project_boditech_vidas_a8000_v3
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a8000_subboard_sdk
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update

master
zhaohe 2 years ago
parent
b3dbb159e8
commit
d3f04ac663
2 changed files with 38 additions and 63 deletions
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  1. 95
      components/step_motor_ctrl_module/step_motor_ctrl_script_cmder_module.cpp
  2. 6
      components/step_motor_ctrl_module/zcan_master_step_motor_ctrl_module.cpp

95
components/step_motor_ctrl_module/step_motor_ctrl_script_cmder_module.cpp
View File

@ -2,9 +2,9 @@
#include <string.h>
#include "sdk\components\zprotocols\zcancmder\zcancmder_protocol.hpp"
// #include "sdk\components\zprotocols\zcancmder\zcancmder_protocol.hpp"
using namespace iflytop;
#define TAG "StepMotorCtrlScriptCmderModule"
#define TAG "CMD"
#define CHECK_ARGC(n) \
if (argc != (n + 1)) { \
@ -50,64 +50,6 @@ void StepMotorCtrlScriptCmderModule::regmodule(int id, I_StepMotorCtrlModule* ro
void StepMotorCtrlScriptCmderModule::regcmd() { //
ZASSERT(m_cmdScheduler != nullptr);
#if 0
virtual bool isbusy() = 0;
virtual int32_t get_last_exec_status() = 0;
virtual int32_t move_to(int32_t x, action_cb_status_t status_cb) = 0;
virtual int32_t move_by(int32_t dx, action_cb_status_t status_cb) = 0;
virtual int32_t move_to(int32_t velocity, int32_t x, action_cb_status_t status_cb) = 0;
virtual int32_t move_by(int32_t velocity, int32_t dx, action_cb_status_t status_cb) = 0;
virtual int32_t move_to_zero(action_cb_status_t status_cb) = 0;
virtual int32_t move_to_zero_with_calibrate(int32_t x, action_cb_status_t status_cb) = 0;
virtual int32_t rotate(int32_t speed, int32_t lastforms, action_cb_status_t status_cb) = 0;
virtual int32_t enable(bool venable) = 0;
virtual int32_t stop(uint8_t stopType) = 0;
virtual int32_t force_change_current_pos(int32_t x) = 0;
virtual int32_t move_to_logic_point(int32_t logic_point_num, action_cb_status_t status_cb) = 0;
virtual int32_t set_logic_point(int logic_point_num, int32_t x, int32_t vel, s32 acc, s32 dec) = 0;
virtual int32_t get_logic_point(int logic_point_num, logic_point_t& logic_point) = 0;
virtual int32_t flush() = 0;
virtual int32_t factory_reset() = 0;
virtual int32_t move_to_block(int32_t tox, int overtime) = 0;
virtual int32_t move_by_block(int32_t dx, int overtime) = 0;
virtual int32_t move_to_block(int32_t velocity, int32_t tox, int overtime) = 0;
virtual int32_t move_by_block(int32_t velocity, int32_t dx, int overtime) = 0;
virtual int32_t move_to_zero_block(int overtime) = 0;
virtual int32_t move_to_zero_with_calibrate_block(int32_t x, int overtime) = 0;
virtual int32_t read_version(version_t& version) = 0;
virtual int32_t read_status(status_t& status) = 0;
virtual int32_t read_detailed_status(detailed_status_t& debug_info) = 0;
virtual int32_t read_pos(int32_t& pos) = 0;
virtual int32_t read_pos() = 0;
virtual bool read_zero_io_state() = 0;
virtual int32_t set_base_param(const base_param_t& param) = 0;
virtual int32_t get_base_param(base_param_t& param) = 0;
#endif
#if 0
m_cmdScheduler->registerCmd("xy_robot_ctrl_enable", [this](int argc, char** argv, CmdScheduler::CmdProcessContext* context) {
SCRIPT_CMDER_CHECK(argc == 3);
int id = atoi(argv[1]);
bool enable = atoi(argv[2]);
I_XYRobotCtrlModule* module = findXYRobot(id);
SCRIPT_CMDER_CHECK(module != nullptr);
int32_t ack = module->enable(enable);
ZLOGI(TAG, "ack:%d:%s", ack, err::error2str(ack));
});
#endif
m_cmdScheduler->registerCmd("step_motor_ctrl_is_busy", [this](int argc, char** argv, CmdScheduler::CmdProcessContext* context) {
CHECK_ARGC(1);
@ -317,7 +259,18 @@ void StepMotorCtrlScriptCmderModule::regcmd() { //
int32_t ack = module->flush();
ZLOGI(TAG, "flush:%s(%d)", err::error2str(ack), ack);
});
m_cmdScheduler->registerCmd("step_motor_ctrl_enable", [this](int argc, char** argv, CmdScheduler::CmdProcessContext* context) {
CHECK_ARGC(2);
int id = atoi(argv[1]);
int enable = atoi(argv[2]);
I_StepMotorCtrlModule* module = findXYRobot(id);
SCRIPT_CMDER_CHECK(module != nullptr);
int32_t ack = module->enable(enable);
ZLOGI(TAG, "flush:%s(%d)", err::error2str(ack), ack);
});
m_cmdScheduler->registerCmd("step_motor_ctrl_factory_reset", [this](int argc, char** argv, CmdScheduler::CmdProcessContext* context) {
CHECK_ARGC(1);
@ -369,6 +322,28 @@ void StepMotorCtrlScriptCmderModule::regcmd() { //
ZLOGI(TAG, "status.io_state :%d,%d,%d,%d,%d,%d,%d,%d", GET_BIT(status.io_state, 0), GET_BIT(status.io_state, 1), GET_BIT(status.io_state, 2), GET_BIT(status.io_state, 3), GET_BIT(status.io_state, 4), GET_BIT(status.io_state, 5), GET_BIT(status.io_state, 6), GET_BIT(status.io_state, 7));
ZLOGI(TAG, "status.x :%d", status.x);
});
// virtual int32_t read_detailed_status(detailed_status_t& debug_info) = 0;
m_cmdScheduler->registerCmd("step_motor_ctrl_read_detailed_status", [this](int argc, char** argv, CmdScheduler::CmdProcessContext* context) {
CHECK_ARGC(1);
int id = atoi(argv[1]);
I_StepMotorCtrlModule* module = findXYRobot(id);
SCRIPT_CMDER_CHECK(module != nullptr);
I_StepMotorCtrlModule::detailed_status_t status;
int32_t ack = module->read_detailed_status(status);
if (ack != 0) {
ZLOGI(TAG, "read status:%s(%d)", err::error2str(ack), ack);
return;
}
ZLOGI(TAG, "status.status :%d", status.status);
ZLOGI(TAG, "status.io_state :%d,%d,%d,%d,%d,%d,%d,%d", GET_BIT(status.io_state, 0), GET_BIT(status.io_state, 1), GET_BIT(status.io_state, 2), GET_BIT(status.io_state, 3), GET_BIT(status.io_state, 4), GET_BIT(status.io_state, 5), GET_BIT(status.io_state, 6), GET_BIT(status.io_state, 7));
ZLOGI(TAG, "status.x :%d", status.x);
ZLOGI(TAG, "status.last_exec_status :%d", status.last_exec_status);
});
m_cmdScheduler->registerCmd("step_motor_ctrl_set_base_param", [this](int argc, char** argv, CmdScheduler::CmdProcessContext* context) {
CHECK_MIN_ARGC(4);

6
components/step_motor_ctrl_module/zcan_master_step_motor_ctrl_module.cpp
View File

@ -72,10 +72,10 @@ class StepMotorCtrlModule : public I_StepMotorCtrlModule {
}
virtual int32_t flush() { //
ZCAN_SEND_CMD_NO_ACK(kcmd_step_motor_ctrl_flush, OVERTIME);
ZCAN_SEND_CMD_NO_ACK(kcmd_step_motor_ctrl_flush, 3000);
}
virtual int32_t factory_reset() { //
ZCAN_SEND_CMD_NO_ACK(kcmd_step_motor_ctrl_factory_reset, OVERTIME);
ZCAN_SEND_CMD_NO_ACK(kcmd_step_motor_ctrl_factory_reset, 3000);
}
virtual int32_t read_version(version_t& version) { //
@ -154,7 +154,7 @@ class StepMotorCtrlModule : public I_StepMotorCtrlModule {
}
};
I_StepMotorCtrlModule* create_zcan_step_motor_ctrl_module(ZCanCommnaderMaster* cancmder, int id) {
I_StepMotorCtrlModule* create_zcan_master_step_motor_ctrl_module(ZCanCommnaderMaster* cancmder, int id) {
StepMotorCtrlModule* module = new StepMotorCtrlModule();
ZASSERT(module);
module->initialize(cancmder, id);

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