From 1027be7bae619681bd228aa5af5d6177abddf881 Mon Sep 17 00:00:00 2001
From: zhaohe <h_zhaohe@163.com>
Date: Fri, 28 Jul 2023 15:38:18 +0800
Subject: [PATCH] update

---
 .cproject                                   |  4 +--
 sdk                                         |  2 +-
 usrc/main.cpp                               | 25 ++++++-------
 usrc/main.hpp                               |  5 ++-
 usrc/one_dimensional_code_laser_scanner.cpp | 56 ++++++++++++++++++++++++++---
 usrc/one_dimensional_code_laser_scanner.hpp |  5 ++-
 zapp.launch                                 |  2 +-
 7 files changed, 76 insertions(+), 23 deletions(-)

diff --git a/.cproject b/.cproject
index 51b9c10..af9c7bb 100644
--- a/.cproject
+++ b/.cproject
@@ -35,7 +35,7 @@
 								<inputType id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.assembler.input.623917875" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.assembler.input"/>
 							</tool>
 							<tool commandLinePattern="${COMMAND} ${INPUTS} ${FLAGS} -Wno-format -Wno-unused-variable  ${OUTPUT_FLAG} ${OUTPUT_PREFIX}${OUTPUT}" id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.1173140116" name="MCU GCC Compiler" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler">
-								<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.option.debuglevel.624128119" name="Debug level" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.option.debuglevel" useByScannerDiscovery="false" value="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.option.debuglevel.value.g0" valueType="enumerated"/>
+								<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.option.debuglevel.624128119" name="Debug level" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.option.debuglevel" useByScannerDiscovery="false" value="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.option.debuglevel.value.g3" valueType="enumerated"/>
 								<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.option.optimization.level.1762493860" name="Optimization level" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.option.optimization.level" useByScannerDiscovery="false"/>
 								<option IS_BUILTIN_EMPTY="false" IS_VALUE_EMPTY="false" id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.option.definedsymbols.201136540" name="Define symbols (-D)" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.option.definedsymbols" useByScannerDiscovery="false" valueType="definedSymbols">
 									<listOptionValue builtIn="false" value="DEBUG"/>
@@ -55,7 +55,7 @@
 								<inputType id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.input.c.478991685" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.input.c"/>
 							</tool>
 							<tool commandLinePattern="${COMMAND} ${INPUTS} ${FLAGS} -Wno-format -Wno-unused-variable  ${OUTPUT_FLAG} ${OUTPUT_PREFIX}${OUTPUT}" id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.cpp.compiler.1634628250" name="MCU G++ Compiler" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.cpp.compiler">
-								<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.cpp.compiler.option.debuglevel.1189558725" name="Debug level" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.cpp.compiler.option.debuglevel" useByScannerDiscovery="false" value="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.cpp.compiler.option.debuglevel.value.g0" valueType="enumerated"/>
+								<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.cpp.compiler.option.debuglevel.1189558725" name="Debug level" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.cpp.compiler.option.debuglevel" useByScannerDiscovery="false" value="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.cpp.compiler.option.debuglevel.value.g3" valueType="enumerated"/>
 								<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.cpp.compiler.option.optimization.level.302501104" name="Optimization level" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.cpp.compiler.option.optimization.level" useByScannerDiscovery="false"/>
 								<option IS_BUILTIN_EMPTY="false" IS_VALUE_EMPTY="false" id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.cpp.compiler.option.includepaths.1393251149" name="Include paths (-I)" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.cpp.compiler.option.includepaths" useByScannerDiscovery="false" valueType="includePath">
 									<listOptionValue builtIn="false" value="../Core/Inc"/>
diff --git a/sdk b/sdk
index 914b4c7..74516c3 160000
--- a/sdk
+++ b/sdk
@@ -1 +1 @@
-Subproject commit 914b4c75556afc4137ed32bb341bf4377f2765b1
+Subproject commit 74516c3308422c3a73853b6aa925d0d38a526eef
diff --git a/usrc/main.cpp b/usrc/main.cpp
index f2a423b..196bd0c 100644
--- a/usrc/main.cpp
+++ b/usrc/main.cpp
@@ -34,13 +34,6 @@ 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;
@@ -51,9 +44,9 @@ 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
-
+DeviceBaseControlService       m_deviceBaseControlService;
+SingleAxisMotorControlerV2     m_pyMotorControlService;  // 平移电机
+SingleAxisMotorControlerV2     m_tjMotorControlService;  // 推进电机
 OneDimensionalCodeLaserScanner m_oneDimensionalCodeLaserScanner;
 
 void input_sensors_init() {
@@ -164,7 +157,7 @@ void Main::run() {
   /*******************************************************************************
    *                                协议栈初始化                                 *
    *******************************************************************************/
-  {
+  {  //
     auto *cfg = IflytopCanProtocolStackProcesser::createDefaultConfig(DEVICE_ID, 128);
     m_protocolStack.initialize(cfg);
     m_protocolStack.setDumpPacketFlag(false);
@@ -172,6 +165,14 @@ void Main::run() {
     m_protocolStack.activeReg(REG_GPIO_INPUT0, icps::kwr, 0);
   }
 
+  {  //
+    m_deviceBaseControlService.initialize(&m_protocolStack, DEVICE_ID);
+    m_deviceBaseControlService.setListener([](int32_t engineer_mode) {
+      m_pyMotorControlService.setEngineerMode(engineer_mode);
+      m_tjMotorControlService.setEngineerMode(engineer_mode);
+    });
+  }
+
   /*******************************************************************************
    *                                  横移电机                                   *
    *******************************************************************************/
@@ -223,9 +224,9 @@ void Main::run() {
   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(); });
 
+  ZLOGI(TAG, "init done");
   while (1) {
     ZHALCORE::getInstance()->loop();
   }
diff --git a/usrc/main.hpp b/usrc/main.hpp
index c9224c9..87fd276 100644
--- a/usrc/main.hpp
+++ b/usrc/main.hpp
@@ -4,14 +4,17 @@
 
 #include <functional>
 
+#include "sdk\components\iflytop_can_slave_modules\device_base_control_service.hpp"
 #include "sdk\components\iflytop_can_slave_v1\iflytop_can_slave.hpp"
 
 namespace iflytop {
 using namespace std;
-class Main : public IflytopCanProtocolStackProcesserListener {
+class Main : public IflytopCanProtocolStackProcesserListener{
  private:
   /* data */
  public:
+
+  virtual bool          isThisRegOwnToMe(IflytopCanProtocolStackProcesser *processer, icps::Reg_t *reg) { return false; }
   virtual icps::error_t onHostRegisterWriteEvent(IflytopCanProtocolStackProcesser *processer, icps::WriteEvent *event);
   virtual icps::error_t onHostRegisterReadEvent(IflytopCanProtocolStackProcesser *processer, icps::ReadEvent *event);
   virtual void          onHostRegisterReportEvent(IflytopCanProtocolStackProcesser *processer, icps::ReportEvent *event);
diff --git a/usrc/one_dimensional_code_laser_scanner.cpp b/usrc/one_dimensional_code_laser_scanner.cpp
index d2c8ece..dbca465 100644
--- a/usrc/one_dimensional_code_laser_scanner.cpp
+++ b/usrc/one_dimensional_code_laser_scanner.cpp
@@ -15,7 +15,45 @@ bool    m_idleLevel = true;
 void OneDimensionalCodeLaserScanner::initialize(IflytopCanProtocolStackProcesser* protocolProcesser, int32_t regStartOff, Pin_t triggerPin,
                                                 PosReadder_t readder) {
   m_protocolProcesser = protocolProcesser;
-  
+
+  m_protocolProcesser->activeReg(REG_CODE_SCANER_ACT_CTRL, icps::kw, 0);
+  m_protocolProcesser->activeReg(REG_CODE_SCANER_ACT_CLEAR_EXCEPTION, icps::kw, 0);
+  m_protocolProcesser->activeReg(REG_CODE_SCANER_STAT_STATUS, icps::kr, 0);
+  m_protocolProcesser->activeReg(REG_CODE_SCANER_STAT_EXCEPTION, icps::kr, 0);
+  m_protocolProcesser->activeReg(REG_CODE_SCANER_CODE, icps::kr, 0);
+
+  m_triggerGpio.initAsInput(triggerPin, ZGPIO::kMode_nopull, ZGPIO::kIRQ_risingAndFallingIrq, false /*mirror*/);
+  m_protocolProcesser->registerListener(this);
+}
+
+bool OneDimensionalCodeLaserScanner::isThisRegOwnToMe(IflytopCanProtocolStackProcesser* processer, icps::Reg_t* reg) {  //
+  switch (reg->add) {
+    case REG_CODE_SCANER_ACT_CTRL:
+    case REG_CODE_SCANER_ACT_CLEAR_EXCEPTION:
+      return true;
+    default:
+      break;
+  }
+  return false;
+}
+icps::error_t OneDimensionalCodeLaserScanner::onHostRegisterWriteEvent(IflytopCanProtocolStackProcesser* processer, IflytopCanProtocolStackWriteEvent* writeEvent) {
+  switch (writeEvent->reg->add) {
+    case REG_CODE_SCANER_ACT_CTRL:
+      if (writeEvent->newvalue == 1) {
+        startScan();
+      } else if (writeEvent->newvalue == 0) {
+        stopScan();
+        parseResult();
+      } else {
+        return icps::kIllegalValue;
+      }
+      return icps::kSuccess;
+    case REG_CODE_SCANER_ACT_CLEAR_EXCEPTION:
+      return icps::kSuccess;
+    default:
+      break;
+  }
+  return icps::kRegNotFound;
 }
 
 void OneDimensionalCodeLaserScanner::startScan() {
@@ -41,7 +79,7 @@ bool OneDimensionalCodeLaserScanner::getPosLevel(int pos) {
     return m_idleLevel;
   }
 
-  for (size_t i = 0; i < m_off; i++) {
+  for (int i = 0; i < m_off; i++) {
     nowlevel = !nowlevel;
     if (i + 1 < m_off) {
       if (pos >= m_posChache[i] && pos < m_posChache[i + 1]) {
@@ -59,18 +97,26 @@ bool OneDimensionalCodeLaserScanner::getPosLevel(int pos) {
 void OneDimensionalCodeLaserScanner::parseResult() {  //
   static uint8_t code[500] = {0};
 
+  printf("scan raw result:\n");
+  printf("(%d)", m_idleLevel);
+  printf("%d ", startpos);
+  for (int i = 0; i < m_off; i++) {
+    printf("%d ", m_posChache[i]);
+  }
+  printf("%d ", endpos);
+  printf("\r\n");
   //
   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++) {
+  for (int 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("scanresult:\n");
+  for (int i = 0; i < 500; i++) {
     printf("%d", code[i]);
   }
   printf("\r\n");
diff --git a/usrc/one_dimensional_code_laser_scanner.hpp b/usrc/one_dimensional_code_laser_scanner.hpp
index b3cd61e..1ca3af7 100644
--- a/usrc/one_dimensional_code_laser_scanner.hpp
+++ b/usrc/one_dimensional_code_laser_scanner.hpp
@@ -17,7 +17,7 @@ using namespace std;
 
 #define POS_CACHE_SIZE 28
 
-class OneDimensionalCodeLaserScanner  {
+class OneDimensionalCodeLaserScanner : public IflytopCanProtocolStackProcesserListener {
  public:
   typedef enum {
     kidle,
@@ -39,6 +39,9 @@ class OneDimensionalCodeLaserScanner  {
 
   void initialize(IflytopCanProtocolStackProcesser* protocolProcesser, int32_t regStartOff, Pin_t triggerPin, PosReadder_t readder);
 
+  virtual bool          isThisRegOwnToMe(IflytopCanProtocolStackProcesser* processer, icps::Reg_t* reg);
+  virtual icps::error_t onHostRegisterWriteEvent(IflytopCanProtocolStackProcesser* processer, IflytopCanProtocolStackWriteEvent* writeEvent);
+
   void startScan();
   void stopScan();
   void parseResult();
diff --git a/zapp.launch b/zapp.launch
index 9e1624d..b284c63 100644
--- a/zapp.launch
+++ b/zapp.launch
@@ -83,7 +83,7 @@
     <stringAttribute key="org.eclipse.cdt.launch.PROGRAM_NAME" value="Debug/zapp.elf"/>
     <stringAttribute key="org.eclipse.cdt.launch.PROJECT_ATTR" value="zapp"/>
     <booleanAttribute key="org.eclipse.cdt.launch.PROJECT_BUILD_CONFIG_AUTO_ATTR" value="true"/>
-    <stringAttribute key="org.eclipse.cdt.launch.PROJECT_BUILD_CONFIG_ID_ATTR" value=""/>
+    <stringAttribute key="org.eclipse.cdt.launch.PROJECT_BUILD_CONFIG_ID_ATTR" value="com.st.stm32cube.ide.mcu.gnu.managedbuild.config.exe.debug.1316415929"/>
     <booleanAttribute key="org.eclipse.debug.core.ATTR_FORCE_SYSTEM_CONSOLE_ENCODING" value="false"/>
     <listAttribute key="org.eclipse.debug.core.MAPPED_RESOURCE_PATHS">
         <listEntry value="/zapp"/>