update

main/main.c

@@ -58,10 +58,18 @@ void construct_set_position_packet_and_report(int index, uint8_t setPosition_cod
 
 void construct_get_status_packet_and_report(int index, double motor_position) {
   uint8_t buffer[construct_cmd_packet_buffer_size] = {0};
-  snprintf((char *)buffer, construct_cmd_packet_buffer_size,
-           "{ \"order\": \"receipt\", \"index\": %d, \"deviceState\": \"running\", \"deviceException\": 0, \"deviceExceptionInfo\": "
-           ", \"position\":%lf }",
-           index, motor_position);
+  if (motor_turning == false) {
+    snprintf((char *)buffer, construct_cmd_packet_buffer_size,
+             "{ \"order\": \"receipt\", \"index\": %d, \"deviceState\": \"%s\", \"deviceException\": 0, \"deviceExceptionInfo\": "
+             ", \"position\":%lf }",
+             index, "idel", motor_position);
+  } else {
+    snprintf((char *)buffer, construct_cmd_packet_buffer_size,
+             "{ \"order\": \"receipt\", \"index\": %d, \"deviceState\": \"%s\", \"deviceException\": 0, \"deviceExceptionInfo\": "
+             ", \"position\":%lf }",
+             index, "rotating", motor_position);
+  }
+
   ESP_LOGI(MAIN_LOG_TAG, "report %s", buffer);
   bleuart_notify_send(buffer, strlen((char *)buffer));
 }
@@ -96,6 +104,7 @@ void process_setPosition(RxContext_t *context, cJSON *rxjson) {
   }
   ESP_LOGI(MAIN_LOG_TAG, "index = %d,speedLevel = %d,position = %lf,direction = %d", index, speedLevel, position, direction);
   setPosition_code = motor_run_to_postion(1, position, 0);
+  motor_turning = true;
   construct_set_position_packet_and_report(index, setPosition_code);
 }
 
@@ -157,6 +166,7 @@ void motor_on_event(motor_event_t event) {
   //打算使用sprintf
   if (event == kRunToPosition) {
     ESP_LOGI(MAIN_LOG_TAG, "motor_on_event: kRunToPosition");
+    motor_turning = false;
     uint8_t buffer[construct_cmd_packet_buffer_size] = {0};
     double motor_stop_position = motor_get_position_degree();
 

main/motor_drive.h

@@ -11,6 +11,8 @@ typedef enum {
 } motor_event_t;
 typedef void (*motor_on_event_t)(motor_event_t event);
 
+bool motor_turning;
+
 void motor_init(motor_t* motor);
 void motor_set_zero_point();
 double motor_get_position_degree();