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256 lines
7.2 KiB
256 lines
7.2 KiB
#pragma once
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#include "sdk/os/zos.hpp"
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#include "sdk\components\zprotocols\zcancmder_v2\api\api.hpp"
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#include "sdk\components\zprotocols\zcancmder_v2\zmodule_device_manager.hpp"
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//
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#include "app_zmodule_device_manager.hpp"
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#define ZMOTOR_ID 4
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#define XYRobot_ID 3
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#define XYRobot_HOOK_ID 21
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namespace iflytop {
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using namespace std;
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class IntelligentWindingRobotCtrl {
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public:
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typedef struct {
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int32_t m2_zerooff;
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/**
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* @brief 机械臂夹线舵机
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*/
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int32_t m11_arm_jiaxian_reset_pos;
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int32_t m11_arm_jiaxian_clamp_direction;
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int32_t m11_arm_jiaxian_clamp_torque;
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/**
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* @brief 线夹紧舵机
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*/
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int32_t m12_jiaxian_reset_pos;
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int32_t m12_jiaxian_clamp_direction;
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int32_t m12_jiaxian_clamp_torque;
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/**
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* @brief 压线舵机
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*/
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/**
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* 高度:
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* 1. 没有弹夹 1015
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* 2. 有弹夹 1055
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* 3. 弹夹有壳 1110
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*
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*/
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int32_t m13_yaxian_forward_reset_pos; // 压死待机位
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int32_t m13_yaxian_backward_reset_pos; // 反向待机位
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int32_t m13_jiaxian_clamp_direction; // 压线方向
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int32_t m13_jiaxian_clamp_torque; // 压线扭矩
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/**
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* @brief 绕线探测舵机
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*/
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int32_t m14_raoxiantance_reset_pos;
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int32_t m14_raoxiantance_tance_zero_pos;
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/**
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* @brief 排废舵机
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*/
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int32_t m15_paifei_reset_pos;
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int32_t m15_paifei_press_direction;
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int32_t m15_paifei_press_torque;
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/**
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* @brief 线拉紧舵机
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*/
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int32_t m16_xianlajin_reset_pos;
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int32_t m16_xianlajin_tight_line_pos;
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int32_t m16_xianlajin_winding_low_pos;
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int32_t m16_xianlajin_winding_high_pos;
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int32_t m16_xianlajin_line_entry_pos;
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int32_t m16_xianlajin_cook_line_end_ready_pos;
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int32_t m16_xianlajin_cook_line_end_high_pos;
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int32_t m16_xianlajin_cook_line_end_low_pos;
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/**
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* @brief 钩爪
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*/
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int32_t m21_arm_hook_claws_half_pos;
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int32_t m21_arm_hook_claws_full_pos;
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/**
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* @brief 剪刀
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*/
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// int32_t m22_scissors_cut_pos;
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/**
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* @brief 拉线
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*/
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// int32_t m23_laxian_move_to_tight_pos;
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/**
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* @brief Z轴定位
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*/
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int32_t z_axis_take_line_high;
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int32_t z_axis_take_clip_pos;
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int32_t z_axis_winding_hight;
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int32_t z_axis_transfer_line_high;
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int32_t z_axis_remove_line_high;
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// 2585
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// 3377
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int32_t z_axis_cook_bullet_pos;
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/**
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* @brief XY平台
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*/
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int32_t xy_platform_cook_bullet_pos_x; // 绕线加工
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int32_t xy_platform_cook_bullet_pos_y; // 绕线加工
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int32_t xy_platform_remove_line_pos_x; // 移线位
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int32_t xy_platform_remove_line_pos_y; // 移线位
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int32_t xy_platform_takeline_pos_x; // 取线位置
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int32_t xy_platform_takeline_pos_y; // 取线位置
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int32_t xy_platform_enter_line_pos_x; // 入线位
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int32_t xy_platform_enter_line_pos_y; // 入线位
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//
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int32_t xy_platform_takeline_clip00_pos_x; //
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int32_t xy_platform_takeline_clip00_pos_y;
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int32_t xy_platform_takeline_clipXX_pos_x;
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int32_t xy_platform_takeline_clipXX_pos_y;
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int32_t clip_line;
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int32_t clip_each_line_num;
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} config_t;
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APPDM* m_dm;
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ICmdParser* m_cmdparse;
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config_t cfg;
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ZThread m_work_thread;
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ZThread m_detect_thread;
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typedef enum {
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kBulletBulletHolderPos = 0,
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kCookPos,
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} take_bullet_pos_type_t;
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typedef enum {
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kTakeBullet = 0,
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kTakeBackBullet,
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kTakeBulletCase,
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kTakeBackBulletCase,
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} take_bullet_acktion_t;
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typedef enum {
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kTakeLine = 0,
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kReleaseLine,
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kKeepLine,
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} take_bullet_line_acktion_t;
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bool m_iswinding = false;
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int32_t m_nowwinding_index = 0;
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int32_t m_exception_val = 0;
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typedef struct {
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int32_t index;
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} winding_event_t;
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public:
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int32_t initialize(APPDM* dm, ICmdParser* cmdparse);
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private:
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void start_probe_bullet_pos();
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void start_probe_bullet_pos_forward();
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void stop_probe_bullet_pos();
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int32_t get_probe_bullet_pos();
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bool is_hasbullet();
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public:
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void wait_module_idle(int32_t moduleid, int32_t timeout_ms = 0);
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void wait_modules_idle(void* mark, ...);
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int32_t m11_arm_jiaxian_move_to_reset_pos();
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int32_t m11_arm_jiaxian_move_to_clamp_pos();
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int32_t m12_jiaxian_move_to_open_pos();
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int32_t m12_jiaxian_move_to_clamp_pos();
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int32_t m13_yaxian_move_to_reset_forward();
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int32_t m13_yaxian_move_to_reset_backward();
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int32_t m13_yaxian_press_clip();
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int32_t m14_raoxiantance_move_to_reset();
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int32_t m15_paifei_moveto_reset();
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int32_t m15_paifei_moveto_press();
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int32_t m16_xianlajin_move_to_reset();
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int32_t m16_xianlajin_move_to_tight_line_pos();
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int32_t m16_xianlajin_move_to_winding_low_pos();
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int32_t m16_xianlajin_move_to_winding_up_pos();
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int32_t m16_xianlajin_move_to_line_entry_pos();
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int32_t m16_xianlajin_move_to_cook_lineend_high_pos();
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int32_t m16_xianlajin_move_to_cook_lineend_low_pos();
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int32_t m16_xianlajin_move_to_cook_lineend_ready_pos();
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int32_t m21_arm_hook_claws_reset();
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int32_t m21_arm_hook_claws_move_to_half_pos();
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int32_t m21_arm_hook_claws_move_to_full_pos();
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int32_t m22_scissors_move_reset_pos(); //
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int32_t m22_scissors_cut(); //
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int32_t m23_laxian_motor_move_to_reset_pos(); //
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int32_t m23_laxian_motor_move_to_tight_line_pos(); //
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int32_t m4_zreset();
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int32_t m4_zmove_to(int32_t pos);
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int32_t device_reset();
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int32_t disable_all_module();
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int32_t stop_all_module();
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int32_t enable_all_module();
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int32_t substep_zaxis_do_bullet_action(take_bullet_pos_type_t zpos, //
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take_bullet_acktion_t take_bullet_acktion, //
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take_bullet_line_acktion_t take_bullet_line_acktion, //
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function<void()> bottomoperation = nullptr);
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int32_t step_take_bullet(int32_t bulletindex);
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int32_t step_take_back_bullet(int32_t bulletindex);
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int32_t step_take_bullet_case(int32_t bulletindex);
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int32_t step_take_back_bullet_case(int32_t bulletindex);
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int32_t step_prepare_remove_line(int32_t bulletindex, bool& hasbullet);
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int32_t step_remove_line();
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int32_t step_winding_prepare();
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int32_t step_winding();
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// int32_t step_load_the_bullet_case();
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int32_t step_winding_lineend_prepare(int bulletindex); // 绕线头准备
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int32_t step_winding_lineend(); // 绕线头
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int32_t step_winding_take_bullet_from_cooking_to_origin_pos(int bulletindex); // 绕线头
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int32_t xy_get_point(int32_t clip_index, int32_t& x, int32_t& y); // 取弹夹
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int32_t xy_run_to(int32_t x, int32_t y, int32_t zpos = 0, bool jiaxian_reset = true); // 取弹夹
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int32_t xy_reset();
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int32_t xymove_to(int32_t x, int32_t y);
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int32_t xymove_to_bullet_pos(int32_t bulletindex);
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void regcb();
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int32_t initialize_device();
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/**
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* @brief
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*/
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int32_t setcfg(const char* cfgname, int32_t cfgvalue);
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public:
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int32_t start_winding();
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int32_t stop_winding();
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int32_t dumpcfg();
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int32_t do_winding(int32_t index);
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int32_t get_winding_index() { return m_nowwinding_index; }
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bool iswinding() { return m_iswinding; }
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int32_t get_exception_val() { return m_exception_val; }
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void processError(int32_t err);
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};
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} // namespace iflytop
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