p_transmit_disinfection_v2
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transmit_disinfection_upper
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update

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zhaohe 1 year ago
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ea5e2ba1e9
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f4ab8b282e
7 changed files with 478 additions and 57 deletions
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  1. 7
      iflytop_canbus/iflytop_canbus_master.cpp
  2. 32
      iflytop_canbus/iflytop_canbus_master.hpp
  3. 7
      libzqt/zui/z_function_list_box.cpp
  4. 72
      libzqt/zui/z_reg_table_list_box.cpp
  5. 18
      libzqt/zui/z_reg_table_list_box.hpp
  6. 397
      mainwindow.cpp
  7. 2
      mainwindow.h

7
iflytop_canbus/iflytop_canbus_master.cpp
View File

@ -101,8 +101,13 @@ void IflytopCanbusMaster::updateChannelConfig() { //
m_waveCan.setCanpPrameter(CANUSB_SPEED_500000, CANUSB_MODE_NORMAL, CANUSB_FRAME_EXTENDED);
}
void IflytopCanbusMaster::ping(int32_t device_id) { callcmd0(device_id, kmodule_ping, 10); }
void IflytopCanbusMaster::readreg(int32_t device_id, int32_t regaddr, int32_t *val) {
callcmd1(device_id, kmodule_get_reg, regaddr, 10);
*val = *(int32_t *)(&m_receipt_frame->data[0]);
}
void IflytopCanbusMaster::writereg(int32_t device_id, int32_t regaddr, int32_t val) { callcmd2(device_id, kmodule_set_reg, regaddr, val, 10); }
void IflytopCanbusMaster::callcmd0(int32_t device_id, int32_t cmdid, int32_t overtime) { callcmd(device_id, cmdid, nullptr, 0,overtime); }
void IflytopCanbusMaster::callcmd0(int32_t device_id, int32_t cmdid, int32_t overtime) { callcmd(device_id, cmdid, nullptr, 0, overtime); }
void IflytopCanbusMaster::callcmd1(int32_t device_id, int32_t cmdid, int32_t param0, int32_t overtime) {
int32_t param[4];

32
iflytop_canbus/iflytop_canbus_master.hpp
View File

@ -95,7 +95,39 @@ class IflytopCanbusMaster {
void callcmd2(int32_t device_id, int32_t cmdid, int32_t param0, int32_t param1, int32_t overtime = 100);
void callcmd3(int32_t device_id, int32_t cmdid, int32_t param0, int32_t param1, int32_t param2, int32_t overtime = 100);
public:
/***********************************************************************************************************************
* FUNC IMPL *
***********************************************************************************************************************/
void ping(int32_t device_id);
void readreg(int32_t device_id, int32_t regaddr, int32_t *val);
void writereg(int32_t device_id, int32_t regaddr, int32_t val);
void module_stop(int32_t device_id) { callcmd0(device_id, kmodule_stop); }
void module_break(int32_t device_id) { callcmd0(device_id, kmodule_break); }
void module_active_cfg(int32_t device_id) { callcmd0(device_id, kmodule_active_cfg); }
void motor_enable(int32_t device_id, int32_t enable) { callcmd1(device_id, kmotor_enable, enable); }
void motor_easy_rotate(int32_t device_id, int32_t direction) { callcmd1(device_id, kmotor_easy_rotate, direction); }
void motor_easy_move_by(int32_t device_id, int32_t distance) { callcmd1(device_id, kmotor_easy_move_by, distance); }
void motor_easy_move_to(int32_t device_id, int32_t position) { callcmd1(device_id, kmotor_easy_move_to, position); }
void motor_easy_move_to_zero(int32_t device_id) { callcmd0(device_id, kmotor_easy_move_to_zero); }
void motor_easy_set_current_pos(int32_t device_id, int32_t position) { callcmd1(device_id, kmotor_easy_set_current_pos, position); }
void motor_easy_move_to_io(int32_t device_id, int32_t io) { callcmd1(device_id, kmotor_easy_move_to_io, io); }
void motor_set_subdevice_reg(int32_t device_id, int32_t regaddr, int32_t val) { callcmd2(device_id, kmotor_set_subdevice_reg, regaddr, val); }
int32_t motor_get_subdevice_reg(int32_t device_id, int32_t regaddr) {
callcmd1(device_id, kmotor_get_subdevice_reg, regaddr);
int32_t ret = *(int32_t *)m_receipt_frame->data;
}
int32_t motor_read_enc_val(int32_t device_id) {
callcmd0(device_id, kmotor_read_enc_val);
int32_t ret = *(int32_t *)m_receipt_frame->data;
}
void motor_set_enc_resolution(int32_t device_id, int32_t resolution) { callcmd1(device_id, kmotor_set_enc_resolution, resolution); }
int32_t motor_get_enc_resolution(int32_t device_id) {
callcmd0(device_id, kmotor_get_enc_resolution);
int32_t ret = *(int32_t *)m_receipt_frame->data;
}
private:
void sendframe(iflytop_canbus_frame_t *frame, size_t len);

7
libzqt/zui/z_function_list_box.cpp
View File

@ -1,5 +1,6 @@
#include "z_function_list_box.hpp"
#include "zqui.hpp"
using namespace iflytop;
using namespace std;
ZQFunctionListBox::ZQFunctionListBox(QWidget *parent, const QString &title, int column) : QGroupBox(parent) { //
@ -66,11 +67,11 @@ void ZQFunctionListBox::newFunc(QString zh_name, QStringList params, std::functi
args[i] = (char *)params[i].c_str();
}
try {
ZQUI::ins()->instructionPreviewClear();
onButtonClick(params.size(), (const char **)args);
ZQUI::ins()->instructionPreviewShow("OK");
} catch (const std::zexception &e) {
if (m_onException) {
m_onException(e);
}
ZQUI::ins()->instructionPreviewShow("%s", e.what());
}
});
});

72
libzqt/zui/z_reg_table_list_box.cpp
View File

@ -1,5 +1,7 @@
#include "z_reg_table_list_box.hpp"
#include <QScrollArea>
#include "logger.hpp"
#include "zqui.hpp"
@ -20,11 +22,11 @@ static const char *fmt(const char *fmt, ...) {
/***********************************************************************************************************************
* ZRegItem *
***********************************************************************************************************************/
ZRegItem::ZRegItem(QWidget *parent, QString &title, int addr, uint32_t flag) : QFrame(parent) {
ZRegItem::ZRegItem(QWidget *parent, QString &title, int addr, uint32_t flag) : QWidget(parent) {
m_flag = flag;
m_addr = addr;
m_layout = new QHBoxLayout(parent);
m_layout = new QHBoxLayout();
this->setLayout(m_layout);
m_layout->setMargin(0);
// m_layout->setSpacing(0);
@ -38,7 +40,7 @@ ZRegItem::ZRegItem(QWidget *parent, QString &title, int addr, uint32_t flag) : Q
// m_lable->setAlignment(Qt::AlignRight);
m_lable->setMinimumSize(50, 30);
m_lable->setMinimumSize(300, 30);
m_val->setMinimumSize(100, 30);
m_InfoVal->setMinimumSize(30, 30);
m_InfoVal->setMaximumSize(30, 30);
@ -59,30 +61,51 @@ ZRegItem::ZRegItem(QWidget *parent, QString &title, int addr, uint32_t flag) : Q
ZRegTableList::ZRegTableList(QWidget *parent, const QString &title) //
: QGroupBox(title) {
//
// fatherLayout
// father layout
m_layout = new QVBoxLayout(this);
this->setLayout(m_layout);
parent->layout()->addWidget(this);
// add FunctionList to
m_funcBox = new ZQFunctionListBox(this, "", 4);
// 预设方法
m_funcBox->newFunc("读全部", {}, [this](int argn, const char **args) { readAll(); });
{
// funcBox
{
m_funcBox = new ZQFunctionListBox(this, "", 4);
m_funcBox->newFunc("读全部", {}, [this](int argn, const char **args) { readAll(); });
}
// RegBox
{
m_regBox = new QGroupBox("寄存器列表", this);
{
QScrollArea *testar = new QScrollArea(); // 创建滚动显示区域
{
m_arWidget = new QWidget;
m_regBoxLayoutL2 = new QVBoxLayout(m_arWidget);
testar->setAlignment(Qt::AlignRight); // 设置滚动条位置
testar->setWidget(m_arWidget); // 将设置好的幕布嵌入到滚动显示区域
testar->setWidgetResizable(true); // 设置幕布自适应大小
testar->setSizePolicy(QSizePolicy(QSizePolicy::Preferred, QSizePolicy::Preferred));
testar->setMinimumSize(800, 800);
}
m_regBoxLayoutL1 = new QVBoxLayout(m_regBox);
m_regBoxLayoutL1->setMargin(0);
m_regBoxLayoutL1->addWidget(testar);
}
}
}
m_layout->addWidget(m_funcBox);
// add box to parent
m_regBox = new QGroupBox("寄存器列表", this);
m_regBoxLayout = new QVBoxLayout(this);
m_regBox->setLayout(m_regBoxLayout);
m_layout->addWidget(m_regBox);
parent->layout()->addWidget(this);
}
void ZRegTableList::addSpacer() {
m_layout->addItem(new QSpacerItem(20, 100, QSizePolicy::Minimum, QSizePolicy::Expanding));
m_regBoxLayoutL2->addItem(new QSpacerItem(20, 100, QSizePolicy::Minimum, QSizePolicy::Expanding));
}
void ZRegTableList::addReg(QString title, int addr, uint32_t flag) {
ZRegItem *item = new ZRegItem(this, title, addr, flag);
m_regBoxLayout->addWidget(item);
ZRegItem *item = new ZRegItem(m_arWidget, title, addr, flag);
m_regBoxLayoutL2->addWidget(item);
// m_writeButton
@ -126,11 +149,6 @@ void ZRegTableList::addReg(QString title, int addr, uint32_t flag) {
m_regMap[title] = item;
}
void ZRegTableList::addSpacer() {
m_layout->addItem(new QSpacerItem(20, 100, QSizePolicy::Minimum, QSizePolicy::Expanding));
m_regBoxLayout->addItem(new QSpacerItem(20, 100, QSizePolicy::Minimum, QSizePolicy::Expanding));
}
void ZRegTableList::readAll() {
ZQUI::ins()->instructionPreviewClear();
for (auto it = m_regMap.begin(); it != m_regMap.end(); it++) {
@ -141,10 +159,12 @@ void ZRegTableList::readAll() {
m_readreg_fn(item->m_addr, &val);
QString displayval = formatRegVal(val, item->m_flag);
QLineEdit *displayiterm = item->m_val;
ZQUI::ins()->doinui([displayiterm, displayval]() { displayiterm->setText(displayval); });
ZQUI::ins()->doinui([item,displayiterm, displayval]() {
item->show();
displayiterm->setText(displayval);
});
} catch (std::zexception &e) {
ZQUI::ins()->doinui([item]() {item->hide();});
ZQUI::ins()->doinui([item]() { item->hide(); });
}
}
}

18
libzqt/zui/z_reg_table_list_box.hpp
View File

@ -1,9 +1,9 @@
#pragma once
#include <QDateTime>
#include <QMainWindow>
#include <QMessageBox>
#include <QObject>
#include <QScrollArea>
#include <QtConcurrent>
#include <QtCore/QVariant>
#include <QtSerialPort/QSerialPort>
@ -53,7 +53,7 @@ using namespace std;
*
*/
class ZRegItem : public QFrame {
class ZRegItem : public QWidget {
Q_OBJECT
public:
typedef enum {
@ -94,8 +94,8 @@ class ZRegTableList : public QGroupBox {
typedef function<void(int32_t add, int32_t val)> write_reg_func_t;
typedef function<void(int32_t add, int32_t *val)> read_reg_func_t;
write_reg_func_t m_writereg_fn;
read_reg_func_t m_readreg_fn;
write_reg_func_t m_writereg_fn;
read_reg_func_t m_readreg_fn;
private:
/**
@ -113,8 +113,12 @@ class ZRegTableList : public QGroupBox {
QVBoxLayout *m_layout = nullptr;
ZQFunctionListBox *m_funcBox;
QGroupBox *m_regBox = nullptr;
QVBoxLayout *m_regBoxLayout = nullptr;
QGroupBox *m_regBox = nullptr;
QVBoxLayout *m_regBoxLayoutL1 = nullptr;
QVBoxLayout *m_regBoxLayoutL2 = nullptr;
// QScrollArea *m_testar;
QWidget *m_arWidget;
QMap<QString, ZRegItem *> m_regMap;
@ -123,6 +127,8 @@ class ZRegTableList : public QGroupBox {
void initializeRegOperation(write_reg_func_t write_reg_fn, read_reg_func_t read_reg_fn);
void newFunc(QString zh_name, QStringList params, std::function<void(int argn, const char **args)> onButtonClick) { m_funcBox->newFunc(zh_name, params, onButtonClick); }
void addReg(QString title, int addr, uint32_t flag);
void addSpacer();

397
mainwindow.cpp
View File

@ -16,6 +16,7 @@
#include "zui/z_function_list_box.hpp"
#include "zui/zq_vtab_page.hpp"
//
#include "iflytop_canbus\regid.hpp"
#include "zui/zui.hpp"
using namespace std;
@ -297,7 +298,11 @@ MainWindow::MainWindow(QWidget *parent) : QMainWindow(parent), ui(new Ui::MainWi
IflytopCanbusMaster::ins()->regOnRawData([this](raw_data_type_t type, uint8_t *hex, uint32_t hexlen) {
if (type == kcmd_cmd) {
ZQUI::ins()->rawDataPreviewShow("[CMD ] %s", zhex2str(hex, hexlen).c_str());
iflytop_canbus_frame_t *frame = (iflytop_canbus_frame_t *)hex;
ZQUI::ins()->rawDataPreviewShow("[CMD ] %s %s [id:%d cmd:%d,%d]", zhex2str(hex, sizeof(iflytop_canbus_frame_t)).c_str(), //
zhex2str(frame->data, hexlen - sizeof(iflytop_canbus_frame_t)).c_str(), //
frame->device_id, frame->cmd_main_id, frame->cmd_sub_id //
);
} else if (type == kcmd_receipt) {
ZQUI::ins()->rawDataPreviewShow("[RECEIPT] %s", zhex2str(hex, hexlen).c_str());
} else if (type == kcmd_report) {
@ -311,26 +316,88 @@ void MainWindow::processException(const zexception &e) { //
ZQUI::ins()->instructionPreviewShow("%s", e.what());
}
int32_t MainWindow::getDeviceId() { return ui->PublicState_DeviceID->toPlainText().toInt(); }
void MainWindow::constructAppUI() {
// int32_t motor_read_enc_val(int32_t device_id) {
// callcmd0(device_id, kmotor_read_enc_val);
// int32_t ret = *(int32_t *)m_receipt_frame->data;
// }
// void motor_set_enc_resolution(int32_t device_id, int32_t resolution) { callcmd1(device_id, kmotor_set_enc_resolution, resolution); }
// int32_t motor_get_enc_resolution(int32_t device_id) {
// callcmd0(device_id, kmotor_get_enc_resolution);
// int32_t ret = *(int32_t *)m_receipt_frame->data;
// }
{
ZQVTabPage *tab = new ZQVTabPage(ui->buttonTabWidget, "模块操作");
ZQFunctionListBox *box = new ZQFunctionListBox(tab, "模块基础操作", 4);
box->regOnException([this](const zexception &e) { processException(e); });
box->newFunc("扫描模块", {}, [this](int argn, const char **args) { //
for (size_t i = 1; i < 255; i++) {
try {
IflytopCanbusMaster::ins()->ping(i);
ZQUI::ins()->instructionPreviewShow("module :%d isOnline", i);
} catch (const zexception &e) {
if (e.ecode() != ke_overtime) {
processException(e);
break;
{
ZQFunctionListBox *box = new ZQFunctionListBox(tab, "模块基础操作", 4);
box->newFunc("扫描模块", {}, [this](int argn, const char **args) { //
for (size_t i = 1; i < 255; i++) {
try {
IflytopCanbusMaster::ins()->ping(i);
ZQUI::ins()->instructionPreviewShow("module :%d isOnline", i);
} catch (const zexception &e) {
if (e.ecode() != ke_overtime) {
processException(e);
break;
}
}
}
}
ZQUI::ins()->instructionPreviewShow("ScanModuleEnd");
});
ZQUI::ins()->instructionPreviewShow("ScanModuleEnd");
});
}
{
ZQFunctionListBox *box = new ZQFunctionListBox(tab, "电机配置", 4);
box->newFunc("电机设置编码器分辨率", {"resolution"}, [this](int argn, const char **args) { IflytopCanbusMaster::ins()->motor_set_enc_resolution(getDeviceId(), atoi(args[0])); });
box->newFunc("设置IRUM", {"[0-31]"}, [this](int argn, const char **args) { IflytopCanbusMaster::ins()->writereg(getDeviceId(), kreg_stepmotor_irun, atoi(args[0])); });
box->newFunc("设置IHOLD", {"[0-31]"}, [this](int argn, const char **args) { IflytopCanbusMaster::ins()->writereg(getDeviceId(), kreg_stepmotor_ihold, atoi(args[0])); });
box->newFunc("设置默认速度", {"velocity"}, [this](int argn, const char **args) { IflytopCanbusMaster::ins()->writereg(getDeviceId(), kreg_motor_default_velocity, atoi(args[0])); });
box->newFunc("激活配置", {}, [this](int argn, const char **args) { IflytopCanbusMaster::ins()->module_active_cfg(getDeviceId()); });
}
{
ZQFunctionListBox *box = new ZQFunctionListBox(tab, "电机状态读取", 4);
box->newFunc("电机读取编码器值", {}, [this](int argn, const char **args) {
int32_t retval = IflytopCanbusMaster::ins()->motor_read_enc_val(getDeviceId());
ZQUI::ins()->instructionPreviewShow("encVal %d", retval);
});
box->newFunc("电机读取编码器分辨率", {}, [this](int argn, const char **args) {
int32_t retval = IflytopCanbusMaster::ins()->motor_get_enc_resolution(getDeviceId());
ZQUI::ins()->instructionPreviewShow("encResolution %d", retval);
});
}
{
ZQFunctionListBox *box = new ZQFunctionListBox(tab, "电机操作", 4);
box->newFunc("停止电机", {}, [this](int argn, const char **args) { IflytopCanbusMaster::ins()->module_stop(getDeviceId()); });
box->newFunc("急停电机", {}, [this](int argn, const char **args) { IflytopCanbusMaster::ins()->module_break(getDeviceId()); });
box->newFunc("激活配置", {}, [this](int argn, const char **args) { IflytopCanbusMaster::ins()->module_active_cfg(getDeviceId()); });
box->newFunc("电机使能", {"enable"}, [this](int argn, const char **args) { IflytopCanbusMaster::ins()->motor_enable(getDeviceId(), atoi(args[0])); });
box->newFunc("电机旋转", {"direction"}, [this](int argn, const char **args) { IflytopCanbusMaster::ins()->motor_easy_rotate(getDeviceId(), atoi(args[0])); });
box->newFunc("电机移动", {"distance"}, [this](int argn, const char **args) { IflytopCanbusMaster::ins()->motor_easy_move_by(getDeviceId(), atoi(args[0])); });
box->newFunc("电机移动到", {"position"}, [this](int argn, const char **args) { IflytopCanbusMaster::ins()->motor_easy_move_to(getDeviceId(), atoi(args[0])); });
box->newFunc("电机归零", {}, [this](int argn, const char **args) { IflytopCanbusMaster::ins()->motor_easy_move_to_zero(getDeviceId()); });
box->newFunc("电机设置当前位置", {"position"}, [this](int argn, const char **args) { IflytopCanbusMaster::ins()->motor_easy_set_current_pos(getDeviceId(), atoi(args[0])); });
box->newFunc("电机移动到IO", {"io"}, [this](int argn, const char **args) { IflytopCanbusMaster::ins()->motor_easy_move_to_io(getDeviceId(), atoi(args[0])); });
box->newFunc("电机设置子设备寄存器", {"regaddr", "val"}, [this](int argn, const char **args) { IflytopCanbusMaster::ins()->motor_set_subdevice_reg(getDeviceId(), atoi(args[0]), atoi(args[1])); });
box->newFunc("电机读取子设备寄存器", {"regaddr"}, [this](int argn, const char **args) {
int32_t retval = IflytopCanbusMaster::ins()->motor_get_subdevice_reg(getDeviceId(), atoi(args[0]));
ZQUI::ins()->instructionPreviewShow("regVal 0x%08x", retval);
});
}
{
ZQFunctionListBox *box = new ZQFunctionListBox(tab, "驱动底层配置", 4);
box->newFunc("电机设置子设备寄存器", {"regaddr", "val"}, [this](int argn, const char **args) { IflytopCanbusMaster::ins()->motor_set_subdevice_reg(getDeviceId(), atoi(args[0]), atoi(args[1])); });
box->newFunc("电机读取子设备寄存器", {"regaddr"}, [this](int argn, const char **args) {
int32_t retval = IflytopCanbusMaster::ins()->motor_get_subdevice_reg(getDeviceId(), atoi(args[0]));
ZQUI::ins()->instructionPreviewShow("regVal 0x%08x", retval);
});
}
tab->addSpacer();
}
@ -340,20 +407,308 @@ void MainWindow::constructAppUI() {
ZRegTableList *tableBox = new ZRegTableList(tab, "寄存器操作");
tableBox->initializeRegOperation(
[this](int32_t add, int32_t val) { //
IflytopCanbusMaster::ins()->writereg(getDeviceId(), add, val);
return true;
},
[this](int32_t add, int32_t *val) { //
*val = add;
IflytopCanbusMaster::ins()->readreg(getDeviceId(), add, val);
return true;
});
// tableBox->add
tableBox->newFunc("激活配置", {}, [this](int argn, const char **args) { IflytopCanbusMaster::ins()->module_active_cfg(getDeviceId()); });
tableBox->addReg("123", 1, ZRegItem::krw | ZRegItem::kdec);
tableBox->addReg("234", 2, ZRegItem::krw | ZRegItem::kdec);
tableBox->addReg("345", 3, ZRegItem::krw | ZRegItem::kdec);
// tableBox->add
tableBox->addReg("module_version", kreg_module_version, ZRegItem::krw | ZRegItem::kdec);
tableBox->addReg("module_type", kreg_module_type, ZRegItem::krw | ZRegItem::kdec);
tableBox->addReg("module_status", kreg_module_status, ZRegItem::krw | ZRegItem::kdec);
tableBox->addReg("module_errorcode", kreg_module_errorcode, ZRegItem::krw | ZRegItem::kdec);
tableBox->addReg("module_initflag", kreg_module_initflag, ZRegItem::krw | ZRegItem::kdec);
tableBox->addReg("module_enableflag", kreg_module_enableflag, ZRegItem::krw | ZRegItem::kdec);
tableBox->addReg("module_errorbitflag0", kreg_module_errorbitflag0, ZRegItem::krw | ZRegItem::kdec);
tableBox->addReg("module_errorbitflag1", kreg_module_errorbitflag1, ZRegItem::krw | ZRegItem::kdec);
tableBox->addReg("module_input_state", kreg_module_input_state, ZRegItem::krw | ZRegItem::kdec);
tableBox->addReg("module_output_state", kreg_module_output_state, ZRegItem::krw | ZRegItem::kdec);
tableBox->addReg("module_raw_sector_size", kreg_module_raw_sector_size, ZRegItem::krw | ZRegItem::kdec);
tableBox->addReg("module_raw_sector_num", kreg_module_raw_sector_num, ZRegItem::krw | ZRegItem::kdec);
tableBox->addReg("module_is_online", kreg_module_is_online, ZRegItem::krw | ZRegItem::kdec);
tableBox->addReg("module_last_cmd_exec_status", kreg_module_last_cmd_exec_status, ZRegItem::krw | ZRegItem::kdec);
tableBox->addReg("module_last_cmd_exec_val0", kreg_module_last_cmd_exec_val0, ZRegItem::krw | ZRegItem::kdec);
// tableBox->addReg("module_last_cmd_exec_val1", kreg_module_last_cmd_exec_val1, ZRegItem::krw | ZRegItem::kdec);
// tableBox->addReg("module_last_cmd_exec_val2", kreg_module_last_cmd_exec_val2, ZRegItem::krw | ZRegItem::kdec);
// tableBox->addReg("module_last_cmd_exec_val3", kreg_module_last_cmd_exec_val3, ZRegItem::krw | ZRegItem::kdec);
// tableBox->addReg("module_last_cmd_exec_val4", kreg_module_last_cmd_exec_val4, ZRegItem::krw | ZRegItem::kdec);
// tableBox->addReg("module_last_cmd_exec_val5", kreg_module_last_cmd_exec_val5, ZRegItem::krw | ZRegItem::kdec);
// tableBox->addReg("module_private0", kreg_module_private0, ZRegItem::krw | ZRegItem::kdec);
// tableBox->addReg("module_private1", kreg_module_private1, ZRegItem::krw | ZRegItem::kdec);
// tableBox->addReg("module_private2", kreg_module_private2, ZRegItem::krw | ZRegItem::kdec);
// tableBox->addReg("module_private3", kreg_module_private3, ZRegItem::krw | ZRegItem::kdec);
// tableBox->addReg("module_private4", kreg_module_private4, ZRegItem::krw | ZRegItem::kdec);
// tableBox->addReg("module_private5", kreg_module_private5, ZRegItem::krw | ZRegItem::kdec);
// tableBox->addReg("module_private6", kreg_module_private6, ZRegItem::krw | ZRegItem::kdec);
// tableBox->addReg("module_private7", kreg_module_private7, ZRegItem::krw | ZRegItem::kdec);
// tableBox->addReg("module_private8", kreg_module_private8, ZRegItem::krw | ZRegItem::kdec);
// tableBox->addReg("module_private9", kreg_module_private9, ZRegItem::krw | ZRegItem::kdec);
// tableBox->addReg("module_do_action0", kreg_module_do_action0, ZRegItem::krw | ZRegItem::kdec);
// tableBox->addReg("module_action_param1", kreg_module_action_param1, ZRegItem::krw | ZRegItem::kdec);
// tableBox->addReg("module_action_param2", kreg_module_action_param2, ZRegItem::krw | ZRegItem::kdec);
// tableBox->addReg("module_action_param3", kreg_module_action_param3, ZRegItem::krw | ZRegItem::kdec);
// tableBox->addReg("module_action_param4", kreg_module_action_param4, ZRegItem::krw | ZRegItem::kdec);
// tableBox->addReg("module_action_param5", kreg_module_action_param5, ZRegItem::krw | ZRegItem::kdec);
// tableBox->addReg("module_action_param6", kreg_module_action_param6, ZRegItem::krw | ZRegItem::kdec);
// tableBox->addReg("module_action_param7", kreg_module_action_param7, ZRegItem::krw | ZRegItem::kdec);
// tableBox->addReg("module_action_param8", kreg_module_action_param8, ZRegItem::krw | ZRegItem::kdec);
// tableBox->addReg("module_action_param9", kreg_module_action_param9, ZRegItem::krw | ZRegItem::kdec);
// tableBox->addReg("module_action_ack1", kreg_module_action_ack1, ZRegItem::krw | ZRegItem::kdec);
// tableBox->addReg("module_action_ack2", kreg_module_action_ack2, ZRegItem::krw | ZRegItem::kdec);
// tableBox->addReg("module_action_ack3", kreg_module_action_ack3, ZRegItem::krw | ZRegItem::kdec);
// tableBox->addReg("module_action_ack4", kreg_module_action_ack4, ZRegItem::krw | ZRegItem::kdec);
// tableBox->addReg("module_action_ack5", kreg_module_action_ack5, ZRegItem::krw | ZRegItem::kdec);
// tableBox->addReg("module_action_ack6", kreg_module_action_ack6, ZRegItem::krw | ZRegItem::kdec);
// tableBox->addReg("module_action_ack7", kreg_module_action_ack7, ZRegItem::krw | ZRegItem::kdec);
// tableBox->addReg("module_action_ack8", kreg_module_action_ack8, ZRegItem::krw | ZRegItem::kdec);
// tableBox->addReg("module_action_ack9", kreg_module_action_ack9, ZRegItem::krw | ZRegItem::kdec);
tableBox->addReg("sensor_current", kreg_sensor_current, ZRegItem::krw | ZRegItem::kdec);
tableBox->addReg("sensor_voltage", kreg_sensor_voltage, ZRegItem::krw | ZRegItem::kdec);
tableBox->addReg("sensor_temperature", kreg_sensor_temperature, ZRegItem::krw | ZRegItem::kdec);
tableBox->addReg("sensor_humidity", kreg_sensor_humidity, ZRegItem::krw | ZRegItem::kdec);
tableBox->addReg("sensor_wind_speed", kreg_sensor_wind_speed, ZRegItem::krw | ZRegItem::kdec);
tableBox->addReg("sensor_wind_dir", kreg_sensor_wind_dir, ZRegItem::krw | ZRegItem::kdec);
tableBox->addReg("sensor_air_press", kreg_sensor_air_press, ZRegItem::krw | ZRegItem::kdec);
tableBox->addReg("sensor_pm25", kreg_sensor_pm25, ZRegItem::krw | ZRegItem::kdec);
tableBox->addReg("sensor_pm10", kreg_sensor_pm10, ZRegItem::krw | ZRegItem::kdec);
tableBox->addReg("sensor_co", kreg_sensor_co, ZRegItem::krw | ZRegItem::kdec);
tableBox->addReg("sensor_co2", kreg_sensor_co2, ZRegItem::krw | ZRegItem::kdec);
tableBox->addReg("sensor_no2", kreg_sensor_no2, ZRegItem::krw | ZRegItem::kdec);
tableBox->addReg("sensor_so2", kreg_sensor_so2, ZRegItem::krw | ZRegItem::kdec);
tableBox->addReg("sensor_o3", kreg_sensor_o3, ZRegItem::krw | ZRegItem::kdec);
tableBox->addReg("sensor_light_intensity", kreg_sensor_light_intensity, ZRegItem::krw | ZRegItem::kdec);
tableBox->addReg("sensor_radiation", kreg_sensor_radiation, ZRegItem::krw | ZRegItem::kdec);
tableBox->addReg("sensor_hydrogen_peroxide_volume", kreg_sensor_hydrogen_peroxide_volume, ZRegItem::krw | ZRegItem::kdec);
tableBox->addReg("sensor_h2o_h2o2_rs", kreg_sensor_h2o_h2o2_rs, ZRegItem::krw | ZRegItem::kdec);
tableBox->addReg("sensor_relative_humidity", kreg_sensor_relative_humidity, ZRegItem::krw | ZRegItem::kdec);
tableBox->addReg("sensor_absolute_hydrogen_peroxide", kreg_sensor_absolute_hydrogen_peroxide, ZRegItem::krw | ZRegItem::kdec);
tableBox->addReg("sensor_h2o_h2o2dew_point_temperature", kreg_sensor_h2o_h2o2dew_point_temperature, ZRegItem::krw | ZRegItem::kdec);
tableBox->addReg("sensor_water_volume", kreg_sensor_water_volume, ZRegItem::krw | ZRegItem::kdec);
tableBox->addReg("sensor_water_vapor_pressure", kreg_sensor_water_vapor_pressure, ZRegItem::krw | ZRegItem::kdec);
tableBox->addReg("sensor_absolute_humidity", kreg_sensor_absolute_humidity, ZRegItem::krw | ZRegItem::kdec);
tableBox->addReg("sensor_water_vapor_saturation_pressure_h2o", kreg_sensor_water_vapor_saturation_pressure_h2o, ZRegItem::krw | ZRegItem::kdec);
tableBox->addReg("sensor_h2o2_vapor_pressure", kreg_sensor_h2o2_vapor_pressure, ZRegItem::krw | ZRegItem::kdec);
tableBox->addReg("sensor_water_vapor_saturation_pressure_h2o_h2o2", kreg_sensor_water_vapor_saturation_pressure_h2o_h2o2, ZRegItem::krw | ZRegItem::kdec);
tableBox->addReg("sensor_temperature0", kreg_sensor_temperature0, ZRegItem::krw | ZRegItem::kdec);
tableBox->addReg("sensor_temperature1", kreg_sensor_temperature1, ZRegItem::krw | ZRegItem::kdec);
tableBox->addReg("sensor_temperature2", kreg_sensor_temperature2, ZRegItem::krw | ZRegItem::kdec);
tableBox->addReg("sensor_temperature3", kreg_sensor_temperature3, ZRegItem::krw | ZRegItem::kdec);
tableBox->addReg("sensor_temperature4", kreg_sensor_temperature4, ZRegItem::krw | ZRegItem::kdec);
tableBox->addReg("sensor_temperature5", kreg_sensor_temperature5, ZRegItem::krw | ZRegItem::kdec);
tableBox->addReg("sensor_temperature6", kreg_sensor_temperature6, ZRegItem::krw | ZRegItem::kdec);
tableBox->addReg("sensor_temperature7", kreg_sensor_temperature7, ZRegItem::krw | ZRegItem::kdec);
tableBox->addReg("sensor_temperature8", kreg_sensor_temperature8, ZRegItem::krw | ZRegItem::kdec);
tableBox->addReg("sensor_temperature9", kreg_sensor_temperature9, ZRegItem::krw | ZRegItem::kdec);
tableBox->addReg("sensor_pressure0", kreg_sensor_pressure0, ZRegItem::krw | ZRegItem::kdec);
tableBox->addReg("sensor_pressure1", kreg_sensor_pressure1, ZRegItem::krw | ZRegItem::kdec);
tableBox->addReg("sensor_pressure2", kreg_sensor_pressure2, ZRegItem::krw | ZRegItem::kdec);
tableBox->addReg("sensor_pressure3", kreg_sensor_pressure3, ZRegItem::krw | ZRegItem::kdec);
tableBox->addReg("sensor_pressure4", kreg_sensor_pressure4, ZRegItem::krw | ZRegItem::kdec);
tableBox->addReg("sensor_pressure5", kreg_sensor_pressure5, ZRegItem::krw | ZRegItem::kdec);
tableBox->addReg("sensor_pressure6", kreg_sensor_pressure6, ZRegItem::krw | ZRegItem::kdec);
tableBox->addReg("sensor_pressure7", kreg_sensor_pressure7, ZRegItem::krw | ZRegItem::kdec);
tableBox->addReg("sensor_pressure8", kreg_sensor_pressure8, ZRegItem::krw | ZRegItem::kdec);
tableBox->addReg("sensor_pressure9", kreg_sensor_pressure9, ZRegItem::krw | ZRegItem::kdec);
tableBox->addReg("sensor_humidity0", kreg_sensor_humidity0, ZRegItem::krw | ZRegItem::kdec);
tableBox->addReg("sensor_humidity1", kreg_sensor_humidity1, ZRegItem::krw | ZRegItem::kdec);
tableBox->addReg("sensor_humidity2", kreg_sensor_humidity2, ZRegItem::krw | ZRegItem::kdec);
tableBox->addReg("sensor_humidity3", kreg_sensor_humidity3, ZRegItem::krw | ZRegItem::kdec);
tableBox->addReg("sensor_humidity4", kreg_sensor_humidity4, ZRegItem::krw | ZRegItem::kdec);
tableBox->addReg("sensor_humidity5", kreg_sensor_humidity5, ZRegItem::krw | ZRegItem::kdec);
tableBox->addReg("sensor_humidity6", kreg_sensor_humidity6, ZRegItem::krw | ZRegItem::kdec);
tableBox->addReg("sensor_humidity7", kreg_sensor_humidity7, ZRegItem::krw | ZRegItem::kdec);
tableBox->addReg("sensor_humidity8", kreg_sensor_humidity8, ZRegItem::krw | ZRegItem::kdec);
tableBox->addReg("sensor_humidity9", kreg_sensor_humidity9, ZRegItem::krw | ZRegItem::kdec);
tableBox->addReg("pwm0_ctrl", kreg_pwm0_ctrl, ZRegItem::krw | ZRegItem::kdec);
tableBox->addReg("pwm0_duty", kreg_pwm0_duty, ZRegItem::krw | ZRegItem::kdec);
tableBox->addReg("pwm0_freq", kreg_pwm0_freq, ZRegItem::krw | ZRegItem::kdec);
tableBox->addReg("pwm1_ctrl", kreg_pwm1_ctrl, ZRegItem::krw | ZRegItem::kdec);
tableBox->addReg("pwm1_duty", kreg_pwm1_duty, ZRegItem::krw | ZRegItem::kdec);
tableBox->addReg("pwm1_freq", kreg_pwm1_freq, ZRegItem::krw | ZRegItem::kdec);
tableBox->addReg("pwm2_ctrl", kreg_pwm2_ctrl, ZRegItem::krw | ZRegItem::kdec);
tableBox->addReg("pwm2_duty", kreg_pwm2_duty, ZRegItem::krw | ZRegItem::kdec);
tableBox->addReg("pwm2_freq", kreg_pwm2_freq, ZRegItem::krw | ZRegItem::kdec);
tableBox->addReg("pwm3_ctrl", kreg_pwm3_ctrl, ZRegItem::krw | ZRegItem::kdec);
tableBox->addReg("pwm3_duty", kreg_pwm3_duty, ZRegItem::krw | ZRegItem::kdec);
tableBox->addReg("pwm3_freq", kreg_pwm3_freq, ZRegItem::krw | ZRegItem::kdec);
tableBox->addReg("pwm4_ctrl", kreg_pwm4_ctrl, ZRegItem::krw | ZRegItem::kdec);
tableBox->addReg("pwm4_duty", kreg_pwm4_duty, ZRegItem::krw | ZRegItem::kdec);
tableBox->addReg("pwm4_freq", kreg_pwm4_freq, ZRegItem::krw | ZRegItem::kdec);
tableBox->addReg("pwm5_ctrl", kreg_pwm5_ctrl, ZRegItem::krw | ZRegItem::kdec);
tableBox->addReg("pwm5_duty", kreg_pwm5_duty, ZRegItem::krw | ZRegItem::kdec);
tableBox->addReg("pwm5_freq", kreg_pwm5_freq, ZRegItem::krw | ZRegItem::kdec);
tableBox->addReg("pwm6_ctrl", kreg_pwm6_ctrl, ZRegItem::krw | ZRegItem::kdec);
tableBox->addReg("pwm6_duty", kreg_pwm6_duty, ZRegItem::krw | ZRegItem::kdec);
tableBox->addReg("pwm6_freq", kreg_pwm6_freq, ZRegItem::krw | ZRegItem::kdec);
tableBox->addReg("pwm7_ctrl", kreg_pwm7_ctrl, ZRegItem::krw | ZRegItem::kdec);
tableBox->addReg("pwm7_duty", kreg_pwm7_duty, ZRegItem::krw | ZRegItem::kdec);
tableBox->addReg("pwm7_freq", kreg_pwm7_freq, ZRegItem::krw | ZRegItem::kdec);
tableBox->addReg("robot_move", kreg_robot_move, ZRegItem::krw | ZRegItem::kdec);
tableBox->addReg("robot_pos", kreg_robot_pos, ZRegItem::krw | ZRegItem::kdec);
tableBox->addReg("robot_velocity", kreg_robot_velocity, ZRegItem::krw | ZRegItem::kdec);
tableBox->addReg("robot_torque", kreg_robot_torque, ZRegItem::krw | ZRegItem::kdec);
tableBox->addReg("motor_shift", kreg_motor_shift, ZRegItem::krw | ZRegItem::kdec);
tableBox->addReg("motor_shaft", kreg_motor_shaft, ZRegItem::krw | ZRegItem::kdec);
tableBox->addReg("motor_one_circle_pulse", kreg_motor_one_circle_pulse, ZRegItem::krw | ZRegItem::kdec);
tableBox->addReg("motor_one_circle_pulse_denominator", kreg_motor_one_circle_pulse_denominator, ZRegItem::krw | ZRegItem::kdec);
tableBox->addReg("motor_default_velocity", kreg_motor_default_velocity, ZRegItem::krw | ZRegItem::kdec);
tableBox->addReg("motor_default_acc", kreg_motor_default_acc, ZRegItem::krw | ZRegItem::kdec);
tableBox->addReg("motor_default_dec", kreg_motor_default_dec, ZRegItem::krw | ZRegItem::kdec);
tableBox->addReg("motor_default_break_dec", kreg_motor_default_break_dec, ZRegItem::krw | ZRegItem::kdec);
tableBox->addReg("stepmotor_ihold", kreg_stepmotor_ihold, ZRegItem::krw | ZRegItem::kdec);
tableBox->addReg("stepmotor_irun", kreg_stepmotor_irun, ZRegItem::krw | ZRegItem::kdec);
tableBox->addReg("stepmotor_iholddelay", kreg_stepmotor_iholddelay, ZRegItem::krw | ZRegItem::kdec);
tableBox->addReg("stepmotor_iglobalscaler", kreg_stepmotor_iglobalscaler, ZRegItem::krw | ZRegItem::kdec);
tableBox->addReg("motor_run_to_zero_max_d", kreg_motor_run_to_zero_max_d, ZRegItem::krw | ZRegItem::kdec);
tableBox->addReg("motor_look_zero_edge_max_d", kreg_motor_look_zero_edge_max_d, ZRegItem::krw | ZRegItem::kdec);
tableBox->addReg("motor_run_to_zero_speed", kreg_motor_run_to_zero_speed, ZRegItem::krw | ZRegItem::kdec);
tableBox->addReg("motor_run_to_zero_dec", kreg_motor_run_to_zero_dec, ZRegItem::krw | ZRegItem::kdec);
tableBox->addReg("motor_look_zero_edge_speed", kreg_motor_look_zero_edge_speed, ZRegItem::krw | ZRegItem::kdec);
tableBox->addReg("motor_look_zero_edge_dec", kreg_motor_look_zero_edge_dec, ZRegItem::krw | ZRegItem::kdec);
tableBox->addReg("motor_default_torque", kreg_motor_default_torque, ZRegItem::krw | ZRegItem::kdec);
tableBox->addReg("motor_max_d", kreg_motor_max_d, ZRegItem::krw | ZRegItem::kdec);
tableBox->addReg("motor_min_d", kreg_motor_min_d, ZRegItem::krw | ZRegItem::kdec);
tableBox->addReg("robot_x_move", kreg_robot_x_move, ZRegItem::krw | ZRegItem::kdec);
tableBox->addReg("robot_x_pos", kreg_robot_x_pos, ZRegItem::krw | ZRegItem::kdec);
tableBox->addReg("robot_x_velocity", kreg_robot_x_velocity, ZRegItem::krw | ZRegItem::kdec);
tableBox->addReg("robot_x_torque", kreg_robot_x_torque, ZRegItem::krw | ZRegItem::kdec);
tableBox->addReg("motor_x_shift", kreg_motor_x_shift, ZRegItem::krw | ZRegItem::kdec);
tableBox->addReg("motor_x_shaft", kreg_motor_x_shaft, ZRegItem::krw | ZRegItem::kdec);
tableBox->addReg("motor_x_one_circle_pulse", kreg_motor_x_one_circle_pulse, ZRegItem::krw | ZRegItem::kdec);
tableBox->addReg("motor_x_default_velocity", kreg_motor_x_default_velocity, ZRegItem::krw | ZRegItem::kdec);
tableBox->addReg("motor_x_default_acc", kreg_motor_x_default_acc, ZRegItem::krw | ZRegItem::kdec);
tableBox->addReg("motor_x_default_dec", kreg_motor_x_default_dec, ZRegItem::krw | ZRegItem::kdec);
tableBox->addReg("motor_x_default_break_dec", kreg_motor_x_default_break_dec, ZRegItem::krw | ZRegItem::kdec);
tableBox->addReg("stepmotor_x_ihold", kreg_stepmotor_x_ihold, ZRegItem::krw | ZRegItem::kdec);
tableBox->addReg("stepmotor_x_irun", kreg_stepmotor_x_irun, ZRegItem::krw | ZRegItem::kdec);
tableBox->addReg("stepmotor_x_iholddelay", kreg_stepmotor_x_iholddelay, ZRegItem::krw | ZRegItem::kdec);
tableBox->addReg("motor_run_to_zero_max_x_d", kreg_motor_run_to_zero_max_x_d, ZRegItem::krw | ZRegItem::kdec);
tableBox->addReg("motor_look_zero_edge_max_x_d", kreg_motor_look_zero_edge_max_x_d, ZRegItem::krw | ZRegItem::kdec);
tableBox->addReg("motor_x_run_to_zero_speed", kreg_motor_x_run_to_zero_speed, ZRegItem::krw | ZRegItem::kdec);
tableBox->addReg("motor_x_run_to_zero_dec", kreg_motor_x_run_to_zero_dec, ZRegItem::krw | ZRegItem::kdec);
tableBox->addReg("motor_x_look_zero_edge_speed", kreg_motor_x_look_zero_edge_speed, ZRegItem::krw | ZRegItem::kdec);
tableBox->addReg("motor_x_look_zero_edge_dec", kreg_motor_x_look_zero_edge_dec, ZRegItem::krw | ZRegItem::kdec);
tableBox->addReg("motor_x_default_torque", kreg_motor_x_default_torque, ZRegItem::krw | ZRegItem::kdec);
tableBox->addReg("motor_max_x_d", kreg_motor_max_x_d, ZRegItem::krw | ZRegItem::kdec);
tableBox->addReg("motor_min_x_d", kreg_motor_min_x_d, ZRegItem::krw | ZRegItem::kdec);
tableBox->addReg("robot_y_move", kreg_robot_y_move, ZRegItem::krw | ZRegItem::kdec);
tableBox->addReg("robot_y_pos", kreg_robot_y_pos, ZRegItem::krw | ZRegItem::kdec);
tableBox->addReg("robot_y_velocity", kreg_robot_y_velocity, ZRegItem::krw | ZRegItem::kdec);
tableBox->addReg("robot_y_torque", kreg_robot_y_torque, ZRegItem::krw | ZRegItem::kdec);
tableBox->addReg("motor_y_shift", kreg_motor_y_shift, ZRegItem::krw | ZRegItem::kdec);
tableBox->addReg("motor_y_shaft", kreg_motor_y_shaft, ZRegItem::krw | ZRegItem::kdec);
tableBox->addReg("motor_y_one_circle_pulse", kreg_motor_y_one_circle_pulse, ZRegItem::krw | ZRegItem::kdec);
tableBox->addReg("motor_y_default_velocity", kreg_motor_y_default_velocity, ZRegItem::krw | ZRegItem::kdec);
tableBox->addReg("motor_y_default_acc", kreg_motor_y_default_acc, ZRegItem::krw | ZRegItem::kdec);
tableBox->addReg("motor_y_default_dec", kreg_motor_y_default_dec, ZRegItem::krw | ZRegItem::kdec);
tableBox->addReg("motor_y_default_break_dec", kreg_motor_y_default_break_dec, ZRegItem::krw | ZRegItem::kdec);
tableBox->addReg("stepmotor_y_ihold", kreg_stepmotor_y_ihold, ZRegItem::krw | ZRegItem::kdec);
tableBox->addReg("stepmotor_y_irun", kreg_stepmotor_y_irun, ZRegItem::krw | ZRegItem::kdec);
tableBox->addReg("stepmotor_y_iholddelay", kreg_stepmotor_y_iholddelay, ZRegItem::krw | ZRegItem::kdec);
tableBox->addReg("motor_run_to_zero_max_y_d", kreg_motor_run_to_zero_max_y_d, ZRegItem::krw | ZRegItem::kdec);
tableBox->addReg("motor_look_zero_edge_max_y_d", kreg_motor_look_zero_edge_max_y_d, ZRegItem::krw | ZRegItem::kdec);
tableBox->addReg("motor_y_run_to_zero_speed", kreg_motor_y_run_to_zero_speed, ZRegItem::krw | ZRegItem::kdec);
tableBox->addReg("motor_y_run_to_zero_dec", kreg_motor_y_run_to_zero_dec, ZRegItem::krw | ZRegItem::kdec);
tableBox->addReg("motor_y_look_zero_edge_speed", kreg_motor_y_look_zero_edge_speed, ZRegItem::krw | ZRegItem::kdec);
tableBox->addReg("motor_y_look_zero_edge_dec", kreg_motor_y_look_zero_edge_dec, ZRegItem::krw | ZRegItem::kdec);
tableBox->addReg("motor_y_default_torque", kreg_motor_y_default_torque, ZRegItem::krw | ZRegItem::kdec);
tableBox->addReg("motor_max_y_d", kreg_motor_max_y_d, ZRegItem::krw | ZRegItem::kdec);
tableBox->addReg("motor_min_y_d", kreg_motor_min_y_d, ZRegItem::krw | ZRegItem::kdec);
tableBox->addReg("robot_z_move", kreg_robot_z_move, ZRegItem::krw | ZRegItem::kdec);
tableBox->addReg("robot_z_pos", kreg_robot_z_pos, ZRegItem::krw | ZRegItem::kdec);
tableBox->addReg("robot_z_velocity", kreg_robot_z_velocity, ZRegItem::krw | ZRegItem::kdec);
tableBox->addReg("robot_z_torque", kreg_robot_z_torque, ZRegItem::krw | ZRegItem::kdec);
tableBox->addReg("motor_z_shift", kreg_motor_z_shift, ZRegItem::krw | ZRegItem::kdec);
tableBox->addReg("motor_z_shaft", kreg_motor_z_shaft, ZRegItem::krw | ZRegItem::kdec);
tableBox->addReg("motor_z_one_circle_pulse", kreg_motor_z_one_circle_pulse, ZRegItem::krw | ZRegItem::kdec);
tableBox->addReg("motor_z_default_velocity", kreg_motor_z_default_velocity, ZRegItem::krw | ZRegItem::kdec);
tableBox->addReg("motor_z_default_acc", kreg_motor_z_default_acc, ZRegItem::krw | ZRegItem::kdec);
tableBox->addReg("motor_z_default_dec", kreg_motor_z_default_dec, ZRegItem::krw | ZRegItem::kdec);
tableBox->addReg("motor_z_default_break_dec", kreg_motor_z_default_break_dec, ZRegItem::krw | ZRegItem::kdec);
tableBox->addReg("stepmotor_z_ihold", kreg_stepmotor_z_ihold, ZRegItem::krw | ZRegItem::kdec);
tableBox->addReg("stepmotor_z_irun", kreg_stepmotor_z_irun, ZRegItem::krw | ZRegItem::kdec);
tableBox->addReg("stepmotor_z_iholddelay", kreg_stepmotor_z_iholddelay, ZRegItem::krw | ZRegItem::kdec);
tableBox->addReg("motor_run_to_zero_max_z_d", kreg_motor_run_to_zero_max_z_d, ZRegItem::krw | ZRegItem::kdec);
tableBox->addReg("motor_look_zero_edge_max_z_d", kreg_motor_look_zero_edge_max_z_d, ZRegItem::krw | ZRegItem::kdec);
tableBox->addReg("motor_z_run_to_zero_speed", kreg_motor_z_run_to_zero_speed, ZRegItem::krw | ZRegItem::kdec);
tableBox->addReg("motor_z_run_to_zero_dec", kreg_motor_z_run_to_zero_dec, ZRegItem::krw | ZRegItem::kdec);
tableBox->addReg("motor_z_look_zero_edge_speed", kreg_motor_z_look_zero_edge_speed, ZRegItem::krw | ZRegItem::kdec);
tableBox->addReg("motor_z_look_zero_edge_dec", kreg_motor_z_look_zero_edge_dec, ZRegItem::krw | ZRegItem::kdec);
tableBox->addReg("motor_z_default_torque", kreg_motor_z_default_torque, ZRegItem::krw | ZRegItem::kdec);
tableBox->addReg("motor_max_z_d", kreg_motor_max_z_d, ZRegItem::krw | ZRegItem::kdec);
tableBox->addReg("motor_min_z_d", kreg_motor_min_z_d, ZRegItem::krw | ZRegItem::kdec);
tableBox->addReg("xyrobot_robot_type", kreg_xyrobot_robot_type, ZRegItem::krw | ZRegItem::kdec);
tableBox->addReg("pid_target", kreg_pid_target, ZRegItem::krw | ZRegItem::kdec);
tableBox->addReg("pid_nowoutput", kreg_pid_nowoutput, ZRegItem::krw | ZRegItem::kdec);
tableBox->addReg("pid_feedbackval", kreg_pid_feedbackval, ZRegItem::krw | ZRegItem::kdec);
tableBox->addReg("pid_kp", kreg_pid_kp, ZRegItem::krw | ZRegItem::kdec);
tableBox->addReg("pid_ki", kreg_pid_ki, ZRegItem::krw | ZRegItem::kdec);
tableBox->addReg("pid_kd", kreg_pid_kd, ZRegItem::krw | ZRegItem::kdec);
tableBox->addReg("pid_max_output", kreg_pid_max_output, ZRegItem::krw | ZRegItem::kdec);
tableBox->addReg("pid_min_output", kreg_pid_min_output, ZRegItem::krw | ZRegItem::kdec);
tableBox->addReg("pid_max_integral", kreg_pid_max_integral, ZRegItem::krw | ZRegItem::kdec);
tableBox->addReg("pid_min_integral", kreg_pid_min_integral, ZRegItem::krw | ZRegItem::kdec);
tableBox->addReg("error_limit", kreg_error_limit, ZRegItem::krw | ZRegItem::kdec);
tableBox->addReg("compute_interval", kreg_compute_interval, ZRegItem::krw | ZRegItem::kdec);
tableBox->addReg("fan0_ctrl_speed_level", kreg_fan0_ctrl_speed_level, ZRegItem::krw | ZRegItem::kdec);
tableBox->addReg("fan1_ctrl_speed_level", kreg_fan1_ctrl_speed_level, ZRegItem::krw | ZRegItem::kdec);
tableBox->addReg("fan2_ctrl_speed_level", kreg_fan2_ctrl_speed_level, ZRegItem::krw | ZRegItem::kdec);
tableBox->addReg("fan3_ctrl_speed_level", kreg_fan3_ctrl_speed_level, ZRegItem::krw | ZRegItem::kdec);
tableBox->addReg("fan4_ctrl_speed_level", kreg_fan4_ctrl_speed_level, ZRegItem::krw | ZRegItem::kdec);
tableBox->addReg("fan0_speed_level", kreg_fan0_speed_level, ZRegItem::krw | ZRegItem::kdec);
tableBox->addReg("fan1_speed_level", kreg_fan1_speed_level, ZRegItem::krw | ZRegItem::kdec);
tableBox->addReg("fan2_speed_level", kreg_fan2_speed_level, ZRegItem::krw | ZRegItem::kdec);
tableBox->addReg("fan3_speed_level", kreg_fan3_speed_level, ZRegItem::krw | ZRegItem::kdec);
tableBox->addReg("fan4_speed_level", kreg_fan4_speed_level, ZRegItem::krw | ZRegItem::kdec);
tableBox->addReg("pwm_pump0_ctrl_speed_level", kreg_pwm_pump0_ctrl_speed_level, ZRegItem::krw | ZRegItem::kdec);
tableBox->addReg("pwm_pump1_ctrl_speed_level", kreg_pwm_pump1_ctrl_speed_level, ZRegItem::krw | ZRegItem::kdec);
tableBox->addReg("pwm_pump2_ctrl_speed_level", kreg_pwm_pump2_ctrl_speed_level, ZRegItem::krw | ZRegItem::kdec);
tableBox->addReg("pwm_pump3_ctrl_speed_level", kreg_pwm_pump3_ctrl_speed_level, ZRegItem::krw | ZRegItem::kdec);
tableBox->addReg("pwm_pump4_ctrl_speed_level", kreg_pwm_pump4_ctrl_speed_level, ZRegItem::krw | ZRegItem::kdec);
tableBox->addReg("pwm_pump0_speed_level", kreg_pwm_pump0_speed_level, ZRegItem::krw | ZRegItem::kdec);
tableBox->addReg("pwm_pump1_speed_level", kreg_pwm_pump1_speed_level, ZRegItem::krw | ZRegItem::kdec);
tableBox->addReg("pwm_pump2_speed_level", kreg_pwm_pump2_speed_level, ZRegItem::krw | ZRegItem::kdec);
tableBox->addReg("pwm_pump3_speed_level", kreg_pwm_pump3_speed_level, ZRegItem::krw | ZRegItem::kdec);
tableBox->addReg("pwm_pump4_speed_level", kreg_pwm_pump4_speed_level, ZRegItem::krw | ZRegItem::kdec);
tableBox->addReg("pipette_pos_ul", kreg_pipette_pos_ul, ZRegItem::krw | ZRegItem::kdec);
tableBox->addReg("pipette_capactitance_val", kreg_pipette_capactitance_val, ZRegItem::krw | ZRegItem::kdec);
tableBox->addReg("pipette_tip_state", kreg_pipette_tip_state, ZRegItem::krw | ZRegItem::kdec);
tableBox->addReg("pipette_limit_ul", kreg_pipette_limit_ul, ZRegItem::krw | ZRegItem::kdec);
tableBox->addReg("self_reflecting_laser_sensor_transmitting_power", kreg_self_reflecting_laser_sensor_transmitting_power, ZRegItem::krw | ZRegItem::kdec);
tableBox->addReg("self_reflecting_laser_sensor_receiving_tube_gain", kreg_self_reflecting_laser_sensor_receiving_tube_gain, ZRegItem::krw | ZRegItem::kdec);
tableBox->addReg("self_reflecting_laser_sensor_sample_interval_ms", kreg_self_reflecting_laser_sensor_sample_interval_ms, ZRegItem::krw | ZRegItem::kdec);
tableBox->addReg("self_reflecting_laser_sensor_num_samples", kreg_self_reflecting_laser_sensor_num_samples, ZRegItem::krw | ZRegItem::kdec);
tableBox->addReg("boditech_optical_scan_type", kreg_boditech_optical_scan_type, ZRegItem::krw | ZRegItem::kdec);
tableBox->addReg("boditech_optical_scan_start_pos", kreg_boditech_optical_scan_start_pos, ZRegItem::krw | ZRegItem::kdec);
tableBox->addReg("boditech_optical_scan_direction", kreg_boditech_optical_scan_direction, ZRegItem::krw | ZRegItem::kdec);
tableBox->addReg("boditech_optical_scan_step_interval", kreg_boditech_optical_scan_step_interval, ZRegItem::krw | ZRegItem::kdec);
tableBox->addReg("boditech_optical_scan_pointnum", kreg_boditech_optical_scan_pointnum, ZRegItem::krw | ZRegItem::kdec);
tableBox->addReg("boditech_optical_channel_select_num", kreg_boditech_optical_channel_select_num, ZRegItem::krw | ZRegItem::kdec);
tableBox->addReg("boditech_optical_laster_gain", kreg_boditech_optical_laster_gain, ZRegItem::krw | ZRegItem::kdec);
tableBox->addReg("boditech_optical_scan_gain", kreg_boditech_optical_scan_gain, ZRegItem::krw | ZRegItem::kdec);
tableBox->addReg("boditech_optical_trf_uvled_on_duration_us", kreg_boditech_optical_trf_uvled_on_duration_us, ZRegItem::krw | ZRegItem::kdec);
tableBox->addReg("boditech_optical_trf_uvled_off_duration_us", kreg_boditech_optical_trf_uvled_off_duration_us, ZRegItem::krw | ZRegItem::kdec);
tableBox->addReg("boditech_optical_trf_scan_delay_us", kreg_boditech_optical_trf_scan_delay_us, ZRegItem::krw | ZRegItem::kdec);
tableBox->addReg("boditech_optical_trf_scan_duration_us", kreg_boditech_optical_trf_scan_duration_us, ZRegItem::krw | ZRegItem::kdec);
tableBox->addReg("boditech_optical_scan_gain_adjust_suggestion", kreg_boditech_optical_scan_gain_adjust_suggestion, ZRegItem::krw | ZRegItem::kdec);
tableBox->addReg("boditech_optical_adc_result_overflow", kreg_boditech_optical_adc_result_overflow, ZRegItem::krw | ZRegItem::kdec);
tableBox->addReg("boditech_optical_laster_intensity", kreg_boditech_optical_laster_intensity, ZRegItem::krw | ZRegItem::kdec);
tableBox->addReg("laster_scaner_scan_type", kreg_laster_scaner_scan_type, ZRegItem::krw | ZRegItem::kdec);
tableBox->addReg("laster_scaner_scan_start_pos", kreg_laster_scaner_scan_start_pos, ZRegItem::krw | ZRegItem::kdec);
tableBox->addReg("laster_scaner_scan_direction", kreg_laster_scaner_scan_direction, ZRegItem::krw | ZRegItem::kdec);
tableBox->addReg("laster_scaner_scan_step_interval", kreg_laster_scaner_scan_step_interval, ZRegItem::krw | ZRegItem::kdec);
tableBox->addReg("laster_scaner_scan_pointnum", kreg_laster_scaner_scan_pointnum, ZRegItem::krw | ZRegItem::kdec);
tableBox->addReg("laster_scaner_laster_gain", kreg_laster_scaner_laster_gain, ZRegItem::krw | ZRegItem::kdec);
tableBox->addReg("laster_scaner_scan_gain", kreg_laster_scaner_scan_gain, ZRegItem::krw | ZRegItem::kdec);
tableBox->addReg("laster_scaner_scan_gain_adjust_suggestion", kreg_laster_scaner_scan_gain_adjust_suggestion, ZRegItem::krw | ZRegItem::kdec);
tableBox->addReg("laster_scaner_adc_result_overflow", kreg_laster_scaner_adc_result_overflow, ZRegItem::krw | ZRegItem::kdec);
tableBox->addReg("laster_scaner_laster_intensity", kreg_laster_scaner_laster_intensity, ZRegItem::krw | ZRegItem::kdec);
tableBox->addSpacer();
tab->addSpacer();
}
}

2
mainwindow.h
View File

@ -114,5 +114,7 @@ class MainWindow : public QMainWindow {
void addNewButtonStyle1(QWidget *box, QString zh_name, QStringList params, std::function<void(int argn, const char **args)> onButtonClick);
void endAllocNewBox(QGroupBox *box);
void endAllocNewTab(QWidget *tab);
int32_t getDeviceId();
};
#endif // MAINWINDOW_H
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