update

iflytop_canbus/waveshare_can.cpp

@@ -157,8 +157,8 @@ int WaveshareCan::onReceivePacket(uint8_t* data, size_t len) {
   canframe.data[3] = rxpacket->frame_data_4;
   canframe.data[4] = rxpacket->frame_data_5;
   canframe.data[5] = rxpacket->frame_data_6;
-  canframe.data[6] = rxpacket->frame_data_6;
-  canframe.data[7] = rxpacket->frame_data_6;
+  canframe.data[6] = rxpacket->frame_data_7;
+  canframe.data[7] = rxpacket->frame_data_8;
 
   if (m_frame_callback) {
     m_frame_callback(&canframe);

src/basic/smtp2_constant.cpp

@@ -88,8 +88,8 @@ static state_info_t states[] = {
     STATE_ITEM(kstate_pump_pos_nl, "泵位置(纳升)"),
     STATE_ITEM(kstate_back_clearance, "背隙[K],泵位置"),
     STATE_ITEM(kstate_start_v, "启动速度[v]"),
-    STATE_ITEM(kstate_max_v, "最高速度[V]"),
-    STATE_ITEM(kstate_stop_v, "停止速度[c]"),
+    STATE_ITEM(kstate_max_v, "最高速度[V]*10, 默认:{1400}"),
+    STATE_ITEM(kstate_stop_v, "停止速度[c], 默认:{900}"),
     STATE_ITEM(kstate_acc, "加速度的[L]值"),
     STATE_ITEM(kstate_dec, "减速度的[L]值"),
     STATE_ITEM(kstate_motor_irun, "泵电机运行电流,单位0.01A"),

src/tab/pipette_ctrl_tab.cpp

@@ -24,6 +24,20 @@ PipetteCtrlTab *PipetteCtrlTab::inst() {
   return ins;
 }
 
+static void pipette_ctrl_read_state(int32_t index, string &state) {
+  char txbuf[256];
+  snprintf(txbuf, sizeof(txbuf), "/1?%dR\r", index);
+  ICM->callcmd(getDeviceId(), kpipette_write_cmd_direct, (uint8_t *)txbuf, strlen(txbuf) + 1, 100);
+  ICM->getAckBuf()[ICM->getAckBufLen() - 2] = 0;
+  for (size_t i = 0; i < ICM->getAckBufLen(); i++) {
+    if (ICM->getAckBuf()[i] == '\r' || ICM->getAckBuf()[i] == '\n') {
+      ICM->getAckBuf()[i] = 0;
+    }
+  }
+
+  state = string((char *)ICM->getAckBuf());
+}
+
 void PipetteCtrlTab::construct(QTabWidget *fathertab) {
   /***********************************************************************************************************************
    *                                                      模块操作                                                       *
@@ -35,13 +49,16 @@ void PipetteCtrlTab::construct(QTabWidget *fathertab) {
   ZQVTabPage *tab = new ZQVTabPage(fathertab, "移液枪操作");
 
   {
-    ZQFunctionListBox *box = new ZQFunctionListBox(tab, "移液枪操作", 4);
-    // box->newFunc("使能", {"enable"}, [this](int argn, const char **args) { ICM->step_motor_enable(getDeviceId(), atoi(args[0])); });
-    // box->newFunc("停止", {}, [this](int argn, const char **args) { ICM->step_motor_stop(getDeviceId(), 0); });
-    // box->newFunc("激活配置", {}, [this](int argn, const char **args) { ICM->step_motor_active_cfg(getDeviceId()); });
+    ZQFunctionListBox *box = new ZQFunctionListBox(tab, "移液枪-操作", 4);
+
     box->newFunc("初始化操作", {}, [this](int argn, const char **args) { ICM->callcmd0(getDeviceId(), kpipette_ctrl_init_device); });
     box->newFunc("推出吸头", {}, [this](int argn, const char **args) { ICM->callcmd0(getDeviceId(), kpipette_ctrl_put_tip); });
     box->newFunc("移动到指定位置", {"ul"}, [this](int argn, const char **args) { ICM->callcmd1(getDeviceId(), kpipette_ctrl_move_to_ul, atoi(args[0])); });
+  }
+
+  {
+    ZQFunctionListBox *box = new ZQFunctionListBox(tab, "移液枪-子设备直接操作", 4);
+
     box->newFunc("写指令到移液枪(直接)", {"cmdstr"}, [this](int argn, const char **args) {
       char txbuf[256];
       snprintf(txbuf, sizeof(txbuf), "%sR\r", args[0]);
@@ -58,7 +75,7 @@ void PipetteCtrlTab::construct(QTabWidget *fathertab) {
         errorcode    = errorcode - '@';
         workingstate = 1;
       }
-      ZQUI::ins()->ishow("RX: ecode:%s(%d),working_state:%d,raw:%s", smtp2::ecode2str(errorcode), errorcode, workingstate, ICM->getAckBuf());
+      ZQUI::ins()->ishow("RX: ecode:%s(%d),working_state:%d,raw:%s(%d)", smtp2::ecode2str(errorcode), errorcode, workingstate, (char *)ICM->getAckBuf(), ICM->getAckBufLen());
     });
 
     box->newFunc("打印常用指令", {}, [this](int argn, const char **args) {
@@ -97,23 +114,28 @@ void PipetteCtrlTab::construct(QTabWidget *fathertab) {
     box->newFunc("打印泵机状态列表", {}, [this](int argn, const char **args) {
       ZQUI::ins()->ishow("查看状态: /1?<n>R");
 
-      smtp2::cfg_info_t *table    = nullptr;
-      int32_t            itermNum = 0;
+      smtp2::state_info_t *table    = nullptr;
+      int32_t              itermNum = 0;
 
-      smtp2::cfg_info_get_table(&table, &itermNum);
+      smtp2::state_info_get_table(&table, &itermNum);
+      ZQUI::ins()->ishow("id,  val, des");
       for (int i = 0; i < itermNum; i++) {
-        ZQUI::ins()->ishow("id:%d, des:%s", table[i].index, table[i].description);
+        string val;
+        pipette_ctrl_read_state(table[i].index, val);
+        ZQUI::ins()->ishow("%2d , %s , %s", table[i].index, val.c_str(), table[i].description);
       }
     });
     box->newFunc("打印泵机配置列表", {}, [this](int argn, const char **args) {
       ZQUI::ins()->ishow("设置配置: /1u<n1>,<n2>R");
 
-      smtp2::state_info_t *table    = nullptr;
-      int32_t              itermNum = 0;
+      smtp2::cfg_info_t *table    = nullptr;
+      int32_t            itermNum = 0;
+
+      smtp2::cfg_info_get_table(&table, &itermNum);
+      ZQUI::ins()->ishow("id, des");
 
-      smtp2::state_info_get_table(&table, &itermNum);
       for (int i = 0; i < itermNum; i++) {
-        ZQUI::ins()->ishow("id:%d, des:%s", table[i].index, table[i].description);
+        ZQUI::ins()->ishow(" %2d ,  %s", table[i].index, table[i].description);
       }
     });
   }