From f4ab8b282eba35225950b79f3b0abfc5738e420e Mon Sep 17 00:00:00 2001 From: zhaohe Date: Mon, 15 Apr 2024 17:50:05 +0800 Subject: [PATCH] update --- iflytop_canbus/iflytop_canbus_master.cpp | 7 +- iflytop_canbus/iflytop_canbus_master.hpp | 32 +++ libzqt/zui/z_function_list_box.cpp | 7 +- libzqt/zui/z_reg_table_list_box.cpp | 72 ++++-- libzqt/zui/z_reg_table_list_box.hpp | 18 +- mainwindow.cpp | 397 +++++++++++++++++++++++++++++-- mainwindow.h | 2 + 7 files changed, 478 insertions(+), 57 deletions(-) diff --git a/iflytop_canbus/iflytop_canbus_master.cpp b/iflytop_canbus/iflytop_canbus_master.cpp index df430ac..5b5000b 100644 --- a/iflytop_canbus/iflytop_canbus_master.cpp +++ b/iflytop_canbus/iflytop_canbus_master.cpp @@ -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]; diff --git a/iflytop_canbus/iflytop_canbus_master.hpp b/iflytop_canbus/iflytop_canbus_master.hpp index 7931e13..95a9871 100644 --- a/iflytop_canbus/iflytop_canbus_master.hpp +++ b/iflytop_canbus/iflytop_canbus_master.hpp @@ -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); diff --git a/libzqt/zui/z_function_list_box.cpp b/libzqt/zui/z_function_list_box.cpp index 6e64bbb..6184178 100644 --- a/libzqt/zui/z_function_list_box.cpp +++ b/libzqt/zui/z_function_list_box.cpp @@ -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()); } }); }); diff --git a/libzqt/zui/z_reg_table_list_box.cpp b/libzqt/zui/z_reg_table_list_box.cpp index 27f2b2a..7f60a2c 100644 --- a/libzqt/zui/z_reg_table_list_box.cpp +++ b/libzqt/zui/z_reg_table_list_box.cpp @@ -1,5 +1,7 @@ #include "z_reg_table_list_box.hpp" +#include + #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(); }); } } } diff --git a/libzqt/zui/z_reg_table_list_box.hpp b/libzqt/zui/z_reg_table_list_box.hpp index ad8ec53..67cb532 100644 --- a/libzqt/zui/z_reg_table_list_box.hpp +++ b/libzqt/zui/z_reg_table_list_box.hpp @@ -1,9 +1,9 @@ #pragma once - #include #include #include #include +#include #include #include #include @@ -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 write_reg_func_t; typedef function 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 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 onButtonClick) { m_funcBox->newFunc(zh_name, params, onButtonClick); } + void addReg(QString title, int addr, uint32_t flag); void addSpacer(); diff --git a/mainwindow.cpp b/mainwindow.cpp index 0b65b87..26a3450 100644 --- a/mainwindow.cpp +++ b/mainwindow.cpp @@ -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(); } } diff --git a/mainwindow.h b/mainwindow.h index da1b9d0..27b383e 100644 --- a/mainwindow.h +++ b/mainwindow.h @@ -114,5 +114,7 @@ class MainWindow : public QMainWindow { void addNewButtonStyle1(QWidget *box, QString zh_name, QStringList params, std::function onButtonClick); void endAllocNewBox(QGroupBox *box); void endAllocNewTab(QWidget *tab); + + int32_t getDeviceId(); }; #endif // MAINWINDOW_H