update

dep/zlinuxcomponents

@@ -1 +1 @@
-Subproject commit f4232794415264a66fb9d3841eb3e9c23b9951bb
+Subproject commit f34921f0c541f97c487dd39c07f75a64308f0606

src/service/a8000_scirpt_processer.cpp

@@ -39,8 +39,10 @@ void A8000ScriptProcesser::initialize(shared_ptr<IflytopCanProtocolControler> if
   m_iflytopCanProtocolControler = iflytopCanProtocolControler;
 };
 
-bool    A8000ScriptProcesser::isWorking() { return m_scriptProcesser->isWorking(); }
-void    A8000ScriptProcesser::executeScript(string script) { m_scriptProcesser->executeScript(script); }
+bool A8000ScriptProcesser::isWorking() { return m_scriptProcesser->isWorking(); }
+void A8000ScriptProcesser::executeScript(string script) { m_scriptProcesser->executeScript(script); }
+void A8000ScriptProcesser::executeCommandBlock(string script, string& scriptresult) { m_scriptProcesser->executeCommand(script, scriptresult); }
+
 void    A8000ScriptProcesser::stopScript() { m_scriptProcesser->stopScript(); }
 int32_t A8000ScriptProcesser::sendCanPacket(shared_ptr<ScriptProcesser::Context> context, shared_ptr<icps::Packet> txpacket) {
   string                   cmd       = context->cmd;
@@ -161,9 +163,9 @@ void A8000ScriptProcesser::sleep_ms(shared_ptr<ScriptProcesser::Context> context
 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);
-  ThisThread thisThread;
+  // ThisThread thisThread;
   while (state != 0) {
-    thisThread.sleepForMs(300);
+    usleep(300 * 1000);
     step_motor_is_idle(context, targetStepMotorId, state);
     logger->info("step_motor({}) wait_for_idle:{}", targetStepMotorId, state);
   }
@@ -205,11 +207,36 @@ void A8000ScriptProcesser::tube_rotate_zero(shared_ptr<ScriptProcesser::Context>
   writeReg(cpcfg.m_deviceId, cpcfg.m_ctrlPointId, 1, context);
 }
 
-#define CHECK_CMD_PARAMETER(expectParaNum)                                                             \
-  if (cmdandvar.size() - 1 != expectParaNum) {                                                         \
+#define SCARA_REG_ACT_CTRL            (0)   // 0:停止 1:运行
+#define SCARA_REG_ACT_SET_TARGET_XY   (1)   //
+#define SCARA_REG_ACT_LOCK            (2)   //
+#define SCARA_REG_ACT_CLEAR_EXCEPTION (5)   //
+#define SCARA_REG_STATE_STATE         (11)  //
+#define SCARA_REG_STATE_EXCEPTION     (12)  //
+#define SCARA_REG_STATE_NOWXY         (13)  //
+#define SCARA_REG_CFG_TARGET_X        (20)  //
+#define SCARA_REG_CFG_TARGET_Y        (21)  //
+
+void A8000ScriptProcesser::scara_move_to(shared_ptr<ScriptProcesser::Context> context, int scaraid, int32_t x, int32_t y) {
+  uint32_t xy = ((uint32_t)x & 0xffff) | ((uint32_t)y & 0xffff) << 16;
+  writeReg(131, 11200 + SCARA_REG_ACT_SET_TARGET_XY, xy, context);
+}
+void A8000ScriptProcesser::scara_wait_for_idle(shared_ptr<ScriptProcesser::Context> context, int scaraid) {
+  int32_t state = 0;
+  readReg(131, 11200 + SCARA_REG_STATE_STATE, state, context);
+  ThisThread thisThread;
+  while (state != 0) {
+    thisThread.sleepForMs(300);
+    readReg(131, 11200 + SCARA_REG_STATE_STATE, state, context);
+    logger->info("scara({}) wait_for_idle:{}", scaraid, state);
+  }
+}
+
+#define CHECK_CMD_PARAMETER(expectParaNum)                                                                \
+  if (cmdandvar.size() - 1 != expectParaNum) {                                                            \
     context->printfInfo = fmt::format("error:do {} error,parameter num error,{}", cmd, cmdandvar.size()); \
-    logger->error("{}", context->printfInfo);                                                          \
-    return;                                                                                            \
+    logger->error("{}", context->printfInfo);                                                             \
+    return;                                                                                               \
   }
 
 void A8000ScriptProcesser::docmd(shared_ptr<ScriptProcesser::Context> context) {
@@ -264,8 +291,7 @@ void A8000ScriptProcesser::docmd(shared_ptr<ScriptProcesser::Context> context) {
   } 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") {
+  } else if (cmd == "duoji_move_to") {
     CHECK_CMD_PARAMETER(2);
     duoji_move_to(context, context->getvarInt(1), context->getvarInt(2));
   } else if (cmd == "duoji_stop") {
@@ -281,7 +307,15 @@ void A8000ScriptProcesser::docmd(shared_ptr<ScriptProcesser::Context> context) {
   } else if (cmd == "tube_rotate_zero") {
     CHECK_CMD_PARAMETER(1);
     tube_rotate_zero(context, context->getvarInt(1));
+  } else if (cmd == "scara_move_to") {
+    CHECK_CMD_PARAMETER(2);
+    scara_move_to(context, context->getvarInt(1), context->getvarInt(2), context->getvarInt(3));
+  } else if (cmd == "scara_wait_for_idle") {
+    CHECK_CMD_PARAMETER(1);
+    scara_wait_for_idle(context, context->getvarInt(1));
   }
+  //
+  //
 }
 
 void A8000ScriptProcesser::readReg(int32_t targetId, int32_t ctrlPointAdd, int32_t& val, shared_ptr<ScriptProcesser::Context> context) {

src/service/a8000_scirpt_processer.hpp

@@ -69,6 +69,7 @@ class A8000ScriptProcesser : public enable_shared_from_this<A8000ScriptProcesser
 
   bool isWorking();
   void executeScript(string script);
+  void executeCommandBlock(string script, string &scriptresult);
   void stopScript();
 
  private:
@@ -103,7 +104,7 @@ class A8000ScriptProcesser : public enable_shared_from_this<A8000ScriptProcesser
    *  8. 试管旋转旋转
    *  9. 试管旋转归零
    *
-   *
+   * 12. 机械臂-移动到x,y
    */
 
   void step_motor_rotate(shared_ptr<ScriptProcesser::Context> context, int32_t targetStepMotorId, int32_t direction);
@@ -125,6 +126,9 @@ class A8000ScriptProcesser : public enable_shared_from_this<A8000ScriptProcesser
   void tube_rotate(shared_ptr<ScriptProcesser::Context> context, int32_t targetStepMotorId, int32_t direction);
   void tube_rotate_zero(shared_ptr<ScriptProcesser::Context> context, int32_t targetStepMotorId);
 
+  void scara_move_to(shared_ptr<ScriptProcesser::Context> context, int scaraid, int32_t x, int32_t y);
+  void scara_wait_for_idle(shared_ptr<ScriptProcesser::Context> context, int scaraid);
+
  private:
   CtrlPointConfig getStepMotorConfig(int32_t targetStepMotorId, int32_t addoff);
   CtrlPointConfig getDuoJiConfig(int32_t targetStepMotorId, int32_t addoff);   // 舵机

src/service/main_control_service.cpp

@@ -23,6 +23,7 @@ void MainControlService::initialize() {
   m_restfulServer->regAPI("/api1/reaction_config_card_info/read_state", RESTFUL_SERVER_BIND(MainControlService::reactionConfigCardInfo_read_state));
 
   m_restfulServer->regAPI("/api1/script_processer/doscript", RESTFUL_SERVER_BIND(MainControlService::doscript));
+  m_restfulServer->regAPI("/api1/script_processer/doscriptblock", RESTFUL_SERVER_BIND(MainControlService::doscriptblock));
   m_restfulServer->regAPI("/api1/script_processer/stopscript", RESTFUL_SERVER_BIND(MainControlService::stopscript));
 
   m_restfulServer->start(20000, 20001, "0.0.0.0");
@@ -99,6 +100,12 @@ HttpResponsePtr MainControlService::doscript(HttpRequestPtr httpreq, shared_ptr<
   return std::make_shared<HttpResponse>(200, "OK", HttpErrorCode::Ok, WebSocketHttpHeaders(), "do script success");
 }
 
+HttpResponsePtr MainControlService::doscriptblock(HttpRequestPtr httpreq, shared_ptr<RestfulServer::Context> context, std::shared_ptr<ConnectionState> conn) {
+  string result;
+  m_a8000_script_processer->executeCommandBlock(httpreq->body, result);
+  return std::make_shared<HttpResponse>(200, "OK", HttpErrorCode::Ok, WebSocketHttpHeaders(), result);
+}
+
 HttpResponsePtr MainControlService::stopscript(HttpRequestPtr, shared_ptr<RestfulServer::Context>, std::shared_ptr<ConnectionState>) {
   m_a8000_script_processer->stopScript();
   return std::make_shared<HttpResponse>(200, "OK", HttpErrorCode::Ok, WebSocketHttpHeaders(), "stop script success");

src/service/main_control_service.hpp

@@ -76,6 +76,7 @@ class MainControlService : public enable_shared_from_this<MainControlService> {
   HttpResponsePtr hello_world(HttpRequestPtr, shared_ptr<RestfulServer::Context>, std::shared_ptr<ConnectionState>);
   //
   HttpResponsePtr doscript(HttpRequestPtr, shared_ptr<RestfulServer::Context>, std::shared_ptr<ConnectionState>);
+  HttpResponsePtr doscriptblock(HttpRequestPtr, shared_ptr<RestfulServer::Context>, std::shared_ptr<ConnectionState>);
   HttpResponsePtr stopscript(HttpRequestPtr, shared_ptr<RestfulServer::Context>, std::shared_ptr<ConnectionState>);
 
   void createReactionConfigCardInfoReportAndSend();

src/service/scirpt_processer.cpp

@@ -29,9 +29,9 @@ void ScriptProcesser::executeScript(string script) {
     logger->info("script_thread start");
 
     // ZLOGI(TAG, "cmdstr1: %s %d %d", cmdstr, strlen(cmdstr), m_uart.getRxDataLen());
-    char* cmdstr     = strdup(m_script.c_str());
-    int   cmdstr_len = strlen(cmdstr);
-
+    char*  cmdstr     = strdup(m_script.c_str());
+    int    cmdstr_len = strlen(cmdstr);
+    string resultstr;
     for (size_t i = 0; i < cmdstr_len; i++) {
       if (cmdstr[i] == '\r' || cmdstr[i] == '\n') {
         cmdstr[i] = '\0';
@@ -41,7 +41,7 @@ void ScriptProcesser::executeScript(string script) {
     for (size_t i = 0; i < cmdstr_len; i++) {
       if (cmdstr[i] != '\0') {
         string cmd = string(&cmdstr[i]);
-        processEachCommand(cmd);
+        _executeCommand(cmd, resultstr);
         i = cmd.size() + i;
       }
     }
@@ -62,10 +62,11 @@ static vector<string> splitString(const string& str, char delimiter) {
 }
 void ScriptProcesser::processEachCommand(string cmd) {  //
   string result;
-  executeCommand(cmd, result);
+  _executeCommand(cmd, result);
 }
 
-void ScriptProcesser::executeCommand(string cmd, string& result) {  //
+void ScriptProcesser::_executeCommand(string cmd, string& result) {
+  //
   if (cmd.empty()) {
     return;
   }
@@ -85,6 +86,16 @@ void ScriptProcesser::executeCommand(string cmd, string& result) {  //
   logger->info("do: {} ==> {}", cmd, context->printfInfo);
 }
 
+void ScriptProcesser::executeCommand(string cmd, string& result) {  //
+  unique_ptr<Thread> thread;
+  thread.reset(new Thread("executeCommand", [this, cmd, &result]() { _executeCommand(cmd, result); }));
+  while (!thread->isWaitingForJoin()) {
+    usleep(100 * 1000);
+  }
+  thread->join();
+  return;
+}
+
 void ScriptProcesser::stopScript() {
   if (m_script_thread) {
     m_script_thread->join();

src/service/scirpt_processer.hpp

@@ -64,10 +64,12 @@ class ScriptProcesser : public enable_shared_from_this<ScriptProcesser> {
   ScriptProcesser(){};
   bool isWorking();
   void executeScript(string script);
-  void executeCommand(string cmd, string &result);
+  void executeCommand(string cmd, string& result);
   void stopScript();
 
  private:
+  void _executeCommand(string cmd, string& result);
+
   void processEachCommand(string cmd);
 };
 }  // namespace iflytop