checker_host/prot_cmd/cmd_checkself.cpp

#include "prot_cmd/cmd_checkself.h"






/*

+-----------------+-------------------------+----------------------------------------+
|细分指令	        |参数说明	                |回复结果说明                            |
+-----------------+-------------------------+----------------------------------------+
|电机归零(0x01)	  |无	                      |无                                      |
+-----------------+-------------------------+----------------------------------------+
|电机下降(0x02)	  |下降步数（2bytes，小端）	|无                                      |
+-----------------+-------------------------+----------------------------------------+
|电机上升(0x03)	  |上升步数（2bytes，小端）	|无                                      |
+-----------------+-------------------------+----------------------------------------+
|检桥丝电阻(0x04)	|无	                      |小板地址+桥丝阻值（2bytes）             |
|	                |                         |多块小板数据域追加相应数据              |
+-----------------+-------------------------+----------------------------------------+
|打开总线(0x05)	  |总线电压（2bytes，小端）	|小板地址+总线电压（2bytes）（单位0.1V） |
|                 |（单位0.1V）             |多块小板数据域追加相应数据              |
+-----------------+-------------------------+----------------------------------------+
|关闭总线(0x06)	  |无	                      |无                                      |
+-----------------+-------------------------+----------------------------------------+
|检总线电流(0x07)	|无	                      |小板地址+总线电流（4bytes）（单位0.1uA）|
|                 |                         |多块小板数据域追加相应数据              |
+-----------------+-------------------------+----------------------------------------+

*/




// 电机控制
int selfdev_checkself::dolater(int cmd, myarray data)
{
  prot_m4 *m4 = protM4();
  mycfg *cfg_=syscfg();
  int subcmd=data[0];
  if(subcmd>=1&&subcmd<=3){
    connect(this, &selfdev_checkself::send_to_m4_signal, m4, &prot_m4::send_data_slot);
    switch (subcmd)
    {
    case 0x01:
      emit send_to_m4_signal("moterinit");
      break;
    case 0x02:
      {
        int count=data[1]|(data[2]<<8);
        mystring s = mystring("moter %1").arg(count);
        emit send_to_m4_signal(myarray(s.data()));
      }
      break;
    case 0x03:
      {
        int count=data[1]|(data[2]<<8);
        mystring s = mystring("moter %1").arg(-count);
        emit send_to_m4_signal(myarray(s.data()));
      }
      break;
    default:
      break;
    }
    myarray r;
    r.append(char(0));
    r.append(uint8_t(subcmd));
    emit send_data_signal(0,r);
    return 0;
  }else{
    pc_ret_cmd=0x50;
    return selfdev_runtask::dolater(cmd, data);
  }
}


// 参数检测
myarray selfdev_checkself::cmd_pc_to_slave(myarray data)
{
  myarray ret;
  const task_def *table=nullptr;
  uint16_t params[10]={0};
  subcmd=data[0];
  switch (subcmd)
  {
  case 0x04:
    {
      myarray d;
      params[0]=0;
      coder_add_task(d,"测量桥丝阻值",1,1,params);
      coder_slave_pack(d,0x1f);
      ret+=d;
      // 检测模式3,只执行槽任务
      ret.insert(0,uint8_t(3));
    }
    break;
  case 0x05:
    {
      myarray d;
      params[0]=data[1]|(data[2]<<8);
      coder_add_task(d,"设置总线电压",1,1,params);
      coder_slave_pack(d,0x1f);
      ret+=d;
      // 检测模式3,只执行槽任务
      ret.insert(0,uint8_t(3));
    }
    break;
  case 0x06:
    {
      myarray d;
      params[0]=data[1]|(data[2]<<8);
      coder_add_task(d,"关总线",1,1,params);
      coder_slave_pack(d,0x1f);
      ret+=d;
      // 检测模式3,只执行槽任务
      ret.insert(0,uint8_t(3));
    }
    break;
  case 0x07:
    {
      myarray d;
      params[0]=data[1]|(data[2]<<8);
      coder_add_task(d,"获取总线电流",1,1,params);
      coder_slave_pack(d,0x1f);
      ret+=d;
      // 检测模式3,只执行槽任务
      ret.insert(0,uint8_t(3));
    }
    break;
  default:
    break;
  }
  return ret;
}


// 从机返回转pc
myarray selfdev_checkself::ret_slave_to_pc(QList<myarray> data)
{
  myarray ret;
  ret.append(uint8_t(0));
  ret.append(uint8_t(subcmd));
  switch (subcmd)
  {
    case 0x04:// 测量桥丝阻值
      for (int i=0;i<data.size();i++)
      {
        myarray &sdata=data[i];
        ret.append(sdata[0]);
        myarray sret=coder_slave_find_ret_data(sdata.mid(2),1,2);
        ret+=sret;
      }
      break;
    case 0x05:// 设置总线电压
      for (int i=0;i<data.size();i++)
      {
        myarray &sdata=data[i];
        ret.append(sdata[0]);
        myarray sret=coder_slave_find_ret_data(sdata.mid(2),1,2);
        ret+=sret;
      }
      break;
    case 0x06:// 关总线
      break;
    case 0x07:// 获取总线电流
      for (int i=0;i<data.size();i++)
      {
        myarray &sdata=data[i];
        ret.append(sdata[0]);
        myarray sret=coder_slave_find_ret_data(sdata.mid(2),1,4);
        ret+=sret;
      }
      break;
    default:
    break;
  }
  return ret;
}




static HandlePc *get_selfdev_checkself(){
  return new selfdev_checkself();
}

protpc_export(0x50, get_selfdev_checkself);