update

dep/zlinuxcomponents

@@ -1 +1 @@
-Subproject commit f34921f0c541f97c487dd39c07f75a64308f0606
+Subproject commit 432d59aa981a3a05e1937d71fdcf8e8f241f35d9

src/service/a8000_scirpt_processer.cpp

@@ -48,7 +48,7 @@ int32_t A8000ScriptProcesser::sendCanPacket(shared_ptr<ScriptProcesser::Context>
   string                   cmd       = context->cmd;
   vector<string>&          cmdandvar = context->cmd_and_var;
   shared_ptr<icps::Packet> rxpacket;
-  m_iflytopCanProtocolControler->sendCanPacket(txpacket, rxpacket, 30);
+  m_iflytopCanProtocolControler->sendCanPacket(txpacket, rxpacket, 50);
   if (!rxpacket) {
     context->printfInfo = fmt::format("error:overtime");
     logger->error("sendCanPacket error:overtime");
@@ -150,7 +150,6 @@ void A8000ScriptProcesser::step_motor_read_pos(shared_ptr<ScriptProcesser::Conte
   A8000ScriptProcesser::CtrlPointConfig cpcfg = getStepMotorConfig(targetStepMotorId, SAMC_REG_STAT_CURRENT_POS);
   readReg(cpcfg.m_deviceId, cpcfg.m_ctrlPointId, pos, context);
 }
-void A8000ScriptProcesser::step_motor_is_idle(shared_ptr<ScriptProcesser::Context> context, int32_t targetStepMotorId, int32_t& idle) {}
 void A8000ScriptProcesser::step_motor_read_state(shared_ptr<ScriptProcesser::Context> context, int32_t targetStepMotorId, int32_t& state) {
   A8000ScriptProcesser::CtrlPointConfig cpcfg = getStepMotorConfig(targetStepMotorId, SAMC_REG_STAT_STATUS);
   readReg(cpcfg.m_deviceId, cpcfg.m_ctrlPointId, state, context);
@@ -159,14 +158,19 @@ void A8000ScriptProcesser::step_motor_stop(shared_ptr<ScriptProcesser::Context>
   A8000ScriptProcesser::CtrlPointConfig cpcfg = getStepMotorConfig(targetStepMotorId, SAMC_REG_ACT_STOP);
   writeReg(cpcfg.m_deviceId, cpcfg.m_ctrlPointId, 0, context);
 }
+void A8000ScriptProcesser::step_motor_clear_exception(shared_ptr<ScriptProcesser::Context> context, int32_t targetStepMotorId) {
+  A8000ScriptProcesser::CtrlPointConfig cpcfg = getStepMotorConfig(targetStepMotorId, SAMC_REG_ACT_CLEAR_EXCEPTION);
+  writeReg(cpcfg.m_deviceId, cpcfg.m_ctrlPointId, 0, context);
+}
+
 void A8000ScriptProcesser::sleep_ms(shared_ptr<ScriptProcesser::Context> context, int32_t ms) { usleep(ms * 1000); }
 void A8000ScriptProcesser::step_motor_wait_for_idle(shared_ptr<ScriptProcesser::Context> context, int32_t targetStepMotorId) {
   int32_t state = 0;
-  step_motor_is_idle(context, targetStepMotorId, state);
+  step_motor_read_state(context, targetStepMotorId, state);
   // ThisThread thisThread;
   while (state != 0) {
     usleep(300 * 1000);
-    step_motor_is_idle(context, targetStepMotorId, state);
+    step_motor_read_state(context, targetStepMotorId, state);
     logger->info("step_motor({}) wait_for_idle:{}", targetStepMotorId, state);
   }
 }
@@ -281,13 +285,12 @@ void A8000ScriptProcesser::docmd(shared_ptr<ScriptProcesser::Context> context) {
     CHECK_CMD_PARAMETER(1);
     int32_t retval = 0;
     step_motor_read_state(context, context->getvarInt(1), retval);
-  } else if (cmd == "step_motor_is_idle") {
-    CHECK_CMD_PARAMETER(1);
-    int32_t retval = 0;
-    step_motor_is_idle(context, context->getvarInt(1), retval);
   } else if (cmd == "step_motor_stop") {
     CHECK_CMD_PARAMETER(1);
     step_motor_stop(context, context->getvarInt(1));
+  } else if (cmd == "step_motor_clear_exception") {
+    CHECK_CMD_PARAMETER(1);
+    step_motor_clear_exception(context, context->getvarInt(1));
   } else if (cmd == "step_motor_wait_for_idle") {
     CHECK_CMD_PARAMETER(1);
     step_motor_wait_for_idle(context, context->getvarInt(1));
@@ -313,6 +316,9 @@ void A8000ScriptProcesser::docmd(shared_ptr<ScriptProcesser::Context> context) {
   } else if (cmd == "scara_wait_for_idle") {
     CHECK_CMD_PARAMETER(1);
     scara_wait_for_idle(context, context->getvarInt(1));
+  } else if (cmd == "sleep_ms") {
+    CHECK_CMD_PARAMETER(1);
+    sleep_ms(context, context->getvarInt(1));
   }
   //
   //

src/service/a8000_scirpt_processer.hpp

@@ -53,7 +53,7 @@ class A8000ScriptProcesser : public enable_shared_from_this<A8000ScriptProcesser
   shared_ptr<IflytopCanProtocolControler> m_iflytopCanProtocolControler;
   shared_ptr<ScriptProcesser>             m_scriptProcesser;
 
-  int index = 0;
+  uint16_t index = 0;
 
   class CtrlPointConfig {
    public:
@@ -113,8 +113,8 @@ class A8000ScriptProcesser : public enable_shared_from_this<A8000ScriptProcesser
   void step_motor_move_to_zero(shared_ptr<ScriptProcesser::Context> context, int32_t targetStepMotorId);
   void step_motor_read_pos(shared_ptr<ScriptProcesser::Context> context, int32_t targetStepMotorId, int32_t &pos);
   void step_motor_read_state(shared_ptr<ScriptProcesser::Context> context, int32_t targetStepMotorId, int32_t &state);
-  void step_motor_is_idle(shared_ptr<ScriptProcesser::Context> context, int32_t targetStepMotorId, int32_t &idle);
   void step_motor_stop(shared_ptr<ScriptProcesser::Context> context, int32_t targetStepMotorId);
+  void step_motor_clear_exception(shared_ptr<ScriptProcesser::Context> context, int32_t targetStepMotorId);
   void sleep_ms(shared_ptr<ScriptProcesser::Context> context, int32_t ms);
 
   void step_motor_wait_for_idle(shared_ptr<ScriptProcesser::Context> context, int32_t targetStepMotorId);

src/service/scirpt_processer.cpp

@@ -86,9 +86,33 @@ void ScriptProcesser::_executeCommand(string cmd, string& result) {
   logger->info("do: {} ==> {}", cmd, context->printfInfo);
 }
 
-void ScriptProcesser::executeCommand(string cmd, string& result) {  //
+void ScriptProcesser::executeCommand(string scriptcmd, string& result) {  //
   unique_ptr<Thread> thread;
-  thread.reset(new Thread("executeCommand", [this, cmd, &result]() { _executeCommand(cmd, result); }));
+  thread.reset(new Thread("executeCommand", [this, scriptcmd, &result]() {
+    //  _executeCommand(cmd, result);
+    logger->info("script_thread start");
+
+    // ZLOGI(TAG, "cmdstr1: %s %d %d", cmdstr, strlen(cmdstr), m_uart.getRxDataLen());
+    char*  cmdstr     = strdup(scriptcmd.c_str());
+    int    cmdstr_len = strlen(cmdstr);
+    string strresult;
+    for (size_t i = 0; i < cmdstr_len; i++) {
+      if (cmdstr[i] == '\r' || cmdstr[i] == '\n') {
+        cmdstr[i] = '\0';
+      }
+    }
+    // ZLOGI(TAG, "cmdstr2: %s %d %d", cmdstr, strlen(cmdstr), m_uart.getRxDataLen());
+    for (size_t i = 0; i < cmdstr_len; i++) {
+      if (cmdstr[i] != '\0') {
+        string cmd = string(&cmdstr[i]);
+        _executeCommand(cmd, strresult);
+        result += strresult + "\n";
+        i = cmd.size() + i;
+      }
+    }
+
+    logger->info("script_thread end");
+  }));
   while (!thread->isWaitingForJoin()) {
     usleep(100 * 1000);
   }