_x, cfg.xy_platform_remove_line_pos_y);
@ -687,12 +646,13 @@ int32_t IntelligentWindingRobotCtrl::step_prepare_remove_line(int32_t bulletinde
int32_t IntelligentWindingRobotCtrl::step_remove_line() { int32_t IntelligentWindingRobotCtrl::step_remove_line() {
ZLOGI(TAG, "step_remove_line"); ZLOGI(TAG, "step_remove_line");
start_probe_bullet_pos_forward();
m15_paifei_moveto_press(); m15_paifei_moveto_press();
WAIT_MODULES_IDLE(15); WAIT_MODULES_IDLE(15);
m_dm->motor_rotate_acctime(2, -1, 1000, 1000); m_dm->motor_rotate_acctime(2, -1, 1000, 1000);
int overtime = 90;
#if 0
int overtime = 30;
for (int i = 0; i < overtime; i++) { for (int i = 0; i < overtime; i++) {
osDelay(1000); osDelay(1000);
if (g_widthDetector.isRemoveLineEnd()) { if (g_widthDetector.isRemoveLineEnd()) {
@ -707,8 +667,15 @@ int32_t IntelligentWindingRobotCtrl::step_remove_line() {
break; break;
} }
} }
osDelay(10 * 1000);
#endif
prv_sleep(30 * 1000);
m_dm->module_stop(2); m_dm->module_stop(2);
start_probe_bullet_pos_forward();
if (!g_widthDetector.isRemoveLineEnd()) {
throw (int32_t)0;
}
// m15_paifei_moveto_reset(); // m15_paifei_moveto_reset();
m15_paifei_moveto_reset(); m15_paifei_moveto_reset();
stop_probe_bullet_pos(); stop_probe_bullet_pos();
@ -783,7 +750,8 @@ int32_t IntelligentWindingRobotCtrl::step_winding() {
} }
if (g_widthDetector.distanceIsStopChange()) { if (g_widthDetector.distanceIsStopChange()) {
ZLOGI(TAG, "distanceIsStopChange......");
ZLOGW(TAG, "distanceIsStopChange......");
throw 0;
break; break;
} }
} }
@ -1009,46 +977,10 @@ int32_t IntelligentWindingRobotCtrl::setcfg(const char* cfgname, int32_t cfgvalu
int32_t IntelligentWindingRobotCtrl::dumpcfg() { return 0; } int32_t IntelligentWindingRobotCtrl::dumpcfg() { return 0; }
int32_t IntelligentWindingRobotCtrl::start_winding() { // int32_t IntelligentWindingRobotCtrl::start_winding() { //
#if 0
m_work_thread.start([this]() { m_work_thread.start([this]() {
try { 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++) {
if (m_work_thread.getExitFlag()) {
break;
}
if (!(i / 5 == 0 || i / 5 == 6 || i / 5 == 11)) {
continue;
}
m_nowwinding_index = i + 1;
step_take_bullet(i);
step_prepare_remove_line(i, hasbullet);
if (!hasbullet) {
continue;
}
step_remove_line();
if (m_work_thread.getExitFlag()) break;
step_winding_prepare();
if (m_work_thread.getExitFlag()) break;
step_winding();
if (m_work_thread.getExitFlag()) break;
step_winding_lineend_prepare(i);
if (m_work_thread.getExitFlag()) break;
step_winding_lineend();
if (m_work_thread.getExitFlag()) break;
step_winding_take_bullet_from_cooking_to_origin_pos(i);
if (m_work_thread.getExitFlag()) break;
}
m4_zmove_to(0);
wait_module_idle(4);
xymove_to(0, 0);
wait_module_idle(3);
stop_all_module();
} catch (int32_t ecode) { } catch (int32_t ecode) {
ZLOGE(TAG, "work thread catch exception %d", ecode); ZLOGE(TAG, "work thread catch exception %d", ecode);
@ -1059,59 +991,184 @@ int32_t IntelligentWindingRobotCtrl::start_winding() { //
} }
m_iswinding = false; m_iswinding = false;
}); });
#endif
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++) {
if (m_work_thread.getExitFlag()) {
break;
}
if (!(i / 5 == 0 || i / 5 == 6 || i / 5 == 11)) {
continue;
}
m_nowwinding_index = i + 1;
step_take_bullet(i);
step_prepare_remove_line(i, hasbullet);
if (!hasbullet) {
continue;
}
step_remove_line();
if (m_work_thread.getExitFlag()) break;
step_winding_prepare();
if (m_work_thread.getExitFlag()) break;
step_winding();
if (m_work_thread.getExitFlag()) break;
step_winding_lineend_prepare(i);
if (m_work_thread.getExitFlag()) break;
step_winding_lineend();
if (m_work_thread.getExitFlag()) break;
step_winding_take_bullet_from_cooking_to_origin_pos(i);
if (m_work_thread.getExitFlag()) break;
}
m4_zmove_to(0);
wait_module_idle(4);
xymove_to(0, 0);
wait_module_idle(3);
stop_all_module();
return 0; return 0;
} }
int32_t IntelligentWindingRobotCtrl::start_remove_line() { int32_t IntelligentWindingRobotCtrl::start_remove_line() {
// //
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++) {
if (m_work_thread.getExitFlag()) {
break;
}
if (!(i / 5 == 0 || i / 5 == 6 || i / 5 == 11)) {
continue;
}
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++) {
if (m_work_thread.getExitFlag()) {
break;
}
if (!(i / 5 == 0 || i / 5 == 6 || i / 5 == 11)) {
continue;
}
m_nowwinding_index = i + 1;
step_take_bullet(i);
step_prepare_remove_line(i, hasbullet);
if (!hasbullet) {
continue;
}
step_remove_line();
stop_probe_bullet_pos();
substep_zaxis_do_bullet_action(kCookPos, kTakeBullet, kKeepLine, NULL);
xymove_to_bullet_pos(i);
substep_zaxis_do_bullet_action(kBulletBulletHolderPos, kTakeBackBullet, kReleaseLine, NULL);
if (m_work_thread.getExitFlag()) break;
m_nowwinding_index = i + 1;
step_take_bullet(i);
step_prepare_remove_line(i, hasbullet);
if (!hasbullet) {
continue;
} }
step_remove_line();
stop_probe_bullet_pos();
substep_zaxis_do_bullet_action(kCookPos, kTakeBullet, kKeepLine, NULL);
xymove_to_bullet_pos(i);
substep_zaxis_do_bullet_action(kBulletBulletHolderPos, kTakeBackBullet, kReleaseLine, NULL);
if (m_work_thread.getExitFlag()) break;
}
m4_zmove_to(0);
wait_module_idle(4);
xymove_to(0, 0);
wait_module_idle(3);
stop_all_module();
} catch (int32_t ecode) {
ZLOGE(TAG, "work thread catch exception %d", ecode);
disable_all_module(); // todo : 完成一个无异常版本
} catch (...) {
ZLOGE(TAG, "work thread catch unkown exception");
disable_all_module(); // todo : 完成一个无异常版本
}
m_iswinding = false;
// m_work_thread.start([this]() {
// });
// return 0;
}
m4_zmove_to(0);
wait_module_idle(4);
xymove_to(0, 0);
wait_module_idle(3);
stop_all_module();
int32_t IntelligentWindingRobotCtrl::stop_winding() {
m_work_thread.stop();
m_iswinding = false;
return 0;
}
int32_t IntelligentWindingRobotCtrl::doaction(function<void()> action) {
m_work_thread.stop();
m_work_thread.start([this, action]() {
try {
enable_all_module();
action();
} catch (int32_t ecode) { } catch (int32_t ecode) {
ZLOGE(TAG, "work thread catch exception %d", ecode); ZLOGE(TAG, "work thread catch exception %d", ecode);
disable_all_module(); // todo : 完成一个无异常版本
stop_all_module(); // todo : 完成一个无异常版本
} catch (...) { } catch (...) {
ZLOGE(TAG, "work thread catch unkown exception"); ZLOGE(TAG, "work thread catch unkown exception");
disable_all_module(); // todo : 完成一个无异常版本
stop_all_module(); // todo : 完成一个无异常版本
} }
m_iswinding = false; m_iswinding = false;
}); });
return 0; return 0;
} }
int32_t IntelligentWindingRobotCtrl::stop_winding() {
m_work_thread.stop();
m_iswinding = false;
return 0;
}
#define REG_FUNC(dowhat) \
[this](PARAM) { \
int32_t param0 = 0; \
int32_t param1 = 0; \
int32_t param2 = 0; \
if (paramN >= 1) param0 = atoi(paraV[0]); \
if (paramN >= 2) param1 = atoi(paraV[1]); \
if (paramN >= 3) param2 = atoi(paraV[2]); \
doaction([this, param0, param1, param2]() { dowhat; }); \
return 0; \
}
void IntelligentWindingRobotCtrl::regcb() {
#if 0
m_cmdparse->regCMD("step_prepare_remove_line", "()", 1, [this](PARAM) {
bool hasbullet = false;
return step_prepare_remove_line(atoi(paraV[0]), hasbullet);
});
#endif
m_cmdparse->regCMD("device_reset", "()", 0, REG_FUNC(device_reset()));
m_cmdparse->regCMD("enable_all_module", "()", 0, REG_FUNC(enable_all_module()));
m_cmdparse->regCMD("disable_all_module", "()", 0, REG_FUNC(disable_all_module()));
m_cmdparse->regCMD("step_take_bullet", "()", 1, REG_FUNC(step_take_bullet(param0)));
m_cmdparse->regCMD("m4_zmove_to", "()", 1, REG_FUNC(m4_zmove_to(param0)));
m_cmdparse->regCMD("step_take_back_bullet", "()", 1, REG_FUNC(step_take_back_bullet(param0)));
m_cmdparse->regCMD("step_winding_prepare", "()", 0, REG_FUNC(step_winding_prepare()));
m_cmdparse->regCMD("step_winding", "()", 0, REG_FUNC(step_winding()));
m_cmdparse->regCMD("step_remove_line", "()", 0, REG_FUNC(step_remove_line()));
m_cmdparse->regCMD("step_winding_lineend", "()", 0, REG_FUNC(step_winding_lineend()));
m_cmdparse->regCMD("step_winding_lineend_prepare", "()", 1, REG_FUNC(step_winding_lineend_prepare(param0)));
m_cmdparse->regCMD("step_winding_take_bullet_from_cooking_to_origin_pos", "()", 1, REG_FUNC(step_winding_take_bullet_from_cooking_to_origin_pos(param0)));
m_cmdparse->regCMD("start_winding", "()", 0, REG_FUNC(start_winding()));
m_cmdparse->regCMD("stop_winding", "()", 0, [this](PARAM) { stop_winding(); });
m_cmdparse->regCMD("start_remove_line", "()", 0, REG_FUNC(start_remove_line()));
m_cmdparse->regCMD("m11_arm_jiaxian_move_to_reset_pos", "()", 0, REG_FUNC(m11_arm_jiaxian_move_to_reset_pos()));
m_cmdparse->regCMD("m11_arm_jiaxian_move_to_clamp_pos", "()", 0, REG_FUNC(m11_arm_jiaxian_move_to_clamp_pos()));
m_cmdparse->regCMD("m12_jiaxian_move_to_open_pos", "()", 0, REG_FUNC(m12_jiaxian_move_to_open_pos()));
m_cmdparse->regCMD("m12_jiaxian_move_to_clamp_pos", "()", 0, REG_FUNC(m12_jiaxian_move_to_clamp_pos()));
m_cmdparse->regCMD("m13_yaxian_move_to_reset_forward", "()", 0, REG_FUNC(m13_yaxian_move_to_reset_forward()));
m_cmdparse->regCMD("m13_yaxian_move_to_reset_backward", "()", 0, REG_FUNC(m13_yaxian_move_to_reset_backward()));
m_cmdparse->regCMD("m13_yaxian_press_clip", "()", 0, REG_FUNC(m13_yaxian_press_clip()));
m_cmdparse->regCMD("m14_raoxiantance_move_to_reset", "()", 0, REG_FUNC(m14_raoxiantance_move_to_reset()));
m_cmdparse->regCMD("m15_paifei_moveto_reset", "()", 0, REG_FUNC(m15_paifei_moveto_reset()));
m_cmdparse->regCMD("m15_paifei_moveto_press", "()", 0, REG_FUNC(m15_paifei_moveto_press()));
m_cmdparse->regCMD("m16_xianlajin_move_to_reset", "()", 0, REG_FUNC(m16_xianlajin_move_to_reset()));
m_cmdparse->regCMD("m16_xianlajin_move_to_tight_line_pos", "()", 0, REG_FUNC(m16_xianlajin_move_to_tight_line_pos()));
m_cmdparse->regCMD("m16_xianlajin_move_to_winding_low_pos", "()", 0, REG_FUNC(m16_xianlajin_move_to_winding_low_pos()));
m_cmdparse->regCMD("m16_xianlajin_move_to_winding_up_pos", "()", 0, REG_FUNC(m16_xianlajin_move_to_winding_up_pos()));
m_cmdparse->regCMD("m16_xianlajin_move_to_line_entry_pos", "()", 0, REG_FUNC(m16_xianlajin_move_to_line_entry_pos()));
m_cmdparse->regCMD("m16_xianlajin_move_to_cook_lineend_high_pos", "()", 0, REG_FUNC(m16_xianlajin_move_to_cook_lineend_high_pos()));
m_cmdparse->regCMD("m16_xianlajin_move_to_cook_lineend_low_pos", "()", 0, REG_FUNC(m16_xianlajin_move_to_cook_lineend_low_pos()));
m_cmdparse->regCMD("m16_xianlajin_move_to_cook_lineend_ready_pos", "()", 0, REG_FUNC(m16_xianlajin_move_to_cook_lineend_ready_pos()));
m_cmdparse->regCMD("m21_arm_hook_claws_reset", "()", 0, REG_FUNC(m21_arm_hook_claws_reset()));
m_cmdparse->regCMD("m21_arm_hook_claws_move_to_half_pos", "()", 0, REG_FUNC(m21_arm_hook_claws_move_to_half_pos()));
m_cmdparse->regCMD("m21_arm_hook_claws_move_to_full_pos", "()", 0, REG_FUNC(m21_arm_hook_claws_move_to_full_pos()));
m_cmdparse->regCMD("m22_scissors_move_reset_pos", "()", 0, REG_FUNC(m22_scissors_move_reset_pos()));
m_cmdparse->regCMD("m22_scissors_cut", "()", 0, REG_FUNC(m22_scissors_cut()));
m_cmdparse->regCMD("m23_laxian_motor_move_to_reset_pos", "()", 0, REG_FUNC(m23_laxian_motor_move_to_reset_pos()));
m_cmdparse->regCMD("m23_laxian_motor_move_to_tight_line_pos", "()", 0, REG_FUNC(m23_laxian_motor_move_to_tight_line_pos()));
m_cmdparse->regCMD("start_probe_bullet_pos", "()", 0, REG_FUNC(start_probe_bullet_pos()));
m_cmdparse->regCMD("start_probe_bullet_pos_forward", "()", 0, REG_FUNC(start_probe_bullet_pos_forward()));
}

3
usrc/intelligent_winding_robot_ctrl.hpp
View File

@ -253,6 +253,9 @@ class IntelligentWindingRobotCtrl {
int32_t get_exception_val() { return m_exception_val; } int32_t get_exception_val() { return m_exception_val; }
void processError(int32_t err); void processError(int32_t err);
private:
int32_t doaction(function<void()> func);
}; };
} // namespace iflytop } // namespace iflytop
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