修复死锁的BUG

components/step_motor_ctrl_module/step_motor_ctrl_module.cpp

@@ -231,12 +231,14 @@ int32_t StepMotorCtrlModule::rotate(int32_t speed, int32_t lastforms, action_cb_
     return err::kce_param_out_of_range;
   }
 
-  if (abs(speed) > m_param.maxspeed) {
+  if (m_param.maxspeed != 0 && abs(speed) > m_param.maxspeed) {
     ZLOGW(TAG, "speed:%d > m_cfg_max_speed:%d", speed, m_param.maxspeed);
     speed = m_param.maxspeed;
   }
   m_thread.stop();
   m_thread.start([this, lastforms, speed, status_cb]() {
+    ZLOGI(TAG, "(in work thread)rotate speed:%d lastforms:%d acc:%d dec:%d", speed, lastforms, m_param.acc, m_param.dec);
+
     m_stepM1->setAcceleration(m_param.acc);
     m_stepM1->setDeceleration(m_param.dec);
     m_stepM1->rotate(speed);
@@ -245,12 +247,13 @@ int32_t StepMotorCtrlModule::rotate(int32_t speed, int32_t lastforms, action_cb_
     bool    reachtime   = false;
 
     while (!m_thread.getExitFlag()) {
-      if (zos_haspassedms(startticket) > lastforms || lastforms == 0) {
+      if (zos_haspassedms(startticket) > lastforms && lastforms != 0) {
         reachtime = true;
         m_stepM1->stop();
         break;
       }
-      osDelay(1);
+      // ZLOGI(TAG,"..... state %d",m_thread.getExitFlag());
+      osDelay(100);
     }
     call_exec_status_cb(0, status_cb);
     m_stepM1->stop();
@@ -513,12 +516,13 @@ void StepMotorCtrlModule::call_exec_status_cb(int32_t status, action_cb_status_t
 }
 void StepMotorCtrlModule::create_default_cfg(flash_config_t& cfg) {
   memset(&cfg, 0, sizeof(cfg));
-  cfg.base_param.ihold      = 0;
-  cfg.base_param.irun       = 8;
-  cfg.base_param.iholddelay = 100;
-  cfg.base_param.acc        = 3000000;
-  cfg.base_param.dec        = 3000000;
-  cfg.base_param.maxspeed   = 300000;
+  cfg.base_param.distance_scale = 1000;
+  cfg.base_param.ihold          = 0;
+  cfg.base_param.irun           = 8;
+  cfg.base_param.iholddelay     = 100;
+  cfg.base_param.acc            = 3000000;
+  cfg.base_param.dec            = 3000000;
+  cfg.base_param.maxspeed       = 300000;
 
   cfg.base_param.run_to_zero_move_to_zero_max_d    = INT32_MAX;
   cfg.base_param.run_to_zero_leave_from_zero_max_d = 51200 * 3;

components/zcancmder_master_module/zcan_master_step_motor_ctrl_module.cpp → components/step_motor_ctrl_module/zcan_master_step_motor_ctrl_module.cpp

@@ -1,5 +1,5 @@
 #include "sdk\components\zprotocols\errorcode\errorcode.hpp"
-#include "zcan_xy_robot_master_module.hpp"
+#include "zcan_master_step_motor_ctrl_module.hpp"
 
 using namespace iflytop;
 

components/zcancmder_module/zcan_step_motor_ctrl_module.cpp → components/step_motor_ctrl_module/zcan_step_motor_ctrl_module.cpp

@@ -7,11 +7,12 @@ void ZCanStepMotorCtrlModule::initialize(ZCanCmder* cancmder, int id, I_StepMoto
   m_cancmder = cancmder;
   m_id       = id;
   m_module   = module;
-  m_lock.init();
+  // m_lock.init();
   cancmder->registerListener(this);
 }
 void ZCanStepMotorCtrlModule::onRceivePacket(CanPacketRxBuffer* rxcmd) {
-  zlock_guard l(m_lock);
+  // zlock_guard l(m_lock);
+  ZLOGI(TAG, "onRceivePacket %d %d", rxcmd->get_cmdheader()->cmdid, rxcmd->get_cmdheader()->subcmdid);
 
   PROCESS_PACKET(kcmd_step_motor_ctrl_enable, m_id) { errorcode = m_module->enable(cmd->enable); }
   END_PP();

components/zcancmder_module/zcan_step_motor_ctrl_module.hpp → components/step_motor_ctrl_module/zcan_step_motor_ctrl_module.hpp

@@ -8,7 +8,7 @@ class ZCanStepMotorCtrlModule : public ZCanCmderListener {
   I_StepMotorCtrlModule* m_module;
 
   uint8_t m_txbuf[128] = {0};
-  zmutex  m_lock;
+  // zmutex  m_lock;
 
  public:
   void         initialize(ZCanCmder* cancmder, int id, I_StepMotorCtrlModule* m_module);

components/zcancmder/zcanreceiver.cpp

@@ -11,7 +11,6 @@ using namespace zcr;
 
 #define OVER_TIME_MS 5
 
-
 ZCanCmder::CFG *ZCanCmder::createCFG(uint8_t deviceId) {
   CFG *cfg = new CFG();
   ZASSERT(cfg != NULL);
@@ -29,6 +28,7 @@ ZCanCmder::CFG *ZCanCmder::createCFG(uint8_t deviceId) {
 void ZCanCmder::init(CFG *cfg) {
   HAL_StatusTypeDef hal_status;
   m_config = cfg;
+  m_lock.init();
 
   /**
    * @brief ³õʼ»¯CAN
@@ -136,6 +136,7 @@ void ZCanCmder::sendPacket(uint8_t *packet, size_t len) {
 }
 
 void ZCanCmder::sendAck(Cmdheader_t *cmdheader, uint8_t *data, size_t len) {
+  zlock_guard  l(m_lock);
   Cmdheader_t *txheader = (Cmdheader_t *)txbuff;
   memcpy(txheader, cmdheader, sizeof(Cmdheader_t));
   txheader->packetType = kpt_ack;
@@ -143,6 +144,8 @@ void ZCanCmder::sendAck(Cmdheader_t *cmdheader, uint8_t *data, size_t len) {
   sendPacket(txbuff, sizeof(Cmdheader_t) + len);
 }
 void ZCanCmder::sendExecStatusReport(Cmdheader_t *rxcmdheader, uint8_t *data, size_t len) {
+  zlock_guard l(m_lock);
+
   Cmdheader_t *txheader = (Cmdheader_t *)txbuff;
   memcpy(txheader, rxcmdheader, sizeof(Cmdheader_t));
   txheader->packetType = kpt_cmd_exec_status_report;
@@ -150,6 +153,8 @@ void ZCanCmder::sendExecStatusReport(Cmdheader_t *rxcmdheader, uint8_t *data, si
   sendPacket(txbuff, sizeof(Cmdheader_t) + len);
 }
 void ZCanCmder::sendStatusReport(Cmdheader_t *rxcmdheader, uint8_t *data, size_t len) {
+  zlock_guard l(m_lock);
+
   Cmdheader_t *txheader = (Cmdheader_t *)txbuff;
   memcpy(txheader, rxcmdheader, sizeof(Cmdheader_t));
   txheader->packetType = kpt_report;
@@ -158,6 +163,8 @@ void ZCanCmder::sendStatusReport(Cmdheader_t *rxcmdheader, uint8_t *data, size_t
 }
 
 void ZCanCmder::sendErrorAck(Cmdheader_t *cmdheader, uint16_t id, uint32_t errcode) {
+  zlock_guard l(m_lock);
+
   Cmdheader_t *txheader = (Cmdheader_t *)txbuff;
   memcpy(txheader, cmdheader, sizeof(Cmdheader_t));
   txheader->packetType              = kpt_error_ack;
@@ -168,6 +175,8 @@ void ZCanCmder::sendErrorAck(Cmdheader_t *cmdheader, uint16_t id, uint32_t errco
 }
 
 bool ZCanCmder::sendPacketSub(int npacket, int packetIndex, uint8_t *packet, size_t len, int overtimems) {
+  zlock_guard l(m_lock);
+
   // ZLOGI(TAG, "sendPacketSub(%d:%d)", npacket, packetIndex);
   CAN_TxHeaderTypeDef pHeader;
   uint8_t             aData[8] /*8byte table*/;

components/zcancmder/zcanreceiver.hpp

@@ -3,9 +3,9 @@
 //
 
 #pragma once
+#include "basic.hpp"
 #include "sdk/os/zos.hpp"
 #include "sdk\components\zprotocols\zcancmder\zcancmder_protocol.hpp"
-#include "basic.hpp"
 
 namespace iflytop {
 using namespace zcr;
@@ -50,7 +50,8 @@ class ZCanCmder : public ZCanIRQListener {
   list<zcan_cmder_listener_t> m_listenerList2;
   CanPacketRxBuffer           m_canPacketRxBuffer[1];
 
-  int txPacketInterval_ms = 0;
+  int    txPacketInterval_ms = 0;
+  zmutex m_lock;
 
  public:
   ZCanCmder() {}

components/zcancmder_module/zcan_eeprom_module.cpp

@@ -11,11 +11,9 @@ void ZCanEepromModule::initialize(ZCanCmder* cancmder, int id, I_EEPROMModule* m
   cancmder->registerListener(this);
 }
 void ZCanEepromModule::onRceivePacket(CanPacketRxBuffer* rxcmd) {  //
-  zlock_guard l(m_lock);
 
   PROCESS_PACKET(kcmd_eeprom_start_monitor_status, m_id) {
     errorcode = m_module->start_monitor_status([this, cmdheader](I_EEPROMModule::eeprom_status_t& status) {  //
-      zlock_guard l(m_lock);
       auto*       report = (kcmd_eeprom_start_monitor_status_report_t*)m_txbuf;
       static_assert(sizeof(*report) < sizeof(m_txbuf), "report size too large");
 

components/zcancmder_module/zcan_mini_servo_ctrl_module.cpp

@@ -11,7 +11,6 @@ void ZCanMiniServoCtrlModule::initialize(ZCanCmder* cancmder, int id, I_MiniServ
 }
 
 void ZCanMiniServoCtrlModule::onRceivePacket(CanPacketRxBuffer* rxcmd) {
-  zlock_guard l(m_lock);
 
   PROCESS_PACKET(kcmd_mini_servo_ctrl_enable, m_id) { errorcode = m_module->enable(cmd->enable); }
   END_PP();

components/zcancmder_module/zcan_motor_laser_code_scanner_scan_module.cpp

@@ -13,7 +13,6 @@ void ZcanMotorLaserCodeScannerScanModule::initialize(ZCanCmder* cancmder, int id
   cancmder->registerListener(this);
 }
 void ZcanMotorLaserCodeScannerScanModule::onRceivePacket(CanPacketRxBuffer* rxcmd) {
-  zlock_guard l(m_lock);
 
   PROCESS_PACKET(kcmd_motor_laser_code_scanner_scan, m_id) {
     errorcode = m_module->start_scan(          //

components/zcancmder_module/zcan_pipette_module.cpp

@@ -11,7 +11,6 @@ void ZcanPipetteModule::initialize(ZCanCmder* cancmder, int id, I_PipetteModule*
   cancmder->registerListener(this);
 }
 void ZcanPipetteModule::onRceivePacket(CanPacketRxBuffer* rxcmd) {
-  zlock_guard l(m_lock);
 
   PROCESS_PACKET(kcmd_pipette_module_enable, m_id) { errorcode = m_module->enable(cmd->enable); }
   END_PP();

components/zprotocols/zcancmder

@@ -1 +1 @@
-Subproject commit 1a22209b189847bee8761a2f773c3dea084c2e96
+Subproject commit a160247f4b19096115532301b61a81f133ab9b67