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zcancmder_v2
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update

master
zhaohe 2 years ago
parent
46580c915d
commit
115dbcfc41
10 changed files with 137 additions and 29 deletions
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  1. 12
      api/config_index.hpp
  2. 11
      api/zi_module.hpp
  3. 5
      api/zi_motor.hpp
  4. 24
      cmdid.hpp
  5. 20
      protocol_parser.cpp
  6. 5
      protocol_proxy.cpp
  7. 6
      protocol_proxy.hpp
  8. 4
      zmodule_device_manager.cpp
  9. 5
      zmodule_device_manager.hpp
  10. 74
      zmodule_device_script_cmder_paser.cpp

12
api/config_index.hpp
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@ -7,6 +7,18 @@ using namespace std;
#define CONFIG_CODE(type, subconfigindex) (type + subconfigindex)
typedef enum {
kmotorcfg_x_shift = CONFIG_CODE(100, 0), // x偏移
kmotorcfg_y_shift = CONFIG_CODE(100, 1), // y偏移
kmotorcfg_z_shift = CONFIG_CODE(100, 2), // z偏移
kmotorcfg_x_shaft = CONFIG_CODE(100, 3), // x轴是否反转
kmotorcfg_y_shaft = CONFIG_CODE(100, 4), // y轴是否反转
kmotorcfg_z_shaft = CONFIG_CODE(100, 5), // z轴是否反转
kmotorcfg_x_one_circle_pulse = CONFIG_CODE(100, 6), // x轴一圈脉冲数
kmotorcfg_y_one_circle_pulse = CONFIG_CODE(100, 7), // y轴一圈脉冲数
kmotorcfg_z_one_circle_pulse = CONFIG_CODE(100, 8), // z轴一圈脉冲数
} config_index_t;
} // namespace iflytop

11
api/zi_module.hpp
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@ -8,6 +8,8 @@
namespace iflytop {
using namespace std;
class ZIModule {
int32_t m_inited_flag = 0;
public:
virtual ~ZIModule() {}
@ -27,5 +29,14 @@ class ZIModule {
virtual int32_t module_writeio(int32_t io) { return err::koperation_not_support; }
virtual int32_t module_read_adc(int32_t adcindex, int32_t *adc) { return err::koperation_not_support; }
virtual int32_t module_set_inited_flag(int32_t flag) {
m_inited_flag = flag;
return 0;
}
virtual int32_t module_get_inited_flag(int32_t *flag) {
*flag = m_inited_flag;
return 0;
}
};
} // namespace iflytop

5
api/zi_motor.hpp
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@ -24,6 +24,11 @@ class ZIMotor {
virtual int32_t motor_move_to_zero_forward(int32_t findzerospeed, int32_t findzeroedge_speed, int32_t acc, int32_t overtime) { return err::koperation_not_support; }
virtual int32_t motor_move_to_zero_backward(int32_t findzerospeed, int32_t findzeroedge_speed, int32_t acc, int32_t overtime) { return err::koperation_not_support; }
virtual int32_t motor_read_pos(int32_t* pos) { return err::koperation_not_support; }
virtual int32_t motor_set_current_pos_by_change_shift(int32_t pos) { return err::koperation_not_support; } // Ò»°ãÓÃÓÚ¶æ»ú
// virtual int32_t motor_set_shaft();
// s32 pos, s32 speed, s32 torque,
};
} // namespace iflytop

24
cmdid.hpp
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@ -15,17 +15,21 @@ typedef enum {
kmodule_read_adc = CMDID(1, 9), // para:{4}, ack:{4}
kmodule_get_error = CMDID(1, 10), // para:{}, ack:{1}
kmodule_clear_error = CMDID(1, 11), // para:{}, ack:{}
kmodule_set_inited_flag = CMDID(1, 12), // para:{4}, ack:{}
kmodule_get_inited_flag = CMDID(1, 13), // para:{}, ack:{4}
kmotor_enable = CMDID(2, 1), // para:{1}, ack:{}
kmotor_rotate = CMDID(2, 2), // para:{1,4}, ack:{}
kmotor_move_by = CMDID(2, 3), // para:{4,4}, ack:{}
kmotor_move_to = CMDID(2, 4), // para:{4,4}, ack:{}
kmotor_rotate_acctime = CMDID(2, 5), // para:{4,4}, ack:{}
kmotor_move_by_acctime = CMDID(2, 6), // para:{4,4}, ack:{}
kmotor_move_to_acctime = CMDID(2, 7), // para:{4,4}, ack:{}
kmotor_move_to_with_torque = CMDID(2, 8), // para:{4,4}, ack:{}
kmotor_move_to_zero_forward = CMDID(2, 9), // para:{4,4,4,4}, ack:{} //int32_t findzerospeed, int32_t findzeroedge_speed, int32_t acc, int32_t overtime
kmotor_move_to_zero_backward = CMDID(2, 10), // para:{4,4,4,4}, ack:{} //int32_t findzerospeed, int32_t findzeroedge_speed, int32_t acc, int32_t overtime
kmotor_enable = CMDID(2, 1), // para:{1}, ack:{}
kmotor_rotate = CMDID(2, 2), // para:{1,4}, ack:{}
kmotor_move_by = CMDID(2, 3), // para:{4,4}, ack:{}
kmotor_move_to = CMDID(2, 4), // para:{4,4}, ack:{}
kmotor_rotate_acctime = CMDID(2, 5), // para:{4,4}, ack:{}
kmotor_move_by_acctime = CMDID(2, 6), // para:{4,4}, ack:{}
kmotor_move_to_acctime = CMDID(2, 7), // para:{4,4}, ack:{}
kmotor_move_to_with_torque = CMDID(2, 8), // para:{4,4}, ack:{}
kmotor_move_to_zero_forward = CMDID(2, 9), // para:{4,4,4,4}, ack:{} //int32_t findzerospeed, int32_t findzeroedge_speed, int32_t acc, int32_t overtime
kmotor_move_to_zero_backward = CMDID(2, 10), // para:{4,4,4,4}, ack:{} //int32_t findzerospeed, int32_t findzeroedge_speed, int32_t acc, int32_t overtime
kmotor_read_pos = CMDID(2, 11), // para:{}, ack:{4}
kmotor_set_current_pos_by_change_shift = CMDID(2, 12), // para:{4}, ack:{}
kxymotor_enable = CMDID(3, 1), // para:{1}, ack:{}
kxymotor_move_by = CMDID(3, 2), // para:{4,4,4}, ack:{}

20
protocol_parser.cpp
View File

@ -4,14 +4,14 @@ using namespace iflytop;
using namespace std;
#define TAG "ZIProtocolParser"
#define PROCESS_PACKET_BEGIN(var_cmdid, var_moduleType) \
int32_t* param __attribute__((__unused__)) = (int32_t*)data; \
#define PROCESS_PACKET_BEGIN(var_cmdid, var_moduleType) \
int32_t* param __attribute__((__unused__)) = (int32_t*)data; \
int paramNum __attribute__((__unused__)) = (len - sizeof(zcr_cmd_header_t)) / sizeof(int32_t); \
if (cmdid == var_cmdid) { \
auto* mod = dynamic_cast<var_moduleType*>(module); \
if (mod == nullptr) { \
m_cancmder->sendErrorAck(rxcmd, err::koperation_not_support); \
return; \
if (cmdid == var_cmdid) { \
auto* mod = dynamic_cast<var_moduleType*>(module); \
if (mod == nullptr) { \
m_cancmder->sendErrorAck(rxcmd, err::koperation_not_support); \
return; \
}
#define CHECK_PARAM_NUM(num) \
@ -63,7 +63,6 @@ using namespace std;
#define PROCESS_PACKET_42(var_cmdid, var_moduleType, var_funcname) PROCESS_PACKET_XX(var_cmdid, var_moduleType, var_funcname, 4, 2, param[0], param[1], param[2], param[3], &ack[1], &ack[2])
#define PROCESS_PACKET_43(var_cmdid, var_moduleType, var_funcname) PROCESS_PACKET_XX(var_cmdid, var_moduleType, var_funcname, 4, 3, param[0], param[1], param[2], param[3], &ack[1], &ack[2], &ack[3])
void ZIProtocolParser::initialize(IZCanCmder* cancmder) {
m_cancmder = cancmder;
m_cancmder->registerListener(this);
@ -93,7 +92,8 @@ void ZIProtocolParser::onRceivePacket(zcr_cmd_header_t* rxcmd, uint8_t* data, in
PROCESS_PACKET_11(kmodule_read_adc, ZIModule, module_read_adc);
PROCESS_PACKET_01(kmodule_get_error, ZIModule, module_get_error);
PROCESS_PACKET_00(kmodule_clear_error, ZIModule, module_clear_error);
PROCESS_PACKET_10(kmodule_set_inited_flag, ZIModule, module_set_inited_flag);
PROCESS_PACKET_01(kmodule_get_inited_flag, ZIModule, module_get_inited_flag);
/*******************************************************************************
* motor *
*******************************************************************************/
@ -107,6 +107,8 @@ void ZIProtocolParser::onRceivePacket(zcr_cmd_header_t* rxcmd, uint8_t* data, in
PROCESS_PACKET_30(kmotor_move_to_acctime, ZIMotor, motor_move_to_acctime);
PROCESS_PACKET_40(kmotor_move_to_zero_forward, ZIMotor, motor_move_to_zero_forward);
PROCESS_PACKET_40(kmotor_move_to_zero_backward, ZIMotor, motor_move_to_zero_backward);
PROCESS_PACKET_01(kmotor_read_pos, ZIMotor, motor_read_pos);
PROCESS_PACKET_10(kmotor_set_current_pos_by_change_shift, ZIMotor, motor_set_current_pos_by_change_shift);
/*******************************************************************************
* xymotor *

5
protocol_proxy.cpp
View File

@ -88,6 +88,9 @@ int32_t ZIProtocolProxy::module_read_adc(int32_t para0, int32_t *ack0) { PROXY_I
int32_t ZIProtocolProxy::module_get_error(int32_t *ack0) { PROXY_IMPL_01(kmodule_get_error); }
int32_t ZIProtocolProxy::module_clear_error() { PROXY_IMPL_00(kmodule_clear_error); }
int32_t ZIProtocolProxy::module_set_inited_flag(int32_t para0) { PROXY_IMPL_10(kmodule_set_inited_flag); };
int32_t ZIProtocolProxy::module_get_inited_flag(int32_t *ack0) { PROXY_IMPL_01(kmodule_get_inited_flag); };
/*******************************************************************************
* ZIMotor *
*******************************************************************************/
@ -104,6 +107,8 @@ int32_t ZIProtocolProxy::motor_move_to_acctime(int32_t para0, int32_t para1, int
int32_t ZIProtocolProxy::motor_move_to_zero_forward(int32_t para0, int32_t para1, int32_t para2, int32_t para3) { PROXY_IMPL_40(kmotor_move_to_zero_forward); }
int32_t ZIProtocolProxy::motor_move_to_zero_backward(int32_t para0, int32_t para1, int32_t para2, int32_t para3) { PROXY_IMPL_40(kmotor_move_to_zero_backward); }
int32_t ZIProtocolProxy::motor_read_pos(int32_t *ack0) { PROXY_IMPL_01(kmotor_read_pos); }
int32_t ZIProtocolProxy::motor_set_current_pos_by_change_shift(int32_t para0) { PROXY_IMPL_10(kmotor_set_current_pos_by_change_shift); }
/*******************************************************************************
* ZIXYMotor *
*******************************************************************************/

6
protocol_proxy.hpp
View File

@ -40,6 +40,9 @@ class ZIProtocolProxy : public ZIMotor, //
virtual int32_t module_get_error(int32_t *iserror) override;
virtual int32_t module_clear_error() override;
virtual int32_t module_set_inited_flag(int32_t flag) override;
virtual int32_t module_get_inited_flag(int32_t *flag) override;
/*******************************************************************************
* ZIMotor *
*******************************************************************************/
@ -57,6 +60,9 @@ class ZIProtocolProxy : public ZIMotor, //
virtual int32_t motor_move_to_zero_forward(int32_t findzerospeed, int32_t findzeroedge_speed, int32_t acc, int32_t overtime) override;
virtual int32_t motor_move_to_zero_backward(int32_t findzerospeed, int32_t findzeroedge_speed, int32_t acc, int32_t overtime) override;
virtual int32_t motor_read_pos(int32_t *pos) override;
virtual int32_t motor_set_current_pos_by_change_shift(int32_t pos) override;
/*******************************************************************************
* ZIXYMotor *
*******************************************************************************/

4
zmodule_device_manager.cpp
View File

@ -23,6 +23,8 @@ int32_t ZModuleDeviceManager::module_writeio(uint16_t id, int32_t io) { PROXY_IM
int32_t ZModuleDeviceManager::module_read_adc(uint16_t id, int32_t adcindex, int32_t *adc) { PROXY_IMPL(ZIModule, module_read_adc, adcindex, adc); }
int32_t ZModuleDeviceManager::module_get_error(uint16_t id, int32_t *iserror) { PROXY_IMPL(ZIModule, module_get_error, iserror); }
int32_t ZModuleDeviceManager::module_clear_error(uint16_t id) { PROXY_IMPL(ZIModule, module_clear_error); }
int32_t ZModuleDeviceManager::module_set_inited_flag(uint16_t id, int32_t flag) { PROXY_IMPL(ZIModule, module_set_inited_flag, flag); }
int32_t ZModuleDeviceManager::module_get_inited_flag(uint16_t id, int32_t *flag) { PROXY_IMPL(ZIModule, module_get_inited_flag, flag); }
/*******************************************************************************
* ZIMotor *
*******************************************************************************/
@ -36,6 +38,8 @@ int32_t ZModuleDeviceManager::motor_move_by_acctime(uint16_t id, int32_t distanc
int32_t ZModuleDeviceManager::motor_move_to_acctime(uint16_t id, int32_t position, int32_t motor_velocity, int32_t acctime) { PROXY_IMPL(ZIMotor, motor_move_to_acctime, position, motor_velocity, acctime); }
int32_t ZModuleDeviceManager::motor_move_to_zero_forward(uint16_t id, int32_t findzerospeed, int32_t findzeroedge_speed, int32_t acc, int32_t overtime) { PROXY_IMPL(ZIMotor, motor_move_to_zero_forward, findzerospeed, findzeroedge_speed, acc, overtime); }
int32_t ZModuleDeviceManager::motor_move_to_zero_backward(uint16_t id, int32_t findzerospeed, int32_t findzeroedge_speed, int32_t acc, int32_t overtime) { PROXY_IMPL(ZIMotor, motor_move_to_zero_backward, findzerospeed, findzeroedge_speed, acc, overtime); }
int32_t ZModuleDeviceManager::motor_read_pos(uint16_t id, int32_t *pos) { PROXY_IMPL(ZIMotor, motor_read_pos, pos); }
int32_t ZModuleDeviceManager::motor_set_current_pos_by_change_shift(uint16_t id, int32_t pos) { PROXY_IMPL(ZIMotor, motor_set_current_pos_by_change_shift, pos); }
/*******************************************************************************
* ZIXYMotor *
*******************************************************************************/

5
zmodule_device_manager.hpp
View File

@ -34,6 +34,9 @@ class ZModuleDeviceManager {
int32_t module_get_error(uint16_t id, int32_t *iserror);
int32_t module_clear_error(uint16_t id);
int32_t module_set_inited_flag(uint16_t id, int32_t flag);
int32_t module_get_inited_flag(uint16_t id, int32_t *flag);
/*******************************************************************************
* ZIMotor *
*******************************************************************************/
@ -48,6 +51,8 @@ class ZModuleDeviceManager {
int32_t motor_move_to_zero_forward(uint16_t id, int32_t findzerospeed, int32_t findzeroedge_speed, int32_t acc, int32_t overtime);
int32_t motor_move_to_zero_backward(uint16_t id, int32_t findzerospeed, int32_t findzeroedge_speed, int32_t acc, int32_t overtime);
int32_t motor_move_to_with_torque(uint16_t id, int32_t pos, int32_t torque);
int32_t motor_read_pos(uint16_t id, int32_t *pos);
int32_t motor_set_current_pos_by_change_shift(uint16_t id, int32_t pos);
/*******************************************************************************
* ZIXYMotor *

74
zmodule_device_script_cmder_paser.cpp
View File

@ -44,17 +44,68 @@ using namespace std;
#define PROCESS_PACKET_53(var_funcname, cmdhelp) PROCESS_PACKET_XX(var_funcname, cmdhelp, 5, 3, atoi(paraV[0]), atoi(paraV[1]), atoi(paraV[2]), atoi(paraV[3]), atoi(paraV[4]), ack->getAck(0), ack->getAck(1), ack->getAck(2))
void ZModuleDeviceScriptCmderPaser::initialize(ICmdParser* cancmder, ZModuleDeviceManager* deviceManager) {
PROCESS_PACKET_10(module_stop, "stop (mid)");
#if 0
/*******************************************************************************
* ZIModule *
*******************************************************************************/
int32_t module_stop(uint16_t id);
int32_t module_break(uint16_t id);
int32_t module_get_last_exec_status(uint16_t id, int32_t *status);
int32_t module_get_status(uint16_t id, int32_t *status);
int32_t module_set_param(uint16_t id, int32_t param_id, int32_t param_value);
int32_t module_get_param(uint16_t id, int32_t param_id, int32_t *param_value);
int32_t module_readio(uint16_t id, int32_t *io);
int32_t module_writeio(uint16_t id, int32_t io);
int32_t module_read_adc(uint16_t id, int32_t adcindex, int32_t *adc);
int32_t module_get_error(uint16_t id, int32_t *iserror);
int32_t module_clear_error(uint16_t id);
int32_t module_set_inited_flag(uint16_t id, int32_t flag);
int32_t module_get_inited_flag(uint16_t id, int32_t *flag);
/*******************************************************************************
* ZIMotor *
*******************************************************************************/
int32_t motor_enable(uint16_t id, int32_t enable);
int32_t motor_rotate(uint16_t id, int32_t direction, int32_t motor_velocity, int32_t acc);
int32_t motor_move_by(uint16_t id, int32_t distance, int32_t motor_velocity, int32_t acc);
int32_t motor_move_to(uint16_t id, int32_t position, int32_t motor_velocity, int32_t acc);
int32_t motor_rotate_acctime(uint16_t id, int32_t direction, int32_t motor_velocity, int32_t acctime);
int32_t motor_move_by_acctime(uint16_t id, int32_t distance, int32_t motor_velocity, int32_t acctime);
int32_t motor_move_to_acctime(uint16_t id, int32_t position, int32_t motor_velocity, int32_t acctime);
int32_t motor_move_to_zero_forward(uint16_t id, int32_t findzerospeed, int32_t findzeroedge_speed, int32_t acc, int32_t overtime);
int32_t motor_move_to_zero_backward(uint16_t id, int32_t findzerospeed, int32_t findzeroedge_speed, int32_t acc, int32_t overtime);
int32_t motor_move_to_with_torque(uint16_t id, int32_t pos, int32_t torque);
int32_t motor_read_pos(uint16_t id, int32_t *pos);
int32_t motor_set_current_pos_by_change_shift(uint16_t id, int32_t pos);
/*******************************************************************************
* ZIXYMotor *
*******************************************************************************/
int32_t xymotor_enable(uint16_t id, int32_t enable);
int32_t xymotor_move_by(uint16_t id, int32_t dx, int32_t dy, int32_t motor_velocity);
int32_t xymotor_move_to(uint16_t id, int32_t x, int32_t y, int32_t motor_velocity);
#endif
PROCESS_PACKET_10(module_stop, "module_stop (mid)");
PROCESS_PACKET_10(module_break, "module_break (mid)");
PROCESS_PACKET_11(module_get_last_exec_status, "get_last_exec_status (mid)");
PROCESS_PACKET_11(module_get_status, "get_status (mid)");
PROCESS_PACKET_30(module_set_param, "set_param (mid, param_id, param_value)");
PROCESS_PACKET_21(module_get_param, "get_param (mid, param_id)");
PROCESS_PACKET_11(module_readio, "readio (mid)");
PROCESS_PACKET_20(module_writeio, "writeio (mid, io)");
PROCESS_PACKET_21(module_read_adc, "read_adc (mid,adc_id, adcindex)");
PROCESS_PACKET_11(module_get_error, "get_error (mid)");
PROCESS_PACKET_10(module_clear_error, "clear_error (mid)");
PROCESS_PACKET_11(module_get_last_exec_status, "module_get_last_exec_status (mid)");
PROCESS_PACKET_11(module_get_status, "module_get_status (mid)");
PROCESS_PACKET_30(module_set_param, "module_set_param (mid, param_id, param_value)");
PROCESS_PACKET_21(module_get_param, "module_get_param (mid, param_id)");
PROCESS_PACKET_11(module_readio, "module_readio (mid)");
PROCESS_PACKET_20(module_writeio, "module_writeio (mid, io)");
PROCESS_PACKET_21(module_read_adc, "module_read_adc (mid,adc_id, adcindex)");
PROCESS_PACKET_11(module_get_error, "module_get_error (mid)");
PROCESS_PACKET_10(module_clear_error, "module_clear_error (mid)");
PROCESS_PACKET_20(module_set_inited_flag, "module_set_inited_flag (mid, flag)");
PROCESS_PACKET_11(module_get_inited_flag, "module_get_inited_flag (mid)");
PROCESS_PACKET_20(motor_enable, "motor_enable (mid, enable)");
PROCESS_PACKET_40(motor_rotate, "motor_rotate (mid, direction, motor_velocity, acc)");
@ -69,6 +120,9 @@ void ZModuleDeviceScriptCmderPaser::initialize(ICmdParser* cancmder, ZModuleDevi
PROCESS_PACKET_50(motor_move_to_zero_forward, "motor_move_to_zero_forward (mid, findzerospeed, findzeroedge_speed, acc, overtime)");
PROCESS_PACKET_50(motor_move_to_zero_backward, "motor_move_to_zero_backward (mid, findzerospeed, findzeroedge_speed, acc, overtime)");
PROCESS_PACKET_11(motor_read_pos, "motor_read_pos (mid)");
PROCESS_PACKET_20(motor_set_current_pos_by_change_shift, "motor_set_current_pos_by_change_shift (mid, pos)");
PROCESS_PACKET_20(xymotor_enable, "xymotor_enable (mid, enable)");
PROCESS_PACKET_40(xymotor_move_by, "xymotor_move_by (mid, dx, dy, motor_velocity)");
PROCESS_PACKET_40(xymotor_move_to, "xymotor_move_to (mid, x, y, motor_velocity)");

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