iflytop_cancmder/usrc/intelligent_winding_robot_ctrl.hpp

#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 {
    /**
     * @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 �߼н�����
     */
    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. ���   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_up_pos;
    int32_t m16_xianlajin_line_entry_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;

    // 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;

 public:
  int32_t initialize(APPDM* dm, ICmdParser* cmdparse);

 private:
  void    start_probe_bullet_pos();
  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 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();              // block
  int32_t m22_scissors_cut();                         // block
  int32_t m23_laxian_motor_move_to_reset_pos();       // block
  int32_t m23_laxian_motor_move_to_tight_line_pos();  // block

  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 step_take_bullet(int32_t bulletindex);
  int32_t step_take_back_bullet(int32_t bulletindex);

  int32_t step_prepare_remove_line(int32_t bulletindex);
  int32_t step_remove_line();
  int32_t step_winding_prepare();

  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_run_to_clip_pos_test(int32_t clip_index);
  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();

  int32_t main_shaft_run();
  int32_t main_shaft_stop();

  /**
   * @brief XYƽ̨
   */
  int32_t xy_platform_reset();

  /**
   * @brief
   */
  int32_t start_winding();
  int32_t stop_winding();
  int32_t reset_and_check_device();

  int32_t setcfg(const char* cfgname, int32_t cfgvalue);
  int32_t dumpcfg();

  int32_t do_reset_device();
  int32_t do_winding(int32_t index);

  void processError(int32_t err);
};

}  // namespace iflytop