update

a8000_protocol

@@ -1 +1 @@
-Subproject commit 24d216ced0a6d5f8ebc636067c2d5b174d9edbe6
+Subproject commit cab27e09a7e78e662b55de7b72e6b232988d5b27

iflytop_canbus/iflytop_canbus_master.cpp

@@ -110,7 +110,7 @@ void IflytopCanbusMaster::readreg(int32_t device_id, int32_t regaddr, int32_t *v
   *val = *(int32_t *)(&m_receipt_frame->data[0]);
 }
 
-int32_t IflytopCanbusMaster::getAck(int32_t index) { return *(int32_t *)(&m_receipt_frame->data[index]); }
+int32_t IflytopCanbusMaster::getAck(int32_t index) { return ((int32_t *)(m_receipt_frame->data))[index]; }
 
 uint8_t *IflytopCanbusMaster::getAckBuf() { return m_receipt_frame->data; }
 int32_t  IflytopCanbusMaster::getAckBufLen() { return m_receipt_len - sizeof(zcr_cmd_header_t); }

iflytop_canbus/waveshare_can.cpp

@@ -47,7 +47,12 @@ bool WaveshareCan::init(IDataChannel* ch, frame_callback_t framecb) {
 
       {
         lock_guard<mutex> lock(lock_);
+        if (m_rxlen == 0) {
+          continue;
+        }
+
         // 1.找头部
+
         int32_t headerpos = -1;
         for (int32_t i = 0; i < m_rxlen - 1; i++) {
           if (isHeader(m_rxcache + i)) {
@@ -61,6 +66,7 @@ bool WaveshareCan::init(IDataChannel* ch, frame_callback_t framecb) {
         }
 
         // 将包头移动到缓存头部
+        // ZLOGI(TAG, "rxlen:%d headerpos:%d", m_rxlen, headerpos);
         if (headerpos != 0) {
           memmove(m_rxcache, m_rxcache + headerpos, m_rxlen - headerpos);
           m_rxlen = m_rxlen - headerpos;
@@ -68,6 +74,7 @@ bool WaveshareCan::init(IDataChannel* ch, frame_callback_t framecb) {
         }
 
         if (m_rxlen < 20) continue;
+        // ZLOGI(TAG, "rxlen:%d find header %s ", m_rxlen, zhex2str(m_rxcache, 20).c_str());
 
         onReceivePacket(m_rxcache, 20);
         memmove(m_rxcache, m_rxcache + 20, m_rxlen - 20);

iflytop_canbus/waveshare_can.hpp

@@ -93,7 +93,7 @@ class WaveshareCan {
   mutex              lock_;
 
   uint8_t m_rxcache[1024] = {0};
-  uint8_t m_rxlen         = 0;
+  int32_t m_rxlen         = 0;
 
  public:
   bool init(IDataChannel* ch, frame_callback_t framecb);

src/qt_serial_datachannel.cpp

@@ -24,6 +24,7 @@ void QTDataChannel::init() {
         uint8_t rx[1024] = {0};
         int     rx_cnt   = com_receive(rx, 1024);
         if (rx_cnt != 0) {
+          ZLOGI(TAG, "rx %s ",  zhex2str(rx, rx_cnt).c_str());
           // ZLOGI(TAG, "rx %s ", zhe x2str(rx, rx_cnt).c_str());
           if (m_rxcb) m_rxcb(rx, rx_cnt);
         }

src/tab/pipette_ctrl_tab.cpp

@@ -27,8 +27,12 @@ PipetteCtrlTab *PipetteCtrlTab::inst() {
 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);
-  state = string((char *)ICM->getAckBuf());
+  try {
+    ICM->callcmd(getDeviceId(), kpipette_write_cmd_direct, (uint8_t *)txbuf, strlen(txbuf) + 1, 1000);
+    state = string((char *)ICM->getAckBuf());
+  } catch (const std::exception &e) {
+    state = e.what();
+  }
 }
 
 void PipetteCtrlTab::construct(QTabWidget *fathertab) {
@@ -47,6 +51,30 @@ void PipetteCtrlTab::construct(QTabWidget *fathertab) {
     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])); });
+
+    box->newFunc("测试CLLD", {"dpos"}, [this](int argn, const char **args) { ICM->callcmd1(getDeviceId(), kpipette_clld_test, atoi(args[0])); });
+    box->newFunc("测试PLLD", {"dpos"}, [this](int argn, const char **args) { ICM->callcmd1(getDeviceId(), kpipette_plld_test, atoi(args[0])); });
+    box->newFunc("使能Z轴电机", {"enable"}, [this](int argn, const char **args) { ICM->callcmd1(getDeviceId(), kpipette_enable_zmotor, atoi(args[0])); });
+
+    box->newFunc("打印传感器数据记录", {}, [this](int argn, const char **args) {
+      ICM->callcmd0(getDeviceId(), kpipette_get_sensor_sample_data_num);
+      int32_t nsample = ICM->getAck(0);
+
+      int32_t sample_period = 0;
+      ICM->readreg(getDeviceId(), kreg_pipette_data_sample_period, &sample_period);
+
+      ZQUI::ins()->ishow("%5s,  %5s,  %5s,  %5s", "time", "zpos", "cval", "pval");
+
+      for (int32_t i = 0; i < nsample; i++) {
+        ICM->callcmd1(getDeviceId(), kpipette_get_sensor_sample_data, i);
+        int32_t motor_pos = ICM->getAck(0);
+        int32_t cval      = ICM->getAck(1);
+        int32_t pval      = ICM->getAck(2);
+
+        ZQUI::ins()->ishow("%5d,  %5d,  %5d,  %5d", i * sample_period, motor_pos, cval, pval);
+      }
+    });
+    // box->newFunc("获取传感器数据数量", {}, [this](int argn, const char **args) { ICM->callcmd0(getDeviceId(), kpipette_get_sensor_sample_data_num); });
   }
 
   {

移液枪测试笔记.md

@@ -0,0 +1,18 @@
+```
+1. 新的tip                4
+2. tip上有水滴             10
+3. 用手摸tip               150
+4. tip浸没在水中           30
+5. tip浸没在水中,用手摸试管 50
+
+只有没有tip的情况下允许调用lld_prepare
+
+移液枪的使用流程:
+    1. 丢tip
+    2. 移动泵机到z轴中间（液面探测准备）
+    3. 装tip
+    4. 检测是否有tip,检测是否已经执行过吸液,液面探测(记录吸液排液水平线)
+    5. 吸液()记录最大值，如果超过最大值则，不允许继续吸液
+    6. 排液()记录最大值，如果超过最大值则，不允许继续吸液
+
+```