黑白扫码OK

decode.c

@@ -0,0 +1,31 @@
+#include <stdint.h>
+#include <stdio.h>
+
+#define BITVAL(code, off) ((code & (1 << off)) >> off)
+
+void decode(uint32_t rawcode) {
+  // Lot:3:6
+  // bit3->bit3, bit4->bit2, bit5->bit1, bit6->bit0
+  uint32_t lot = 0;
+  lot          = BITVAL(rawcode, 3) << 3 | BITVAL(rawcode, 4) << 2 | BITVAL(rawcode, 5) << 1 | BITVAL(rawcode, 6) << 0;
+
+  // =(bit1)*2^6+(bit2)*2^5+(bit11)*2^4+(bit10)*2^0+(bit9)*2^1+(bit8)*2^2+(bit7)*2^3
+
+  uint32_t item = 0;
+  item          = (BITVAL(rawcode, 1) << 6)  //
+         | (BITVAL(rawcode, 2) << 5)         //
+         | (BITVAL(rawcode, 11) << 4)        //
+         | (BITVAL(rawcode, 10) << 0)        //
+         | (BITVAL(rawcode, 9) << 1)         //
+         | (BITVAL(rawcode, 8) << 2)         //
+         | (BITVAL(rawcode, 7) << 3);
+
+  printf(" item-lot: %d-%d\n", item, lot);
+}
+int main(int argc, char const *argv[]) {
+  decode(0x48C1);  // 0x48C1 100 1000 1100 0001 ,expect24-1
+  decode(0x443B);  // 0x443B 100 0100 0011 1011 ,expect65-14
+  decode(0x45c1);  // 0x443B 100 0100 0011 1011 ,expect65-14
+
+  return 0;
+}

scan_code_tester/config.js

@@ -0,0 +1,36 @@
+const websocketAddress = "ws://192.168.1.100:19001";
+const config = {
+    // 256333
+    打开工程师模式: `{"protocol":"icpsv1","message":{"type":"write","targetId":133,"sourceId":1,"seq":0,"ctrlPointAddr":2,"ctrlPointVal":1}}`,
+    关闭工程师模式: `{"protocol":"icpsv1","message":{"type":"write","targetId":133,"sourceId":1,"seq":0,"ctrlPointAddr":2,"ctrlPointVal":0}}`,
+
+    推杆电机_归零: `{"protocol":"icpsv1","message":{"type":"write","targetId":133,"sourceId":1,"seq":0,"ctrlPointAddr":10103,"ctrlPointVal":1000}}`,
+
+    STEP1_设置_推杆电机_最快速度: `{"protocol":"icpsv1","message":{"type":"write","targetId":133,"sourceId":1,"seq":0,"ctrlPointAddr":10122,"ctrlPointVal":1000000}}`,
+    STEP2_推杆电机_移动到扫码开始位置: `{"protocol":"icpsv1","message":{"type":"write","targetId":133,"sourceId":1,"seq":0,"ctrlPointAddr":10101,"ctrlPointVal":517000}}`,
+    STEP3_设置_推杆电机_扫码速度: `{"protocol":"icpsv1","message":{"type":"write","targetId":133,"sourceId":1,"seq":0,"ctrlPointAddr":10122,"ctrlPointVal":100000}}`,
+    STEP4_板夹开始扫码: `{"protocol":"icpsv1","message":{"type":"write","targetId":133,"sourceId":1,"seq":0,"ctrlPointAddr":30000,"ctrlPointVal":1}}`,
+    STEP5_推杆电机_移动推出位置: `{"protocol":"icpsv1","message":{"type":"write","targetId":133,"sourceId":1,"seq":0,"ctrlPointAddr":10101,"ctrlPointVal":719133}}`,
+    STEP6_板夹停止扫码: `{"protocol":"icpsv1","message":{"type":"write","targetId":133,"sourceId":1,"seq":0,"ctrlPointAddr":30000,"ctrlPointVal":0}}`,
+
+    STEP7_设置_推杆电机_最快速度: `{"protocol":"icpsv1","message":{"type":"write","targetId":133,"sourceId":1,"seq":0,"ctrlPointAddr":10122,"ctrlPointVal":1000000}}`,
+    STEP8_板夹移动到零位:  `{"protocol":"icpsv1","message":{"type":"write","targetId":133,"sourceId":1,"seq":0,"ctrlPointAddr":10101,"ctrlPointVal":0}}`,
+
+    推杆电机_停止: `{"protocol":"icpsv1","message":{"type":"write","targetId":133,"sourceId":1,"seq":0,"ctrlPointAddr":10108,"ctrlPointVal":0}}`,
+};
+const commonMessage = {
+    protocol: "iflytopCanProtocolStackV1",
+    message: {
+        attribute: "normal",
+        priority: 4,
+        type: "write",
+        targetId: 133,
+        sourceId: 1,
+        seq: 0,
+        ctrlPointAddr: 10500,
+        ctrlPointVal: 1,
+    },
+};
+
+
+

sdk

@@ -1 +1 @@
-Subproject commit 5aa192ca54d7e03866bfd9132f293d85f192e4a7
+Subproject commit 43beaedd3e6c3b1b45cd8796e496902c03699a28

usrc/main.cpp

@@ -224,12 +224,19 @@ void Main::run() {
   m_tjMotorControlService.cfg_runtohome_max_distance->setVal(INT32_MAX);
   m_tjMotorControlService.cfg_runtohome_leave_zero_point_distance->setVal(256 * 200 * 1);
 
-  // bwm_gpio
+
   {
+#if 0
+
+扫描开始位置:518400
+扫描结束位置:659200
+
+#endif
+
     OneDimensionalCodeLaserScanner::cfg_t cfg;
     cfg.triggerPin   = FYBJL_SENSOR0;
-    cfg.codestartpos = 0;
-    cfg.codeendpos   = 0;
+    cfg.codestartpos = 518500;
+    cfg.codeendpos   = 659200;
     cfg.readder      = [this]() { return m_tj_motor.getXACTUAL(); };
     m_oneDimensionalCodeLaserScanner.initialize(&m_protocolStack, REG_LARSER_SCANNER_CTRL_ADD_BASE, &cfg);
   }

usrc/one_dimensional_code_laser_scanner.cpp

@@ -19,8 +19,10 @@ void OneDimensionalCodeLaserScanner::initialize(IflytopCanProtocolStackProcesser
   m_statusReg = m_protocolProcesser->activeReg(m_slave, REG_CODE_SCANER_STAT_STATUS, icps::kr, 0);
   m_errReg    = m_protocolProcesser->activeReg(m_slave, REG_CODE_SCANER_STAT_ERROR, icps::kr, 0);
   m_codeReg   = m_protocolProcesser->activeReg(m_slave, REG_CODE_SCANER_CODE, icps::kr, 0);
+  m_item      = m_protocolProcesser->activeReg(m_slave, REG_CODE_SCANER_ITEM, icps::kr, 0);
+  m_lot       = m_protocolProcesser->activeReg(m_slave, REG_CODE_SCANER_LOT, icps::kr, 0);
 
-  m_triggerGpio.initAsInput(m_cfg.triggerPin, ZGPIO::kMode_nopull, ZGPIO::kIRQ_risingAndFallingIrq, false /*mirror*/);
+  m_triggerGpio.initAsInput(m_cfg.triggerPin, ZGPIO::kMode_nopull, ZGPIO::kIRQ_risingAndFallingIrq, true /*mirror*/);
   m_triggerGpio.regListener([this](ZGPIO* GPIO_Pin, ZGPIO::IrqTypeEvent_t irqevent) { onGpioIrq(GPIO_Pin, irqevent); });
   m_readder = m_cfg.readder;
 }
@@ -52,11 +54,13 @@ void OneDimensionalCodeLaserScanner::startScan() {
   m_workflag  = true;
   m_idleLevel = m_triggerGpio.getState();
   m_startpos  = m_readder();
+  ZLOGI(TAG, "start scan startpos:%d", m_startpos);
 }
 void OneDimensionalCodeLaserScanner::stopScan() {
   CriticalContext cc;
   m_workflag = false;
   m_endpos   = m_readder();
+  ZLOGI(TAG, "stop scan endpos:%d", m_endpos);
 }
 
 bool OneDimensionalCodeLaserScanner::getPosLevel(int pos) {
@@ -90,11 +94,36 @@ int32_t OneDimensionalCodeLaserScanner::compute_point_num(int32_t startpos, int3
 }
 
 void OneDimensionalCodeLaserScanner::dumpcodecache(code_cache_t* cache) {
+#if 0
   ZLOGI(TAG, "startpos:%d,endpos:%d,pointnum:%d", cache->startpos, cache->endpos, cache->pointnum);
   for (int i = 0; i < cache->pointnum; i++) {
     printf("%d", cache->codecache[i]);
   }
   printf("\n");
+#endif
+}
+
+#define BITVAL(code, off) ((code & (1 << off)) >> off)
+
+void OneDimensionalCodeLaserScanner::decode(uint32_t rawcode) {  //
+  // Lot:3:6
+  // bit3->bit3, bit4->bit2, bit5->bit1, bit6->bit0
+  uint32_t lot = 0;
+  lot          = BITVAL(rawcode, 3) << 3 | BITVAL(rawcode, 4) << 2 | BITVAL(rawcode, 5) << 1 | BITVAL(rawcode, 6) << 0;
+
+  // =(bit1)*2^6+(bit2)*2^5+(bit11)*2^4+(bit10)*2^0+(bit9)*2^1+(bit8)*2^2+(bit7)*2^3
+  uint32_t item = 0;
+  item          = (BITVAL(rawcode, 1) << 6)  //
+         | (BITVAL(rawcode, 2) << 5)         //
+         | (BITVAL(rawcode, 11) << 4)        //
+         | (BITVAL(rawcode, 10) << 0)        //
+         | (BITVAL(rawcode, 9) << 1)         //
+         | (BITVAL(rawcode, 8) << 2)         //
+         | (BITVAL(rawcode, 7) << 3);
+
+  ZLOGI(TAG, "item-lot: %d-%d\n", item, lot);
+  m_item->setValue(item);
+  m_lot->setValue(lot);
 }
 
 void OneDimensionalCodeLaserScanner::parsecode(code_cache_t* cache) {  //
@@ -156,12 +185,20 @@ void OneDimensionalCodeLaserScanner::parsecode(code_cache_t* cache) {  //
   }
   m_errReg->setValue(kerr_success);
   m_codeReg->setValue(code);
-  ZLOGI(TAG, "parse success,code:%d", code);
+  printf("code:");
+  for (int i = 0; i < 15; i++) {
+    printf("%d", bits[i]);
+  }
+  printf("\n");
+  ZLOGI(TAG, "parse success,code:0x%0x", (uint32_t)code);
+  decode(code);
   // return;
 }
 
 void OneDimensionalCodeLaserScanner::parseResult() {  //
   m_codeReg->setValue(-1);
+  m_item->setValue(-1);
+  m_lot->setValue(-1);
 
   static code_cache_t rawcodecache = {0};
   memset(&rawcodecache, 0, sizeof(rawcodecache));
@@ -172,7 +209,7 @@ void OneDimensionalCodeLaserScanner::parseResult() {  //
   int32_t len      = m_endpos - m_startpos;
   int32_t pointnum = compute_point_num(m_startpos, m_endpos);
 
-  ZLOGI(TAG, "pointnum:%d", len, pointnum);
+  ZLOGI(TAG, "pointnum:%d", pointnum);
 
   if ((size_t)pointnum > sizeof(rawcodecache.codecache)) {
     ZLOGE(TAG, "len too long");
@@ -199,7 +236,7 @@ void OneDimensionalCodeLaserScanner::parseResult() {  //
    *
    */
 
-  int32_t sp = m_posChache[0];
+  int32_t sp = m_startpos;
   int32_t ep = m_endpos;
 
   for (int i = 0; i < pointnum; i++) {
@@ -223,7 +260,7 @@ void OneDimensionalCodeLaserScanner::parseResult() {  //
     rawcodecache.startpos = m_cfg.codestartpos;
     rawcodecache.pointnum = after_cut_code_nums;
     rawcodecache.endpos   = m_cfg.codeendpos;
-    memcpy(rawcodecache.codecache, rawcodecache.codecache + startpointoff, after_cut_code_nums);
+    memmove(rawcodecache.codecache, rawcodecache.codecache + startpointoff, after_cut_code_nums);
     ZLOGI(TAG, "after_cut: code_nums:%d,cutoff:%d", after_cut_code_nums, startpointoff);
   }
 

usrc/one_dimensional_code_laser_scanner.hpp

@@ -11,6 +11,8 @@
 #define REG_CODE_SCANER_STAT_STATUS (5)  // 设备状态
 #define REG_CODE_SCANER_STAT_ERROR  (6)  // 上次采集结果是否有误
 #define REG_CODE_SCANER_CODE        (7)  // 码存放的地方
+#define REG_CODE_SCANER_ITEM        (8)  // 码存放的地方
+#define REG_CODE_SCANER_LOT         (9)  // 码存放的地方
 
 namespace iflytop {
 using namespace std;
@@ -59,6 +61,8 @@ class OneDimensionalCodeLaserScanner : public ICPSListener {
   icps::Reg_t* m_statusReg = NULL;
   icps::Reg_t* m_errReg    = NULL;
   icps::Reg_t* m_codeReg   = NULL;
+  icps::Reg_t* m_item      = NULL;
+  icps::Reg_t* m_lot       = NULL;
 
   ZGPIO m_triggerGpio;
   bool  m_workflag = false;
@@ -84,7 +88,9 @@ class OneDimensionalCodeLaserScanner : public ICPSListener {
   void parseResult();
 
  private:
-  void    parsecode(code_cache_t* cache);
+  void parsecode(code_cache_t* cache);
+  void decode(uint32_t rawcode);
+
   int32_t compute_point_num(int32_t startpos, int32_t endpos);
 
   void dumpcodecache(code_cache_t* cache);