V2.07 检测参数自检命令验证成功

ReadMe.txt

@@ -66,6 +66,8 @@
   解决tcp不上报心跳的问题
 2024.1.29
   添加对hmi屏幕的支持，赋码仪按键按下时发送赋码请求
+2024.3.12
+  V2.07 检测参数自检命令验证成功
 
 
 

checker_host.pro

@@ -46,6 +46,7 @@ SOURCES += \
     prot/prot_m4.cpp \
     prot/prot_pc.cpp \
     prot/prot_slave.cpp \
+    prot_cmd/cmd_checkself.cpp \
     prot_cmd/cmd_cmdline.cpp \
     prot_cmd/cmd_coder.cpp \
     prot_cmd/cmd_hmi_coder.cpp \
@@ -81,6 +82,7 @@ HEADERS += \
     prot/prot_m4.h \
     prot/prot_pc.h \
     prot/prot_slave.h \
+    prot_cmd/cmd_checkself.h \
     prot_cmd/cmd_cmdline.h \
     prot_cmd/cmd_coder.h \
     prot_cmd/cmd_hmi_coder.h \

complier_info.h

@@ -6,7 +6,7 @@
 
 
 
-#define BUILD_DATE  "2024-03-01 11:12:15"
+#define BUILD_DATE  "2024-03-12 10:30:39"
 
 
 

info.json

@@ -1,10 +1,10 @@
 {
-  "build_date": "2024-03-01 11:12:15",
+  "build_date": "2024-03-12 10:30:39",
   "hard_version": "MHPZ2_V1.00",
   "private": [
     "info.json",
     "json.lua",
     "prints.lua"
   ],
-  "soft_version": "V2.06"
+  "soft_version": "V2.07"
 }

prot/prot_m4.cpp

@@ -30,6 +30,7 @@ void prot_m4::init()
 
 void prot_m4::send_data_slot(myarray data)
 {
+  if(data.size()==0) return;
   if ((if_ != nullptr) && (codec_ != nullptr))
   {
     myarray send = codec_->encode(0, 0, 0, data);

prot_cmd/cmd_checkself.cpp

@@ -0,0 +1,191 @@
+#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);
+
+
+

prot_cmd/cmd_checkself.h

@@ -0,0 +1,77 @@
+#ifndef cmd_checkerself_h__
+#define cmd_checkerself_h__
+
+
+#include <QObject>
+#include "prot_cmd/cmd_pc.h"
+#include "base/check_cfg.h"
+#include "elec/elec_judge.h"
+#include "prot_cmd/cmd_coder.h"
+
+
+
+/*
+
+  检测参数自检
+
+*/
+
+
+
+// 电机 自研批检仪
+class selfdev_checkself : public selfdev_runtask
+{
+  Q_OBJECT
+public:
+  selfdev_checkself():selfdev_runtask(){
+    pc_ret_cmd=0;
+  }
+  int dolater(int cmd, myarray data);
+  // pc指令转从机
+  myarray cmd_pc_to_slave(myarray data);
+  // pc指令生成从机列表
+  QList<int> cmd_pc_to_addrs(myarray data){
+    QList<int> addr_list;
+    addrs=0;
+    int len=syscfg()->slave_num;
+    for(int i=0;i<len;i++){
+        addr_list.append(i+1);
+        addrs|=1<<(i);
+    }
+    return addr_list;
+  }
+  // 从机发起命令
+  int cmd_slave(){
+    return 0x20;
+  }
+  // pc收到回复,返回0不回复
+  int cmd_pc_recv(){
+    return 0;
+  }
+  // 生成接收回复到pc
+  myarray cmd_pc_recv_to_pc(){
+    myarray r;
+    return r;
+  }
+  // pc回复命令,返回0不回复
+  int cmd_pc_ret(){
+    return pc_ret_cmd;
+  }
+  // 从机返回转pc
+  myarray ret_slave_to_pc(QList<myarray> data);
+protected:
+  int addrs;
+  int pc_ret_cmd;
+  int subcmd;
+signals:
+  void send_to_m4_signal(myarray data);
+};
+
+
+
+
+
+
+#endif
+
+

prot_cmd/cmd_coder.cpp

@@ -14,7 +14,7 @@
 static const task_def g_ew_task_table[]={
 {"电源准备",0,1,10,0},
 {"延时等待",1,1,2,1},
-{"桥丝电阻测试",2,4,1,1},
+{"测量桥丝阻值",2,4,1,1},
 {"上电充能",3,2,3,2},
 {"设置总线电压",4,1,1,1},
 {"获取总线电流",5,1,0,2},

prot_cmd/cmd_coder.h

@@ -76,6 +76,13 @@ typedef struct{
 
 
 const task_def *coder_find_task(const char *str);
+// 添加一个任务,返回0添加成功
+int coder_add_task(myarray &d,const char *name,int slot_index,int task_index,uint16_t params[10]);
+// 包装为一个小板的数据,返回0成功
+// 包装前需要先添加任务
+int coder_slave_pack(myarray &d,int addr);
+// 找到指定任务序号的数据
+myarray coder_slave_find_ret_data(myarray data,int task_index,int size);
 
 
 // 赋码仪检测命令

prot_cmd/cmd_pc.cpp

@@ -907,7 +907,7 @@ void selfdev_runtask::timeout()
   busy=0;
 }
 
-// 排序,再接收了从机数据之后
+// 排序,在接收了从机数据之后
 void selfdev_runtask::slave_sort(){
   myarray temp;
   int slave_num=slave_acked.size();