project_boditech_vidas_a8000_v3
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a8000_subboard_sdk
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update

master
zhaohe 2 years ago
parent
f451347f14
commit
bc42f5a410
11 changed files with 227 additions and 23 deletions
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  1. 10
      components/mini_servo_motor/mini_servo_motor_ctrl_module.cpp
  2. 85
      components/motor_laser_code_scanner/motor_laser_code_scanne.cpp
  3. 37
      components/motor_laser_code_scanner/motor_laser_code_scanne.hpp
  4. 12
      components/sensors/smtp2/smtp2.cpp
  5. 10
      components/step_motor_ctrl_module/step_motor_ctrl_module.cpp
  6. 8
      components/xy_robot_ctrl_module/xy_robot_ctrl_module.cpp
  7. 2
      components/zcancmder/zcanreceiver.hpp
  8. 63
      components/zcancmder_module/zcan_motor_laser_code_scanner_scan_module.cpp
  9. 19
      components/zcancmder_module/zcan_motor_laser_code_scanner_scan_module.hpp
  10. 2
      components/zprotocols/errorcode
  11. 2
      components/zprotocols/zcancmder

10
components/mini_servo_motor/mini_servo_motor_ctrl_module.cpp
View File

@ -28,7 +28,7 @@ int32_t MiniRobotCtrlModule::stop(u8 stop_type) {
return err::ksucc;
}
int32_t MiniRobotCtrlModule::position_calibrate(s32 nowpos) {
if (nowpos < 0 || nowpos > 4095) return err::kcommon_error_param_out_of_range;
if (nowpos < 0 || nowpos > 4095) return err::kce_param_out_of_range;
if (!m_bus->ping(m_id)) return err::kce_subdevice_overtime;
if (m_bus->reCalibration(m_id, nowpos)) return err::kce_subdevice_overtime;
return 0;
@ -47,7 +47,7 @@ int32_t MiniRobotCtrlModule::rotate(s32 speed, s32 torque, s32 run_time, action_
while (true) {
if (m_thread.getExitFlag() && run_time != 0) {
stop(0);
call_status_cb(status_cb, err::kcommon_error_break_by_user);
call_status_cb(status_cb, err::kce_break_by_user);
break;
}
@ -94,7 +94,7 @@ int32_t MiniRobotCtrlModule::move_to(s32 pos, s32 speed, s32 torque, action_cb_s
if (m_thread.getExitFlag()) {
stop(0);
call_status_cb(status_cb, err::kcommon_error_break_by_user);
call_status_cb(status_cb, err::kce_break_by_user);
break;
}
m_thread.sleep(10);
@ -143,7 +143,7 @@ int32_t MiniRobotCtrlModule::run_with_torque(s32 torque, s32 run_time, action_cb
while (true) {
if (m_thread.getExitFlag() && run_time != 0) {
stop(0);
call_status_cb(status_cb, err::kcommon_error_break_by_user);
call_status_cb(status_cb, err::kce_break_by_user);
break;
}
if (m_thread.getExitFlag() && run_time == 0) {
@ -165,7 +165,7 @@ int32_t MiniRobotCtrlModule::run_with_torque(s32 torque, s32 run_time, action_cb
return 0;
}
int32_t MiniRobotCtrlModule::move_by_nolimit(s32 pos, s32 speed, s32 torque, action_cb_status_t status_cb) { return err::kcommon_error_operation_not_support; }
int32_t MiniRobotCtrlModule::move_by_nolimit(s32 pos, s32 speed, s32 torque, action_cb_status_t status_cb) { return err::kce_operation_not_support; }
int32_t MiniRobotCtrlModule::read_version(version_t& version) {
uint8_t mainversion, subversion, miniserv_mainversion, miniserv_subversion;

85
components/motor_laser_code_scanner/motor_laser_code_scanne.cpp
View File

@ -0,0 +1,85 @@
#include "motor_laser_code_scanne.hpp"
#include <stdio.h>
#include <string.h>
#include "sdk\components\zprotocols\errorcode\errorcode.hpp"
using namespace iflytop;
using namespace std;
#define TAG "MotorLaserCodeScanner"
#define DO(infostr, ACTION) \
{ \
int exec_ret = ACTION; \
if (exec_ret != 0) { \
ZLOGE(TAG, "do " infostr "(line:%d) fail, ret = %d", __LINE__, exec_ret); \
m_lastexecstatus = exec_ret; \
if (status_cb) status_cb(exec_ret); \
return; \
} \
}
void MotorLaserCodeScanner::initialize(int id, I_StepMotorCtrlModule* stepM, int max_scan_result_num) {
m_id = id;
m_stepM1 = stepM;
m_mallocsize = sizeof(scan_result_t) + 2 * max_scan_result_num;
m_scan_result = (scan_result_t*)malloc(m_mallocsize);
ZASSERT(m_scan_result != nullptr);
memset(m_scan_result, 0, m_mallocsize);
m_max_scan_result_num = max_scan_result_num;
m_lock.init();
m_thread.init(TAG, 1024, osPriorityNormal);
}
int32_t MotorLaserCodeScanner::start_scan(s32 moveby_distance, //
s32 scan_interval_distance, //
s32 each_sample_times, //
s32 transmitting_tube_amplification, //
s32 receiving_tube_amplification, //
//
action_cb_status_t status_cb) {
zlock_guard lock(m_lock);
ZLOGI(TAG, "start_scan %d %d %d %d %d", moveby_distance, scan_interval_distance, each_sample_times, transmitting_tube_amplification, receiving_tube_amplification);
m_thread.stop();
memset(m_scan_result, 0, m_mallocsize);
m_thread.start([this, //
moveby_distance, //
scan_interval_distance, //
each_sample_times, //
transmitting_tube_amplification, //
receiving_tube_amplification, //
status_cb]() {
int32_t count = moveby_distance / scan_interval_distance;
int32_t each_move_by_distance = moveby_distance > 0 ? abs(scan_interval_distance) : -abs(scan_interval_distance);
for (int32_t i = 0; i < count; i++) {
ZLOGI(TAG, "move to %d", each_move_by_distance);
DO("move_by", m_stepM1->move_by_block(each_move_by_distance));
// read adc
}
m_scan_result->each_scan_result_len = 2;
m_scan_result->scan_reult_nums = count;
call_action_cb(status_cb, 0);
});
return 0;
}
int32_t MotorLaserCodeScanner::stop_scan() {
zlock_guard lock(m_lock);
ZLOGI(TAG, "stop_scan");
m_thread.stop();
return 0;
};
int32_t MotorLaserCodeScanner::get_scan_result(scan_result_t** result) {
if (m_thread.isworking()) return err::kce_device_is_busy;
*result = m_scan_result;
return 0;
}
void MotorLaserCodeScanner::call_action_cb(action_cb_status_t status_cb, int32_t status) {
m_lastexecstatus = status;
if (status_cb) status_cb(status);
}

37
components/motor_laser_code_scanner/motor_laser_code_scanne.hpp
View File

@ -0,0 +1,37 @@
#pragma once
//
#include "sdk/os/zos.hpp"
#include "sdk\components\zprotocols\zcancmder\api\i_motor_laser_code_scanner.hpp"
#include "sdk\components\zprotocols\zcancmder\api\i_step_motor_ctrl_module.hpp"
namespace iflytop {
class MotorLaserCodeScanner : public I_MotorLaserCodeScanner {
ZThread m_thread;
int m_id = 0;
I_StepMotorCtrlModule* m_stepM1 = nullptr;
zmutex m_lock;
scan_result_t* m_scan_result = nullptr;
int m_max_scan_result_num = 0;
int m_mallocsize = 0;
int32_t m_lastexecstatus = 0;
public:
void initialize(int id, I_StepMotorCtrlModule* stepM, int max_scan_result_num);
virtual int32_t start_scan(s32 moveby_distance, //
s32 scan_interval_distance, //
s32 each_sample_times, //
s32 transmitting_tube_amplification, //
s32 receiving_tube_amplification, //
//
action_cb_status_t status_cb) override;
//
virtual int32_t stop_scan() override;
//
virtual int32_t get_scan_result(scan_result_t** result) override;
private:
void call_action_cb(action_cb_status_t status_cb, int32_t status);
};
}; // namespace iflytop

12
components/sensors/smtp2/smtp2.cpp
View File

@ -254,15 +254,15 @@ int32_t SMTP2::getState() {
int ret = getState(isbusy, error);
if (ret == 0) {
if (isbusy) {
return err::kcommon_error_device_is_busy;
return err::kce_device_is_busy;
}
return error;
}
return err::kcommon_error_device_is_offline;
return err::kce_device_is_offline;
}
bool SMTP2::isOnline() {
if (getState() != err::kcommon_error_device_is_offline) {
if (getState() != err::kce_device_is_offline) {
return true;
}
return false;
@ -274,7 +274,7 @@ bool SMTP2::isOnline() {
iflytop::err::error_t SMTP2::read_ack_error_code(char* rxbuf, size_t rxlen) {
if (rxlen < 3) {
return err::kcommon_error_device_is_offline;
return err::kce_device_is_offline;
}
uint8_t errorcode = (uint8_t)rxbuf[2];
if (errorcode > '`') {
@ -408,7 +408,7 @@ int32_t SMTP2::doaction_block(function<int32_t()> action) {
// µÈ´ýÒÆҺǹ¸´Î»Íê³É
while (true) {
int32_t state = getState();
if (state != err::kcommon_error_device_is_busy) {
if (state != err::kce_device_is_busy) {
if (state == 0) {
stop();
return 0;
@ -419,7 +419,7 @@ int32_t SMTP2::doaction_block(function<int32_t()> action) {
}
if (thisThread.getExitFlag()) {
stop();
return err::kcommon_error_break_by_user;
return err::kce_break_by_user;
}
thisThread.sleep(1000);
}

10
components/step_motor_ctrl_module/step_motor_ctrl_module.cpp
View File

@ -12,7 +12,7 @@ void StepMotorCtrlModule::initialize(int id, IStepperMotor* stepM, ZGPIO* zero_g
m_lock.init();
m_statu_lock.init();
m_thread.init("XYRobotCtrlModule", 1024, osPriorityNormal);
m_thread.init(TAG, 1024, osPriorityNormal);
#if 0
run_param_t run_param;
@ -179,7 +179,7 @@ int32_t StepMotorCtrlModule::rotate(int32_t speed, int32_t lastforms, action_cb_
if (lastforms < 0) {
ZLOGW(TAG, "lastforms:%d < 0", lastforms);
return err::kcommon_error_param_out_of_range;
return err::kce_param_out_of_range;
}
if (abs(speed) > m_param.maxspeed) {
@ -304,7 +304,7 @@ int32_t StepMotorCtrlModule::exec_move_to_zero_task() {
}
if (m_Xgpio->getState()) {
ZLOGE(TAG, "leave away zero failed");
return err::kcommon_error_x_leave_away_zero_point_fail;
return err::kce_x_leave_away_zero_point_fail;
}
}
/*******************************************************************************
@ -325,7 +325,7 @@ int32_t StepMotorCtrlModule::exec_move_to_zero_task() {
if (!xreach_zero) {
// ´¥·¢Òì³£»Øµ÷
ZLOGE(TAG, "x reach zero failed");
return err::kcommon_error_not_found_x_zero_point;
return err::kce_not_found_x_zero_point;
}
if (m_thread.getExitFlag()) {
@ -422,7 +422,7 @@ int32_t StepMotorCtrlModule::do_motor_action_block_2(function<int32_t()> action,
if (isbusy()) {
stop(0);
return err::kcommon_error_break_by_user;
return err::kce_break_by_user;
}
return get_last_exec_status();

8
components/xy_robot_ctrl_module/xy_robot_ctrl_module.cpp
View File

@ -278,7 +278,7 @@ int32_t XYRobotCtrlModule::exec_move_to_zero_task() {
}
if (m_Xgpio->getState()) {
ZLOGE(TAG, "leave away zero failed");
return err::kcommon_error_x_leave_away_zero_point_fail;
return err::kce_x_leave_away_zero_point_fail;
}
}
/*******************************************************************************
@ -299,7 +299,7 @@ int32_t XYRobotCtrlModule::exec_move_to_zero_task() {
if (!xreach_zero) {
// 触发异常回调
ZLOGE(TAG, "x reach zero failed");
return err::kcommon_error_not_found_x_zero_point;
return err::kce_not_found_x_zero_point;
}
if (m_thread.getExitFlag()) {
@ -328,7 +328,7 @@ int32_t XYRobotCtrlModule::exec_move_to_zero_task() {
}
if (m_Ygpio->getState()) {
ZLOGE(TAG, "leave away zero failed");
return err::kcommon_error_y_leave_away_zero_point_fail;
return err::kce_y_leave_away_zero_point_fail;
}
}
@ -349,7 +349,7 @@ int32_t XYRobotCtrlModule::exec_move_to_zero_task() {
if (!yreach_zero) {
// 触发异常回调
ZLOGE(TAG, "y reach zero failed");
return err::kcommon_error_not_found_y_zero_point;
return err::kce_not_found_y_zero_point;
}
if (m_thread.getExitFlag()) {
ZLOGI(TAG, "break move to zero thread exit");

2
components/zcancmder/zcanreceiver.hpp
View File

@ -73,7 +73,7 @@ class ZCanCmder : public ZCanIRQListener {
int packetRxOvertime_ms; //
};
uint8_t txbuff[1000];
uint8_t txbuff[2100];
public:
class LoopJobContext {

63
components/zcancmder_module/zcan_motor_laser_code_scanner_scan_module.cpp
View File

@ -0,0 +1,63 @@
#include "zcan_motor_laser_code_scanner_scan_module.hpp"
using namespace iflytop;
#define TAG "ZcanMotorLaserCodeScannerScanModule"
#if 1
void ZcanMotorLaserCodeScannerScanModule::initialize(ZCanCmder* cancmder, int id, I_MotorLaserCodeScanner* module) {
m_cancmder = cancmder;
m_id = id;
m_module = module;
cancmder->registerListener(this);
}
void ZcanMotorLaserCodeScannerScanModule::onRceivePacket(CanPacketRxBuffer* rxcmd) {
#if 0
ZPACKET_CMD_ACK_AND_REPORT(kcmd_motor_laser_code_scanner_scan,
CMD(u8 id; //
s32 moveby_distance; //
s32 scan_interval_distance; //
s32 each_sample_times; //
s32 transmitting_tube_amplification; // 0.001
s32 receiving_tube_amplification; // 0.001
),
ACK(u8 id;), REPORT(u8 id; int32_t exec_status;));
ZPACKET_CMD_ACK(kcmd_motor_laser_code_scanner_stop_scan, CMD(u8 id;), ACK(u8 id;));
ZPACKET_CMD_ACK(kcmd_motor_laser_code_scanner_get_scan_result, CMD(u8 id; u16 packetoff;), ACK(u8 id; u8 endpacket; u8 packetlen; u8 packet[];));
#endif
PROCESS_PACKET(kcmd_motor_laser_code_scanner_scan, m_id) {
errorcode = m_module->start_scan( //
cmd->moveby_distance, cmd->scan_interval_distance, cmd->each_sample_times, cmd->transmitting_tube_amplification, cmd->receiving_tube_amplification, //
[this, cmdheader](int32_t status) { PROCESS_REPORT(kcmd_motor_laser_code_scanner_scan); });
}
END_PP();
PROCESS_PACKET(kcmd_motor_laser_code_scanner_stop_scan, m_id) { errorcode = m_module->stop_scan(); }
END_PP();
if (rxcmd->iscmd(kcmd_motor_laser_code_scanner_get_scan_result)) {
#if 0
auto* cmd = rxcmd->get_data_as<kcmd_motor_laser_code_scanner_get_scan_result_cmd_t>();
auto cmdheader = rxcmd->get_cmdheader();
uint32_t errorcode = 0;
if (cmd->id == m_id) {
I_MotorLaserCodeScanner::scan_result_t* result = nullptr;
u8 packetoff = cmd->packetoff;
errorcode = m_module->get_scan_result(&result);
if (errorcode == 0) {
}
// scan_result_t* result;
if (errorcode == 0) {
m_cancmder->sendAck(rxcmd->get_cmdheader(), m_txbuf, sizeof(*ack));
} else {
m_cancmder->sendErrorAck(rxcmd->get_cmdheader(), errorcode);
}
return;
}
#endif
}
}
#endif

19
components/zcancmder_module/zcan_motor_laser_code_scanner_scan_module.hpp
View File

@ -0,0 +1,19 @@
#pragma once
// #include "sdk/components/zprotocols/zcancmder/api/i_step_motor_ctrl_module.hpp"
// #include "sdk/components/zprotocols/zcancmder/api/i_pipette_module.hpp"
#include "sdk/components/zprotocols/zcancmder/api/i_motor_laser_code_scanner.hpp"
#include "sdk\components\zcancmder\zcanreceiver.hpp"
namespace iflytop {
class ZcanMotorLaserCodeScannerScanModule : public ZCanCmderListener {
ZCanCmder* m_cancmder = nullptr;
int m_id = 0;
I_MotorLaserCodeScanner* m_module;
uint8_t m_txbuf[512] = {0};
public:
void initialize(ZCanCmder* cancmder, int id, I_MotorLaserCodeScanner* module);
virtual void onRceivePacket(CanPacketRxBuffer* rxcmd);
};
} // namespace iflytop

2
components/zprotocols/errorcode

@ -1 +1 @@
Subproject commit fd9bffbcf3c637591eca6b5b72f7a5f9fe5670b3
Subproject commit 3ea10620670f4d40e220ed2ac75df734065fe3a6

2
components/zprotocols/zcancmder

@ -1 +1 @@
Subproject commit b59413a0e50fa100ab191dd0b2f7c9eb549e259c
Subproject commit 6ee22571832bbd90cdd5f4edb16e7a6d570e8baf
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