project_boditech_vidas_a8000_v3
/
a8000_subboard_sdk
2
0
Fork 0
Code Issues Pull Requests Projects Releases Wiki Activity
Browse Source

recode

master
zhaohe 1 year ago
parent
77be652142
commit
f6c8c1ccf0
10 changed files with 34 additions and 83 deletions
Whitespace
Show all changes Ignore whitespace when comparing lines Ignore changes in amount of whitespace Ignore changes in whitespace at EOL
Split View
Diff Options
Show Stats Download Patch File Download Diff File
  1. 4
      components/mini_servo_motor/mini_servo_motor_ctrl_module.cpp
  2. 1
      components/mini_servo_motor/mini_servo_motor_ctrl_module.hpp
  3. 16
      components/pipette_module/pipette_ctrl_module_v2.cpp
  4. 17
      components/step_motor_ctrl_module/step_motor_ctrl_module.cpp
  5. 3
      components/step_motor_ctrl_module/step_motor_ctrl_module.hpp
  6. 24
      components/water_cooling_temperature_control_module/water_cooling_temperature_control_module.cpp
  7. 1
      components/water_cooling_temperature_control_module/water_cooling_temperature_control_module.hpp
  8. 46
      components/xy_robot_ctrl_module/xy_robot_ctrl_module.cpp
  9. 1
      components/xy_robot_ctrl_module/xy_robot_ctrl_module.hpp
  10. 4
      components/zcancmder/zcan_board_module.cpp

4
components/mini_servo_motor/mini_servo_motor_ctrl_module.cpp
View File

@ -278,7 +278,6 @@ int32_t MiniRobotCtrlModule::get_basic_param(basic_param_t &param) {
}
void MiniRobotCtrlModule::call_status_cb(action_cb_status_t cb, int32_t status) {
m_com_reg.module_last_cmd_exec_status = status;
if (cb) cb(status);
}
@ -300,7 +299,7 @@ int32_t MiniRobotCtrlModule::module_break() {
return stop(0);
}
int32_t MiniRobotCtrlModule::module_get_last_exec_status(int32_t *status) {
*status = m_com_reg.module_last_cmd_exec_status;
*status = 0;
return 0;
}
int32_t MiniRobotCtrlModule::module_get_status(int32_t *status) {
@ -343,7 +342,6 @@ int32_t MiniRobotCtrlModule::module_xxx_reg(int32_t param_id, bool read, int32_t
}
return 0;
}
int32_t MiniRobotCtrlModule::do_action(int32_t actioncode) { return 0; }
/*******************************************************************************
* Motor *

1
components/mini_servo_motor/mini_servo_motor_ctrl_module.hpp
View File

@ -103,6 +103,5 @@ class MiniRobotCtrlModule : public I_MiniServoModule, public ZIModule, public ZI
void set_errorcode(int32_t errorcode);
int32_t getdpos(int32_t targetpos);
int32_t module_xxx_reg(int32_t param_id, bool read, int32_t &val);
int32_t do_action(int32_t actioncode);
};
} // namespace iflytop

16
components/pipette_module/pipette_ctrl_module_v2.cpp
View File

@ -9,7 +9,6 @@ using namespace iflytop;
int exec_ret = ACTION; \
if (exec_ret != 0) { \
ZLOGE(TAG, "do " infostr "(line:%d) fail, ret = %d", __LINE__, exec_ret); \
_module_set_exec_status(exec_ret); \
return; \
} \
ZLOGI(TAG, "do " infostr " complete"); \
@ -90,20 +89,14 @@ int32_t PipetteModule::pipette_ctrl_init_device() {
ZLOGI(TAG, "pipette_ctrl_init_device");
if (!m_smtp2.isOnline()) return err::kdevice_offline;
m_thread.stop();
m_thread.start([this]() {
DO("init_device_block", m_smtp2.init_device_block());
_module_set_exec_status(0);
});
m_thread.start([this]() { DO("init_device_block", m_smtp2.init_device_block()); });
return 0;
};
int32_t PipetteModule::pipette_ctrl_put_tip() {
ZLOGI(TAG, "pipette_ctrl_put_tip");
if (!m_smtp2.isOnline()) return err::kdevice_offline;
m_thread.stop();
m_thread.start([this]() {
DO("put_tip_block", m_smtp2.put_tip_block());
_module_set_exec_status(0);
});
m_thread.start([this]() { DO("put_tip_block", m_smtp2.put_tip_block()); });
return 0;
};
int32_t PipetteModule::pipette_ctrl_move_to_ul(int32_t ul) {
@ -114,10 +107,7 @@ int32_t PipetteModule::pipette_ctrl_move_to_ul(int32_t ul) {
if (!m_smtp2.isOnline()) return err::kdevice_offline;
m_thread.stop();
m_thread.start([this, ul]() {
DO("move_to_ul_block", m_smtp2.move_to_ul_block(ul));
_module_set_exec_status(0);
});
m_thread.start([this, ul]() { DO("move_to_ul_block", m_smtp2.move_to_ul_block(ul)); });
return 0;
};

17
components/step_motor_ctrl_module/step_motor_ctrl_module.cpp
View File

@ -388,7 +388,7 @@ int32_t StepMotorCtrlModule::move_by_block(int32_t dx, int32_t velocity, int ove
return do_motor_action_block([this, velocity, dx]() { return move_by(dx, velocity, nullptr); });
}
void StepMotorCtrlModule::call_exec_status_cb(int32_t status, action_cb_status_t status_cb) { m_com_reg.module_last_cmd_exec_status = status; }
void StepMotorCtrlModule::call_exec_status_cb(int32_t status, action_cb_status_t status_cb) {}
void StepMotorCtrlModule::create_default_cfg(flash_config_t& cfg) {
memset(&cfg, 0, sizeof(cfg));
cfg.base_param.motor_one_circle_pulse = 10000;
@ -444,7 +444,7 @@ int32_t StepMotorCtrlModule::getid(int32_t* id) {
int32_t StepMotorCtrlModule::module_stop() { return stop(0); }
int32_t StepMotorCtrlModule::module_break() { return stop(0); }
int32_t StepMotorCtrlModule::module_get_last_exec_status(int32_t* status) {
*status = m_com_reg.module_last_cmd_exec_status;
*status = 0;
return 0;
}
int32_t StepMotorCtrlModule::module_get_status(int32_t* status) {
@ -488,7 +488,6 @@ int32_t StepMotorCtrlModule::module_xxx_reg(int32_t param_id, bool read, int32_t
}
return 0;
}
int32_t StepMotorCtrlModule::do_action(int32_t actioncode) { return 0; }
int32_t StepMotorCtrlModule::module_clear_error() { return 0; }
int32_t StepMotorCtrlModule::module_readio(int32_t* io) {
*io = 0;
@ -590,14 +589,7 @@ int32_t StepMotorCtrlModule::motor_read_pos(int32_t* pos) {
*pos = xnow;
return 0;
}
void StepMotorCtrlModule::set_last_exec_status(int32_t ecode, int32_t val0, int32_t val1, int32_t val2, int32_t val3, int32_t val4) {
m_com_reg.module_last_cmd_exec_status = ecode;
m_com_reg.module_last_cmd_exec_val0 = val0;
m_com_reg.module_last_cmd_exec_val1 = val1;
m_com_reg.module_last_cmd_exec_val2 = val2;
m_com_reg.module_last_cmd_exec_val3 = val3;
m_com_reg.module_last_cmd_exec_val4 = val4;
}
void StepMotorCtrlModule::set_last_exec_status(int32_t ecode, int32_t val0, int32_t val1, int32_t val2, int32_t val3, int32_t val4) {}
int32_t StepMotorCtrlModule::motor_calculated_pos_by_move_to_zero() {
zlock_guard lock(m_lock);
@ -611,7 +603,6 @@ int32_t StepMotorCtrlModule::motor_calculated_pos_by_move_to_zero() {
if (erro != 0) {
set_last_exec_status(erro);
} else {
m_com_reg.module_last_cmd_exec_status = erro;
set_last_exec_status(erro, -dx + m_param.motor_shift);
m_stepM1->setXACTUAL(0);
}
@ -654,7 +645,7 @@ int32_t StepMotorCtrlModule::motor_easy_move_to_io(int32_t ioindex, int32_t dire
int32_t StepMotorCtrlModule::_exec_move_to_io_task(int32_t ioindex, int32_t direction) {
m_thread.stop();
m_thread.start([this, ioindex, direction]() { m_com_reg.module_last_cmd_exec_status = _exec_move_to_io_task_fn(ioindex, direction); });
m_thread.start([this, ioindex, direction]() { _exec_move_to_io_task_fn(ioindex, direction); });
return 0;
}
int32_t StepMotorCtrlModule::_exec_move_to_io_task_fn(int32_t ioindex, int32_t direction) {

3
components/step_motor_ctrl_module/step_motor_ctrl_module.hpp
View File

@ -80,7 +80,7 @@ class StepMotorCtrlModule : public ZIModule, public ZIMotor {
static uint32_t get_flash_cfg_size() { return sizeof(flash_config_t); }
virtual bool isbusy();
virtual int32_t get_last_exec_status() { return m_com_reg.module_last_cmd_exec_status; };
virtual int32_t get_last_exec_status() { return 0; };
virtual int32_t move_to_logic_point(int32_t logic_point_num, action_cb_status_t status_cb);
virtual int32_t set_logic_point(int logic_point_num, int32_t x, int32_t vel, int32_t acc, int32_t dec);
@ -193,7 +193,6 @@ class StepMotorCtrlModule : public ZIModule, public ZIMotor {
private:
int32_t module_xxx_reg(int32_t param_id, bool read, int32_t& val);
int32_t do_action(int32_t actioncode);
private:
/*******************************************************************************

24
components/water_cooling_temperature_control_module/water_cooling_temperature_control_module.cpp
View File

@ -88,7 +88,7 @@ int32_t WaterCoolingTemperatureControlModule::module_xxx_reg(int32_t param_id, b
PROCESS_REG(kreg_compute_interval, REG_GET(m_cfg.pidcompute_periodms), REG_SET(m_cfg.pidcompute_periodms));
PROCESS_REG(kreg_pid_target, REG_GET_FLOAT(m_target_temperature, 0.1), REG_SET_FLOAT(m_target_temperature, 0.1));
PROCESS_REG(kreg_module_private0, gettemperature_sensor_state(val), ACTION_NONE);
// PROCESS_REG(kreg_module_private0, gettemperature_sensor_state(val), ACTION_NONE);
PROCESS_REG(kreg_pid_nowoutput, REG_GET(m_pidmodule.get_output()), ACTION_NONE);
PROCESS_REG(kreg_pid_feedbackval, REG_GET(read_pid_temperature()), ACTION_NONE);
@ -117,28 +117,6 @@ int32_t WaterCoolingTemperatureControlModule::gettemperature_sensor_state(int32_
return 0;
}
int32_t WaterCoolingTemperatureControlModule::do_action(int32_t actioncode) {
if (actioncode == ACTION_TEST_PELTIER_SET_POWER_LEVEL) {
return test_peltier_set_power_level(m_com_reg.module_action_param1);
} else if (actioncode == ACTION_TEST_PUMP_SET_LEVEL) {
return test_pump_set_level(m_com_reg.module_action_param1);
} else if (actioncode == ACTION_TEST_FAN_SET_LEVEL) {
return test_fan_set_level(m_com_reg.module_action_param1);
} else if (actioncode == ACTION_TEST_DUMP_DC_MOTOR_STATE) {
m_pelter_ctrl->dumpErrorInfo();
return 0;
} else if (actioncode == ACTION_TEST_ENABLE_LOG) {
m_enable_log = 1;
return 0;
} else if (actioncode == ACTION_TEST_DISABLE_LOG) {
m_enable_log = 0;
return 0;
}
else {
return err::kmodule_not_support_action;
}
}
int32_t WaterCoolingTemperatureControlModule::module_factory_reset() { return 0; }
int32_t WaterCoolingTemperatureControlModule::module_flush_cfg() { return 0; }

1
components/water_cooling_temperature_control_module/water_cooling_temperature_control_module.hpp
View File

@ -132,7 +132,6 @@ class WaterCoolingTemperatureControlModule : public ZIModule {
float getTemperatureSensorVal(int32_t index);
virtual int32_t do_action(int32_t actioncode) override;
};
} // namespace iflytop

46
components/xy_robot_ctrl_module/xy_robot_ctrl_module.cpp
View File

@ -655,20 +655,10 @@ int32_t XYRobotCtrlModule::module_xxx_reg(int32_t param_id, bool read, int32_t&
switch (param_id) {
MODULE_COMMON_PROCESS_REG_CB();
PROCESS_REG(kreg_motor_x_shift, REG_GET(m_basecfg.shift_x), REG_SET(m_basecfg.shift_x));
PROCESS_REG(kreg_motor_y_shift, REG_GET(m_basecfg.shift_y), REG_SET(m_basecfg.shift_y));
PROCESS_REG(kreg_motor_x_shaft, REG_GET(m_basecfg.x_shaft), REG_SET(m_basecfg.x_shaft));
PROCESS_REG(kreg_motor_y_shaft, REG_GET(m_basecfg.y_shaft), REG_SET(m_basecfg.y_shaft));
PROCESS_REG(kreg_motor_x_one_circle_pulse, REG_GET(m_basecfg.distance_scale), REG_SET(m_basecfg.distance_scale));
PROCESS_REG(kreg_motor_y_one_circle_pulse, REG_GET(m_basecfg.distance_scale), REG_SET(m_basecfg.distance_scale));
PROCESS_REG(kreg_motor_default_velocity, REG_GET(m_basecfg.maxspeed), REG_SET(m_basecfg.maxspeed));
PROCESS_REG(kreg_motor_default_acc, REG_GET(m_basecfg.acc), REG_SET(m_basecfg.acc));
PROCESS_REG(kreg_motor_default_dec, REG_GET(m_basecfg.dec), REG_SET(m_basecfg.dec));
PROCESS_REG(kreg_motor_default_break_dec, REG_GET(m_basecfg.breakdec), REG_SET(m_basecfg.breakdec));
PROCESS_REG(kreg_motor_run_to_zero_max_x_d, REG_GET(m_basecfg.run_to_zero_max_d), REG_SET(m_basecfg.run_to_zero_max_d));
PROCESS_REG(kreg_motor_run_to_zero_max_y_d, REG_GET(m_basecfg.run_to_zero_max_d), REG_SET(m_basecfg.run_to_zero_max_d));
PROCESS_REG(kreg_motor_look_zero_edge_max_x_d, REG_GET(m_basecfg.look_zero_edge_max_d), REG_SET(m_basecfg.look_zero_edge_max_d));
PROCESS_REG(kreg_motor_look_zero_edge_max_y_d, REG_GET(m_basecfg.look_zero_edge_max_d), REG_SET(m_basecfg.look_zero_edge_max_d));
PROCESS_REG(kreg_motor_run_to_zero_speed, REG_GET(m_basecfg.run_to_zero_speed), REG_SET(m_basecfg.run_to_zero_speed));
PROCESS_REG(kreg_motor_run_to_zero_dec, REG_GET(m_basecfg.run_to_zero_dec), REG_SET(m_basecfg.run_to_zero_dec));
PROCESS_REG(kreg_motor_look_zero_edge_speed, REG_GET(m_basecfg.look_zero_edge_speed), REG_SET(m_basecfg.look_zero_edge_speed));
@ -676,9 +666,20 @@ int32_t XYRobotCtrlModule::module_xxx_reg(int32_t param_id, bool read, int32_t&
PROCESS_REG(kreg_stepmotor_ihold, REG_GET(m_basecfg.ihold), REG_SET(m_basecfg.ihold));
PROCESS_REG(kreg_stepmotor_irun, REG_GET(m_basecfg.irun), REG_SET(m_basecfg.irun));
PROCESS_REG(kreg_stepmotor_iholddelay, REG_GET(m_basecfg.iholddelay), REG_SET(m_basecfg.iholddelay));
PROCESS_REG(kreg_xyrobot_x_shift, REG_GET(m_basecfg.shift_x), REG_SET(m_basecfg.shift_x));
PROCESS_REG(kreg_xyrobot_y_shift, REG_GET(m_basecfg.shift_y), REG_SET(m_basecfg.shift_y));
PROCESS_REG(kreg_xyrobot_x_shaft, REG_GET(m_basecfg.x_shaft), REG_SET(m_basecfg.x_shaft));
PROCESS_REG(kreg_xyrobot_y_shaft, REG_GET(m_basecfg.y_shaft), REG_SET(m_basecfg.y_shaft));
PROCESS_REG(kreg_xyrobot_x_one_circle_pulse, REG_GET(m_basecfg.distance_scale), REG_SET(m_basecfg.distance_scale));
PROCESS_REG(kreg_xyrobot_y_one_circle_pulse, REG_GET(m_basecfg.distance_scale), REG_SET(m_basecfg.distance_scale));
PROCESS_REG(kreg_xyrobot_run_to_zero_max_x_d, REG_GET(m_basecfg.run_to_zero_max_d), REG_SET(m_basecfg.run_to_zero_max_d));
PROCESS_REG(kreg_xyrobot_run_to_zero_max_y_d, REG_GET(m_basecfg.run_to_zero_max_d), REG_SET(m_basecfg.run_to_zero_max_d));
PROCESS_REG(kreg_xyrobot_look_zero_edge_max_x_d, REG_GET(m_basecfg.look_zero_edge_max_d), REG_SET(m_basecfg.look_zero_edge_max_d));
PROCESS_REG(kreg_xyrobot_look_zero_edge_max_y_d, REG_GET(m_basecfg.look_zero_edge_max_d), REG_SET(m_basecfg.look_zero_edge_max_d));
PROCESS_REG(kreg_xyrobot_robot_type, REG_GET(m_basecfg.robot_type), REG_SET(m_basecfg.robot_type));
PROCESS_REG(kreg_robot_x_pos, REG_GET(m_x), ACTION_NONE);
PROCESS_REG(kreg_robot_y_pos, REG_GET(m_y), ACTION_NONE);
PROCESS_REG(kreg_xyrobot_x_pos, REG_GET(m_x), ACTION_NONE);
PROCESS_REG(kreg_xyrobot_y_pos, REG_GET(m_y), ACTION_NONE);
PROCESS_REG(kreg_module_input_state, module_readio(&val), ACTION_NONE);
default:
@ -687,7 +688,6 @@ int32_t XYRobotCtrlModule::module_xxx_reg(int32_t param_id, bool read, int32_t&
}
return 0;
}
int32_t XYRobotCtrlModule::do_action(int32_t actioncode) { return err::kmodule_not_support_action; }
#if 0
int32_t XYRobotCtrlModule::module_set_state(int32_t state_id, int32_t state_value) { return err::kmodule_not_find_state_index; }
@ -771,18 +771,20 @@ int32_t XYRobotCtrlModule::xymotor_calculated_pos_by_move_to_zero() {
if (erro != 0) {
m_dx = 0;
m_dy = 0;
m_com_reg.module_last_cmd_exec_status = err::kmodule_opeation_break_by_user;
m_com_reg.module_last_cmd_exec_val0 = 0;
m_com_reg.module_last_cmd_exec_val1 = 0;
_motor_stop();
return;
}
m_dx = dx;
m_dy = dy;
m_com_reg.module_last_cmd_exec_status = 0;
m_com_reg.module_last_cmd_exec_val0 = -m_dx;
m_com_reg.module_last_cmd_exec_val1 = -m_dy;
m_dx = dx;
m_dy = dy;
/**
* @brief
* TODO: add function to get dx and dy
*/
// m_com_reg.module_last_cmd_exec_status = 0;
// m_com_reg.module_last_cmd_exec_val0 = -m_dx;
// m_com_reg.module_last_cmd_exec_val1 = -m_dy;
m_stepM1->setXACTUAL(0);
m_stepM2->setXACTUAL(0);
ZLOGI(TAG, "xymotor_calculated_pos_by_move_to_zero dx:%d dy:%d", dx, dy);

1
components/xy_robot_ctrl_module/xy_robot_ctrl_module.hpp
View File

@ -114,6 +114,5 @@ class XYRobotCtrlModule : public I_XYRobotCtrlModule, public ZIXYMotor, public Z
void call_status_cb(action_cb_status_t cb, int32_t status);
int32_t module_xxx_reg(int32_t param_id, bool read, int32_t& val);
int32_t do_action(int32_t actioncode);
};
} // namespace iflytop

4
components/zcancmder/zcan_board_module.cpp
View File

@ -54,10 +54,6 @@ int32_t ZCanBoardModule::module_xxx_reg(int32_t param_id, bool read, int32_t &va
PROCESS_REG(kreg_sensor_temperature1, readTemperature(1, val), ACTION_NONE);
PROCESS_REG(kreg_sensor_temperature2, readTemperature(2, val), ACTION_NONE);
PROCESS_REG(kreg_sensor_temperature3, readTemperature(3, val), ACTION_NONE);
PROCESS_REG(kreg_sensor_temperature4, readTemperature(4, val), ACTION_NONE);
PROCESS_REG(kreg_sensor_temperature5, readTemperature(5, val), ACTION_NONE);
PROCESS_REG(kreg_sensor_temperature6, readTemperature(6, val), ACTION_NONE);
PROCESS_REG(kreg_sensor_temperature7, readTemperature(7, val), ACTION_NONE);
PROCESS_REG(kreg_pwm0_duty, readPwmDuty(0, val), setPwmDuty(0, val));
PROCESS_REG(kreg_pwm1_duty, readPwmDuty(1, val), setPwmDuty(1, val));

Write Preview
Loading…
Cancel
Save