自研批检仪检测命令测试成功

广播方式升级从机发现卡死现象

ReadMe.txt

@@ -3,7 +3,9 @@
 
 2023.11.26
   重新构建的批检仪主板程序
-
+2023.12.4
+  自研批检仪检测命令测试成功
+  广播方式升级从机发现卡死现象
 
 
 

base/base.cpp

@@ -4,15 +4,15 @@
 #include "QList"
 
 // 字符串转化为数字列表
-template <typename T>
+//template <typename T>
-QList<T> str_to_nums(mystring str, char c)
+//QList<T> str_to_nums(mystring str, char c)
-{
+//{
-  QStringList snums = str.split(c);
+//  QStringList snums = str.split(c);
-  QList<T> nums;
+//  QList<T> nums;
-  for (int i = 0; i < snums.size(); i++)
+//  for (int i = 0; i < snums.size(); i++)
-    nums.append(T(snums[i].toInt(nullptr, 10)));
+//    nums.append(T(snums[i].toInt(nullptr, 10)));
-  return nums;
+//  return nums;
-}
+//}
 
 // 字符串转化为数组
 myarray str_to_data(mystring str, char c)

base/base.h

@@ -102,7 +102,14 @@ protected:
 };
 
 template <typename T>
-QList<T> str_to_nums(mystring str, char c);
+QList<T> str_to_nums(mystring str, char c)
+{
+  QStringList snums = str.split(c);
+  QList<T> nums;
+  for (int i = 0; i < snums.size(); i++)
+    nums.append(T(snums[i].toInt(nullptr, 10)));
+  return nums;
+}
 
 myarray str_to_data(mystring str, char c);
 

base/check_cfg.cpp

@@ -95,10 +95,10 @@ void check_cfg::scheme_json_to_struct()
       QList<check_range> rangs = ct.get_ranges();
       int rangs_num = rangs.size();
       int err_num = ret_errs.size();
-      qDebug("st,err,item_num=%d,taskid=%d,taskindex=%d", st->item_num, st->taskid, st->taskindex);
+      // qDebug("st,err,item_num=%d,taskid=%d,taskindex=%d", st->item_num, st->taskid, st->taskindex);
       for (int i = 0; i < st->item_num; i++)
       {
-        qDebug("\ti=%d", i);
+        // qDebug("\ti=%d", i);
         if (rangs_num > i)
         {
           st->range[i].err = 0;

base/debug.cpp

@@ -91,7 +91,7 @@ void print_to_console(QtMsgType type, const QMessageLogContext &context, const Q
   if(context.file!=0){
     fprintf(stderr, "%s | %s | %s:%u | %s\n", msgHead[type], current_date_time.toLocal8Bit().constData(), &context.file[20], context.line, localMsg.constData());
   }else{
-    fprintf(stderr,"%s | %s | %s:%u | %s\n", msgHead[type], current_date_time.toLocal8Bit().constData(), context.file, context.line, localMsg.constData());
+    fprintf(stderr,"%s | %s | %s\n", msgHead[type], current_date_time.toLocal8Bit().constData(), localMsg.constData());
   }
   g_debug.mutex.unlock();
 }
@@ -107,7 +107,7 @@ void print_to_file(QtMsgType type, const QMessageLogContext &context, const QStr
     if(context.file!=0){
       tWrite << QString::asprintf("%s | %s | %s:%u | %s\n", msgHead[type], current_date_time.toLocal8Bit().constData(), &context.file[20], context.line, localMsg.constData());
     }else{
-      tWrite << QString::asprintf("%s | %s | %s:%u | %s\n", msgHead[type], current_date_time.toLocal8Bit().constData(), context.file, context.line, localMsg.constData());
+      tWrite << QString::asprintf("%s | %s | %s\n", msgHead[type], current_date_time.toLocal8Bit().constData(), localMsg.constData());
     }
   }
   g_debug.mutex.unlock();

checker_app_pre.sh

@@ -0,0 +1,15 @@
+#! /bin/bash
+#ifconfig eth0 up
+#sleep 1
+#效果：将设备号eth0对应的物理端口设置为速率为100Mbps，全双工工作模式，同时关闭自动协商
+#ethtool -s eth0 speed 100 duplex full autoneg off
+#sleep 2
+#ifconfig eth0 up
+
+# 加载m4固件
+echo stop > /sys/class/remoteproc/remoteproc0/state
+echo checker_m4.axf > /sys/class/remoteproc/remoteproc0/firmware
+echo start > /sys/class/remoteproc/remoteproc0/state
+
+echo Prapare_OK
+

complier_info.h

@@ -6,7 +6,7 @@
 
 
 
-#define BUILD_DATE  "2023-12-01 11:08:00"
+#define BUILD_DATE  "2023-12-04 18:04:43"
 
 
 

info.json

@@ -1,5 +1,5 @@
 {
-  "build_date": "2023-12-01 11:08:00",
+  "build_date": "2023-12-04 18:04:43",
   "hard_version": "MHPZ2_V1.00",
   "private": [
     "info.json",

interface/codec_ym.cpp

@@ -71,8 +71,9 @@ myarray CodecYm::decode(int &srcAddr, int &dstAddr, int &cmd, myarray data)
   Q_UNUSED(srcAddr);
   Q_UNUSED(dstAddr);
   myarray r;
-  if (packCheck(data) == true)
+  if (packCheck(data) >0)
   {
+    qDebug("offset=%d",offset);
     cmd = this->cmd;
     if (is_big_data == false)
       r = data.mid(offset+7, len - 3);
@@ -100,7 +101,7 @@ int CodecYm::packCheck(myarray data)
   if (data.size() < 9)
   {
     // 主机一帧数据至少9字节
-    qWarning("recv data len too less");
+    // qWarning("recv data len too less");
     return ack;
   }
 
@@ -118,7 +119,7 @@ int CodecYm::packCheck(myarray data)
   if (len + 6 > data.size())
   {
     // 如果长度不相等则产生了数据丢失
-    qWarning("recv data have lossed");
+    // qWarning("recv data have lossed");
     return ack;
   }
   uint8_t chk_a = 0, chk_b = 0;
@@ -133,7 +134,7 @@ int CodecYm::packCheck(myarray data)
   cmd_no = data[5] | (data[6] << 8);
   cmd = data[4];
   // 数据负载
-  return len+offset;
+  return len+offset+6;
 }
 myarray CodecYm::encode(int srcAddr, int dstAddr, int cmd, myarray data)
 {

interface/if_can.cpp

@@ -189,6 +189,7 @@ void can_host::recv_data_cb()
           irq_fun(myarray(slave.get_data()));
         }
       }
+      qDebug()<<"can recv from:"<<slave_addr<<slave.get_data().toHex(' ');
     }
     else if (seg_flag == 0x01)
     {
@@ -213,6 +214,7 @@ void can_host::recv_data_cb()
             irq_fun(myarray(slave.get_data()));
           }
         }
+        qDebug()<<"can recv from:"<<slave_addr<<slave.get_data().toHex(' ');
       }
       else
       {
@@ -227,6 +229,7 @@ void can_host::recv_data_cb()
 
 int can_host::write(int dst,myarray data)
 {
+  qDebug()<<"can send to:"<<dst<<data.toHex(' ');
   append(dst, 1, data);
   return data.size();
 }

interface/if_uart.cpp

@@ -48,7 +48,7 @@ int if_uart::write(myarray data)
 void if_uart::ready_read_cb()
 {
   QByteArray data = serial_->readAll();
-  qDebug("uart recv:%s", data.toHex(' ').data());
+  // qDebug("uart recv:%s", data.toHex(' ').data());
   if (irq_fun)
   {
     irq_fun(myarray(data));

main.cpp

@@ -35,6 +35,8 @@ int main(int argc, char *argv[])
   protPc();
   protSlave();
   command_start();
+  // 注册信号数据类型
+  qRegisterMetaType<myarray>("myarray");
 
   // 获取m4的编译时间
   m4->set_irq_fun([=](myarray data){

prot/prot_m4.cpp

@@ -45,19 +45,26 @@ void prot_m4::send_data_slot(myarray data)
 bool prot_m4::exe_cb_fun(myarray data)
 {
   int left;
+  QList<HandleM4_def> cb_funs;
   for (int i = 0; i < funs.size(); i++)
+  {
+    cb_funs.append(this->funs[i]);
+  }
+  for (int i = 0; i < cb_funs.size(); i++)
   {
     // 这里size包含结尾符，要去掉
-    left = funs[i].cmd.size()-1;
+    left = qstrlen(cb_funs[i].cmd.data());
-    if (data.left(left) == funs[i].cmd)
+    // qDebug()<<"cmp m4 str:"<<data.left(left)<<cb_funs[i].cmd;
+    // if (data.left(left) == funs[i].cmd)
+    if (qstrncmp(data.data(),cb_funs[i].cmd.data(),left)==0)
     {
-      for(int j=0;j<funs[i].funs.size();j++){
+      for(int j=0;j<cb_funs[i].funs.size();j++){
-        prot_m4_cb fun=funs[i].funs[j];
+        prot_m4_cb fun=cb_funs[i].funs[j];
         if(fun!=nullptr){
           fun(data.mid(left));
-          return true;
         }
       }
+      return true;
     }
   }
   return false;

prot/prot_pc.cpp

@@ -40,6 +40,7 @@ void ProtPc::init()
         qDebug("host recv:%s",recv_data.toHex(' ').data());
         myarray data=codec_->decode(src,dst,cmd,recv_data);
         recv_data.remove(0,pack_len);
+        // qDebug("host recv removed:%s",recv_data.toHex(' ').data());
         if(handle_!=nullptr){
           if(handle_->busy==0){
             disconnect(handle_,&HandlePc::send_data_signal,this,&ProtPc::send_data_slot);

prot/prot_slave.h

@@ -33,7 +33,7 @@ public:
 public:
   virtual int start(myarray data) = 0;
   virtual int dolater(int cmd, myarray data) = 0;
-  virtual void timeout(){timer_->stop();};
+  virtual void timeout(){timer_->stop();}
   int busy;
   int addr;
   int cmd;
@@ -45,9 +45,9 @@ protected:
     this->times_retry=times;
     if(timer_retry_==nullptr){
       timer_retry_=new QTimer();
-      connect(timer_,&QTimer::timeout,this,&HandleSlave::timeout_retry);
+      connect(timer_retry_,&QTimer::timeout,this,&HandleSlave::timeout_retry);
     }
-    timer_retry_->start(60);
+    timeout_retry();
     return 0;
   }
   // 发送操作结束信号
@@ -82,7 +82,9 @@ private:
   void timeout_retry(){
     if(times_retry>0){
       times_retry--;
+      qDebug("send to slave:%d",addr);
       emit send_data_signal(addr,cmd,data_send);
+      timer_retry_->start(60);
     }else{
       timer_retry_->stop();
     }
@@ -126,7 +128,7 @@ public:
 public:
   virtual int start(myarray data) = 0;
   virtual int dolater(int cmd, myarray data) = 0;
-  virtual void timeout(){timer_->stop();};
+  virtual void timeout(){timer_->stop();}
   int busy;
   int addr;
   int addr_response;
@@ -143,6 +145,11 @@ public:
       addr|=1<<(adr-1);
     }
   }
+signals:
+  void timeout_stop_retry_signal();
+  void timeout_stop_signal();
+  void timeout_start_signal(int ms);
+  void timeout_start_retry_signal(int ms);
 protected:
   // 发送数据到从机
   int send_data(int cmd,myarray data,int times){
@@ -152,8 +159,11 @@ protected:
     if(timer_retry_==nullptr){
       timer_retry_=new QTimer();
       connect(timer_,&QTimer::timeout,this,&HandleBoardCast::timeout_retry);
+      connect(this,&HandleBoardCast::timeout_stop_retry_signal,timer_retry_,&QTimer::stop);
+      connect(this,&HandleBoardCast::timeout_start_retry_signal,this,&HandleBoardCast::timeout_start_retry_cb);
     }
-    timer_retry_->start(300);
+    qDebug("handle_board:start retry");
+    timeout_retry();
     return 0;
   }
   // 发送操作结束信号
@@ -163,29 +173,39 @@ protected:
   }
   // 开始超时计时器，此计时器用于整个操作的超时
   void timeout_start(int ms){
+    qDebug("handle_board:start timeout");
     if(timer_==nullptr){
       timer_=new QTimer();
       connect(timer_,&QTimer::timeout,this,&HandleBoardCast::timeout);
+      connect(this,&HandleBoardCast::timeout_stop_signal,timer_,&QTimer::stop);
+      connect(this,&HandleBoardCast::timeout_start_signal,this,&HandleBoardCast::timeout_start_cb);
+    }else{
+      emit timeout_start_signal(ms);
+       // timer_->start(ms);
     }
+  }
+  void timeout_start_cb(int ms){
     timer_->start(ms);
   }
+  void timeout_start_retry_cb(int ms){
+    timer_retry_->start(ms);
+  }
   // 停止超时计时器，此方法同时停止重发计时器
   void timeout_stop(){
-    if(timer_!=nullptr){
+    qDebug("handle_board:stop timeout");
-      timer_->stop();
+    emit timeout_stop_signal();
-    }
     timeout_stop_retry();
   }
   // 停止数据回复超时重试计时器
   void timeout_stop_retry(){
-    if(timer_retry_!=nullptr){
+    qDebug("handle_board:stop retry");
-      timer_retry_->stop();
+    emit timeout_stop_retry_signal();
-    }
     times_retry=0;
   }
 private:
   // 重试回调
   void timeout_retry(){
+    qDebug("in retry.");
     if(times_retry>0){
       times_retry--;
       myarray s;
@@ -196,8 +216,11 @@ private:
       s.append((addr_retry>>16)&0xff);
       s.append(data_send);
       emit send_data_signal(0x1f,cmd,s);
+      // timer_retry_->start(300);
+      emit timeout_start_retry_signal(300);
     }else{
-      timer_retry_->stop();
+      // timer_retry_->stop();
+      emit timeout_stop_retry_signal();
     }
   }
 private:

prot_cmd/cmd_cmdline.cpp

@@ -3,7 +3,10 @@
 #include "QNetworkConfigurationManager"
 #include "QTimer"
 #include "QtNetwork"
-
+#include "prot/prot_slave.h"
+#include "prot_cmd/cmd_slave.h"
+#include "QFile"
+#include "base/base.h"
 
 
 
@@ -46,3 +49,45 @@ cmdline_export(whos, whos, print device base info.);
 
 
 
+
+// mcu 相关
+static void mcu_cmdlines(QList<myarray> args)
+{
+  command *c=command_start();
+  if(args.size()<2){
+    c->send("cmd len too less.");
+    return ;
+  }
+  if((args.size()>=4)&&(args[1]=="updata")){
+    QList<int> addrs=str_to_nums<int>(args[2],',');
+    HandleBoardCast *b=new boardcast_updata();
+    prot_slave *slave=protSlave();
+    mycfg *cfg_=syscfg();
+    bool ack=slave->set_boardcast_handle(addrs,b);
+    if(ack==false){
+      qWarning("handle is busy.");
+    }else{
+//      connect(b,&HandleBoardCast::end_signal,nullptr,[=](int addr,int ack, myarray data){
+//        if(ack==0)
+//          c->send("slave updata success.");
+//        else
+//          c->send("slave updata failed.");
+//      });
+      QFile file;
+      file.setFileName(args[3]);
+      if(file.open(QIODevice::ReadOnly)){
+        myarray data=file.readAll();
+        b->start(data);
+        file.close();
+      }else{
+        qWarning("open file failed.");
+      }
+    }
+  }
+}
+cmdline_export(mcu, mcu_cmdlines, mcu cmdlines` input [mcu help] to detail.);
+
+
+
+
+

prot_cmd/cmd_pc.cpp

@@ -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 ");
+    m4->del_irq_fun(moter_down_cb_fun,"moter down");
-    if(data=="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 ");
+  myarray moter_cmd=moter_ctrl("down");
-  emit send_to_m4_signal(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();
+  myarray r;
-  connect(this, &selfdev_slaveupdate::send_to_m4_signal, m4, &prot_m4::send_data_slot);
+  int len_filename=data[0];
-  if(data[0]==0x02){
+  mystring name=data.mid(1,len_filename);
-    emit send_to_m4_signal(moter_ctrl("up"));
+  prot_slave *slave=protSlave();
-  }else if(data[0]==0x03){
+  mycfg *cfg_=syscfg();
-    emit send_to_m4_signal(moter_ctrl("down"));
+  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);
 
 
 

prot_cmd/cmd_pc.h

@@ -37,6 +37,22 @@ signals:
 
 
 
+// 检测结束 自研批检仪
+class selfdev_checkend : public HandlePc
+{
+  Q_OBJECT
+public:
+  selfdev_checkend() : HandlePc() {}
+  ~selfdev_checkend() {}
+  int dolater(int cmd, myarray data);
+  void timeout();
+signals:
+  void send_to_m4_signal(myarray data);
+};
+
+
+
+
 // 电机 自研批检仪
 class selfdev_moter : public HandlePc
 {
@@ -63,6 +79,8 @@ public:
   ~selfdev_slaveupdate() {}
   int dolater(int cmd, myarray data);
   void timeout();
+public slots:
+  void slave_end_slot(int addr,int ack, myarray data);
 signals:
   void send_to_m4_signal(myarray data);
 };

prot_cmd/cmd_slave.cpp

@@ -10,7 +10,7 @@ int slave_check::start(myarray data)
 {
   mycfg *cfg_=syscfg();
   check_cfg *ccfg_=check_plan();
-  int timeout=ccfg_->get_check_time_out();
+  int timeout=ccfg_->get_check_time_out()*1000;
   busy=1;
   cmd=0x0c;
   qDebug("addr %d start check,timeout=%d",addr,timeout);
@@ -34,14 +34,16 @@ int slave_check::dolater(int cmd, myarray data)
     return 1;
   }
   timeout_stop_retry();
-  if(data.size()<=16){
+  if(cmd==0x0c){
-    qDebug("addr %d recv first ack.",addr);
+    if(data.size()<=16){
-  }else{
+      qDebug("addr %d recv first ack.",addr);
-    qDebug("addr %d recv secend ack.",addr);
+    }else{
-    send_data(0x14,myarray(),1);
+      qDebug("addr %d recv secend ack.",addr);
-    end(0,data);
+      send_data(0x14,myarray(),1);
-    busy=0;
+      end(0,data);
-    timeout_stop();
+      busy=0;
+      timeout_stop();
+    }
   }
   return 0;
 }
@@ -209,27 +211,28 @@ int slave_resvalue::dolater(int cmd, myarray data)
 void boardcast_updata::timeout()
 {
   timeout_stop();
-  qWarning("addr %d updata timeout.",addr);
+  qWarning("slave updata timeout.");
   end(1,myarray());
   busy=0;
 }
 
 int boardcast_updata::start(myarray data)
 {
-  int timeout=5000;
+  int timeout=50000;
   busy=1;
   qWarning()<<"addr "<<addr<<" updata start.";
   timeout_start(timeout);
   // 擦除
   step=0;
-  send_data(0xfe,data,10);
+  this->data=data;
+  send_data(0xfe,myarray(),10);
   return 0;
 }
 
 int boardcast_updata::dolater(int cmd, myarray data)
 {
   timeout_stop_retry();
-  timeout_start(5000);
+  timeout_start(50000);
   if(step==0){
     if(send_packet()==true){
       step=1;
@@ -254,6 +257,7 @@ int boardcast_updata::dolater(int cmd, myarray data)
     send_data(0xfb,s,10);
     step=2;
   }else if(step==2){
+    qDebug("slave updata end.");
     end(0,data);
     busy=0;
   }