graphite_digester_zancmder_debug_board/usrc/script_reg.cpp

#include <stddef.h>
#include <stdio.h>

#include "main.hpp"

//
#include "feite_servo_motor.hpp"
#include "sdk/os/zos.hpp"
//
// #include "sdk\components\cmdscheduler\cmd_scheduler.hpp"
#include "sdk\components\eq_20_asb_motor\eq20_servomotor.hpp"
#include "sdk\components\iflytop_can_slave_module_master_end\stepmotor.hpp"
#include "sdk\components\iflytop_can_slave_v1\iflytop_can_master.hpp"
#include "sdk\components\step_motor_45\step_motor_45.hpp"
#include "sdk\components\step_motor_45\step_motor_45_scheduler.hpp"
#include "sdk\components\zcancmder\zcanreceiver_master.hpp"
//
#include "sdk\components/step_motor_ctrl_module/step_motor_ctrl_script_cmder_module.hpp"
#include "sdk\components/xy_robot_ctrl_module/xy_robot_script_cmder_module.hpp"
#include "sdk\components\cmdscheduler\cmd_scheduler_v2.hpp"
#include "sdk\components\eq_20_asb_motor\script_cmder_eq20_servomotor.hpp"
#include "sdk\components\mini_servo_motor\mini_servo_motor_ctrl_module.hpp"
#include "sdk\components\mini_servo_motor\scirpt_cmder_mini_servo_motor_ctrl_module.hpp"
#include "sdk\components\step_motor_45\script_cmder_step_motor_45.hpp"
// #include "sdk\components\scriptcmder_module\xy_robot_script_cmder_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 "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\zprotocols\zcancmder_v2\protocol_proxy.hpp"
#include "sdk\components\zprotocols\zcancmder_v2\zmodule_device_manager.hpp"
#include "sdk\components\zprotocols\zcancmder_v2\zmodule_device_script_cmder_paser.hpp"
namespace iflytop {
extern Main gmain;
};

using namespace iflytop;
using namespace std;
#define TAG "CMD"
extern "C" {}
/*******************************************************************************
 *                                    ����                                     *
 *******************************************************************************/
#if 0
static StepMotor45::cfg_t cfg4 = {
    .max_pos              = -1,
    .enable_zero_limit    = false,
    .enable_max_pos_limit = false,
    .mirror               = true,

    .zeroPin       = PinNull,
    .zeroPinMirror = false,

    .driverPin       = {PE0, PE2, PE4, PE6},
    .driverPinMirror = true,
};

static StepMotor45::cfg_t cfg5 = {
    .max_pos              = -1,
    .enable_zero_limit    = false,
    .enable_max_pos_limit = false,
    .mirror               = true,

    .zeroPin       = PinNull,
    .zeroPinMirror = false,

    .driverPin       = {PC13, PE5, PE3, PE1},
    .driverPinMirror = true,
};
static StepMotor45::cfg_t cfg6 = {
    .max_pos              = -1,
    .enable_zero_limit    = false,
    .enable_max_pos_limit = false,
    .mirror               = true,

    .zeroPin       = PinNull,
    .zeroPinMirror = false,

    .driverPin       = {PC12, PD3, PD5, PD7},
    .driverPinMirror = true,
};
#endif

namespace iflytop {
/*******************************************************************************
 *                                  ��������                                   *
 *******************************************************************************/
extern ZCanCommnaderMaster  m_zcanCommnaderMaster;     // can����
extern ModbusBlockHost      g_modbusblockhost;         // modbus����
extern FeiTeServoMotor      g_feiteservomotor_bus;     // ���ض�������
extern ZModuleDeviceManager g_zmodule_device_manager;  // ���ڹ������е��豸
extern StepMotor45Scheduler step_motor45_scheduler;    // 45��������������

extern CmdSchedulerV2                            g_cmdScheduler;                       // �����ַ���ָ������
extern TaoJingChiScreenService                   g_taojingchi_screen_service;          // �Ծ�����Ļ����
extern MicroComputerModuleDeviceScriptCmderPaser g_zmodule_device_script_cmder_paser;  // ���ڽ������е��豸ָ��

/*******************************************************************************
 *                                  �����豸                                   *
 *******************************************************************************/
extern Eq20ServoMotor      g_main_servo_motor;
extern StepMotor45         g_step_motor45[7];
extern MiniRobotCtrlModule g_mini_servo[6];
/*******************************************************************************
 *                                   CAN�豸                                   *
 *******************************************************************************/
extern ZIProtocolProxy g_xyrobotctrlmodule;
extern ZIProtocolProxy g_z_step_motor;

extern IntelligentWindingRobotCtrl g_intelligent_winding_robot_ctrl;

}  // namespace iflytop

extern "C" {
extern DMA_HandleTypeDef hdma_usart3_rx;
extern DMA_HandleTypeDef hdma_usart3_tx;
}

extern "C" {}
extern DMA_HandleTypeDef hdma_usart2_rx;
extern DMA_HandleTypeDef hdma_usart2_tx;

void script_reg_fn() {
#if 0
 xy_robot_ctrl_enable (id,en)
 xy_robot_ctrl_factory_reset (id)
 xy_robot_ctrl_flush (id)
 xy_robot_ctrl_force_change_current_pos (id,x,y)
 xy_robot_ctrl_get_base_param (id)
 xy_robot_ctrl_move_by (id,dx,dy,v)


 xy_robot_ctrl_move_to (id,x,y,speed)
 xy_robot_ctrl_move_to_zero (id)
 xy_robot_ctrl_move_to_zero_with_calibrate (id,nowx,nowy)
 xy_robot_ctrl_stop (id,stop_type)
#endif
#define XY_ROBOT_ID 3

  g_cmdScheduler.regCMD("xy_robot_ctrl_enable", "(id,en)", 2, [](int32_t paramN, const char** paraV, ICmdParserACK* ack) {
    int32_t en    = atoi(paraV[1]);
    int32_t ecode = g_zmodule_device_manager.xymotor_enable(XY_ROBOT_ID, en);
    ack->setNoneAck(ecode);
  });

  g_cmdScheduler.regCMD("xy_robot_ctrl_factory_reset", "(id)", 1, [](int32_t paramN, const char** paraV, ICmdParserACK* ack) {
    int32_t ecode = g_zmodule_device_manager.module_factory_reset(XY_ROBOT_ID);
    ack->setNoneAck(ecode);
  });

  g_cmdScheduler.regCMD("xy_robot_ctrl_flush", "(id)", 1, [](int32_t paramN, const char** paraV, ICmdParserACK* ack) {
    int32_t ecode = g_zmodule_device_manager.module_flush_cfg(XY_ROBOT_ID);
    ack->setNoneAck(ecode);
  });
#if 0
  g_cmdScheduler.regCMD("xy_robot_ctrl_force_change_current_pos", "(id,x,y)", 3, [](int32_t paramN, const char** paraV, ICmdParserACK* ack) {
    int32_t x     = atoi(paraV[1]);
    int32_t y     = atoi(paraV[2]);
    int32_t ecode = g_zmodule_device_manager.motor_set_current_pos_by_change_shift(XY_ROBOT_ID, x, y);
    ack->setNoneAck(ecode);
  });
#endif

  //

  g_cmdScheduler.regCMD("xy_robot_ctrl_read_status", "(id)", 1, [](int32_t paramN, const char** paraV, ICmdParserACK* ack) {
    int32_t x;
    int32_t y;
    int32_t errocode;
    int32_t status;

    g_zmodule_device_manager.xymotor_read_pos(XY_ROBOT_ID, &x, &y);
    g_zmodule_device_manager.module_get_error(XY_ROBOT_ID, &errocode);
    g_zmodule_device_manager.module_get_status(XY_ROBOT_ID, &status);

    ZLOGI(TAG, "x,y:%d,%d", x, y);
    ZLOGI(TAG, "errocode:%d", errocode);
    ZLOGI(TAG, "status:%d", status);

    g_zmodule_device_script_cmder_paser.do_dumpstate(XY_ROBOT_ID);
  });

  g_cmdScheduler.regCMD("xy_robot_ctrl_get_base_param", "(id)", 1, [](int32_t paramN, const char** paraV, ICmdParserACK* ack) { g_zmodule_device_script_cmder_paser.do_dumpconfig(XY_ROBOT_ID); });

  g_cmdScheduler.regCMD("xy_robot_ctrl_move_by", "(id,dx,dy,v)", 4, [](int32_t paramN, const char** paraV, ICmdParserACK* ack) {
    int32_t dx    = atoi(paraV[1]);
    int32_t dy    = atoi(paraV[2]);
    int32_t v     = atoi(paraV[3]);
    int32_t ecode = g_zmodule_device_manager.xymotor_move_by(XY_ROBOT_ID, dx, dy, v);
    ack->setNoneAck(ecode);
  });

  g_cmdScheduler.regCMD("xy_robot_ctrl_move_to", "(id,x,y,speed)", 4, [](int32_t paramN, const char** paraV, ICmdParserACK* ack) {
    int32_t x     = atoi(paraV[1]);
    int32_t y     = atoi(paraV[2]);
    int32_t speed = atoi(paraV[3]);
    int32_t ecode = g_zmodule_device_manager.xymotor_move_to(XY_ROBOT_ID, x, y, speed);
    ack->setNoneAck(ecode);
  });

  g_cmdScheduler.regCMD("xy_robot_ctrl_move_to_zero", "(id)", 1, [](int32_t paramN, const char** paraV, ICmdParserACK* ack) {
    int32_t ecode = g_zmodule_device_manager.xymotor_move_to_zero(XY_ROBOT_ID);
    ack->setNoneAck(ecode);
  });

  g_cmdScheduler.regCMD("xy_robot_ctrl_move_to_zero_with_calibrate", "(id,nowx,nowy)", 3, [](int32_t paramN, const char** paraV, ICmdParserACK* ack) {
    int32_t nowx  = atoi(paraV[1]);
    int32_t nowy  = atoi(paraV[2]);
    int32_t ecode = g_zmodule_device_manager.xymotor_move_to_zero_and_calculated_shift(XY_ROBOT_ID);
    ack->setNoneAck(ecode);
  });

  g_cmdScheduler.regCMD("xy_robot_ctrl_stop", "(id,stop_type)", 2, [](int32_t paramN, const char** paraV, ICmdParserACK* ack) {
    int32_t stop_type = atoi(paraV[1]);
    int32_t ecode     = g_zmodule_device_manager.module_stop(XY_ROBOT_ID);
    ack->setNoneAck(ecode);
  });
#if 0
00102227 INFO [CMD     ]   step_motor_ctrl_enable (id,en)
00102251 INFO [CMD     ]   step_motor_ctrl_get_base_param (id)
00102277 INFO [CMD     ]   step_motor_ctrl_move_by (id,dx,speed)
00102283 INFO [CMD     ]   step_motor_ctrl_move_to (id,x,speed)
00102298 INFO [CMD     ]   step_motor_ctrl_move_to_zero (id)
00102304 INFO [CMD     ]   step_motor_ctrl_move_to_zero_with_calibrate (id,x)
00102311 INFO [CMD     ]   step_motor_ctrl_read_detailed_status (id)
00102318 INFO [CMD     ]   step_motor_ctrl_read_status (id)
00102330 INFO [CMD     ]   step_motor_ctrl_rotate (id,speed,lastforms)
00102362 INFO [CMD     ]   step_motor_ctrl_stop (id,stop_type)
#endif

  g_cmdScheduler.regCMD("step_motor_ctrl_enable", "(id,en)", 2, [](int32_t paramN, const char** paraV, ICmdParserACK* ack) {
    int32_t en    = atoi(paraV[1]);
    int32_t ecode = g_zmodule_device_manager.motor_enable(4, en);
    ack->setNoneAck(ecode);
  });

  g_cmdScheduler.regCMD("step_motor_ctrl_get_base_param", "(id)", 1, [](int32_t paramN, const char** paraV, ICmdParserACK* ack) {  //
    g_zmodule_device_script_cmder_paser.do_dumpconfig(4);
  });

  g_cmdScheduler.regCMD("step_motor_ctrl_move_by", "(id,dx,speed)", 3, [](int32_t paramN, const char** paraV, ICmdParserACK* ack) {
    int32_t dx    = atoi(paraV[1]);
    int32_t speed = atoi(paraV[2]);
    int32_t ecode = g_zmodule_device_manager.motor_move_by(4, dx, speed, 0);
    ack->setNoneAck(ecode);
  });

  g_cmdScheduler.regCMD("step_motor_ctrl_move_to", "(id,x,speed)", 3, [](int32_t paramN, const char** paraV, ICmdParserACK* ack) {
    int32_t x     = atoi(paraV[1]);
    int32_t speed = atoi(paraV[2]);
    int32_t ecode = g_zmodule_device_manager.motor_move_to(4, x, speed, 0);
    ack->setNoneAck(ecode);
  });

  g_cmdScheduler.regCMD("step_motor_ctrl_move_to_zero", "(id)", 1, [](int32_t paramN, const char** paraV, ICmdParserACK* ack) {
    int32_t ecode = g_zmodule_device_manager.motor_move_to_zero_backward(4, 450, 300, 2000, 0);
    ack->setNoneAck(ecode);
  });

  g_cmdScheduler.regCMD("step_motor_ctrl_move_to_zero_with_calibrate", "(id,x)", 2, [](int32_t paramN, const char** paraV, ICmdParserACK* ack) {
    int32_t x     = atoi(paraV[1]);
    int32_t ecode = g_zmodule_device_manager.motor_move_to_zero_backward_and_calculated_shift(4, 0, 0, 0, 0);
    ack->setNoneAck(ecode);
  });

  g_cmdScheduler.regCMD("step_motor_ctrl_read_detailed_status", "(id)", 1, [](int32_t paramN, const char** paraV, ICmdParserACK* ack) {
    // g_zmodule_device_script_cmder_paser.motor_read_pos(4);
  });

  g_cmdScheduler.regCMD("step_motor_ctrl_read_status", "(id)", 1, [](int32_t paramN, const char** paraV, ICmdParserACK* ack) {
    // g_zmodule_device_script_cmder_paser.motor_read_pos(4);

    //

    int32_t pos;
    int32_t errocode;
    int32_t status;

    g_zmodule_device_manager.motor_read_pos(4, &pos);
    g_zmodule_device_manager.module_get_error(4, &errocode);
    g_zmodule_device_manager.module_get_status(4, &status);

    ZLOGI(TAG, "pos:%d,errocode:%d,status:%d", pos, errocode, status);
  });

  // g_cmdScheduler.regCMD("step_motor_ctrl_rotate", "(id,speed,lastforms)", 3, [](int32_t paramN, const char** paraV, ICmdParserACK* ack) {
  //   int32_t speed     = atoi(paraV[1]);
  //   int32_t lastforms = atoi(paraV[2]);
  //   int32_t direction = speed > 0 ? 1 : -1;
  //   int32_t ecode     = g_zmodule_device_manager.motor_rotate(4,direction ,abs(speed), lastforms);
  //   ack->setNoneAck(ecode);
  // });

  g_cmdScheduler.regCMD("step_motor_ctrl_stop", "(id,stop_type)", 2, [](int32_t paramN, const char** paraV, ICmdParserACK* ack) {
    int32_t stop_type = atoi(paraV[1]);
    int32_t ecode     = g_zmodule_device_manager.module_stop(4);
    ack->setNoneAck(ecode);
  });
}