From 37416e33b3da8282f94e46da392a81eb0f140157 Mon Sep 17 00:00:00 2001 From: zhaohe Date: Wed, 12 Jun 2024 14:34:12 +0800 Subject: [PATCH] fix some bug --- .../pipette_module/pipette_ctrl_module_v2.cpp | 202 +++++---- .../pipette_module/pipette_ctrl_module_v2.hpp | 2 +- components/sensors/smtp2/smtp2.cpp | 466 --------------------- components/sensors/smtp2/smtp2.hpp | 147 ------- components/sensors/smtp2_v2/smtp2_v2.cpp | 41 +- components/sensors/smtp2_v2/smtp2_v2.hpp | 6 +- 6 files changed, 145 insertions(+), 719 deletions(-) delete mode 100644 components/sensors/smtp2/smtp2.cpp delete mode 100644 components/sensors/smtp2/smtp2.hpp diff --git a/components/pipette_module/pipette_ctrl_module_v2.cpp b/components/pipette_module/pipette_ctrl_module_v2.cpp index b157141..2ddbc65 100644 --- a/components/pipette_module/pipette_ctrl_module_v2.cpp +++ b/components/pipette_module/pipette_ctrl_module_v2.cpp @@ -1,4 +1,5 @@ #include "pipette_ctrl_module_v2.hpp" + #include "sdk\components\zcancmder\protocol_event_bus_sender.hpp" using namespace iflytop; @@ -19,12 +20,11 @@ using namespace iflytop; if (ecode != 0) { \ ZLOGE(TAG, "do %s fail, error %s(%d)", #func, err::error2str(ecode), ecode); \ creg.module_errorcode = ecode; \ - creg.m_module_status = 2; \ return; \ } \ } -void PipetteModule::initialize(int32_t id, config_t *config, hardward_config_t *hardwaredcfg) { // +void PipetteModule::initialize(int32_t id, config_t *config, StepMotorCtrlModule *zmotor, hardward_config_t *hardwaredcfg) { // ZASSERT(config != nullptr); ZASSERT(hardwaredcfg != nullptr); m_id = id; @@ -38,8 +38,11 @@ void PipetteModule::initialize(int32_t id, config_t *config, hardward_config_t * m_config.pump_vstart = 0; m_config.pump_vstop = 900; m_config.pump_vmax = 1400; - m_config.lld_velocity = 100; + m_config.lld_velocity = 50; m_config.data_sample_period = 100; // 100ms + + ZASSERT(zmotor); + m_zmotor = zmotor; } int32_t PipetteModule::getid(int32_t *id) { @@ -114,6 +117,7 @@ int32_t PipetteModule::pipette_ctrl_move_to_ul(int32_t ul) { }; int32_t PipetteModule::pipette_clld_test(int32_t zdpos) { + ZLOGI(TAG, "pipette_clld_test %d", zdpos); int32_t motor_status; m_zmotor->module_get_status(&motor_status); if (motor_status != 0) { @@ -140,105 +144,127 @@ int32_t PipetteModule::pipette_plld_test(int32_t zdpos) { int32_t PipetteModule::do_pipette_ctrl_init_device() { creg.m_module_status = 1; m_thread.stop(); - m_thread.start([this]() { // - DO_BEFORE_LOOP(befor_run()); - DO_BEFORE_LOOP(m_smtp2.pump_init()); - while (true) { - if (!check_when_run()) break; - if (m_thread.getExitFlag()) break; - - int32_t isbusy = 0; - m_smtp2.pump_get_state(&isbusy); - if (isbusy == 0) break; - - m_thread.sleep(10); - } - after_run(); - }); + m_thread.start( + [this]() { // + DO_BEFORE_LOOP(befor_run()); + DO_BEFORE_LOOP(m_smtp2.pump_init()); + while (true) { + if (!check_when_run()) break; + if (m_thread.getExitFlag()) break; + + int32_t isbusy = 0; + m_smtp2.pump_get_state(&isbusy); + if (isbusy == 0) break; + + m_thread.sleep(10); + } + }, + [this]() { // exit fn + ZLOGI(TAG, "do_pipette_ctrl_put_tip finish"); + after_run(); + } // + ); + return 0; } int32_t PipetteModule::do_pipette_ctrl_put_tip() { m_thread.stop(); creg.m_module_status = 1; - m_thread.start([this]() { // - DO_BEFORE_LOOP(befor_run()); - DO_BEFORE_LOOP(m_smtp2.pump_put_tip()); - while (true) { - if (!check_when_run()) break; - if (m_thread.getExitFlag()) break; - - int32_t isbusy = 0; - m_smtp2.pump_get_state(&isbusy); - if (isbusy == 0) break; - - m_thread.sleep(10); - } - after_run(); - }); + m_thread.start( + [this]() { // + DO_BEFORE_LOOP(befor_run()); + DO_BEFORE_LOOP(m_smtp2.pump_put_tip()); + while (true) { + if (!check_when_run()) break; + if (m_thread.getExitFlag()) break; + + int32_t isbusy = 0; + m_smtp2.pump_get_state(&isbusy); + if (isbusy == 0) break; + + m_thread.sleep(10); + } + + }, + [this]() { // exit fn + ZLOGI(TAG, "do_pipette_ctrl_put_tip finish"); + after_run(); + } // + ); return 0; } int32_t PipetteModule::do_pipette_ctrl_move_to_ul(int32_t ul) { m_thread.stop(); creg.m_module_status = 1; - m_thread.start([this, ul]() { // - DO_BEFORE_LOOP(befor_run()); - DO_BEFORE_LOOP(m_smtp2.pump_move_to_ul(ul)); - while (true) { - if (!check_when_run()) break; - if (m_thread.getExitFlag()) break; - - int32_t isbusy = 0; - m_smtp2.pump_get_state(&isbusy); - if (isbusy == 0) break; - - m_thread.sleep(10); - } - after_run(); - }); + m_thread.start( + [this, ul]() { // + DO_BEFORE_LOOP(befor_run()); + DO_BEFORE_LOOP(m_smtp2.pump_move_to_ul(ul)); + while (true) { + if (!check_when_run()) break; + if (m_thread.getExitFlag()) break; + + int32_t isbusy = 0; + m_smtp2.pump_get_state(&isbusy); + if (isbusy == 0) break; + + m_thread.sleep(10); + } + }, + [this]() { // exit fn + ZLOGI(TAG, "do_pipette_ctrl_move_to_ul finish"); + after_run(); + } // + ); return 0; } int32_t PipetteModule::do_pipette_clld_test(int32_t zdpos) { m_thread.stop(); creg.m_module_status = 1; - m_thread.start([this, zdpos]() { // - DO_BEFORE_LOOP(befor_run()); - - m_zmotor->module_active_cfg(); - m_zmotor->step_motor_enable(1); - - auto submotor = m_zmotor->getMotor(); - submotor->moveBy(zdpos, m_config.lld_velocity); - - int32_t zmotor_start_pos = submotor->getXACTUAL(); - - capturedata_num = 0; - - while (true) { - if (!check_when_run()) break; - if (m_thread.getExitFlag()) break; - - bool motorstoped = false; - int32_t motorerror = 0; - int32_t motorpos = 0; - int32_t capacitance = 0; - - m_smtp2.pump_get_capacitance(&capacitance); - motorpos = submotor->getXACTUAL() - zmotor_start_pos; - submotor->readMotorState(&motorstoped, &motorerror); - - if (motorerror != 0) { - creg.module_errorcode = motorerror; - break; - } - - if (motorstoped) { - break; - } - - push_snesor_sample_data(motorpos, capacitance, 0); - m_thread.sleep(m_config.data_sample_period); - } - after_run(); - }); + m_thread.start( + [this, zdpos]() { // + DO_BEFORE_LOOP(befor_run()); + + m_zmotor->module_active_cfg(); + m_zmotor->step_motor_enable(1); + + auto submotor = m_zmotor->getMotor(); + submotor->moveBy(zdpos, m_config.lld_velocity); + + int32_t zmotor_start_pos = submotor->getXACTUAL(); + + capturedata_num = 0; + + while (true) { + if (!check_when_run()) break; + if (m_thread.getExitFlag()) break; + + bool motorstoped = false; + int32_t motorerror = 0; + int32_t motorpos = 0; + int32_t capacitance = 0; + + m_smtp2.pump_get_capacitance(&capacitance); + motorpos = submotor->getXACTUAL() - zmotor_start_pos; + submotor->readMotorState(&motorstoped, &motorerror); + + if (motorerror != 0) { + creg.module_errorcode = motorerror; + break; + } + + if (motorstoped) { + break; + } + + push_snesor_sample_data(motorpos, capacitance, 0); + m_thread.sleep(m_config.data_sample_period); + } + }, + [this]() { // exit fn + ZLOGI(TAG, "do_pipette_clld_test finish"); + after_run(); + } // + ); return 0; } int32_t PipetteModule::do_pipette_plld_test(int32_t zdpos) { return 0; } diff --git a/components/pipette_module/pipette_ctrl_module_v2.hpp b/components/pipette_module/pipette_ctrl_module_v2.hpp index 0d09070..3fa4b2a 100644 --- a/components/pipette_module/pipette_ctrl_module_v2.hpp +++ b/components/pipette_module/pipette_ctrl_module_v2.hpp @@ -61,7 +61,7 @@ class PipetteModule : public ZIModule, public ZIPipetteCtrlModule { int32_t capturedata_num = 0; public: - void initialize(int32_t id, config_t *config, hardward_config_t *cfg); + void initialize(int32_t id, config_t *config, StepMotorCtrlModule *zmotor, hardward_config_t *hardwaredcfg); virtual int32_t getid(int32_t *id); diff --git a/components/sensors/smtp2/smtp2.cpp b/components/sensors/smtp2/smtp2.cpp deleted file mode 100644 index e7a71e1..0000000 --- a/components/sensors/smtp2/smtp2.cpp +++ /dev/null @@ -1,466 +0,0 @@ -#include "smtp2.hpp" - -#include -#include -#include -#include - -#include "a8000_protocol\protocol.hpp" -using namespace iflytop; -#define TAG "SMTP2" - -#define OVERTIME 30 -#define DUMP_HEX 1 - -/** - * @brief 协议概述 - * 协议示例 - * /2A3000R\r - * /:命令开始 - * 2:设备ID - * A:命令，绝对移动 - * 3000:参数，移动到3000位置 - * R:执行命令 - * \r:命令结束 - * - * - * 1.命令的名称；命令区分大小写 - * 2.一个命令包含多个参数时候，通过逗号隔开 - * 3.命令后面没有跟参数则使用默认值 - * 4.多个命令可以拼接,例如:A3000A0R - * 5.一旦执行命令，泵就处于忙碌状态，且在命令完成之前不会接受除了查询类命令、终止命令[T]以外的新命令 - * - * - */ - -/** - * @brief - * - * 命令集 - * 命令名称 命令 - * 初始化 Z - * 泵运动 A - * 泵配置 L(设置加速和减速) v开始速度 V最高速度 S设置预定速度 c停止速度 K背隙增量 N选择增量模式 h设置泵电机保持电流 m设置泵电机运行电流 - * 执行命令 R - * 执行最后一个命令字符串 X - * 重复命令序列 G - * 标记重复序列开始 g - * 延迟命令执行 M - * 停止命令执行 H - * 设置 I/O1 输出 J - * 终止 T - * 清除命令缓冲区 C - * E弹出 Tip - * t,压力液面检测（pLLD），吸取或分配 - * ^ 电容式液面检测（cLLD） - * B,混合式液面检测 - * f开启或停止压力数据流 - * +继续传输压力数据 - *

设定压力传感器增益 - * r 复位 LLD 输出 - * *,实时温度补偿 - * q,操作验证 - * s在 EEPROM 中存储命令字符串 - * e 执行存储在 EEPROM 中的命令字符串 - * 链接 EEPROM 中存储的命令字符串 - * U设置泵常规配置(PAGE:52) - * u,设置泵高级配置 - * Q 查询泵状态 - * =查询命令缓冲区 - * &报告固件版本 - * ? 报告泵参数 - * - */ - -/** - * 错误码 - * 40h 60h @ ` 0 无错误 - * 41h 61h A a 1 初始化失败 - * 42h 62h B b 2 无效命令 - * 43h 63h C c 3 无效参数 - * 44h 64h D d 4 压力传感器故障 - * 45h 65h E e 5 超过压力 - * 46h 66h F f 6 LLD 错误 - * 47h 67h G g 7 设备未初始化 - * 48h 68h H h 8 Tip 弹出错误 - * 49h 69h I i 9 泵过载 - * 4Ah 6Ah J j 10 Tip 脱落 - * 4Bh 6Bh K k 11 CAN 总线故障 - * 4Ch 6Ch L l 12 无效校验和 - * 4Dh 6Dh M m 13 EEPROM 故障 - * 4Eh 6Eh N n 14 命令缓冲区为空 - * 4Fh 6Fh O o 15 命令溢出 - * 50h 70h P p 16 Tip 堵塞 - * 51h 71h Q q 17 吸入空气 - * 52h 72h R r 18 液体中有气泡/泡沫 - * 53h 73h S s 19 吸取/分配量不准确 - * - */ - -static int32_t Get1fromfloat(const float& val) { - float temp1 = val; - int32_t t1 = (uint32_t)(temp1 * 10) % 10; - if (t1 > 4) { - temp1 = (float)(uint32_t)(temp1 + 1); - } else { - temp1 = (float)((uint32_t)(temp1)); - } - return (int32_t)temp1; -} -int32_t SMTP2::init_device() { - ZLOGI(TAG, "init_device"); - return doaction(fmt("/1ZR\r")); -} -int32_t SMTP2::init_device_block() { - return doaction_block([this]() { return init_device(); }); -} - -int32_t SMTP2::put_tip() { - // ZLOGI(TAG, "put_tip:%s", "/1E1R"); - ZLOGI(TAG, "put_tip"); - return doaction(fmt("/1E1R\r")); -} -int32_t SMTP2::put_tip_block() { - return doaction_block([this]() { return put_tip(); }); -} -int32_t SMTP2::move_to(int32_t pos) { - ZLOGI(TAG, "move_to %d", pos); - return doaction(fmt("/1N%dA%dR\r", 0, pos)); -} - -int32_t SMTP2::move_to_block(int32_t pos) { - return doaction_block([this, pos]() { return move_to(pos); }); -} - -int32_t SMTP2::move_to_ul(int32_t ul) { - /** - * @brief 分辨率在0.319ul进行操作 - */ - ZLOGI(TAG, "move_to_ul %d", ul); - float stepNumfloat = ul / 0.319; - int stepNum = Get1fromfloat(stepNumfloat); - return doaction(fmt("/1N%dA%dR\r", 0, stepNum)); -} -int32_t SMTP2::move_to_ul_block(int32_t ul) { - return doaction_block([this, ul]() { return move_to_ul(ul); }); -} - -int32_t SMTP2::set_resolution(int32_t resolution) { - ZLOGI(TAG, "set_resolution %d", resolution); - return doaction(fmt("/1N%dR\r", resolution)); -} -void SMTP2::stop() { - ZLOGI(TAG, "stop"); - doaction(fmt("/1T\r")); -} - -int32_t SMTP2::readparaint(int32_t paramidx, int32_t& val) { - size_t rxlen = 0; - int ret = sendcmd(fmt("/1?%d\r", paramidx), m_rxbuf, sizeof(m_rxbuf), rxlen); - if (ret != 0) { - return ret; - } - iflytop::err::error_t ecode = read_ack_error_code(m_rxbuf, rxlen); - if (ecode != err::ksucc) { - return ecode; - } - - val = read_ack_int_val(m_rxbuf, rxlen); - return err::ksucc; -} - -int32_t SMTP2::readpara_bool(int32_t paramidx, bool& val) { - int32_t valint = 0; - int32_t ret = readparaint(paramidx, valint); - if (ret != 0) return ret; - if (valint == 1) { - val = true; - } else { - val = false; - } - return err::ksucc; -} - -int32_t SMTP2::read_capacitance_val(int32_t& capval) { return readparaint(68, capval); } - -int32_t SMTP2::read_tip_state(bool& hastip) { return readpara_bool(31, hastip); } - -bool SMTP2::read_tip_state() { - bool hastip = false; - int32_t ret = read_tip_state(hastip); - if (ret != 0) { - return false; - } - return hastip; -} - -int32_t SMTP2::read_pos_ul(int32_t& ul) { - int32_t pos = 0; - int32_t ret = readparaint(3, pos); // 读取nl - if (ret != 0) { - return ret; - } - ul = pos * 1000; - return 0; -} -int32_t SMTP2::read_pos_ul() { - int32_t ul = 0; - int32_t ret = read_pos_ul(ul); - if (ret != 0) return 0; - return ul; -} - -char* SMTP2::fmt(const char* fmt, ...) { - va_list args; - va_start(args, fmt); - vsprintf(txbuf, fmt, args); - va_end(args); - return txbuf; -} - -/** - * @brief Get the State object - * - * @param state - * @param error - * @return int - */ -int32_t SMTP2::getState(bool& isbusy, err::error_t& error) { - size_t rxlen = 0; - sprintf(txbuf, "/1Q\r"); - int ret = sendcmd(txbuf, m_rxbuf, sizeof(m_rxbuf), rxlen); - if (ret != 0) { - return ret; - } - uint8_t errorcode = (uint8_t)m_rxbuf[2]; - if (errorcode >= '`') { - isbusy = false; - errorcode = errorcode - '`'; - } else if (errorcode >= '@') { - isbusy = true; - errorcode = errorcode - '@'; - } - error = (err::error_t)errorcode; - return 0; -} - -void SMTP2::initialize(UART_HandleTypeDef* uart, DMA_HandleTypeDef* hdma_rx, DMA_HandleTypeDef* hdma_tx) { - m_uart = uart; - m_hdma_rx = hdma_rx; - m_hdma_tx = hdma_tx; -} - -int32_t SMTP2::getState() { - bool isbusy = false; - err::error_t error = err::ksucc; - int ret = getState(isbusy, error); - if (ret == 0) { - if (isbusy) { - return err::kdevice_is_busy; - } - return error; - } - return err::kdevice_is_offline; -} - -bool SMTP2::isOnline() { - if (getState() != err::kdevice_is_offline) { - return true; - } - return false; -} - -/******************************************************************************* - * BASIC * - *******************************************************************************/ - -iflytop::err::error_t SMTP2::read_ack_error_code(char* rxbuf, size_t rxlen) { - if (rxlen < 3) { - return err::kdevice_is_offline; - } - uint8_t errorcode = (uint8_t)rxbuf[2]; - if (errorcode >= '`') { - errorcode = errorcode - '`'; - } else if (errorcode >= '@') { - errorcode = errorcode - '@'; - } - return (err::error_t)errorcode; -} - -int32_t SMTP2::read_ack_int_val(char* rxbuf, size_t rxlen) { - if (rxlen < 3) { - ZLOGW(TAG, "read_ack_int_val rxlen < 3"); - return 0; - } - - memset(m_rxprocessbuf, 0, sizeof(m_rxprocessbuf)); - memcpy(m_rxprocessbuf, rxbuf, rxlen); - - for (size_t i = 0; i < rxlen; i++) { - if (m_rxprocessbuf[i] == '\r' || m_rxprocessbuf[i] == '\n' || m_rxprocessbuf[i] == 0x03) { - m_rxprocessbuf[i] = 0; - break; - } - } - - // "/0`3\r\n" - int intval = atoi(m_rxprocessbuf + 3); - return intval; -} - -int32_t SMTP2::doaction(char* cmd) { - // - size_t rxlen = 0; - size_t txlen = strlen(cmd); - // cmd[txlen] = '\r'; - cmd[txlen] = 0; - // cmd[txlen + 1] = 0; - int ret = sendcmd(cmd, m_rxbuf, sizeof(m_rxbuf), rxlen); - if (ret != 0) { - return ret; - } - - uint8_t state = (uint8_t)m_rxbuf[2]; - if (state >= '`') { - state = state - '`'; - } else if (state >= '@') { - state = state - '@'; - } - - if (state == 0) { - return 0; - } - return state + err::kSMTP2_NoError; -} - -int32_t SMTP2::sendcmd(const char* cmd, char* rxbuf, size_t rxbuflen, size_t& rxlen) { - int32_t ecode = 0; - for (size_t i = 0; i < 5; i++) { - ecode = _sendcmd(cmd, rxbuf, rxbuflen, rxlen); - if (ecode == 0) { - break; - } - ZLOGI(TAG, "re send cmd %d", i); - } - return ecode; -} - -int32_t SMTP2::_sendcmd(const char* cmd, char* rxbuf, size_t rxbuflen, size_t& rxlen) { return _sendcmd(cmd, strlen(cmd), rxbuf, rxbuflen, rxlen); } -int32_t SMTP2::_sendcmd(const char* cmd, size_t txlen, char* rxbuf, size_t rxbuflen, size_t& rxlen) { - if (!m_uart) return -1; - - int ret = 0; - // size_t rxlen = 0; - -#ifdef DUMP_HEX - if (strcmp("/1Q\r", cmd) != 0) { - ZLOGI(TAG, "tx:%s", cmd); - } -#endif - - if (m_hdma_rx) - ret = _sendcmd_dma(cmd, txlen, (char*)m_rxbuf, sizeof(m_rxbuf), rxlen); - else - ret = _sendcmd_block(cmd, txlen, (char*)m_rxbuf, sizeof(m_rxbuf), rxlen); - -#ifdef DUMP_HEX - if (strcmp("/1Q\r", cmd) != 0) { - ZLOGI(TAG, "rx:%s", m_rxbuf); - } -#endif - return ret; -} - -int32_t SMTP2::_sendcmd_dma(const char* cmd, size_t txlen, char* rxbuf, size_t rxbuflen, size_t& rxlen) { - memset(rxbuf, 0, rxbuflen); - uint8_t rxdata; - // clear rx buf - while (HAL_UART_Receive(m_uart, &rxdata, 1, 1) == HAL_OK) { - } - HAL_UART_Transmit(m_uart, (uint8_t*)cmd, txlen, 1000); - - uint32_t enter_ticket = HAL_GetTick(); - HAL_UARTEx_ReceiveToIdle_DMA(m_uart, (uint8_t*)rxbuf, rxbuflen); - bool overtime_flag = false; - while (HAL_UART_GetState(m_uart) == HAL_UART_STATE_BUSY_RX || // - HAL_UART_GetState(m_uart) == HAL_UART_STATE_BUSY_TX_RX) { - osDelay(1); - if (zos_haspassedms(enter_ticket) > OVERTIME) { - // ZLOGW(TAG, "sendcmd_dma overtime"); - overtime_flag = true; - break; - } - } - HAL_UART_DMAStop(m_uart); - if (overtime_flag) { - return err::kovertime; - } - rxlen = rxbuflen - __HAL_DMA_GET_COUNTER(m_hdma_rx); - return 0; -} -int32_t SMTP2::_sendcmd_block(const char* cmd, size_t txlen, char* rxbuf, size_t rxbuflen, size_t& rxlen) { - // m_huart->tx(cmd); - memset(rxbuf, 0, rxbuflen); - printf("tx:%s\n", cmd); - HAL_UART_Transmit(m_uart, (uint8_t*)cmd, txlen, 1000); - - int rxnum = 0; - HAL_StatusTypeDef rxstatus = HAL_UART_Receive(m_uart, (uint8_t*)&rxbuf[0], 1, OVERTIME); - if (rxstatus != HAL_OK) { - rxlen = 0; - return err::kovertime; - } - rxnum++; - for (;; rxnum++) { - HAL_StatusTypeDef rxstatus = HAL_UART_Receive(m_uart, (uint8_t*)&rxbuf[rxnum], 1, 3); - if (rxstatus != HAL_OK) break; - if ('\n' == rxbuf[rxnum]) break; - if (rxnum >= int(rxbuflen - 2)) break; - } - // printf("SMTP2:m_rxbuf:(%d) %s\n", rxnum, rxbuf); - rxlen = rxnum; - return 0; -} - -int32_t SMTP2::doaction_block(function action) { - // 移液枪复位 - ThisThread thisThread; - int ret = action(); - if (ret != 0) { - return ret; - } - // 等待移液枪复位完成 - int32_t ecodetimes = 0; - while (true) { - // int32_t state = getState(); - osDelay(100); - - bool isbusy = false; - err::error_t error; - - int32_t ecode = getState(isbusy, error); - if (ecode != 0) { - ecodetimes++; - if (ecodetimes > 3) { - return err::kovertime; - } - continue; - } - - if (error != 0) { - ZLOGI(TAG, "error:%d", error); - stop(); - return error; - } - - // 动作执行完成 - if (!isbusy) { - return 0; - } - - if (thisThread.getExitFlag()) { - stop(); - return err::kmodule_opeation_break_by_user; - } - } -} diff --git a/components/sensors/smtp2/smtp2.hpp b/components/sensors/smtp2/smtp2.hpp deleted file mode 100644 index 0834998..0000000 --- a/components/sensors/smtp2/smtp2.hpp +++ /dev/null @@ -1,147 +0,0 @@ -#pragma once -#include "a8000_protocol\protocol.hpp" -#include "sdk\os\zos.hpp" -namespace iflytop { -using namespace std; - - -/** - * @brief - * - * ref:https://iflytop1.feishu.cn/wiki/VNNRwUJCtiuRDHkD1uScGIA1nMf - * WARNING: - * 1,发送消息有一定概率失败，目前没有找到原因，暂时通过重发解决，一般重发一次，即可发送成功。 - */ -class SMTP2 { - public: - - - private: - UART_HandleTypeDef* m_uart = nullptr; - uint8_t m_id = 0; - // const char* m_name = nullptr; - - DMA_HandleTypeDef* m_hdma_rx; - DMA_HandleTypeDef* m_hdma_tx; - - char m_rxbuf[20] = {0}; - char m_rxprocessbuf[20] = {0}; - char txbuf[20]; - - int32_t nowpos = 0; - - public: - void initialize(UART_HandleTypeDef* uart, DMA_HandleTypeDef* hdma_rx, DMA_HandleTypeDef* hdma_tx); - /** - * @brief 获取当前设备状态 - * - * @return int32_t 返回iflytop::err - */ - int32_t getState(); - - bool isOnline(); - - /** - * @brief 设备初始化 - * - * @return int - */ - int32_t init_device(); - int32_t init_device_block(); - /** - * @brief 放Tip - * - * @return int - */ - int32_t put_tip(); - int32_t put_tip_block(); - - /** - * @brief 移动到指定位置 - * - * @param pos - * @return int - */ - int32_t move_to(int32_t pos); - int32_t move_to_block(int32_t pos); - /** - * @brief 移动到指定位置 - * - * @param ul - * @return int - */ - int32_t move_to_ul(int32_t ul); - int32_t move_to_ul_block(int32_t ul); - - /** - * @brief 读取电容值 - * - * @return int (0->159)，接触到水后数值会变成159 - */ - int32_t read_capacitance_val(int32_t& capval); - - /** - * @brief 读取tip脱落状态 - * - * @param hastip - * @return int - */ - int32_t read_tip_state(bool& hastip); - bool read_tip_state(); - - /** - * @brief 读取当前位置 - * - * @param ul - * @return int32_t - */ - int32_t read_pos_ul(int32_t& ul); - int32_t read_pos_ul(); - /** - * @brief 设置分辨率 - * - * @param resolution - * 0:0.319ul - * 1:0.0199ul - * 2:nl - * @return int - */ - int32_t set_resolution(int32_t resolution); - - /** - * @brief Get the State object - * - * @param isbusy - * @param error - * @return int - */ - int32_t getState(bool& isbusy, iflytop::err::error_t& error); - /** - * @brief - */ - void stop(); - - int32_t doaction_block(function action); - - private: - int32_t doaction(char* cmd); - - int32_t sendcmd(const char* cmd, char* rxbuf, size_t rxbuflen, size_t& rxlen); - - int32_t _sendcmd(const char* cmd, char* rxbuf, size_t rxbuflen, size_t& rxlen); - int32_t _sendcmd(const char* cmd, size_t txlen, char* rxbuf, size_t rxbuflen, size_t& rxlen); - int32_t _sendcmd_dma(const char* cmd, size_t txlen, char* rxbuf, size_t rxbuflen, size_t& rxlen); - int32_t _sendcmd_block(const char* cmd, size_t txlen, char* rxbuf, size_t rxbuflen, size_t& rxlen); - - iflytop::err::error_t read_ack_error_code(char* rxbuf, size_t rxlen); - int32_t read_ack_int_val(char* rxbuf, size_t rxlen); - - char* fmt(const char* fmt, ...); - - int32_t readparaint(int32_t paramidx, int32_t& val); - int32_t readpara_bool(int32_t paramidx, bool& val); - - private: -}; - -} // namespace iflytop diff --git a/components/sensors/smtp2_v2/smtp2_v2.cpp b/components/sensors/smtp2_v2/smtp2_v2.cpp index 0416ec2..e20083b 100644 --- a/components/sensors/smtp2_v2/smtp2_v2.cpp +++ b/components/sensors/smtp2_v2/smtp2_v2.cpp @@ -13,7 +13,8 @@ using namespace smtp2; #define OVERTIME 100 #define DUMP_HEX 1 -#define SEND_CMD(fmt, ...) sendcmd("/1" fmt "R\r", ##__VA_ARGS__); +#define SEND_CMD(fmt, ...) sendcmd(true, "/1" fmt "R\r", ##__VA_ARGS__); +#define SEND_CMD_NLOG(fmt, ...) sendcmd(false, "/1" fmt "R\r", ##__VA_ARGS__); void SMTP2V2::initialize(UART_HandleTypeDef* uart, uint8_t id, DMA_HandleTypeDef* hdma_rx, DMA_HandleTypeDef* hdma_tx) { m_uart = uart; @@ -28,7 +29,7 @@ bool SMTP2V2::pump_ping() { } int32_t SMTP2V2::pump_get_state(int32_t* isbusy) { size_t rxlen = 0; - int ret = SEND_CMD("Q"); + int ret = SEND_CMD_NLOG("Q"); if (ret != 0) return ret; uint8_t errorcode = (uint8_t)m_rxbuf[2]; @@ -58,9 +59,9 @@ int32_t SMTP2V2::pump_set_vmax(int32_t vel) { return SEND_CMD("V%d", vel); } int32_t SMTP2V2::pump_set_acc_and_dec(int32_t acc, int32_t dec) { return SEND_CMD("L%d,%d", acc, dec); } int32_t SMTP2V2::pump_put_tip() { return SEND_CMD("E"); } -int32_t SMTP2V2::pump_init() { return SEND_CMD("[Z]"); } +int32_t SMTP2V2::pump_init() { return SEND_CMD("Z"); } int32_t SMTP2V2::pump_reset() { - _sendcmd("/1!0R\r"); // 复位指令没有回执，所以这里只能使用方法_sendcmd + _sendcmd(true, "/1!0R\r"); // 复位指令没有回执，所以这里只能使用方法_sendcmd return 0; } @@ -87,7 +88,11 @@ int32_t SMTP2V2::pump_move_to_ul(int32_t ul) { /*********************************************************************************************************************** * 调试使用 * ***********************************************************************************************************************/ -bool SMTP2V2::write_cmd(const char* cmd) { return sendcmd(cmd); } +bool SMTP2V2::write_cmd(const char* cmd) { + int32_t ret = 0; + ret = sendcmd(true, cmd); + return ret == 0; +} void SMTP2V2::getack(char* rx, int32_t* rxbufsize) { if (m_rxNum < 3) { *rxbufsize = 0; @@ -96,7 +101,7 @@ void SMTP2V2::getack(char* rx, int32_t* rxbufsize) { // 指令回执后三位为 0x3(ctrl+C) 0x0D(回车) 0x0A(换行),直接丢弃 *rxbufsize = m_rxNum - 2; memcpy(rx, m_rxbuf, m_rxNum - 2); - rx[*rxbufsize] = 0; + rx[*rxbufsize - 1] = 0; } /*********************************************************************************************************************** * BASIC * @@ -111,7 +116,11 @@ int32_t SMTP2V2::getAckEcode() { } else if (errorcode >= '@') { errorcode = errorcode - '@'; } - return (err::error_t)errorcode; + if (errorcode == 0) { + return errorcode; + } else { + return errorcode + err::kSMTP2_NoError; + } } int32_t SMTP2V2::getAck0AsInt() { @@ -131,20 +140,20 @@ int32_t SMTP2V2::getAck0AsInt() { return intval; } -int32_t SMTP2V2::sendcmd(const char* format, ...) { +int32_t SMTP2V2::sendcmd(bool dump, const char* format, ...) { static char buf[256]; va_list args; va_start(args, format); vsnprintf(buf, sizeof(buf), format, args); va_end(args); - sendcmd_auto_retry(buf); + sendcmd_auto_retry(dump, buf); return getAckEcode(); } -bool SMTP2V2::sendcmd_auto_retry(const char* cmd) { +bool SMTP2V2::sendcmd_auto_retry(bool dump, const char* cmd) { for (size_t i = 0; i < 1; i++) { - if (_sendcmd(cmd)) { + if (_sendcmd(dump, cmd)) { break; } m_rxNum = 0; @@ -152,17 +161,21 @@ bool SMTP2V2::sendcmd_auto_retry(const char* cmd) { } return true; } -bool SMTP2V2::_sendcmd(const char* cmd) { +bool SMTP2V2::_sendcmd(bool dump, const char* cmd) { m_rxNum = 0; #ifdef DUMP_HEX - ZLOGI(TAG, "tx:%s", cmd); + if (dump) { + ZLOGI(TAG, "tx:%s", cmd); + } #endif bool ret = _sendcmd_dma(cmd); #ifdef DUMP_HEX - ZLOGI(TAG, "rx:%s", m_rxbuf); + if (dump) { + ZLOGI(TAG, "rx:%s", m_rxbuf); + } #endif return ret; diff --git a/components/sensors/smtp2_v2/smtp2_v2.hpp b/components/sensors/smtp2_v2/smtp2_v2.hpp index 916b299..e63aafd 100644 --- a/components/sensors/smtp2_v2/smtp2_v2.hpp +++ b/components/sensors/smtp2_v2/smtp2_v2.hpp @@ -190,10 +190,10 @@ class SMTP2V2 { void getack(char* rx, int32_t* rxbufsize); private: - int32_t sendcmd(const char* format, ...); + int32_t sendcmd(bool dump, const char* format, ...); - bool sendcmd_auto_retry(const char* cmd); - bool _sendcmd(const char* cmd); + bool sendcmd_auto_retry(bool dump, const char* cmd); + bool _sendcmd(bool dump, const char* cmd); bool _sendcmd_dma(const char* cmd); int32_t getAckEcode();