From 10139a4c50dbc75f0eae96c52bc955a99ce4906d Mon Sep 17 00:00:00 2001
From: zhaohe <h_zhaohe@163.com>
Date: Thu, 27 Jul 2023 19:58:16 +0800
Subject: [PATCH] update

---
 .vscode/settings.json                       |    4 +-
 sdk                                         |    2 +-
 testtools/config.js                         |   50 ++
 testtools/index.html                        | 1153 +++++++++++++++++++++++++++
 usrc/main.cpp                               |  154 +++-
 usrc/one_dimensional_code_laser_scanner.cpp |   85 ++
 usrc/one_dimensional_code_laser_scanner.hpp |   50 ++
 7 files changed, 1463 insertions(+), 35 deletions(-)
 create mode 100644 testtools/config.js
 create mode 100644 testtools/index.html
 create mode 100644 usrc/one_dimensional_code_laser_scanner.cpp
 create mode 100644 usrc/one_dimensional_code_laser_scanner.hpp

diff --git a/.vscode/settings.json b/.vscode/settings.json
index 3080e17..6697d83 100644
--- a/.vscode/settings.json
+++ b/.vscode/settings.json
@@ -60,6 +60,8 @@
         "ostream": "cpp",
         "stdexcept": "cpp",
         "streambuf": "cpp",
-        "typeinfo": "cpp"
+        "typeinfo": "cpp",
+        "cstdarg": "cpp",
+        "cinttypes": "cpp"
     }
 }
\ No newline at end of file
diff --git a/sdk b/sdk
index f28856b..914b4c7 160000
--- a/sdk
+++ b/sdk
@@ -1 +1 @@
-Subproject commit f28856b68a9c6fd2b06070a2a10c6f40dfe9896d
+Subproject commit 914b4c75556afc4137ed32bb341bf4377f2765b1
diff --git a/testtools/config.js b/testtools/config.js
new file mode 100644
index 0000000..83ce37c
--- /dev/null
+++ b/testtools/config.js
@@ -0,0 +1,50 @@
+const websocketAddress = "ws://192.168.1.138:19001";
+const config = {
+    // 256333
+    打开工程师模式: `{"protocol":"icpsv1","message":{"type":"write","targetId":133,"sourceId":1,"seq":0,"ctrlPointAddr":2,"ctrlPointVal":1}}`,
+    关闭工程师模式: `{"protocol":"icpsv1","message":{"type":"write","targetId":133,"sourceId":1,"seq":0,"ctrlPointAddr":2,"ctrlPointVal":0}}`,
+    读取所有光电输入: `{"protocol":"icpsv1","message":{"type":"read","targetId":133,"sourceId":1,"seq":0,"ctrlPointAddr":1000,"ctrlPointVal":0}}`,
+    推杆电机_正转二十分之一圈: `{"protocol":"icpsv1","message":{"type":"write","targetId":133,"sourceId":1,"seq":0,"ctrlPointAddr":10102,"ctrlPointVal":2000}}`,
+    推杆电机_反转二十分之一圈: `{"protocol":"icpsv1","message":{"type":"write","targetId":133,"sourceId":1,"seq":0,"ctrlPointAddr":10102,"ctrlPointVal":-2000}}`,
+    推杆电机_正转一圈: `{"protocol":"icpsv1","message":{"type":"write","targetId":133,"sourceId":1,"seq":0,"ctrlPointAddr":10102,"ctrlPointVal":51200}}`,
+    推杆电机_反转一圈: `{"protocol":"icpsv1","message":{"type":"write","targetId":133,"sourceId":1,"seq":0,"ctrlPointAddr":10102,"ctrlPointVal":-51200}}`,
+    推杆电机_归零: `{"protocol":"icpsv1","message":{"type":"write","targetId":133,"sourceId":1,"seq":0,"ctrlPointAddr":10103,"ctrlPointVal":1000}}`,
+    推杆电机_零点: `{"protocol":"icpsv1","message":{"type":"write","targetId":133,"sourceId":1,"seq":0,"ctrlPointAddr":10101,"ctrlPointVal":0}}`,
+    推杆电机_推出位置: `{"protocol":"icpsv1","message":{"type":"write","targetId":133,"sourceId":1,"seq":0,"ctrlPointAddr":10101,"ctrlPointVal":719133}}`,
+    推杆电机_扫码完成位置: `{"protocol":"icpsv1","message":{"type":"write","targetId":133,"sourceId":1,"seq":0,"ctrlPointAddr":10101,"ctrlPointVal":256333}}`,
+    推杆电机_扫码速度: `{"protocol":"icpsv1","message":{"type":"write","targetId":133,"sourceId":1,"seq":0,"ctrlPointAddr":10122,"ctrlPointVal":100000}}`,
+    推杆电机_最快速度: `{"protocol":"icpsv1","message":{"type":"write","targetId":133,"sourceId":1,"seq":0,"ctrlPointAddr":10122,"ctrlPointVal":1000000}}`,
+    推杆电机_读取当前位置: `{"protocol":"icpsv1","message":{"type":"read","targetId":133,"sourceId":1,"seq":0,"ctrlPointAddr":10113,"ctrlPointVal":0}}`,
+    推杆电机_清空异常: `{"protocol":"icpsv1","message":{"type":"write","targetId":133,"sourceId":1,"seq":0,"ctrlPointAddr":10109,"ctrlPointVal":0}}`,
+    推杆电机_停止: `{"protocol":"icpsv1","message":{"type":"write","targetId":133,"sourceId":1,"seq":0,"ctrlPointAddr":10108,"ctrlPointVal":0}}`,
+    平移电机_正转二十分之一圈: `{"protocol":"icpsv1","message":{"type":"write","targetId":133,"sourceId":1,"seq":0,"ctrlPointAddr":10002,"ctrlPointVal":2000}}`,
+    平移电机_反转二十分之一圈: `{"protocol":"icpsv1","message":{"type":"write","targetId":133,"sourceId":1,"seq":0,"ctrlPointAddr":10002,"ctrlPointVal":-2000}}`,
+    平移电机_正转一圈: `{"protocol":"icpsv1","message":{"type":"write","targetId":133,"sourceId":1,"seq":0,"ctrlPointAddr":10002,"ctrlPointVal":200000}}`,
+    平移电机_反转一圈: `{"protocol":"icpsv1","message":{"type":"write","targetId":133,"sourceId":1,"seq":0,"ctrlPointAddr":10002,"ctrlPointVal":-200000}}`,
+    平移电机_归零: `{"protocol":"icpsv1","message":{"type":"write","targetId":133,"sourceId":1,"seq":0,"ctrlPointAddr":10003,"ctrlPointVal":1000}}`,
+    平移电机_位置1: `{"protocol":"icpsv1","message":{"type":"write","targetId":133,"sourceId":1,"seq":0,"ctrlPointAddr":10001,"ctrlPointVal":207531}}`,
+    平移电机_位置2: `{"protocol":"icpsv1","message":{"type":"write","targetId":133,"sourceId":1,"seq":0,"ctrlPointAddr":10001,"ctrlPointVal":207531}}`,
+    平移电机_读取当前位置: `{"protocol":"icpsv1","message":{"type":"read","targetId":133,"sourceId":1,"seq":0,"ctrlPointAddr":10013,"ctrlPointVal":0}}`,
+    平移电机_清空异常: `{"protocol":"icpsv1","message":{"type":"write","targetId":133,"sourceId":1,"seq":0,"ctrlPointAddr":10009,"ctrlPointVal":0}}`,
+    平移电机_停止: `{"protocol":"icpsv1","message":{"type":"write","targetId":133,"sourceId":1,"seq":0,"ctrlPointAddr":10008,"ctrlPointVal":0}}`,
+    开始读卡: `{"protocol":"icpsv1","message":{"type":"write","targetId":133,"sourceId":1,"seq":0,"ctrlPointAddr":20000,"ctrlPointVal":1}}`,
+    连续读卡: `{"protocol":"icpsv1","message":{"type":"write","targetId":133,"sourceId":1,"seq":0,"ctrlPointAddr":20000,"ctrlPointVal":2}}`,
+    停止读卡: `{"protocol":"icpsv1","message":{"type":"write","targetId":133,"sourceId":1,"seq":0,"ctrlPointAddr":20000,"ctrlPointVal":0}}`,
+    开始扫码: `{"protocol":"icpsv1","message":{"type":"write","targetId":133,"sourceId":1,"seq":0,"ctrlPointAddr":30000,"ctrlPointVal":1}}`,
+    停止扫码: `{"protocol":"icpsv1","message":{"type":"write","targetId":133,"sourceId":1,"seq":0,"ctrlPointAddr":30000,"ctrlPointVal":0}}`,
+    读取扫码结果: `{"protocol":"icpsv1","message":{"type":"read","targetId":133,"sourceId":1,"seq":0,"ctrlPointAddr":30007,"ctrlPointVal":0}}`,
+
+};
+const commonMessage = {
+    protocol: "iflytopCanProtocolStackV1",
+    message: {
+        attribute: "normal",
+        priority: 4,
+        type: "write",
+        targetId: 133,
+        sourceId: 1,
+        seq: 0,
+        ctrlPointAddr: 10500,
+        ctrlPointVal: 1,
+    },
+};
diff --git a/testtools/index.html b/testtools/index.html
new file mode 100644
index 0000000..72d681d
--- /dev/null
+++ b/testtools/index.html
@@ -0,0 +1,1153 @@
+<!DOCTYPE html>
+<html lang="en">
+  <head>
+    <meta charset="UTF-8" />
+    <meta http-equiv="X-UA-Compatible" content="IE=edge" />
+    <meta name="viewport" content="width=device-width, initial-scale=1.0" />
+    <script src="
+https://cdn.jsdelivr.net/npm/json-formatter-js@2.3.4/dist/json-formatter.umd.min.js
+"></script>
+    <title>板夹仓测试工具</title>
+    <style>
+      *,
+      html,
+      body {
+        margin: 0;
+        padding: 0;
+        box-sizing: border-box;
+      }
+      li {
+        list-style: none;
+      }
+      .container {
+        display: flex;
+        width: 100vw;
+        align-items: center;
+        box-sizing: border-box;
+        justify-content: space-between;
+      }
+      .left_chat {
+        border: solid 1px #000;
+        height: 100vh;
+        display: flex;
+        box-sizing: border-box;
+        flex-direction: column;
+        padding: 24px;
+        overflow: scroll;
+        width: 500px;
+        min-width: 500px;
+      }
+      .right_message {
+        height: 100vh;
+        box-sizing: border-box;
+        flex: 1;
+        max-width: calc(100vw - 500px);
+      }
+      .btn {
+        padding: 36px;
+        font-size: 24px;
+        margin-top: 24px;
+        width: 100%;
+      }
+      .right_message {
+        padding: 24px;
+        border: solid 1px #000;
+        display: flex;
+        flex-direction: column;
+      }
+      .message_wrap {
+        flex: 1;
+        border: solid 1px #ddd;
+        overflow: scroll;
+      }
+      .message {
+        padding: 6px 8px;
+        border-bottom: solid 1px #ddd;
+      }
+      .input_wrap {
+        display: flex;
+        align-items: center;
+        /* margin-bottom: 20px; */
+      }
+      .input_wrap .ws_connnect {
+        flex: 2;
+        padding: 4px 0;
+        margin-right: 20px;
+      }
+      .input_wrap .connect {
+        flex: 1;
+      }
+      .order {
+        display: grid;
+        grid-template-columns: repeat(1, 1fr);
+        column-gap: 20px;
+        row-gap: 10px;
+        margin-bottom: 20px;
+      }
+      .status {
+        padding: 4px 0;
+        border-bottom: solid 2px #ddd;
+        margin-bottom: 10px;
+      }
+      .tabs {
+        margin: 20px 0;
+      }
+
+      .tab-bar {
+        display: flex;
+      }
+
+      .tab {
+        padding: 10px 20px;
+        border: 1px solid #ccc;
+        border-bottom: none;
+        cursor: pointer;
+      }
+
+      /* .active {
+        border-bottom: 2px solid blue;
+      } */
+
+      .tab-panel {
+        display: none;
+        padding: 20px;
+        border: 1px solid #ccc;
+      }
+
+      .active {
+        display: block;
+      }
+
+      .common_order_input {
+        display: flex;
+        align-items: center;
+        justify-content: space-evenly;
+        padding: 0 20px;
+        margin-bottom: 10px;
+      }
+      .common_order_input .single {
+        display: flex;
+        flex-direction: column;
+        align-items: center;
+      }
+      .single .input {
+        width: 100%;
+        text-align: center;
+        padding: 4px;
+      }
+      .common_btns {
+        width: 100%;
+      }
+      .btn_c {
+        width: 100%;
+        padding: 4px 0;
+        margin-bottom: 10px;
+      }
+      .report_c {
+        border: solid 1px #ddd;
+        padding: 10px;
+      }
+      .form_line {
+        display: flex;
+        align-items: center;
+        width: 100%;
+        margin-bottom: 10px;
+      }
+      .form_line .tit {
+        margin-right: 6px;
+        white-space: nowrap;
+      }
+      .form_line .info {
+        width: 100%;
+        text-align: center;
+        padding: 4px 0;
+      }
+      .report_c .title {
+        border-bottom: solid 1px #ddd;
+        margin-bottom: 10px;
+      }
+
+      .mod-tab .tab_top {
+        float: left;
+        padding: 5px 20px;
+        border-top: 1px solid #ccc;
+        border-left: 1px solid #ccc;
+        background-color: #ddd;
+      }
+      .header .tab_top:last-child {
+        border-right: 1px solid #ccc;
+      }
+      .content {
+        border: 1px solid #ccc;
+        width: 100%;
+        height: 100%;
+      }
+      .header::after {
+        content: "";
+        display: block;
+        clear: both;
+      }
+
+      .mod-tab .header .active {
+        background-color: #fff;
+      }
+
+      .mod-tab .content .panel {
+        display: none;
+      }
+      .mod-tab .content .active {
+        display: block;
+      }
+
+      .card_container {
+        padding: 0 10px;
+      }
+      .card_container .title {
+        margin-bottom: 10px;
+        border-bottom: solid 1px #ddd;
+      }
+      .card_container .form {
+        display: flex;
+        margin-bottom: 10px;
+        align-items: center;
+        justify-content: space-between;
+      }
+      .card_container .form .label {
+        white-space: nowrap;
+        margin-right: 10px;
+      }
+      .card_container .form .input {
+        flex: 1;
+        padding: 4px 0;
+        text-align: center;
+      }
+      .card_container .form .btn {
+        padding: 0;
+        margin: 0;
+        width: 40px;
+        margin-left: 10px;
+      }
+      .card_container .form .input_config {
+        width: 60px;
+        padding: 4px 0;
+        text-align: center;
+      }
+    </style>
+  </head>
+  <body>
+    <div class="container">
+      <div class="left_chat">
+        <div class="input_wrap">
+          <input type="text" class="ws_connnect" id="ws_connnect_input" />
+          <button class="connect" onclick="connectWs()">连接</button>
+        </div>
+        <p class="status" id="status">当前状态： 未连接</p>
+        <div class="mod-tab">
+          <div class="header">
+            <button class="tab_top active button1">基本控制</button>
+            <button class="tab_top button2">舵机控制</button>
+            <button class="tab_top button3">电机控制</button>
+          </div>
+          <div class="content">
+            <div class="panel active">
+              <div class="report_c">
+                <p class="title">上报解析</p>
+                <div class="form_line">
+                  <p class="tit">ADDRESS：</p>
+                  <input
+                    type="text"
+                    class="info"
+                    disabled
+                    id="report_address"
+                  />
+                </div>
+                <div class="form_line">
+                  <p class="tit">VALUE：</p>
+                  <input type="text" class="info" disabled id="report_val" />
+                </div>
+              </div>
+              <div class="report_c">
+                <p class="title">回执解析</p>
+                <div class="form_line">
+                  <p class="tit">ADDRESS：</p>
+                  <input
+                    type="text"
+                    class="info"
+                    disabled
+                    id="receipt_address"
+                  />
+                </div>
+                <div class="form_line">
+                  <p class="tit">VALUE：</p>
+                  <input type="text" class="info" disabled id="receipt_val" />
+                </div>
+                <div class="form_line">
+                  <p class="tit">结果：</p>
+                  <input
+                    type="text"
+                    class="info"
+                    value="无"
+                    disabled
+                    id="receipt_message"
+                  />
+                </div>
+              </div>
+              <div class="tabs">
+                <ul class="tab-bar">
+                  <li class="tab active">通用指令</li>
+                  <li class="tab">指令列表</li>
+                </ul>
+                <div class="tab-content">
+                  <div class="tab-panel active">
+                    <div class="common_order_input">
+                      <div class="single">
+                        <p>ID</p>
+                        <input type="text" class="input" id="common_id" />
+                      </div>
+                      <div
+                        class="single"
+                        style="margin-left: 10px; margin-right: 5px"
+                      >
+                        <p>BASE</p>
+                        <input type="text" class="input" id="common_base" />
+                      </div>
+                      <div
+                        class="single"
+                        style="margin-left: 5px; margin-right: 10px"
+                      >
+                        <p>OFFSET</p>
+                        <input type="text" class="input" id="common_off" />
+                      </div>
+                      <div class="single">
+                        <p>VALUE</p>
+                        <input type="text" class="input" id="common_value" />
+                      </div>
+                    </div>
+                    <div class="common_btns">
+                      <button class="btn_c" onclick="writeFun()">写</button>
+                      <button class="btn_c" onclick="read()">读</button>
+                      <button class="btn_c" onclick="autoReport()">
+                        使能自动上报
+                      </button>
+                      <button class="btn_c" onclick="reportCycle()">
+                        设置上报周期
+                      </button>
+                    </div>
+                  </div>
+                  <div class="tab-panel">
+                    <div class="order" id="order"></div>
+                  </div>
+                </div>
+              </div>
+            </div>
+            <div class="panel">
+              <div
+                class="common_order_input"
+                style="border-bottom: solid 2px #ddd; padding-bottom: 10px"
+              >
+                <div class="single">
+                  <p>ID</p>
+                  <input type="text" class="input" id="duoji_id" />
+                </div>
+                <div
+                  class="single"
+                  style="margin-left: 10px; margin-right: 5px"
+                >
+                  <p>BASE</p>
+                  <input type="text" class="input" id="duoji_base" />
+                </div>
+                <div
+                  class="single"
+                  style="margin-left: 5px; margin-right: 10px"
+                >
+                  <p>OFFSET</p>
+                  <input type="text" class="input" id="duoji_offset" />
+                </div>
+              </div>
+              <div class="card_container">
+                <h3 class="title">状态</h3>
+                <div class="form">
+                  <p class="label">异常</p>
+                  <input type="text" class="input" id="duoji_exception" />
+                  <button
+                    class="btn"
+                    onclick="readValue('#duoji_exception', 'read')"
+                  >
+                    读
+                  </button>
+                </div>
+                <div class="form">
+                  <p class="label">状态</p>
+                  <input type="text" class="input" id="duoji_status" />
+                  <button
+                    class="btn"
+                    onclick="readValue('#duoji_status', 'read')"
+                  >
+                    读
+                  </button>
+                </div>
+                <div class="form">
+                  <p class="label">位置</p>
+                  <input type="text" class="input" id="duoji_position" />
+                  <button
+                    class="btn"
+                    onclick="readValue('#duoji_position', 'read')"
+                  >
+                    读
+                  </button>
+                </div>
+              </div>
+              <div class="card_container">
+                <h3 class="title">配置</h3>
+                <div class="form">
+                  <p class="label">反复运动启始位置</p>
+                  <input type="text" id="duoji_config_1" class="input_config" />
+                  <button
+                    class="btn"
+                    onclick="readValue('#duoji_config_1', 'read')"
+                  >
+                    读
+                  </button>
+                  <button
+                    class="btn"
+                    onclick="readValue('#duoji_config_1', 'write')"
+                  >
+                    写
+                  </button>
+                </div>
+                <div class="form">
+                  <p class="label">反复运动终止位置</p>
+                  <input type="text" class="input_config" id="duoji_config_2" />
+                  <button
+                    class="btn"
+                    onclick="readValue('#duoji_config_2', 'read')"
+                  >
+                    读
+                  </button>
+                  <button
+                    class="btn"
+                    onclick="readValue('#duoji_config_2', 'write')"
+                  >
+                    写
+                  </button>
+                </div>
+                <div class="form">
+                  <p class="label">运行时速度配置</p>
+                  <input type="text" class="input_config" id="duoji_config_3" />
+                  <button
+                    class="btn"
+                    onclick="readValue('#duoji_config_3', 'read')"
+                  >
+                    读
+                  </button>
+                  <button
+                    class="btn"
+                    onclick="readValue('#duoji_config_3', 'write')"
+                  >
+                    写
+                  </button>
+                </div>
+              </div>
+              <div class="card_container">
+                <h3 class="title">动作</h3>
+                <div class="form">
+                  <p class="label">舵机移动到角度</p>
+                  <input type="text" class="input" id="duoji_move_1" />
+                  <button
+                    class="btn"
+                    onclick="readValue('#duoji_move_1', 'write')"
+                  >
+                    写
+                  </button>
+                </div>
+                <div class="form">
+                  <p class="label">舵机停止</p>
+                  <input type="text" class="input" id="duoji_move_2" />
+                  <button
+                    class="btn"
+                    onclick="readValue('#duoji_move_2', 'write')"
+                  >
+                    写
+                  </button>
+                </div>
+                <div class="form">
+                  <p class="label">清除异常</p>
+                  <input type="text" class="input" id="duoji_move_3" />
+                  <button
+                    class="btn"
+                    onclick="readValue('#duoji_move_3', 'write')"
+                  >
+                    写
+                  </button>
+                </div>
+                <div class="form">
+                  <p class="label">反复运动</p>
+                  <input type="text" class="input" id="duoji_move_4" />
+                  <button
+                    class="btn"
+                    onclick="readValue('#duoji_move_4', 'write')"
+                  >
+                    写
+                  </button>
+                </div>
+              </div>
+            </div>
+            <div class="panel">
+              <div
+                class="common_order_input"
+                style="border-bottom: solid 2px #ddd; padding-bottom: 10px"
+              >
+                <div class="single">
+                  <p>ID</p>
+                  <input type="text" class="input" id="dianji_id" />
+                </div>
+                <div
+                  class="single"
+                  style="margin-left: 10px; margin-right: 5px"
+                >
+                  <p>BASE</p>
+                  <input type="text" class="input" id="dianji_base" />
+                </div>
+                <div
+                  class="single"
+                  style="margin-left: 5px; margin-right: 10px"
+                >
+                  <p>OFFSET</p>
+                  <input type="text" class="input" id="dianji_offset" />
+                </div>
+              </div>
+              <div class="card_container">
+                <h3 class="title">状态</h3>
+                <div class="form">
+                  <p class="label">设备状态</p>
+                  <input type="text" class="input" id="dianji_status_1" />
+                  <button
+                    class="btn"
+                    onclick="readValueD('#dianji_status_1', 'read')"
+                  >
+                    读
+                  </button>
+                </div>
+                <div class="form">
+                  <p class="label">异常状态</p>
+                  <input type="text" class="input" id="dianji_status_2" />
+                  <button
+                    class="btn"
+                    onclick="readValueD('#dianji_status_2', 'read')"
+                  >
+                    读
+                  </button>
+                </div>
+                <div class="form">
+                  <p class="label">当前转速</p>
+                  <input type="text" class="input" id="dianji_status_3" />
+                  <button
+                    class="btn"
+                    onclick="readValueD('#dianji_status_3', 'read')"
+                  >
+                    读
+                  </button>
+                </div>
+                <div class="form">
+                  <p class="label">当前位置</p>
+                  <input type="text" class="input" id="dianji_status_4" />
+                  <button
+                    class="btn"
+                    onclick="readValueD('#dianji_status_4', 'read')"
+                  >
+                    读
+                  </button>
+                </div>
+              </div>
+              <div class="card_container">
+                <h3 class="title">配置</h3>
+                <div class="form">
+                  <p class="label">加速度</p>
+                  <input
+                    type="text"
+                    class="input_config"
+                    id="dianji_config_1"
+                  />
+                  <button
+                    class="btn"
+                    onclick="readValueD('#dianji_config_1', 'read')"
+                  >
+                    读
+                  </button>
+                  <button
+                    class="btn"
+                    onclick="readValueD('#dianji_config_1', 'write')"
+                  >
+                    写
+                  </button>
+                </div>
+                <div class="form">
+                  <p class="label">减速度</p>
+                  <input
+                    type="text"
+                    class="input_config"
+                    id="dianji_config_2"
+                  />
+                  <button
+                    class="btn"
+                    onclick="readValueD('#dianji_config_2', 'read')"
+                  >
+                    读
+                  </button>
+                  <button
+                    class="btn"
+                    onclick="readValueD('#dianji_config_2', 'write')"
+                  >
+                    写
+                  </button>
+                </div>
+                <div class="form">
+                  <p class="label">速度</p>
+                  <input
+                    type="text"
+                    class="input_config"
+                    id="dianji_config_3"
+                  />
+                  <button
+                    class="btn"
+                    onclick="readValueD('#dianji_config_3', 'read')"
+                  >
+                    读
+                  </button>
+                  <button
+                    class="btn"
+                    onclick="readValueD('#dianji_config_3', 'write')"
+                  >
+                    写
+                  </button>
+                </div>
+                <div class="form">
+                  <p class="label">零点偏移</p>
+                  <input
+                    type="text"
+                    class="input_config"
+                    id="dianji_config_4"
+                  />
+                  <button
+                    class="btn"
+                    onclick="readValueD('#dianji_config_4', 'read')"
+                  >
+                    读
+                  </button>
+                  <button
+                    class="btn"
+                    onclick="readValueD('#dianji_config_4', 'write')"
+                  >
+                    写
+                  </button>
+                </div>
+                <div class="form">
+                  <p class="label">归零速度</p>
+                  <input
+                    type="text"
+                    class="input_config"
+                    id="dianji_config_5"
+                  />
+                  <button
+                    class="btn"
+                    onclick="readValueD('#dianji_config_5', 'read')"
+                  >
+                    读
+                  </button>
+                  <button
+                    class="btn"
+                    onclick="readValueD('#dianji_config_5', 'write')"
+                  >
+                    写
+                  </button>
+                </div>
+                <div class="form">
+                  <p class="label">归零减速度</p>
+                  <input
+                    type="text"
+                    class="input_config"
+                    id="dianji_config_6"
+                  />
+                  <button
+                    class="btn"
+                    onclick="readValueD('#dianji_config_6', 'read')"
+                  >
+                    读
+                  </button>
+                  <button
+                    class="btn"
+                    onclick="readValueD('#dianji_config_6', 'write')"
+                  >
+                    写
+                  </button>
+                </div>
+                <div class="form">
+                  <p class="label">归零最大位移</p>
+                  <input
+                    type="text"
+                    class="input_config"
+                    id="dianji_config_7"
+                  />
+                  <button
+                    class="btn"
+                    onclick="readValueD('#dianji_config_7', 'read')"
+                  >
+                    读
+                  </button>
+                  <button
+                    class="btn"
+                    onclick="readValueD('#dianji_config_7', 'write')"
+                  >
+                    写
+                  </button>
+                </div>
+                <div class="form">
+                  <p class="label">归零第一阶段移动距离</p>
+                  <input
+                    type="text"
+                    class="input_config"
+                    id="dianji_config_8"
+                  />
+                  <button
+                    class="btn"
+                    onclick="readValueD('#dianji_config_8', 'read')"
+                  >
+                    读
+                  </button>
+                  <button
+                    class="btn"
+                    onclick="readValueD('#dianji_config_8', 'write')"
+                  >
+                    写
+                  </button>
+                </div>
+              </div>
+              <div class="card_container">
+                <h3 class="title">动作</h3>
+                <div class="form">
+                  <p class="label">速度模式控制</p>
+                  <input type="text" class="input" id="dianji_move_1" />
+                  <button
+                    class="btn"
+                    onclick="readValueD('#dianji_move_1', 'write')"
+                  >
+                    写
+                  </button>
+                </div>
+                <div class="form">
+                  <p class="label">位置模式控制</p>
+                  <input type="text" class="input" id="dianji_move_2" />
+                  <button
+                    class="btn"
+                    onclick="readValueD('#dianji_move_2', 'write')"
+                  >
+                    写
+                  </button>
+                </div>
+                <div class="form">
+                  <p class="label">位置模式相对位置</p>
+                  <input type="text" class="input" id="dianji_move_3" />
+                  <button
+                    class="btn"
+                    onclick="readValueD('#dianji_move_3', 'write')"
+                  >
+                    写
+                  </button>
+                </div>
+                <div class="form">
+                  <p class="label">归零</p>
+                  <input type="text" class="input" id="dianji_move_4" />
+                  <button
+                    class="btn"
+                    onclick="readValueD('#dianji_move_4', 'write')"
+                  >
+                    写
+                  </button>
+                </div>
+                <div class="form">
+                  <p class="label">零位校准</p>
+                  <input type="text" class="input" id="dianji_move_5" />
+                  <button
+                    class="btn"
+                    onclick="readValueD('#dianji_move_5', 'write')"
+                  >
+                    写
+                  </button>
+                </div>
+                <div class="form">
+                  <p class="label">停止</p>
+                  <input type="text" class="input" id="dianji_move_6" />
+                  <button
+                    class="btn"
+                    onclick="readValueD('#dianji_move_6', 'write')"
+                  >
+                    写
+                  </button>
+                </div>
+                <div class="form">
+                  <p class="label">清空异常</p>
+                  <input type="text" class="input" id="dianji_move_7" />
+                  <button
+                    class="btn"
+                    onclick="readValueD('#dianji_move_7', 'write')"
+                  >
+                    写
+                  </button>
+                </div>
+              </div>
+            </div>
+          </div>
+        </div>
+      </div>
+      <div class="right_message">
+        <div class="message_wrap" id="message_wrap"></div>
+        <div style="display: flex; align-items: center; margin-top: 10px">
+          <textarea style="flex: 1" name="bio" rows="15" cols="40"></textarea>
+          <div style="display: flex; flex-direction: column; height: 100%">
+            <button style="flex: 1" onclick="sendMessage()">发送</button>
+            <button style="flex: 1" onclick="clearTextArea()">清空</button>
+          </div>
+        </div>
+      </div>
+    </div>
+  </body>
+  <script src="./config.js"></script>
+  <script>
+    window.onload = () => {
+      const commonI = document.querySelector("#common_id");
+      const commonB = document.querySelector("#common_base");
+      const dianI = document.querySelector("#dianji_id");
+      const dianB = document.querySelector("#dianji_base");
+      const duoI = document.querySelector("#duoji_id");
+      const duoB = document.querySelector("#duoji_base");
+      commonI.value = localStorage.getItem("id");
+      commonB.value = localStorage.getItem("base");
+      dianI.value = localStorage.getItem("d_id");
+      dianB.value = localStorage.getItem("d_base");
+      duoI.value = localStorage.getItem("du_id");
+      duoB.value = localStorage.getItem("du_base");
+    };
+    var ws = null;
+    const websocketInput = document.querySelector("#ws_connnect_input");
+    websocketInput.value = websocketAddress;
+    // 先向order下动态添加指令集合
+    const order = document.querySelector("#order");
+
+    for (let key in config) {
+      const button = document.createElement("button");
+      button.textContent = key;
+      button.className = "order_btn";
+      button.setAttribute("v", key);
+      order?.appendChild(button);
+    }
+
+    order.addEventListener("click", (e) => {
+      const item = e.target;
+      if (item && item.getAttribute("v")) {
+        const key = item.getAttribute("v");
+        sendOrder(config[key]);
+      }
+    });
+
+    const commonI = document.querySelector("#common_id");
+    const commonB = document.querySelector("#common_base");
+    const dianI = document.querySelector("#dianji_id");
+    const dianB = document.querySelector("#dianji_base");
+    const duoI = document.querySelector("#duoji_id");
+    const duoB = document.querySelector("#duoji_base");
+    commonI.addEventListener("input", (e) => {
+      localStorage.setItem("id", e.target.value);
+    });
+    commonB.addEventListener("input", (e) => {
+      localStorage.setItem("base", e.target.value);
+    });
+    dianI.addEventListener("input", (e) => {
+      localStorage.setItem("d_id", e.target.value);
+    });
+    dianB.addEventListener("input", (e) => {
+      localStorage.setItem("d_base", e.target.value);
+    });
+    duoI.addEventListener("input", (e) => {
+      localStorage.setItem("du_id", e.target.value);
+    });
+    duoB.addEventListener("input", (e) => {
+      localStorage.setItem("du_base", e.target.value);
+    });
+
+    const tabs = document.querySelector(".tabs");
+    const tabBars = document.querySelectorAll(".tab-bar .tab");
+    const tabPanels = document.querySelectorAll(".tab-content .tab-panel");
+
+    for (let i = 0; i < tabBars.length; i++) {
+      tabBars[i].onclick = function () {
+        removeActive();
+        this.classList.add("active");
+        tabPanels[i].classList.add("active");
+      };
+    }
+
+    function removeActive() {
+      for (let i = 0; i < tabBars.length; i++) {
+        tabBars[i].classList.remove("active");
+        tabPanels[i].classList.remove("active");
+      }
+    }
+    const clearMessage = () => {
+      const messageWrap = document.querySelector("#message_wrap");
+      messageWrap.innerHTML = "";
+    };
+    const clearTextArea = () => {
+      const textArea = document.querySelector("textarea");
+      textArea.value = "";
+      clearMessage();
+    };
+    const sendMessage = () => {
+      if (ws) {
+        const textArea = document.querySelector("textarea");
+        const messageVal = textArea.value;
+        ws.send(messageVal);
+        const messageWrap = document.querySelector("#message_wrap");
+        const div = document.createElement("div");
+        div.classList = ["message"];
+        div.textContent = `Tx: ${messageVal}`;
+        messageWrap.appendChild(div);
+        messageWrap.scrollTop =
+          messageWrap.scrollHeight - messageWrap.clientHeight;
+      } else {
+      }
+    };
+
+    const transValToName = (val) => {
+      switch (val) {
+        case 0x00:
+          return "kSuccess";
+        case 2:
+          return "kRegNotFound";
+        case 3:
+          return "kRegNotWritable";
+        case 4:
+          return "kRegNotReadable";
+        case 5:
+          return "kIllegalValue";
+        case 6:
+          return "kDeviceBusy";
+        case 7:
+          return "kDeviceException";
+        case 8:
+          return "kChannelDeviceException";
+        case 9:
+          return "kParameterError";
+        case 10:
+          return "kOvertime";
+        case 11:
+          return "kOperationInvalid";
+        case 12:
+          return "kunsupportOperation";
+        case 13:
+          return "kIllegalOperation";
+        case 14:
+          return "kPermissionDenied";
+        case 15:
+          return "koutOfRange";
+        case 16:
+          return "kmotorNotRunToHome";
+        case 17:
+          return "kParameterOutOfLimit";
+      }
+    };
+    const connectWs = () => {
+      console.log(123);
+      const input = document.querySelector("#ws_connnect_input");
+      const status = document.querySelector("#status");
+      const address = input.value;
+      try {
+        ws = new WebSocket(address);
+        ws.onopen = function () {
+          console.log("Connected to WebSocket server.");
+          // 改变状态
+          status.innerHTML = `当前状态： 已连接${address}`;
+        };
+
+        ws.onmessage = function (evt) {
+          const messageWrap = document.querySelector("#message_wrap");
+          const div = document.createElement("div");
+          div.classList = ["message"];
+          const formatter = new JSONFormatter(JSON.parse(evt.data), 2);
+          const formatted = formatter.render();
+          // div.textContent = `Rx: ${evt.data}`;
+          const p = document.createElement("p");
+          p.innerHTML = `Rx:`;
+          p.style.background = "#ddd";
+          messageWrap.appendChild(p);
+          messageWrap.appendChild(formatted);
+          messageWrap.scrollTop =
+            messageWrap.scrollHeight - messageWrap.clientHeight;
+          // 对消息进行处理
+          try {
+            const { message: messageBody } = JSON.parse(evt.data);
+            const { type, ctrlPointAddr, ctrlPointVal } = messageBody;
+            const receiptMessage = document.querySelector("#receipt_message");
+            const receiptAddress = document.querySelector("#receipt_address");
+            const receiptVal = document.querySelector("#receipt_val");
+            const reportAddress = document.querySelector("#report_address");
+            const reportVal = document.querySelector("#report_val");
+            if (type == "receipt") {
+              receiptMessage.value = "正确";
+              receiptAddress.value = ctrlPointAddr;
+              receiptVal.value = ctrlPointVal;
+            }
+            if (type == "error_receipt") {
+              receiptMessage.value = "错误";
+              receiptAddress.value = ctrlPointAddr;
+              // 错误回执需要吧值和英文进行对应
+              receiptVal.value = transValToName(ctrlPointVal);
+            }
+            if (type == "report") {
+              reportAddress.value = ctrlPointAddr;
+              reportVal.value = ctrlPointVal;
+            }
+          } catch (error) {
+            console.log(error);
+          }
+        };
+
+        ws.onclose = function () {
+          status.innerHTML = `当前状态： 已关闭`;
+        };
+      } catch (error) {
+        status.innerHTML = `当前状态： 连接错误`;
+      }
+    };
+    const sendOrder = (msg) => {
+      if (ws) {
+        ws.send(msg);
+        const messageWrap = document.querySelector("#message_wrap");
+        const div = document.createElement("div");
+        div.classList = ["message"];
+        const formatter = new JSONFormatter(JSON.parse(msg), 2);
+        const formatted = formatter.render();
+        const p = document.createElement("p");
+        p.innerHTML = `Tx:`;
+        p.style.background = "#ddd";
+        messageWrap.appendChild(p);
+        messageWrap.appendChild(formatted);
+        messageWrap.scrollTop =
+          messageWrap.scrollHeight - messageWrap.clientHeight;
+      }
+    };
+
+    const getCommonOrderInput = (type) => {
+      const id = document.querySelector("#common_id");
+      const base = document.querySelector("#common_base");
+      const off = document.querySelector("#common_off");
+      const value = document.querySelector("#common_value");
+      const { protocol, message } = commonMessage;
+      return JSON.stringify({
+        protocol,
+        message: {
+          ...message,
+          targetId: parseInt(id.value),
+          ctrlPointAddr: parseInt(base.value) + parseInt(off.value),
+          ctrlPointVal: parseInt(value.value),
+          type,
+        },
+      });
+    };
+
+    const writeFun = () => {
+      const msg = getCommonOrderInput("write");
+      sendOrder(msg);
+    };
+    const read = () => {
+      const msg = getCommonOrderInput("read");
+      sendOrder(msg);
+    };
+    const autoReport = () => {
+      const msg = getCommonOrderInput("set_auto_report_enable_flag");
+      sendOrder(msg);
+    };
+    const reportCycle = () => {
+      const msg = getCommonOrderInput("set_auto_report_period");
+      sendOrder(msg);
+    };
+
+    document.querySelectorAll(".tab_top").forEach(function (node) {
+      node.addEventListener("click", function () {
+        var index;
+        this.parentElement
+          .querySelectorAll(".tab_top")
+          .forEach(function (e, inx) {
+            //e.style.display='none' 跳转的时候隐藏按钮
+            e.classList.remove("active");
+            if (node === e) {
+              index = inx;
+            }
+          });
+        this.classList.add("active");
+        this.parentElement.nextElementSibling
+          .querySelectorAll(".panel")
+          .forEach(function (panel) {
+            panel.classList.remove("active");
+          });
+        this.parentElement.nextElementSibling
+          .querySelectorAll(".panel")
+          [index].classList.add("active");
+      });
+    });
+  </script>
+  <script>
+    // 舵机封装读写方法
+    const readValue = (id, type) => {
+      const duoId = document.querySelector("#duoji_id");
+      const duoBase = document.querySelector("#duoji_base");
+      const duoOff = document.querySelector("#duoji_offset");
+      const ele = document.querySelector(id);
+      const { protocol, message } = commonMessage;
+      let addr = 0;
+      if (duoBase.value && duoOff.value) {
+        addr = parseInt(duoBase.value) + parseInt(duoOff.value);
+      } else {
+        addr = parseInt(duoBase.value);
+      }
+      const msg = JSON.stringify({
+        protocol,
+        message: {
+          ...message,
+          targetId: parseInt(duoId.value),
+          ctrlPointAddr: addr,
+          ctrlPointVal: parseInt(ele.value),
+          type,
+        },
+      });
+      sendOrder(msg);
+    };
+  </script>
+  <script>
+    // 电机js
+    const readValueD = (id, type) => {
+      const duoId = document.querySelector("#dianji_id");
+      const duoBase = document.querySelector("#dianji_base");
+      const duoOff = document.querySelector("#dianji_offset");
+      const ele = document.querySelector(id);
+      const { protocol, message } = commonMessage;
+      let addr = null;
+      if (duoBase.value && duoOff.value) {
+        addr = parseInt(duoBase.value) + parseInt(duoOff.value);
+      } else {
+        addr = parseInt(duoBase.value);
+      }
+      console.log(addr);
+      const msg = JSON.stringify({
+        protocol,
+        message: {
+          ...message,
+          targetId: parseInt(duoId.value),
+          ctrlPointAddr: addr,
+          ctrlPointVal: parseInt(ele.value),
+          type,
+        },
+      });
+      sendOrder(msg);
+    };
+  </script>
+</html>
diff --git a/usrc/main.cpp b/usrc/main.cpp
index 87a0855..f2a423b 100644
--- a/usrc/main.cpp
+++ b/usrc/main.cpp
@@ -6,6 +6,8 @@
 #include "main.h"
 #include "project.hpp"
 //
+#include "one_dimensional_code_laser_scanner.hpp"
+#include "sdk/components/single_axis_motor_control_v2/single_axis_motor_control_v2.hpp"
 #include "sdk/hal/zhal.hpp"
 #include "sdk\components\iflytop_can_slave_v1\iflytop_can_slave.hpp"
 #include "sdk\components\tmc\ic\ztmc4361A.hpp"
@@ -23,46 +25,74 @@ IflytopCanProtocolStackProcesser m_protocolStack;
 TMC5130 m_tj_motor;
 TMC5130 m_py_motor;
 
-// ZGPIO arm_sensor1_gpio;
-// ZGPIO arm_sensor2_gpio;
-// ZGPIO arm_sensor3_gpio;
-// ZGPIO arm_sensor4_gpio;
-// ZGPIO arm_sensor5_gpio;
-// ZGPIO arm_sensor6_gpio;
-// ZGPIO arm_sensor7_gpio;
-// ZGPIO arm_sensor8_gpio;
-
 ZGPIO debuglight;
 
-ZGPIO tmc_motor1_spi_select1_io;
-ZGPIO tmc_motor1_nfreeze_io;
-ZGPIO tmc_motor1_nreset_io;
-ZGPIO tmc_motor1_sub_ic_enn_io;
-ZGPIO tmc_motor2_spi_select1_io;
-ZGPIO tmc_motor2_nfreeze_io;
-ZGPIO tmc_motor2_nreset_io;
-ZGPIO tmc_motor2_sub_ic_enn_io;
+ZGPIO io_fybh_read1;
+ZGPIO io_fybh_read2;
+ZGPIO io_fybh_read3;
+ZGPIO io_fybh_read4;
+ZGPIO io_fybh_read5;
+ZGPIO io_fybh_read6;
+
+// input_sensor_get_bwm_gpio() { return &FYBJL_SENSOR0; }
+// input_sensor_get_py_home_gpio() { return &FYBJL_SENSOR1; }
+// input_sensor_get_py_limit_gpio() { return &FYBJL_SENSOR2; }
+// input_sensor_get_tj_home_gpio() { return &FYBJL_SENSOR4; }
+// input_sensor_get_tj_limit_gpio() { return &FYBJL_SENSOR5; }
+// input_sensor_get_card_block_detect_gpio() { return &FYBJL_SENSOR7; }
+
+ZGPIO io_fybjl_sensor8;
+ZGPIO io_fybjl_sensor7;
+ZGPIO io_fybjl_sensor6;
+ZGPIO io_fybjl_sensor5;
+ZGPIO io_fybjl_sensor4;
+ZGPIO io_fybjl_sensor3;
+ZGPIO io_fybjl_sensor2;
+ZGPIO io_fybjl_sensor1;
+ZGPIO io_fybjl_sensor0;
+
+SingleAxisMotorControlerV2 m_pyMotorControlService;  // 平移电机
+SingleAxisMotorControlerV2 m_tjMotorControlService;  // 推进电机
+
+OneDimensionalCodeLaserScanner m_oneDimensionalCodeLaserScanner;
 
 void input_sensors_init() {
-  // arm_sensor1_gpio.initAsInput(ARM_SENSOR1_GPIO, ZGPIO::kMode_nopull, ZGPIO::kIRQ_risingAndFallingIrq, true);
-  // arm_sensor2_gpio.initAsInput(ARM_SENSOR2_GPIO, ZGPIO::kMode_nopull, ZGPIO::kIRQ_risingAndFallingIrq, true);
-  // arm_sensor3_gpio.initAsInput(ARM_SENSOR3_GPIO, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, false);
-  // arm_sensor4_gpio.initAsInput(ARM_SENSOR4_GPIO, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, false);
-  // arm_sensor5_gpio.initAsInput(ARM_SENSOR5_GPIO, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, false);
-  // arm_sensor6_gpio.initAsInput(ARM_SENSOR6_GPIO, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, false);
-  // arm_sensor7_gpio.initAsInput(ARM_SENSOR7_GPIO, ZGPIO::kMode_nopull, ZGPIO::kIRQ_risingAndFallingIrq, true);
-  // arm_sensor8_gpio.initAsInput(ARM_SENSOR8_GPIO, ZGPIO::kMode_nopull, ZGPIO::kIRQ_risingAndFallingIrq, true);
+  io_fybh_read1.initAsInput(FYBH_READ1, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, false /*mirror*/);
+  io_fybh_read2.initAsInput(FYBH_READ2, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, false /*mirror*/);
+  io_fybh_read3.initAsInput(FYBH_READ3, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, false /*mirror*/);
+  io_fybh_read4.initAsInput(FYBH_READ4, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, false /*mirror*/);
+  io_fybh_read5.initAsInput(FYBH_READ5, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, false /*mirror*/);
+  io_fybh_read6.initAsInput(FYBH_READ6, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, false /*mirror*/);
+
+  io_fybjl_sensor8.initAsInput(FYBJL_SENSOR8, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, true /*mirror*/);
+  io_fybjl_sensor7.initAsInput(FYBJL_SENSOR7, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, true /*mirror*/);
+  io_fybjl_sensor6.initAsInput(FYBJL_SENSOR6, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, true /*mirror*/);
+  io_fybjl_sensor5.initAsInput(FYBJL_SENSOR5, ZGPIO::kMode_nopull, ZGPIO::kIRQ_risingAndFallingIrq, true /*mirror*/);
+  io_fybjl_sensor4.initAsInput(FYBJL_SENSOR4, ZGPIO::kMode_nopull, ZGPIO::kIRQ_risingAndFallingIrq, true /*mirror*/);
+  io_fybjl_sensor3.initAsInput(FYBJL_SENSOR3, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, true /*mirror*/);
+  io_fybjl_sensor2.initAsInput(FYBJL_SENSOR2, ZGPIO::kMode_nopull, ZGPIO::kIRQ_risingAndFallingIrq, true /*mirror*/);
+  io_fybjl_sensor1.initAsInput(FYBJL_SENSOR1, ZGPIO::kMode_nopull, ZGPIO::kIRQ_risingAndFallingIrq, true /*mirror*/);
+  io_fybjl_sensor0.initAsInput(FYBJL_SENSOR0, ZGPIO::kMode_nopull, ZGPIO::kIRQ_risingAndFallingIrq, true /*mirror*/);
 }
 uint32_t intput_sensors_get_table0() {
   uint32_t val = 0;
-  // val |= arm_sensor1_gpio.getStateUint32() << 1;
-  // val |= arm_sensor2_gpio.getStateUint32() << 2;
-  // val |= arm_sensor3_gpio.getStateUint32() << 3;
-  // val |= arm_sensor4_gpio.getStateUint32() << 4;
-  // val |= arm_sensor5_gpio.getStateUint32() << 5;
-  // val |= arm_sensor6_gpio.getStateUint32() << 6;
-  // val |= arm_sensor7_gpio.getStateUint32() << 7;
-  // val |= arm_sensor8_gpio.getStateUint32() << 8;
+
+  val |= io_fybjl_sensor0.getStateUint32() << 0;
+  val |= io_fybjl_sensor1.getStateUint32() << 1;
+  val |= io_fybjl_sensor2.getStateUint32() << 2;
+  val |= io_fybjl_sensor3.getStateUint32() << 3;
+  val |= io_fybjl_sensor4.getStateUint32() << 4;
+  val |= io_fybjl_sensor5.getStateUint32() << 5;
+  val |= io_fybjl_sensor6.getStateUint32() << 6;
+  val |= io_fybjl_sensor7.getStateUint32() << 7;
+  val |= io_fybjl_sensor8.getStateUint32() << 8;
+
+  val |= io_fybh_read1.getStateUint32() << 9;
+  val |= io_fybh_read2.getStateUint32() << 10;
+  val |= io_fybh_read3.getStateUint32() << 11;
+  val |= io_fybh_read4.getStateUint32() << 12;
+  val |= io_fybh_read5.getStateUint32() << 13;
+  val |= io_fybh_read6.getStateUint32() << 14;
   return val;
 }
 
@@ -98,6 +128,8 @@ void Main::run() {
     m_py_motor.initialize(&cfg);
     int32_t chipv = m_py_motor.readChipVERSION();
     ZLOGI(TAG, "m_py_motor:%lx", chipv);
+    m_py_motor.setIHOLD_IRUN(1, 31, 0);
+    // m_py_motor.rotate(500000);
   }
 
   {
@@ -106,6 +138,8 @@ void Main::run() {
     m_tj_motor.initialize(&cfg);
     int32_t chipv = m_tj_motor.readChipVERSION();
     ZLOGI(TAG, "m_tj_motor:%lx", chipv);
+    m_tj_motor.setIHOLD_IRUN(1, 31, 0);
+    // m_tj_motor.rotate(500000);
   }
 
   /*******************************************************************************
@@ -138,6 +172,60 @@ void Main::run() {
     m_protocolStack.activeReg(REG_GPIO_INPUT0, icps::kwr, 0);
   }
 
+  /*******************************************************************************
+   *                                  横移电机                                   *
+   *******************************************************************************/
+  m_py_motor.setIHOLD_IRUN(2, 12, 0);
+  m_py_motor.setMotorShaft(false);
+
+  m_pyMotorControlService.initialize(  //
+      "infeedMotor", &m_protocolStack, REG_PY_MOTOR_CTRL_ADD_BASE,
+      &io_fybjl_sensor1,  // ZERO_GPIO
+      NULL,               // LGPIO
+      NULL,               // RGPIO
+      &m_py_motor         // motor
+  );
+
+  m_pyMotorControlService.cfg_acc->setVal(30000);
+  m_pyMotorControlService.cfg_dec->setVal(30000);
+  m_pyMotorControlService.cfg_velocity->setVal(1000000);
+  m_pyMotorControlService.cfg_zero_shift->setVal(0);
+  m_pyMotorControlService.cfg_runhome_velocity->setVal(50000);
+  m_pyMotorControlService.cfg_runtohome_dec->setVal(100000);
+  m_pyMotorControlService.cfg_min_pos->setVal(-1000);
+  m_pyMotorControlService.cfg_max_pos->setVal(1144028);
+  m_pyMotorControlService.cfg_runtohome_max_distance->setVal(INT32_MAX);
+  m_pyMotorControlService.cfg_runtohome_leave_zero_point_distance->setVal(256 * 200 * 1);
+
+  /*******************************************************************************
+   *                                  推杆电机                                   *
+   *******************************************************************************/
+
+  m_tj_motor.setIHOLD_IRUN(2, 12, 0);
+  m_tj_motor.setMotorShaft(true);
+
+  m_tjMotorControlService.initialize(  //
+      "outfeedMotor", &m_protocolStack, REG_TJ_MOTOR_CTRL_ADD_BASE,
+      &io_fybjl_sensor4,  // ZERO_GPIO
+      NULL,               // LGPIO
+      NULL,               // RGPIO
+      &m_tj_motor         // motor
+  );
+  m_tjMotorControlService.cfg_acc->setVal(30000);
+  m_tjMotorControlService.cfg_dec->setVal(30000);
+  m_tjMotorControlService.cfg_velocity->setVal(1000000);
+  m_tjMotorControlService.cfg_zero_shift->setVal(0);
+  m_tjMotorControlService.cfg_runhome_velocity->setVal(50000);
+  m_tjMotorControlService.cfg_runtohome_dec->setVal(100000);
+  m_tjMotorControlService.cfg_min_pos->setVal(-1000);
+  m_tjMotorControlService.cfg_max_pos->setVal(1130108);
+  m_tjMotorControlService.cfg_runtohome_max_distance->setVal(INT32_MAX);
+  m_tjMotorControlService.cfg_runtohome_leave_zero_point_distance->setVal(256 * 200 * 1);
+
+  // bwm_gpio
+
+  m_oneDimensionalCodeLaserScanner.initialize(&m_protocolStack, REG_LARSER_SCANNER_CTRL_ADD_BASE, FYBJL_SENSOR0, [this]() { return m_tj_motor.getXACTUAL(); });
+
   while (1) {
     ZHALCORE::getInstance()->loop();
   }
diff --git a/usrc/one_dimensional_code_laser_scanner.cpp b/usrc/one_dimensional_code_laser_scanner.cpp
new file mode 100644
index 0000000..d2c8ece
--- /dev/null
+++ b/usrc/one_dimensional_code_laser_scanner.cpp
@@ -0,0 +1,85 @@
+#include "one_dimensional_code_laser_scanner.hpp"
+
+using namespace iflytop;
+
+#define ONE_BIT_WIDTH ((int32_t)(51200 * 1.20003 / 8.0))
+#define MIN_POS       ((int32_t)(102733))
+
+#define TAG "OneDimensionalCodeLaserScanner"
+int32_t m_off;
+int32_t m_posChache[50];
+int32_t endpos      = 0;
+int32_t startpos    = 0;
+bool    m_idleLevel = true;
+
+void OneDimensionalCodeLaserScanner::initialize(IflytopCanProtocolStackProcesser* protocolProcesser, int32_t regStartOff, Pin_t triggerPin,
+                                                PosReadder_t readder) {
+  m_protocolProcesser = protocolProcesser;
+  
+}
+
+void OneDimensionalCodeLaserScanner::startScan() {
+  CriticalContext cc;
+  m_off      = 0;
+  m_workflag = true;
+
+  m_idleLevel = m_triggerGpio.getState();
+  startpos    = m_readder();
+}
+void OneDimensionalCodeLaserScanner::stopScan() {
+  CriticalContext cc;
+  m_workflag = false;
+
+  endpos = m_readder();
+}
+
+bool OneDimensionalCodeLaserScanner::getPosLevel(int pos) {
+  bool level    = m_idleLevel;
+  bool nowlevel = m_idleLevel;
+
+  if (pos < m_posChache[0]) {
+    return m_idleLevel;
+  }
+
+  for (size_t i = 0; i < m_off; i++) {
+    nowlevel = !nowlevel;
+    if (i + 1 < m_off) {
+      if (pos >= m_posChache[i] && pos < m_posChache[i + 1]) {
+        level = nowlevel;
+        break;
+      }
+    } else {
+      level = nowlevel;
+    }
+  }
+
+  return level;
+}
+
+void OneDimensionalCodeLaserScanner::parseResult() {  //
+  static uint8_t code[500] = {0};
+
+  //
+  int32_t sp = m_posChache[0];
+  int32_t ep = endpos;
+
+  int32_t len = ep - sp;
+  // 把 len分成500份
+  for (size_t i = 0; i < 500; i++) {
+    code[i] = getPosLevel((int32_t)(sp + len / 500.0 * i));
+  }
+
+  printf("scanresult:");
+  for (size_t i = 0; i < 500; i++) {
+    printf("%d", code[i]);
+  }
+  printf("\r\n");
+}
+void OneDimensionalCodeLaserScanner::onGpioIrq(ZGPIO* GPIO_Pin, ZGPIO::IrqTypeEvent_t irqevent) {  //
+  if (!m_workflag) {
+    return;
+  }
+  if (m_off >= 50) return;
+  m_posChache[m_off] = m_readder();
+  m_off++;
+}
diff --git a/usrc/one_dimensional_code_laser_scanner.hpp b/usrc/one_dimensional_code_laser_scanner.hpp
new file mode 100644
index 0000000..b3cd61e
--- /dev/null
+++ b/usrc/one_dimensional_code_laser_scanner.hpp
@@ -0,0 +1,50 @@
+#pragma once
+#include <stdint.h>
+#include <stdio.h>
+
+#include "sdk/hal/zhal.hpp"
+#include "sdk\components\iflytop_can_slave_v1\iflytop_can_slave.hpp"
+
+#define REG_CODE_SCANER_ACT_CTRL            (0)   // 扫码器控制
+#define REG_CODE_SCANER_ACT_CLEAR_EXCEPTION (1)   // 清除异常
+#define REG_CODE_SCANER_STAT_STATUS         (5)   // 设备状态
+#define REG_CODE_SCANER_STAT_EXCEPTION      (6)   // 异常状态
+#define REG_CODE_SCANER_CODE                (7)   // 码存放的地方
+#define REG_CODE_SCANER_SIZE                (10)  //
+
+namespace iflytop {
+using namespace std;
+
+#define POS_CACHE_SIZE 28
+
+class OneDimensionalCodeLaserScanner  {
+ public:
+  typedef enum {
+    kidle,
+    kworking,
+  } code_scan_state_t;
+
+  typedef function<int32_t()> PosReadder_t;
+
+ private:
+  IflytopCanProtocolStackProcesser* m_protocolProcesser;
+  PosReadder_t                      m_readder;
+
+  ZGPIO m_triggerGpio;
+  bool  m_workflag = false;
+
+ public:
+  OneDimensionalCodeLaserScanner(){};
+  ~OneDimensionalCodeLaserScanner(){};
+
+  void initialize(IflytopCanProtocolStackProcesser* protocolProcesser, int32_t regStartOff, Pin_t triggerPin, PosReadder_t readder);
+
+  void startScan();
+  void stopScan();
+  void parseResult();
+
+ private:
+  void onGpioIrq(ZGPIO* GPIO_Pin, ZGPIO::IrqTypeEvent_t irqevent);
+  bool getPosLevel(int pos);
+};
+}  // namespace iflytop