From 3ff04012ff74c91f8fbe849f88a717693fcf6426 Mon Sep 17 00:00:00 2001
From: zhaohe <h_zhaohe@163.com>
Date: Tue, 20 Jun 2023 09:24:33 +0800
Subject: [PATCH] update

---
 src/service/a8000_scirpt_processer.cpp | 25 +++++++++++--------------
 1 file changed, 11 insertions(+), 14 deletions(-)

diff --git a/src/service/a8000_scirpt_processer.cpp b/src/service/a8000_scirpt_processer.cpp
index 4a922ad..603e2b8 100644
--- a/src/service/a8000_scirpt_processer.cpp
+++ b/src/service/a8000_scirpt_processer.cpp
@@ -139,6 +139,7 @@ void A8000ScriptProcesser::step_motor_move_by(shared_ptr<ScriptProcesser::Contex
     return;
   }
 }
+
 void A8000ScriptProcesser::step_motor_move_to_zero(shared_ptr<ScriptProcesser::Context> context, int32_t targetStepMotorId) {
   A8000ScriptProcesser::CtrlPointConfig cpcfg = getStepMotorConfig(targetStepMotorId, SAMC_REG_ACT_RUN_TO_HOME);
   writeReg(cpcfg.m_deviceId, cpcfg.m_ctrlPointId, 0, context);
@@ -164,6 +165,7 @@ void A8000ScriptProcesser::step_motor_wait_for_idle(shared_ptr<ScriptProcesser::
   while (state != 0) {
     thisThread.sleepForMs(300);
     step_motor_is_idle(context, targetStepMotorId, state);
+    logger->info("step_motor({}) wait_for_idle:{}", targetStepMotorId, state);
   }
 }
 
@@ -205,7 +207,7 @@ void A8000ScriptProcesser::tube_rotate_zero(shared_ptr<ScriptProcesser::Context>
 
 #define CHECK_CMD_PARAMETER(expectParaNum)                                                             \
   if (cmdandvar.size() - 1 != expectParaNum) {                                                         \
-    context->printfInfo = fmt::format("error:do {} error,parameter num error", cmd, cmdandvar.size()); \
+    context->printfInfo = fmt::format("error:do {} error,parameter num error,{}", cmd, cmdandvar.size()); \
     logger->error("{}", context->printfInfo);                                                          \
     return;                                                                                            \
   }
@@ -236,38 +238,33 @@ void A8000ScriptProcesser::docmd(shared_ptr<ScriptProcesser::Context> context) {
     int32_t direction = atoi(context->cmd_and_var[2].c_str());
     step_motor_rotate(context, motorId, direction);
   } else if (cmd == "step_motor_move_to") {
-    // stepMotorRotate motorId direction
     CHECK_CMD_PARAMETER(2);
     step_motor_move_to(context, context->getvarInt(1), context->getvarInt(2));
   } else if (cmd == "step_motor_move_by") {
-    // stepMotorRotate motorId direction
     CHECK_CMD_PARAMETER(2);
     step_motor_move_by(context, context->getvarInt(1), context->getvarInt(2));
   } else if (cmd == "step_motor_move_to_zero") {
-    // stepMotorRotate motorId direction
     CHECK_CMD_PARAMETER(1);
     step_motor_move_to_zero(context, context->getvarInt(1));
   } else if (cmd == "step_motor_read_pos") {
-    // stepMotorRotate motorId direction
-    CHECK_CMD_PARAMETER(2);
+    CHECK_CMD_PARAMETER(1);
     int32_t retval = 0;
     step_motor_read_pos(context, context->getvarInt(1), retval);
   } else if (cmd == "step_motor_read_state") {
-    // stepMotorRotate motorId direction
-    CHECK_CMD_PARAMETER(2);
+    CHECK_CMD_PARAMETER(1);
     int32_t retval = 0;
     step_motor_read_state(context, context->getvarInt(1), retval);
   } else if (cmd == "step_motor_is_idle") {
-    // stepMotorRotate motorId direction
-    CHECK_CMD_PARAMETER(2);
+    CHECK_CMD_PARAMETER(1);
     int32_t retval = 0;
     step_motor_is_idle(context, context->getvarInt(1), retval);
   } else if (cmd == "step_motor_stop") {
-    // stepMotorRotate motorId direction
-    CHECK_CMD_PARAMETER(2);
+    CHECK_CMD_PARAMETER(1);
     step_motor_stop(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));
   }
-
   else if (cmd == "duoji_move_to") {
     CHECK_CMD_PARAMETER(2);
     duoji_move_to(context, context->getvarInt(1), context->getvarInt(2));
@@ -275,7 +272,7 @@ void A8000ScriptProcesser::docmd(shared_ptr<ScriptProcesser::Context> context) {
     CHECK_CMD_PARAMETER(1);
     duoji_stop(context, context->getvarInt(1));
   } else if (cmd == "duoji_is_idle") {
-    CHECK_CMD_PARAMETER(2);
+    CHECK_CMD_PARAMETER(1);
     int32_t retval = 0;
     duoji_is_idle(context, context->getvarInt(1), retval);
   } else if (cmd == "tube_rotate") {