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@ -5,21 +5,20 @@ |
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#include <string.h>
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#include <string.h>
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#include "sdk/os/zos.hpp"
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#include "sdk/os/zos.hpp"
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#include "sdk\components\zprotocols\zcancmder_v2\api\state_index.hpp"
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using namespace iflytop; |
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using namespace iflytop; |
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using namespace std; |
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using namespace std; |
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#define TAG "CMD"
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#define TAG "CMD"
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void MicroComputerModuleDeviceScriptCmderPaser::do_dumpconfig(int32_t moduleId) { |
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void MicroComputerModuleDeviceScriptCmderPaser::do_dumpreg(int32_t moduleId) { |
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ICmdParserACK ack; |
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ICmdParserACK ack; |
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const char paraV_cache[1][10] = {{0}}; |
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const char paraV_cache[1][10] = {{0}}; |
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sprintf((char*)paraV_cache[0], "%ld", moduleId); |
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sprintf((char*)paraV_cache[0], "%ld", moduleId); |
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const char* paraV[1] = {paraV_cache[0]}; |
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const char* paraV[1] = {paraV_cache[0]}; |
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do_dumpconfig(1, (const char**)paraV, &ack); |
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do_dumpreg(1, (const char**)paraV, &ack); |
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} |
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} |
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void MicroComputerModuleDeviceScriptCmderPaser::do_dumpconfig(int32_t paramN, const char* paraV[], ICmdParserACK* ack) { |
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void MicroComputerModuleDeviceScriptCmderPaser::do_dumpreg(int32_t paramN, const char* paraV[], ICmdParserACK* ack) { |
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//
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//
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ack->ecode = 0; |
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ack->ecode = 0; |
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@ -34,115 +33,159 @@ void MicroComputerModuleDeviceScriptCmderPaser::do_dumpconfig(int32_t paramN, co |
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ZLOGI(TAG, "%-30s :%d", tag, configval); \ |
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ZLOGI(TAG, "%-30s :%d", tag, configval); \ |
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} |
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} |
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DUMP_CONFIG("motor_x_shift", kcfg_motor_x_shift); |
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DUMP_CONFIG("motor_y_shift", kcfg_motor_y_shift); |
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DUMP_CONFIG("motor_z_shift", kcfg_motor_z_shift); |
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DUMP_CONFIG("motor_x_shaft", kcfg_motor_x_shaft); |
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DUMP_CONFIG("motor_y_shaft", kcfg_motor_y_shaft); |
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DUMP_CONFIG("motor_z_shaft", kcfg_motor_z_shaft); |
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DUMP_CONFIG("motor_x_one_circle_pulse", kcfg_motor_x_one_circle_pulse); |
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DUMP_CONFIG("motor_y_one_circle_pulse", kcfg_motor_y_one_circle_pulse); |
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DUMP_CONFIG("motor_z_one_circle_pulse", kcfg_motor_z_one_circle_pulse); |
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DUMP_CONFIG("motor_default_velocity", kcfg_motor_default_velocity); |
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DUMP_CONFIG("motor_default_acc", kcfg_motor_default_acc); |
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DUMP_CONFIG("motor_default_dec", kcfg_motor_default_dec); |
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DUMP_CONFIG("motor_default_break_dec", kcfg_motor_default_break_dec); |
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DUMP_CONFIG("motor_run_to_zero_max_x_d", kcfg_motor_run_to_zero_max_x_d); |
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DUMP_CONFIG("motor_run_to_zero_max_y_d", kcfg_motor_run_to_zero_max_y_d); |
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DUMP_CONFIG("motor_run_to_zero_max_z_d", kcfg_motor_run_to_zero_max_z_d); |
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DUMP_CONFIG("motor_look_zero_edge_max_x_d", kcfg_motor_look_zero_edge_max_x_d); |
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DUMP_CONFIG("motor_look_zero_edge_max_y_d", kcfg_motor_look_zero_edge_max_y_d); |
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DUMP_CONFIG("motor_look_zero_edge_max_z_d", kcfg_motor_look_zero_edge_max_z_d); |
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DUMP_CONFIG("motor_run_to_zero_speed", kcfg_motor_run_to_zero_speed); |
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DUMP_CONFIG("motor_run_to_zero_dec", kcfg_motor_run_to_zero_dec); |
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DUMP_CONFIG("motor_look_zero_edge_speed", kcfg_motor_look_zero_edge_speed); |
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DUMP_CONFIG("motor_look_zero_edge_dec", kcfg_motor_look_zero_edge_dec); |
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DUMP_CONFIG("cfg_stepmotor_ihold", k_cfg_stepmotor_ihold); |
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DUMP_CONFIG("cfg_stepmotor_irun", k_cfg_stepmotor_irun); |
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DUMP_CONFIG("cfg_stepmotor_iholddelay", k_cfg_stepmotor_iholddelay); |
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DUMP_CONFIG("cfg_xyrobot_robot_type", k_cfg_xyrobot_robot_type); |
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} |
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void MicroComputerModuleDeviceScriptCmderPaser::do_dumpstate(int32_t paramN, const char* paraV[], ICmdParserACK* ack) { |
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#if 0
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typedef enum { |
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kstate_module_status = STATE_INDEX(0, 0), // 0idle,1busy,2error
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kstate_module_errorcode = STATE_INDEX(0, 1), //
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kstate_motor1_move = STATE_INDEX(100, 0), //
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kstate_motor1_enable = STATE_INDEX(100, 1), //
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kstate_motor1_current = STATE_INDEX(100, 2), //
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kstate_motor1_vel = STATE_INDEX(100, 3), //
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kstate_motor1_pos = STATE_INDEX(100, 4), //
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kstate_motor1_temperature = STATE_INDEX(100, 5), //
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kstate_motor1_dpos = STATE_INDEX(100, 6), //
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kstate_motor2_move = STATE_INDEX(110, 0), //
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kstate_motor2_enable = STATE_INDEX(110, 1), //
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kstate_motor2_current = STATE_INDEX(110, 2), //
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kstate_motor2_vel = STATE_INDEX(110, 3), //
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kstate_motor2_pos = STATE_INDEX(110, 4), //
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kstate_motor2_temperature = STATE_INDEX(110, 5), //
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kstate_motor2_dpos = STATE_INDEX(110, 6), //
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kstate_xyrobot_move = STATE_INDEX(1000, 0), //
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kstate_xyrobot_enable = STATE_INDEX(1000, 1), //
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kstate_xyrobot_x_pos = STATE_INDEX(1000, 2), //
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kstate_xyrobot_y_pos = STATE_INDEX(1000, 3), //
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kstate_xyrobot_z_pos = STATE_INDEX(1000, 4), //
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kstate_xyrobot_x_dpos = STATE_INDEX(1000, 5), //
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kstate_xyrobot_y_dpos = STATE_INDEX(1000, 6), //
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kstate_xyrobot_z_dpos = STATE_INDEX(1000, 7), //
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} config_index_t; |
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#endif
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ack->ecode = 0; |
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uint16_t moduleId = atoi(paraV[0]); |
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int32_t configval = 0; |
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int32_t ecode = 0; |
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ZLOGI(TAG, "dumpstate %s", paraV[0]); |
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#define DUMP_STATE(tag, configid) \
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ecode = m_deviceManager->module_get_state(moduleId, configid, &configval); \ |
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if (ecode == 0) { \ |
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ZLOGI(TAG, "%-30s :%d", tag, configval); \ |
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} |
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DUMP_STATE("kstate_module_status", kstate_module_status); |
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DUMP_STATE("kstate_module_errorcode", kstate_module_errorcode); |
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DUMP_STATE("kstate_motor1_move", kstate_motor1_move); |
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DUMP_STATE("kstate_motor1_enable", kstate_motor1_enable); |
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DUMP_STATE("kstate_motor1_current", kstate_motor1_current); |
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DUMP_STATE("kstate_motor1_vel", kstate_motor1_vel); |
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DUMP_STATE("kstate_motor1_pos", kstate_motor1_pos); |
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DUMP_STATE("kstate_motor1_temperature", kstate_motor1_temperature); |
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DUMP_STATE("kstate_motor1_dpos", kstate_motor1_dpos); |
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DUMP_STATE("kstate_motor2_move", kstate_motor2_move); |
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DUMP_STATE("kstate_motor2_enable", kstate_motor2_enable); |
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DUMP_STATE("kstate_motor2_current", kstate_motor2_current); |
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DUMP_STATE("kstate_motor2_vel", kstate_motor2_vel); |
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DUMP_STATE("kstate_motor2_pos", kstate_motor2_pos); |
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DUMP_STATE("kstate_motor2_temperature", kstate_motor2_temperature); |
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DUMP_STATE("kstate_motor2_dpos", kstate_motor2_dpos); |
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DUMP_STATE("kstate_xyrobot_move", kstate_xyrobot_move); |
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DUMP_STATE("kstate_xyrobot_enable", kstate_xyrobot_enable); |
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DUMP_STATE("kstate_xyrobot_x_pos", kstate_xyrobot_x_pos); |
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DUMP_STATE("kstate_xyrobot_y_pos", kstate_xyrobot_y_pos); |
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DUMP_STATE("kstate_xyrobot_z_pos", kstate_xyrobot_z_pos); |
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DUMP_STATE("kstate_xyrobot_x_dpos", kstate_xyrobot_x_dpos); |
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DUMP_STATE("kstate_xyrobot_y_dpos", kstate_xyrobot_y_dpos); |
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DUMP_STATE("kstate_xyrobot_z_dpos", kstate_xyrobot_z_dpos); |
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// module_get_state
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} |
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void MicroComputerModuleDeviceScriptCmderPaser::do_dumpstate(int32_t moduleId) { |
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ICmdParserACK ack; |
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const char paraV_cache[1][10] = {{0}}; |
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sprintf((char*)paraV_cache[0], "%ld", moduleId); |
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const char* paraV[1] = {paraV_cache[0]}; |
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do_dumpstate(1, (const char**)paraV, &ack); |
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/*******************************************************************************
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* 模块通用配置和状态(0->1000) * |
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*******************************************************************************/ |
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DUMP_CONFIG("module_version", kreg_module_version); |
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DUMP_CONFIG("module_type", kreg_module_type); |
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DUMP_CONFIG("module_status", kreg_module_status); |
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DUMP_CONFIG("module_errorcode", kreg_module_errorcode); |
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DUMP_CONFIG("module_initflag", kreg_module_initflag); |
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DUMP_CONFIG("module_enableflag", kreg_module_enableflag); |
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DUMP_CONFIG("module_last_cmd_exec_status", kreg_module_last_cmd_exec_status); |
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DUMP_CONFIG("module_last_cmd_exec_val0", kreg_module_last_cmd_exec_val0); |
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DUMP_CONFIG("module_last_cmd_exec_val1", kreg_module_last_cmd_exec_val1); |
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DUMP_CONFIG("module_last_cmd_exec_val2", kreg_module_last_cmd_exec_val2); |
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DUMP_CONFIG("module_last_cmd_exec_val3", kreg_module_last_cmd_exec_val3); |
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DUMP_CONFIG("module_last_cmd_exec_val4", kreg_module_last_cmd_exec_val4); |
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DUMP_CONFIG("module_last_cmd_exec_val5", kreg_module_last_cmd_exec_val5); |
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DUMP_CONFIG("module_private0", kreg_module_private0); |
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DUMP_CONFIG("module_private1", kreg_module_private1); |
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DUMP_CONFIG("module_private2", kreg_module_private2); |
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DUMP_CONFIG("module_private3", kreg_module_private3); |
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DUMP_CONFIG("module_private4", kreg_module_private4); |
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DUMP_CONFIG("module_private5", kreg_module_private5); |
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DUMP_CONFIG("module_private6", kreg_module_private6); |
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DUMP_CONFIG("module_private7", kreg_module_private7); |
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DUMP_CONFIG("module_private8", kreg_module_private8); |
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DUMP_CONFIG("module_private9", kreg_module_private9); |
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/*******************************************************************************
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* 电机相关配置和状态(1000->1999 * |
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*******************************************************************************/ |
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DUMP_CONFIG("motor_x_shift", kreg_motor_x_shift); |
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DUMP_CONFIG("motor_y_shift", kreg_motor_y_shift); |
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DUMP_CONFIG("motor_z_shift", kreg_motor_z_shift); |
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DUMP_CONFIG("motor_x_shaft", kreg_motor_x_shaft); |
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DUMP_CONFIG("motor_y_shaft", kreg_motor_y_shaft); |
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DUMP_CONFIG("motor_z_shaft", kreg_motor_z_shaft); |
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DUMP_CONFIG("motor_x_one_circle_pulse", kreg_motor_x_one_circle_pulse); |
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DUMP_CONFIG("motor_y_one_circle_pulse", kreg_motor_y_one_circle_pulse); |
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DUMP_CONFIG("motor_z_one_circle_pulse", kreg_motor_z_one_circle_pulse); |
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DUMP_CONFIG("motor_default_velocity", kreg_motor_default_velocity); |
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DUMP_CONFIG("motor_default_acc", kreg_motor_default_acc); |
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DUMP_CONFIG("motor_default_dec", kreg_motor_default_dec); |
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DUMP_CONFIG("motor_default_break_dec", kreg_motor_default_break_dec); |
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DUMP_CONFIG("stepmotor_ihold", kreg_stepmotor_ihold); |
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DUMP_CONFIG("stepmotor_irun", kreg_stepmotor_irun); |
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DUMP_CONFIG("stepmotor_iholddelay", kreg_stepmotor_iholddelay); |
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DUMP_CONFIG("motor_run_to_zero_max_x_d", kreg_motor_run_to_zero_max_x_d); |
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DUMP_CONFIG("motor_run_to_zero_max_y_d", kreg_motor_run_to_zero_max_y_d); |
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DUMP_CONFIG("motor_run_to_zero_max_z_d", kreg_motor_run_to_zero_max_z_d); |
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DUMP_CONFIG("motor_look_zero_edge_max_x_d", kreg_motor_look_zero_edge_max_x_d); |
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DUMP_CONFIG("motor_look_zero_edge_max_y_d", kreg_motor_look_zero_edge_max_y_d); |
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DUMP_CONFIG("motor_look_zero_edge_max_z_d", kreg_motor_look_zero_edge_max_z_d); |
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DUMP_CONFIG("motor_run_to_zero_speed", kreg_motor_run_to_zero_speed); |
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DUMP_CONFIG("motor_run_to_zero_dec", kreg_motor_run_to_zero_dec); |
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DUMP_CONFIG("motor_look_zero_edge_speed", kreg_motor_look_zero_edge_speed); |
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DUMP_CONFIG("motor_look_zero_edge_dec", kreg_motor_look_zero_edge_dec); |
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DUMP_CONFIG("xyrobot_robot_type", kreg_xyrobot_robot_type); |
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DUMP_CONFIG("robot_move", kreg_robot_move); |
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DUMP_CONFIG("robot_x_pos", kreg_robot_x_pos); |
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DUMP_CONFIG("robot_y_pos", kreg_robot_y_pos); |
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DUMP_CONFIG("robot_z_pos", kreg_robot_z_pos); |
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DUMP_CONFIG("robot_x_velocity", kreg_robot_x_velocity); |
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DUMP_CONFIG("robot_y_velocity", kreg_robot_y_velocity); |
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DUMP_CONFIG("robot_z_velocity", kreg_robot_z_velocity); |
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DUMP_CONFIG("robot_x_torque", kreg_robot_x_torque); |
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DUMP_CONFIG("robot_y_torque", kreg_robot_y_torque); |
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DUMP_CONFIG("robot_z_torque", kreg_robot_z_torque); |
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/*******************************************************************************
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* 传感器状态(2000->2999) * |
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*******************************************************************************/ |
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DUMP_CONFIG("sensor_current", kreg_sensor_current); |
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DUMP_CONFIG("sensor_voltage", kreg_sensor_voltage); |
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DUMP_CONFIG("sensor_temperature", kreg_sensor_temperature); |
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DUMP_CONFIG("sensor_humidity", kreg_sensor_humidity); |
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DUMP_CONFIG("sensor_wind_speed", kreg_sensor_wind_speed); |
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DUMP_CONFIG("sensor_wind_dir", kreg_sensor_wind_dir); |
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DUMP_CONFIG("sensor_air_press", kreg_sensor_air_press); |
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DUMP_CONFIG("sensor_pm25", kreg_sensor_pm25); |
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DUMP_CONFIG("sensor_pm10", kreg_sensor_pm10); |
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DUMP_CONFIG("sensor_co", kreg_sensor_co); |
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DUMP_CONFIG("sensor_co2", kreg_sensor_co2); |
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DUMP_CONFIG("sensor_no2", kreg_sensor_no2); |
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DUMP_CONFIG("sensor_so2", kreg_sensor_so2); |
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DUMP_CONFIG("sensor_o3", kreg_sensor_o3); |
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DUMP_CONFIG("sensor_light_intensity", kreg_sensor_light_intensity); |
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DUMP_CONFIG("sensor_radiation", kreg_sensor_radiation); |
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DUMP_CONFIG("sensor_hydrogen_peroxide_volume", kreg_sensor_hydrogen_peroxide_volume); |
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DUMP_CONFIG("sensor_h2o_h2o2_rs", kreg_sensor_h2o_h2o2_rs); |
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DUMP_CONFIG("sensor_relative_humidity", kreg_sensor_relative_humidity); |
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DUMP_CONFIG("sensor_absolute_hydrogen_peroxide", kreg_sensor_absolute_hydrogen_peroxide); |
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DUMP_CONFIG("sensor_h2o_h2o2dew_point_temperature", kreg_sensor_h2o_h2o2dew_point_temperature); |
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DUMP_CONFIG("sensor_water_volume", kreg_sensor_water_volume); |
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DUMP_CONFIG("sensor_water_vapor_pressure", kreg_sensor_water_vapor_pressure); |
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DUMP_CONFIG("sensor_absolute_humidity", kreg_sensor_absolute_humidity); |
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DUMP_CONFIG("sensor_water_vapor_saturation_pressure_h2o", kreg_sensor_water_vapor_saturation_pressure_h2o); |
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DUMP_CONFIG("sensor_h2o2_vapor_pressure", kreg_sensor_h2o2_vapor_pressure); |
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DUMP_CONFIG("sensor_water_vapor_saturation_pressure_h2o_h2o2", kreg_sensor_water_vapor_saturation_pressure_h2o_h2o2); |
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DUMP_CONFIG("sensor_temperature0", kreg_sensor_temperature0); |
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DUMP_CONFIG("sensor_temperature1", kreg_sensor_temperature1); |
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DUMP_CONFIG("sensor_temperature2", kreg_sensor_temperature2); |
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DUMP_CONFIG("sensor_temperature3", kreg_sensor_temperature3); |
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DUMP_CONFIG("sensor_temperature4", kreg_sensor_temperature4); |
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DUMP_CONFIG("sensor_temperature5", kreg_sensor_temperature5); |
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DUMP_CONFIG("sensor_temperature6", kreg_sensor_temperature6); |
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DUMP_CONFIG("sensor_temperature7", kreg_sensor_temperature7); |
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DUMP_CONFIG("sensor_temperature8", kreg_sensor_temperature8); |
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DUMP_CONFIG("sensor_temperature9", kreg_sensor_temperature9); |
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DUMP_CONFIG("sensor_pressure0", kreg_sensor_pressure0); |
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DUMP_CONFIG("sensor_pressure1", kreg_sensor_pressure1); |
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DUMP_CONFIG("sensor_pressure2", kreg_sensor_pressure2); |
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DUMP_CONFIG("sensor_pressure3", kreg_sensor_pressure3); |
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DUMP_CONFIG("sensor_pressure4", kreg_sensor_pressure4); |
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DUMP_CONFIG("sensor_pressure5", kreg_sensor_pressure5); |
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DUMP_CONFIG("sensor_pressure6", kreg_sensor_pressure6); |
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DUMP_CONFIG("sensor_pressure7", kreg_sensor_pressure7); |
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DUMP_CONFIG("sensor_pressure8", kreg_sensor_pressure8); |
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DUMP_CONFIG("sensor_pressure9", kreg_sensor_pressure9); |
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DUMP_CONFIG("sensor_humidity0", kreg_sensor_humidity0); |
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DUMP_CONFIG("sensor_humidity1", kreg_sensor_humidity1); |
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DUMP_CONFIG("sensor_humidity2", kreg_sensor_humidity2); |
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DUMP_CONFIG("sensor_humidity3", kreg_sensor_humidity3); |
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DUMP_CONFIG("sensor_humidity4", kreg_sensor_humidity4); |
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DUMP_CONFIG("sensor_humidity5", kreg_sensor_humidity5); |
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DUMP_CONFIG("sensor_humidity6", kreg_sensor_humidity6); |
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DUMP_CONFIG("sensor_humidity7", kreg_sensor_humidity7); |
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DUMP_CONFIG("sensor_humidity8", kreg_sensor_humidity8); |
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DUMP_CONFIG("sensor_humidity9", kreg_sensor_humidity9); |
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/*******************************************************************************
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|
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* PID控制器(3000->4000) * |
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*******************************************************************************/ |
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DUMP_CONFIG("pid_kp", kreg_pid_kp); |
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DUMP_CONFIG("pid_ki", kreg_pid_ki); |
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DUMP_CONFIG("pid_kd", kreg_pid_kd); |
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DUMP_CONFIG("pid_max_max_output", kreg_pid_max_max_output); |
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DUMP_CONFIG("pid_max_min_output", kreg_pid_max_min_output); |
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DUMP_CONFIG("pid_max_max_integral", kreg_pid_max_max_integral); |
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DUMP_CONFIG("pid_max_min_integral", kreg_pid_max_min_integral); |
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DUMP_CONFIG("error_limit", kreg_error_limit); |
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DUMP_CONFIG("compute_interval", kreg_compute_interval); |
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DUMP_CONFIG("pid_target", kreg_pid_target); |
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DUMP_CONFIG("pid_nowoutput", kreg_pid_nowoutput); |
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DUMP_CONFIG("pid_feedbackval", kreg_pid_feedbackval); |
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|
|
/*******************************************************************************
|
|
|
|
|
|
* 非标状态 * |
|
|
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|
|
*******************************************************************************/ |
|
|
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|
|
DUMP_CONFIG("fan_cfg_speed_level", kreg_fan_cfg_speed_level); |
|
|
} |
|
|
} |
|
|
|
|
|
|
|
|
void MicroComputerModuleDeviceScriptCmderPaser::initialize(ICmdParser* cancmder, ZModuleDeviceManager* deviceManager) { |
|
|
void MicroComputerModuleDeviceScriptCmderPaser::initialize(ICmdParser* cancmder, ZModuleDeviceManager* deviceManager) { |
|
|
@ -150,6 +193,5 @@ void MicroComputerModuleDeviceScriptCmderPaser::initialize(ICmdParser* cancmder, |
|
|
m_cmdParser = cancmder; |
|
|
m_cmdParser = cancmder; |
|
|
m_deviceManager = deviceManager; |
|
|
m_deviceManager = deviceManager; |
|
|
|
|
|
|
|
|
cancmder->regCMD("dumpconfig", "dumpconfig (mid)", 1, [this](int32_t paramN, const char* paraV[], ICmdParserACK* ack) { do_dumpconfig(paramN, paraV, ack); }); |
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|
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|
|
cancmder->regCMD("dumpstate", "dumpstate (mid)", 1, [this](int32_t paramN, const char* paraV[], ICmdParserACK* ack) { do_dumpstate(paramN, paraV, ack); }); |
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|
|
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|
|
cancmder->regCMD("dumpreg", "dumpreg (mid)", 1, [this](int32_t paramN, const char* paraV[], ICmdParserACK* ack) { do_dumpreg(paramN, paraV, ack); }); |
|
|
} |
|
|
} |
