V507,Fix 移液泵加液超时的BUG

sdk/components/pipette_module/pipette_ctrl_module_v2.cpp

@@ -5,23 +5,23 @@ using namespace iflytop;
 
 #define TAG "PipetteModule"
 
-#define DO(func)                                                                   \
-  {                                                                                \
-    int32_t ecode = func;                                                          \
-    if (ecode != 0) {                                                              \
-      ZLOGE(TAG, "do %s fail, error %s(%d)", #func, err::error2str(ecode), ecode); \
-      return ecode;                                                                \
-    }                                                                              \
+#define DO(func)                                                                                  \
+  {                                                                                               \
+    int32_t ecode = func;                                                                         \
+    if (ecode != 0) {                                                                             \
+      ZLOGE(TAG, "[%d] do %s fail, error %s(%d)", __LINE__, #func, err::error2str(ecode), ecode); \
+      return ecode;                                                                               \
+    }                                                                                             \
   }
 
-#define DO_IN_THREAD(func)                                                         \
-  {                                                                                \
-    int32_t ecode = func;                                                          \
-    if (ecode != 0) {                                                              \
-      ZLOGE(TAG, "do %s fail, error %s(%d)", #func, err::error2str(ecode), ecode); \
-      creg.module_errorcode = ecode;                                               \
-      return;                                                                      \
-    }                                                                              \
+#define DO_IN_THREAD(func)                                                                        \
+  {                                                                                               \
+    int32_t ecode = func;                                                                         \
+    if (ecode != 0) {                                                                             \
+      ZLOGE(TAG, "[%d]do %s fail, error %s(%d) ", __LINE__, #func, err::error2str(ecode), ecode); \
+      creg.module_errorcode = ecode;                                                              \
+      return;                                                                                     \
+    }                                                                                             \
   }
 
 #define PIPETTE_PREPARE_POS 800
@@ -550,7 +550,7 @@ int32_t PipetteModule::do_pipette_distribut(int32_t ul, int32_t zmotor_v) {
         DO_IN_THREAD(befor_run());
 
         int32_t distribut_ul = ul;
-        if (distribut_ul == 0) distribut_ul = m_state.load_val_ul;
+        if (distribut_ul == 0) distribut_ul = m_state.load_val_ul + 1;
         DO_IN_THREAD(m_smtp2.pump_distribut(m_config.aspirate_distribut_pump_vel, distribut_ul));
         if (zmotor_v != 0) {
           submotor->moveBy(-LLF_DPOS, zmotor_v);
@@ -741,10 +741,13 @@ int32_t PipetteModule::after_run() {
 
   m_state.dul = m_state.pump_after_pos_ul - m_state.pump_before_pos_ul;
 
+  ZLOGI(TAG, "after_run before:%d after:%d dul:%d", m_state.pump_before_pos_ul, m_state.pump_after_pos_ul, m_state.dul);
+
   creg.module_status = 0;
   return 0;
 
 tag_err:
+  ZLOGI(TAG, "after_run detecte, error %d", err);
   creg.module_status    = 2;
   creg.module_errorcode = err;
   return 0;

sdk/components/sensors/smtp2_v2/smtp2_v2.cpp

@@ -232,13 +232,12 @@ int32_t SMTP2V2::sendcmd(bool dump, int auto_retry_times, const char* format, ..
 bool SMTP2V2::sendcmd_auto_retry(bool dump, int auto_retry_times, const char* cmd) {
   for (size_t i = 0; i < auto_retry_times; i++) {
     if (_sendcmd(dump, cmd)) {
-      break;
+      return true;
     }
     osDelay(10);
     m_rxNum = 0;
-    return false;
   }
-  return true;
+  return false;
 }
 bool SMTP2V2::_sendcmd(bool dump, const char* cmd) {
   m_rxNum = 0;

usrc/project_configs.h

@@ -1,5 +1,5 @@
 #pragma once
-#define PC_VERSION           506
+#define PC_VERSION           507
 #define PC_MANUFACTURER      "http://www.iflytop.com/"
 #define PC_PROJECT_NAME      "a8000_subboard"
 #define PC_IFLYTOP_ENABLE_OS 1