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自研批检仪检测命令测试成功

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广播方式升级从机发现卡死现象
This commit is contained in:
ranchuan
2023-12-04 18:15:37 +08:00
parent 66b9453255
commit 2451c5dfc5
19 changed files with 256 additions and 69 deletions
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91
prot_cmd/cmd_pc.cpp
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@@ -77,23 +77,32 @@ int selfdev_check::dolater(int cmd, myarray data)
connect(this, &selfdev_check::send_to_m4_signal, m4, &prot_m4::send_data_slot);
moter_down_cb_fun=[=](myarray data)
{
m4->del_irq_fun(moter_down_cb_fun,"moter ");
if(data=="down"){
m4->del_irq_fun(moter_down_cb_fun,"moter down");
{
// 这里开始检测
qDebug("start check.");
emit send_data_signal(cmd,myarray(1,0));
QList<int> addrs=cfg->calc_slave_addrs();
HandleSlave *s=new slave_check();
foreach(int addr, addrs){
HandleSlave *s=new slave_check();
bool ack=slave->set_slave_handle(addr,s);
if(ack==false){
qWarning("addr %d handle is busy.",addr);
}else{
connect(s,&HandleSlave::end_signal,this,&selfdev_check::slave_end_slot);
s->start(myarray());
}
}
}
};
m4->set_irq_fun(moter_down_cb_fun,"moter ");
emit send_to_m4_signal(moter_ctrl("down"));
myarray moter_cmd=moter_ctrl("down");
if(moter_cmd.size()==0){
busy=0;
qWarning("moter failed.");
}else{
m4->set_irq_fun(moter_down_cb_fun,"moter down");
emit send_to_m4_signal(moter_cmd);
}
slave_acked.clear();
for(int i=0;i<cfg->slave_num;i++){
slave_acked.append(myarray());
@@ -104,7 +113,7 @@ int selfdev_check::dolater(int cmd, myarray data)
void selfdev_check::timeout()
{
busy=0;
}
// 把小板的返回数据转化为自研批检仪上位机的格式
@@ -136,8 +145,10 @@ static myarray tran_slave_to_selfdev_check(myarray &data)
void selfdev_check::slave_end_slot(int addr,int ack, myarray data)
{
if(addr<=0||addr>slave_acked.size()){
slave_acked.replace(addr-1,data);
qWarning("slave addr err:%d",addr);
return;
}
slave_acked.replace(addr-1,data);
slave_acked_num++;
if(slave_acked_num>=slave_acked.size()){
myarray r;
@@ -160,7 +171,33 @@ protpc_export(0x30, get_selfdev_check);
// 检测结束 电机上升
int selfdev_checkend::dolater(int cmd, myarray data)
{
prot_m4 *m4 = protM4();
connect(this, &selfdev_checkend::send_to_m4_signal, m4, &prot_m4::send_data_slot);
emit send_to_m4_signal(moter_ctrl("up"));
return 0;
}
void selfdev_checkend::timeout(){
}
static HandlePc *get_selfdev_checkend(){
return new selfdev_checkend();
}
protpc_export(0x31, get_selfdev_checkend);
// 电机控制
int selfdev_moter::dolater(int cmd, myarray data)
{
prot_m4 *m4 = protM4();
@@ -189,17 +226,34 @@ protpc_export(0x40, get_selfdev_moter);
// 从机升级
int selfdev_slaveupdate::dolater(int cmd, myarray data)
{
prot_m4 *m4 = protM4();
connect(this, &selfdev_slaveupdate::send_to_m4_signal, m4, &prot_m4::send_data_slot);
if(data[0]==0x02){
emit send_to_m4_signal(moter_ctrl("up"));
}else if(data[0]==0x03){
emit send_to_m4_signal(moter_ctrl("down"));
myarray r;
int len_filename=data[0];
mystring name=data.mid(1,len_filename);
prot_slave *slave=protSlave();
mycfg *cfg_=syscfg();
qInfo()<<"slave_app name:"<<name<<endl;
data.remove(0,len_filename+1);
// TODO 校验小板程序
r.append(uint8_t(0));
cfg_->save_file(name,data);
emit send_data_signal(0xfe,myarray(1,char(0)));
// 自动给小板升级
// start_updata_mcu(cfg_->config_path+name,slave_addrs);
HandleBoardCast *b=new boardcast_updata();
bool ack=slave->set_boardcast_handle(cfg_->calc_slave_addrs(),b);
if(ack==false){
qWarning("handle is busy.");
}else{
connect(b,&HandleBoardCast::end_signal,this,&selfdev_slaveupdate::slave_end_slot);
b->start(data);
}
emit send_data_signal(0x40,myarray(1,char(0)));
return 0;
}
@@ -207,11 +261,16 @@ void selfdev_slaveupdate::timeout(){
}
void selfdev_slaveupdate::slave_end_slot(int addr,int ack, myarray data)
{
qDebug("slave update end,ack=%d",ack);
}
static HandlePc *get_selfdev_slaveupdate(){
return new selfdev_slaveupdate();
}
protpc_export(0x41, get_selfdev_slaveupdate);
protpc_export(0xfe, get_selfdev_slaveupdate);