From f6c8c1ccf0d40c652337cb673db5b7ffe694f20d Mon Sep 17 00:00:00 2001 From: zhaohe Date: Sun, 2 Jun 2024 16:50:25 +0800 Subject: [PATCH] recode --- .../mini_servo_motor_ctrl_module.cpp | 4 +- .../mini_servo_motor_ctrl_module.hpp | 1 - .../pipette_module/pipette_ctrl_module_v2.cpp | 16 ++------ .../step_motor_ctrl_module.cpp | 17 ++------ .../step_motor_ctrl_module.hpp | 3 +- .../water_cooling_temperature_control_module.cpp | 24 +---------- .../water_cooling_temperature_control_module.hpp | 1 - .../xy_robot_ctrl_module/xy_robot_ctrl_module.cpp | 46 +++++++++++----------- .../xy_robot_ctrl_module/xy_robot_ctrl_module.hpp | 1 - components/zcancmder/zcan_board_module.cpp | 4 -- 10 files changed, 34 insertions(+), 83 deletions(-) diff --git a/components/mini_servo_motor/mini_servo_motor_ctrl_module.cpp b/components/mini_servo_motor/mini_servo_motor_ctrl_module.cpp index 66bfbfb..fb26e28 100644 --- a/components/mini_servo_motor/mini_servo_motor_ctrl_module.cpp +++ b/components/mini_servo_motor/mini_servo_motor_ctrl_module.cpp @@ -278,7 +278,6 @@ int32_t MiniRobotCtrlModule::get_basic_param(basic_param_t ¶m) { } 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 * diff --git a/components/mini_servo_motor/mini_servo_motor_ctrl_module.hpp b/components/mini_servo_motor/mini_servo_motor_ctrl_module.hpp index a056654..b77eede 100644 --- a/components/mini_servo_motor/mini_servo_motor_ctrl_module.hpp +++ b/components/mini_servo_motor/mini_servo_motor_ctrl_module.hpp @@ -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 diff --git a/components/pipette_module/pipette_ctrl_module_v2.cpp b/components/pipette_module/pipette_ctrl_module_v2.cpp index c5b19d5..51a1b1c 100644 --- a/components/pipette_module/pipette_ctrl_module_v2.cpp +++ b/components/pipette_module/pipette_ctrl_module_v2.cpp @@ -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; }; diff --git a/components/step_motor_ctrl_module/step_motor_ctrl_module.cpp b/components/step_motor_ctrl_module/step_motor_ctrl_module.cpp index ba6da18..396ad0d 100644 --- a/components/step_motor_ctrl_module/step_motor_ctrl_module.cpp +++ b/components/step_motor_ctrl_module/step_motor_ctrl_module.cpp @@ -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) { diff --git a/components/step_motor_ctrl_module/step_motor_ctrl_module.hpp b/components/step_motor_ctrl_module/step_motor_ctrl_module.hpp index 3bed942..18698ee 100644 --- a/components/step_motor_ctrl_module/step_motor_ctrl_module.hpp +++ b/components/step_motor_ctrl_module/step_motor_ctrl_module.hpp @@ -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: /******************************************************************************* diff --git a/components/water_cooling_temperature_control_module/water_cooling_temperature_control_module.cpp b/components/water_cooling_temperature_control_module/water_cooling_temperature_control_module.cpp index ff85442..07cc4cc 100644 --- a/components/water_cooling_temperature_control_module/water_cooling_temperature_control_module.cpp +++ b/components/water_cooling_temperature_control_module/water_cooling_temperature_control_module.cpp @@ -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; } diff --git a/components/water_cooling_temperature_control_module/water_cooling_temperature_control_module.hpp b/components/water_cooling_temperature_control_module/water_cooling_temperature_control_module.hpp index ddd2639..d54ff13 100644 --- a/components/water_cooling_temperature_control_module/water_cooling_temperature_control_module.hpp +++ b/components/water_cooling_temperature_control_module/water_cooling_temperature_control_module.hpp @@ -132,7 +132,6 @@ class WaterCoolingTemperatureControlModule : public ZIModule { float getTemperatureSensorVal(int32_t index); - virtual int32_t do_action(int32_t actioncode) override; }; } // namespace iflytop diff --git a/components/xy_robot_ctrl_module/xy_robot_ctrl_module.cpp b/components/xy_robot_ctrl_module/xy_robot_ctrl_module.cpp index a8cf034..32eb256 100644 --- a/components/xy_robot_ctrl_module/xy_robot_ctrl_module.cpp +++ b/components/xy_robot_ctrl_module/xy_robot_ctrl_module.cpp @@ -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); diff --git a/components/xy_robot_ctrl_module/xy_robot_ctrl_module.hpp b/components/xy_robot_ctrl_module/xy_robot_ctrl_module.hpp index 7a0d548..9f48109 100644 --- a/components/xy_robot_ctrl_module/xy_robot_ctrl_module.hpp +++ b/components/xy_robot_ctrl_module/xy_robot_ctrl_module.hpp @@ -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 \ No newline at end of file diff --git a/components/zcancmder/zcan_board_module.cpp b/components/zcancmder/zcan_board_module.cpp index a301e72..6c8692e 100644 --- a/components/zcancmder/zcan_board_module.cpp +++ b/components/zcancmder/zcan_board_module.cpp @@ -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));