From ae972b21aa6563edd7db4055f9b7d4a8911c6c61 Mon Sep 17 00:00:00 2001
From: ranchuan <rd05cqmcloud.com>
Date: Thu, 30 Nov 2023 10:50:05 +0800
Subject: [PATCH] =?UTF-8?q?=E7=B1=BB=E6=9E=90=E6=9E=84=E6=97=B6=E5=8F=96?=
 =?UTF-8?q?=E6=B6=88=E5=85=B6=E8=AE=BE=E7=BD=AE=E7=9A=84=E5=9B=9E=E8=B0=83?=
 =?UTF-8?q?=E5=87=BD=E6=95=B0?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 prot/prot_m4.cpp    |  1 +
 prot/prot_slave.cpp |  2 +-
 prot_cmd/cmd_pc.cpp | 53 ++++++++++++++++++++++++++++++++++++++-------
 prot_cmd/cmd_pc.h   | 36 ++++++++++++++++++++++++++++--
 4 files changed, 81 insertions(+), 11 deletions(-)

diff --git a/prot/prot_m4.cpp b/prot/prot_m4.cpp
index 56a495d..f40fb9d 100644
--- a/prot/prot_m4.cpp
+++ b/prot/prot_m4.cpp
@@ -76,6 +76,7 @@ prot_m4 *protM4()
 
 bool prot_m4::set_irq_fun(prot_m4_cb fun, myarray data)
 {
+  if(fun==nullptr) return false;
   int left;
   for (int i = 0; i < funs.size(); i++)
   {
diff --git a/prot/prot_slave.cpp b/prot/prot_slave.cpp
index e651c3d..e9c1d74 100644
--- a/prot/prot_slave.cpp
+++ b/prot/prot_slave.cpp
@@ -26,7 +26,7 @@ void prot_slave::init()
           if((broadcast_!=nullptr)&&(broadcast_->busy)){
             broadcast_->addr_response|=1<<(src-1);
             if(broadcast_->check_response()==true)
-              broadcast_->dolater(cmd,data);
+              broadcast_->dolater(broadcast_->cmd,data);
           }else{
             handle=slaves[src-1];
             if(handle!=nullptr){
diff --git a/prot_cmd/cmd_pc.cpp b/prot_cmd/cmd_pc.cpp
index d4d56f4..b4c7513 100644
--- a/prot_cmd/cmd_pc.cpp
+++ b/prot_cmd/cmd_pc.cpp
@@ -62,6 +62,11 @@ myarray moter_ctrl(myarray op)
 }
 
 
+
+
+
+
+
 // 自研批检仪检测
 int selfdev_check::dolater(int cmd, myarray data)
 {
@@ -70,9 +75,9 @@ int selfdev_check::dolater(int cmd, myarray data)
   mycfg *cfg=syscfg();
   busy=1;
   connect(this, &selfdev_check::send_to_m4_signal, m4, &prot_m4::send_data_slot);
-  prot_m4_cb moter_down_cb=[=](myarray data)
+  moter_down_cb_fun=[=](myarray data)
   {
-    m4->del_irq_fun(moter_down_cb,"moter ");
+    m4->del_irq_fun(moter_down_cb_fun,"moter ");
     if(data=="down"){
       // 这里开始检测
       QList<int> addrs=cfg->calc_slave_addrs();
@@ -87,7 +92,7 @@ int selfdev_check::dolater(int cmd, myarray data)
       }
     }
   };
-  m4->set_irq_fun(moter_down_cb,"moter ");
+  m4->set_irq_fun(moter_down_cb_fun,"moter ");
   emit send_to_m4_signal(moter_ctrl("down"));
   slave_acked.clear();
   for(int i=0;i<cfg->slave_num;i++){
@@ -128,7 +133,6 @@ static myarray tran_slave_to_selfdev_check(myarray &data)
   return r;
 }
 
-
 void selfdev_check::slave_end_slot(int addr,int ack, myarray data)
 {
   if(addr<=0||addr>slave_acked.size()){
@@ -146,13 +150,17 @@ void selfdev_check::slave_end_slot(int addr,int ack, myarray data)
   }
 }
 
-
-
 static HandlePc *get_selfdev_check(){
   return new selfdev_check();
 }
 protpc_export(0x30, get_selfdev_check);
 
+
+
+
+
+
+
 int selfdev_moter::dolater(int cmd, myarray data)
 {
   prot_m4 *m4 = protM4();
@@ -170,8 +178,6 @@ void selfdev_moter::timeout(){
 
 }
 
-
-
 static HandlePc *get_selfdev_moter(){
   return new selfdev_moter();
 }
@@ -180,3 +186,34 @@ protpc_export(0x40, get_selfdev_moter);
 
 
 
+
+
+
+
+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"));
+  }
+  emit send_data_signal(0x40,myarray(1,char(0)));
+  return 0;
+}
+
+void selfdev_slaveupdate::timeout(){
+
+}
+
+static HandlePc *get_selfdev_slaveupdate(){
+  return new selfdev_slaveupdate();
+}
+
+protpc_export(0x40, get_selfdev_slaveupdate);
+
+
+
+
+
diff --git a/prot_cmd/cmd_pc.h b/prot_cmd/cmd_pc.h
index 11b7482..639d42e 100644
--- a/prot_cmd/cmd_pc.h
+++ b/prot_cmd/cmd_pc.h
@@ -9,8 +9,19 @@ class selfdev_check : public HandlePc
 {
   Q_OBJECT
 public:
-  selfdev_check() : HandlePc() {slave_acked_num=0;}
-  ~selfdev_check() {}
+  selfdev_check() : HandlePc() {
+    slave_acked_num=0;
+    moter_down_cb_fun=nullptr;
+  }
+  ~selfdev_check() {
+    if(moter_down_cb_fun!=nullptr){
+      // 取消电机下降到位回调
+      prot_m4 *m4 = protM4();
+      if(m4!=nullptr) {
+        m4->del_irq_fun(moter_down_cb_fun,"moter ");
+      }
+    }
+  }
   int dolater(int cmd, myarray data);
   void timeout();
 public slots:
@@ -18,6 +29,7 @@ public slots:
 protected:
   QList<myarray> slave_acked;
   int slave_acked_num;
+  prot_m4_cb moter_down_cb_fun;
 signals:
   void send_to_m4_signal(myarray data);
 };
@@ -40,4 +52,24 @@ signals:
 
 
 
+
+// 小板升级
+class selfdev_slaveupdate : public HandlePc
+{
+  Q_OBJECT
+public:
+  selfdev_slaveupdate() : HandlePc() {}
+  ~selfdev_slaveupdate() {}
+  int dolater(int cmd, myarray data);
+  void timeout();
+signals:
+  void send_to_m4_signal(myarray data);
+};
+
+
+
+
+
+
+
 #endif