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cancmder
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#pragma once
#include "sdk/os/zos.hpp"
#include "sdk\components\zprotocols\zcancmder_v2\api\api.hpp"
#include "sdk\components\zprotocols\zcancmder_v2\zmodule_device_manager.hpp"
//
#include "app_zmodule_device_manager.hpp"
#define ZMOTOR_ID 4
#define XYRobot_ID 3
#define XYRobot_HOOK_ID 21
namespace iflytop {using namespace std;
class IntelligentWindingRobotCtrl { public: typedef struct { int32_t m2_zerooff;
/**
* @brief ��е�ۼ��߶��� */ int32_t m11_arm_jiaxian_reset_pos; int32_t m11_arm_jiaxian_clamp_direction; int32_t m11_arm_jiaxian_clamp_torque;
/**
* @brief ����� */ int32_t m12_jiaxian_reset_pos; int32_t m12_jiaxian_clamp_direction; int32_t m12_jiaxian_clamp_torque;
/**
* @brief ѹ�߶��� */ /**
* �߶�: * 1. û�е��� 1015 * 2. �е��� 1055 * 3. �����п� 1110 * */ int32_t m13_yaxian_forward_reset_pos; // ѹ������λ
int32_t m13_yaxian_backward_reset_pos; // ��������λ
int32_t m13_jiaxian_clamp_direction; // ѹ�߷���
int32_t m13_jiaxian_clamp_torque; // ѹ��Ť��
/**
* @brief ����̽������ */ int32_t m14_raoxiantance_reset_pos; int32_t m14_raoxiantance_tance_zero_pos;
/**
* @brief �ŷ϶��� */ int32_t m15_paifei_reset_pos; int32_t m15_paifei_press_direction; int32_t m15_paifei_press_torque;
/**
* @brief ���������� */ int32_t m16_xianlajin_reset_pos; int32_t m16_xianlajin_tight_line_pos; int32_t m16_xianlajin_winding_low_pos; int32_t m16_xianlajin_winding_high_pos; int32_t m16_xianlajin_line_entry_pos; int32_t m16_xianlajin_cook_line_end_ready_pos; int32_t m16_xianlajin_cook_line_end_high_pos; int32_t m16_xianlajin_cook_line_end_low_pos;
/**
* @brief ��צ */ int32_t m21_arm_hook_claws_half_pos; int32_t m21_arm_hook_claws_full_pos; /**
* @brief ���� */ // int32_t m22_scissors_cut_pos;
/**
* @brief ���� */ // int32_t m23_laxian_move_to_tight_pos;
/**
* @brief Z�ᶨλ */ int32_t z_axis_take_line_high; int32_t z_axis_take_clip_pos; int32_t z_axis_winding_hight; int32_t z_axis_transfer_line_high; int32_t z_axis_remove_line_high;
// 2585
// 3377
int32_t z_axis_cook_bullet_pos;
/**
* @brief XYƽ̨ */ int32_t xy_platform_cook_bullet_pos_x; // ���ӹ�
int32_t xy_platform_cook_bullet_pos_y; // ���ӹ�
int32_t xy_platform_remove_line_pos_x; // ����λ
int32_t xy_platform_remove_line_pos_y; // ����λ
int32_t xy_platform_takeline_pos_x; // ȡ��λ��
int32_t xy_platform_takeline_pos_y; // ȡ��λ��
int32_t xy_platform_enter_line_pos_x; // ����λ
int32_t xy_platform_enter_line_pos_y; // ����λ
//
int32_t xy_platform_takeline_clip00_pos_x; //
int32_t xy_platform_takeline_clip00_pos_y;
int32_t xy_platform_takeline_clipXX_pos_x; int32_t xy_platform_takeline_clipXX_pos_y; int32_t clip_line; int32_t clip_each_line_num;
} config_t;
APPDM* m_dm; ICmdParser* m_cmdparse; config_t cfg;
ZThread m_work_thread; ZThread m_detect_thread;
typedef enum { kBulletBulletHolderPos = 0, kCookPos, } take_bullet_pos_type_t;
typedef enum { kTakeBullet = 0, kTakeBackBullet, kTakeBulletCase, kTakeBackBulletCase, } take_bullet_acktion_t; typedef enum { kTakeLine = 0, kReleaseLine, kKeepLine, } take_bullet_line_acktion_t;
bool m_iswinding = false; int32_t m_nowwinding_index = 0; int32_t m_exception_val = 0;
typedef struct { int32_t index; } winding_event_t;
public: int32_t initialize(APPDM* dm, ICmdParser* cmdparse);
private: void start_probe_bullet_pos(); void start_probe_bullet_pos_forward();
void stop_probe_bullet_pos(); int32_t get_probe_bullet_pos(); bool is_hasbullet();
public: void wait_module_idle(int32_t moduleid); void wait_modules_idle(void* mark, ...);
int32_t m11_arm_jiaxian_move_to_reset_pos(); int32_t m11_arm_jiaxian_move_to_clamp_pos(); int32_t m12_jiaxian_move_to_open_pos(); int32_t m12_jiaxian_move_to_clamp_pos(); int32_t m13_yaxian_move_to_reset_forward(); int32_t m13_yaxian_move_to_reset_backward(); int32_t m13_yaxian_press_clip(); int32_t m14_raoxiantance_move_to_reset(); int32_t m15_paifei_moveto_reset(); int32_t m15_paifei_moveto_press();
int32_t m16_xianlajin_move_to_reset(); int32_t m16_xianlajin_move_to_tight_line_pos(); int32_t m16_xianlajin_move_to_winding_low_pos(); int32_t m16_xianlajin_move_to_winding_up_pos(); int32_t m16_xianlajin_move_to_line_entry_pos(); int32_t m16_xianlajin_move_to_cook_lineend_high_pos(); int32_t m16_xianlajin_move_to_cook_lineend_low_pos(); int32_t m16_xianlajin_move_to_cook_lineend_ready_pos();
int32_t m21_arm_hook_claws_reset(); int32_t m21_arm_hook_claws_move_to_half_pos(); int32_t m21_arm_hook_claws_move_to_full_pos(); int32_t m22_scissors_move_reset_pos(); //
int32_t m22_scissors_cut(); //
int32_t m23_laxian_motor_move_to_reset_pos(); //
int32_t m23_laxian_motor_move_to_tight_line_pos(); //
int32_t m4_zreset(); int32_t m4_zmove_to(int32_t pos);
int32_t device_reset(); int32_t disable_all_module(); int32_t enable_all_module(); int32_t substep_zaxis_do_bullet_action(take_bullet_pos_type_t zpos, //
take_bullet_acktion_t take_bullet_acktion, //
take_bullet_line_acktion_t take_bullet_line_acktion, //
function<void()> bottomoperation = nullptr);
int32_t step_take_bullet(int32_t bulletindex); int32_t step_take_back_bullet(int32_t bulletindex); int32_t step_take_bullet_case(int32_t bulletindex); int32_t step_take_back_bullet_case(int32_t bulletindex); int32_t step_prepare_remove_line(int32_t bulletindex, bool& hasbullet); int32_t step_remove_line(); int32_t step_winding_prepare(); int32_t step_winding(); // int32_t step_load_the_bullet_case();
int32_t step_winding_lineend_prepare(int bulletindex); // ����ͷ��
int32_t step_winding_lineend(); // ����ͷ
int32_t step_winding_take_bullet_from_cooking_to_origin_pos(int bulletindex); // ����ͷ
int32_t xy_get_point(int32_t clip_index, int32_t& x, int32_t& y); // ȡ����
int32_t xy_run_to(int32_t x, int32_t y, int32_t zpos = 0, bool jiaxian_reset = true); // ȡ����
int32_t xy_reset(); int32_t xymove_to(int32_t x, int32_t y); int32_t xymove_to_bullet_pos(int32_t bulletindex); void regcb(); int32_t initialize_device(); /**
* @brief */ int32_t setcfg(const char* cfgname, int32_t cfgvalue);
public: int32_t start_winding(); int32_t stop_winding();
int32_t dumpcfg();
int32_t do_winding(int32_t index); int32_t get_winding_index() { return m_nowwinding_index; } bool iswinding() { return m_iswinding; } int32_t get_exception_val() { return m_exception_val; }
void processError(int32_t err);};
} // namespace iflytop
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